2020-11-23T22:53:47Z* LcmTrn::LcmTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn-RDI.cfg 2020-11-23T22:53:47Z* LcmTrn::init() - using configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn-RDI.cfg 2020-11-23T22:53:47Z* ahrs config: AHRS_M2, platform_orientation, platform_pitch_angle, platform_roll_angle 2020-11-23T22:53:47Z* dvl config: RDI_Pathfinder, Beam1Range, Beam2Range, Beam3Range, Beam4Range, BottomVelocityFlag 2020-11-23T22:53:47Z* nav config: DeadReckonUsingMultipleVelocitySources, latitude, longitude 2020-11-23T22:53:47Z* depth config: Depth_Keller, depth, sea_water_pressure 2020-11-23T22:53:47Z* trn config: TRN, trn_mle, trn_mmse, trn_var, trn_reinits, trn_filterstate 2020-11-23T22:53:47Z* LCM timeout=5.00 sec 2020-11-23T22:53:47Z* TRN settings: 2020-11-23T22:53:47Z* period=3.00 sec 2020-11-23T22:53:47Z* coherence=2.00 sec 2020-11-23T22:53:47Z* map = PortTiles cfg = mappingAUV_specs.cfg part= particles.cfg logdir= lrauv 2020-11-23T22:53:47Z* maptype = 2 filtertype = 3 weighting = 0 2020-11-23T22:53:47Z* lowgrade_filter = 1 allow reinit = 1 2020-11-23T22:53:47Z* LcmTrn::initTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn-RDI.cfg 2020-11-23T22:53:47Z* LcmTrn::initTrn() - map: /home/tethysadmin/Downloads/trnmaps/PortTiles 2020-11-23T22:53:47Z* LcmTrn::initTrn() - cfg: /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2020-11-23T22:53:47Z* LcmTrn::initTrn() - part: /home/tethysadmin/Downloads/trncfgs/particles.cfg 2020-11-23T22:53:47Z* TerrainMapOctree::tileDataName = /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv 2020-11-23T22:53:47Z* TerrainMapOctree::numTiles_ = 9. 2020-11-23T22:53:47Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo 4061250.0 594250.0 . 2020-11-23T22:53:47Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile2.bo 4061250.0 594750.0 . 2020-11-23T22:53:47Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile3.bo 4061250.0 595250.0 . 2020-11-23T22:53:47Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo 4061750.0 594250.0 . 2020-11-23T22:53:47Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile5.bo 4061750.0 594750.0 . 2020-11-23T22:53:47Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile6.bo 4061750.0 595250.0 . 2020-11-23T22:53:47Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile7.bo 4062250.0 594250.0 . 2020-11-23T22:53:47Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile8.bo 4062250.0 594750.0 . 2020-11-23T22:53:47Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile9.bo 4062250.0 595250.0 . 2020-11-23T22:53:47Z* TerrainMapOctree::loaded 9 useable tiles from /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv. 2020-11-23T22:53:47Z* TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo took 0.754160 seconds. 2020-11-23T22:53:47Z* TRN log directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.10 2020-11-23T22:53:47Z* symlink /home/tethysadmin/Downloads/trnlogs/latestTRN to /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.10 OK 2020-11-23T22:53:47Z* parseSensorSpecs parsing sensor of type 1. 2020-11-23T22:53:47Z* Sensor 0 is of type 1. 2020-11-23T22:53:47Z* parseSensorSpecs parsing sensor of type 2. 2020-11-23T22:53:47Z* Sensor 1 is of type 2. 2020-11-23T22:53:47Z* parseSensorSpecs parsing sensor of type 5. 2020-11-23T22:53:47Z* Sensor 2 is of type 5. 2020-11-23T22:53:48Z- File created[/home/tethysadmin/Downloads/trnlogs/latestTRN/trn.log.0000] returned[0x55694f6550] 2020-11-23T22:53:48Z- TNavConfig::setParticlesFile: value is now particles.cfg 2020-11-23T22:53:48Z- TNavConfig::setMapFile: value is now /home/tethysadmin/Downloads/trnmaps/PortTiles 2020-11-23T22:53:48Z- TNavConfig::setVehicleSpecsFile: value is now /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2020-11-23T22:53:48Z- TNavConfig::setParticlesFile: value is now /home/tethysadmin/Downloads/trncfgs/particles.cfg 2020-11-23T22:53:48Z- TNavConfig::setLogDir: value is now /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.10 2020-11-23T22:53:48Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2020-11-23T22:53:48Z- parseSensorSpecs parsing sensor of type 1. 2020-11-23T22:53:48Z- Sensor 0 is of type 1. 2020-11-23T22:53:48Z- parseSensorSpecs parsing sensor of type 2. 2020-11-23T22:53:48Z- Sensor 1 is of type 2. 2020-11-23T22:53:48Z- parseSensorSpecs parsing sensor of type 5. 2020-11-23T22:53:48Z- Sensor 2 is of type 5. 2020-11-23T22:53:48Z- Random noise maker initialized with 1606172028 2020-11-23T22:53:48Z- setDistribToSave(0) 2020-11-23T22:53:48Z- setDistribToSave set to 0 2020-11-23T22:53:48Z- Vehicle name: mappingAUV Number of sensors: 3 2020-11-23T22:53:48Z- Sensor #1: 2020-11-23T22:53:48Z- Sensor name: rdiDVL 2020-11-23T22:53:48Z- Sensor type: 1 2020-11-23T22:53:48Z- Number of beams per measurement: 4 2020-11-23T22:53:48Z- Sensor #1 to vehicle transformation information: 2020-11-23T22:53:48Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2020-11-23T22:53:48Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2020-11-23T22:53:48Z- 2020-11-23T22:53:48Z- Sensor #2: 2020-11-23T22:53:48Z- Sensor name: resonSeabat8101 2020-11-23T22:53:48Z- Sensor type: 2 2020-11-23T22:53:48Z- Number of beams per measurement: 11 2020-11-23T22:53:48Z- Sensor #2 to vehicle transformation information: 2020-11-23T22:53:48Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2020-11-23T22:53:48Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2020-11-23T22:53:48Z- 2020-11-23T22:53:48Z- Sensor #3: 2020-11-23T22:53:48Z- Sensor name: imagenexdeltat 2020-11-23T22:53:48Z- Sensor type: 5 2020-11-23T22:53:48Z- Number of beams per measurement: 120 2020-11-23T22:53:48Z- Sensor #3 to vehicle transformation information: 2020-11-23T22:53:48Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2020-11-23T22:53:48Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2020-11-23T22:53:48Z- 2020-11-23T22:53:48Z- TNavBF::nParticles: 10000 numFilters: 2 PMF Grid Resolution: 1.0 PMF Grid Size: 100 2020-11-23T22:53:48Z- TerrainNav::TNavFilter initialized with type 3 2020-11-23T22:53:48Z- TerrainNav::initVariables finished. 2020-11-23T22:53:48Z- TerrainNav::Constructor finished. 2020-11-23T22:53:48Z- TNavBF::setModifiedWeighting umw: 4 2020-11-23T22:53:48Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20 2020-11-23T22:53:48Z- TNavBF::numFilters: 1 2020-11-23T22:53:48Z- TerrainNav::modified weighting set to 0 2020-11-23T22:53:48Z- LcmTrn::initLcm() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn-RDI.cfg 2020-11-23T22:53:48Z- LcmTrn::run() 2020-11-23T22:53:53Z- LcmTrn::cycle() - No messages handled... 2020-11-23T22:53:53Z- waiting for 3.00, time is 0.00 2020-11-23T22:53:53Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959132.10 epoch sec; seqNo:1 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 3.00, time is 0.00 2020-11-23T22:53:55Z- sync is 1599959132.10, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 9.77 epoch sec; seqNo:1599959132102; depth 0.00 2020-11-23T22:53:55Z- waiting for 3.00, time is 0.00 2020-11-23T22:53:55Z- sync is 1599959132.10, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959132.10 epoch sec; seqNo:1 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.03 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959132.10 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959132.11 epoch sec; seqNo:1; 4061436.52 north; 594268.60 east 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959132.10 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959132.50 epoch sec; seqNo:2 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959132.10 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 9.83 epoch sec; seqNo:1599959132501; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959132.10 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959132.50 epoch sec; seqNo:2 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.03 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959132.50 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959132.50 epoch sec; seqNo:2; 4061436.52 north; 594268.60 east 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959132.50 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959132.90 epoch sec; seqNo:3 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959132.50 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 9.90 epoch sec; seqNo:1599959132901; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959132.50 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959132.90 epoch sec; seqNo:3 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.03 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959132.90 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959132.90 epoch sec; seqNo:3; 4061436.90 north; 594268.60 east 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959132.90 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959133.30 epoch sec; seqNo:4 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959132.90 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 9.96 epoch sec; seqNo:1599959133303; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959132.90 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959133.30 epoch sec; seqNo:4 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.03 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959133.30 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959133.30 epoch sec; seqNo:4; 4061437.28 north; 594268.59 east 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959133.30 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959133.70 epoch sec; seqNo:5 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.18 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959133.30 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 10.02 epoch sec; seqNo:1599959133706; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959133.30 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959133.71 epoch sec; seqNo:5 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959133.71 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959133.71 epoch sec; seqNo:5; 4061437.66 north; 594268.59 east 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959133.71 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959134.11 epoch sec; seqNo:6 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.18 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959133.71 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 10.09 epoch sec; seqNo:1599959134107; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959133.71 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959134.11 epoch sec; seqNo:6 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959134.11 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959134.11 epoch sec; seqNo:6; 4061438.04 north; 594268.58 east 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959134.11 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959134.51 epoch sec; seqNo:7 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.18 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959134.11 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 10.15 epoch sec; seqNo:1599959134506; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959134.11 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959134.51 epoch sec; seqNo:7 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959134.51 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959134.51 epoch sec; seqNo:7; 4061438.41 north; 594268.58 east 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959134.51 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959134.91 epoch sec; seqNo:8 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.18 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959134.51 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 10.21 epoch sec; seqNo:1599959134908; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959134.51 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959134.91 epoch sec; seqNo:8 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959134.91 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959134.91 epoch sec; seqNo:8; 4061438.79 north; 594268.57 east 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959134.91 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959135.31 epoch sec; seqNo:9 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.18 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959134.91 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 10.28 epoch sec; seqNo:1599959135308; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959134.91 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959135.31 epoch sec; seqNo:9 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959135.10, time is 1599959135.31 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959135.31, meas time 1599959135.31 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959135.31, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959135.31 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061439, 594268.57, 10.28) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959135.31 epoch sec; seqNo:9; 4061439.17 north; 594268.57 east 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959135.31 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959135.71 epoch sec; seqNo:10 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.18 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959135.31 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 10.35 epoch sec; seqNo:1599959135710; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959135.31 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959135.71 epoch sec; seqNo:10 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959135.71 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959135.71 epoch sec; seqNo:10; 4061439.55 north; 594268.57 east 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959135.71 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959136.11 epoch sec; seqNo:11 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.18 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959135.71 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 10.41 epoch sec; seqNo:1599959136110; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959135.71 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959136.11 epoch sec; seqNo:11 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959136.11 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959136.11 epoch sec; seqNo:11; 4061439.93 north; 594268.56 east 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959136.11 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959136.51 epoch sec; seqNo:12 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.18 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959136.11 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 10.48 epoch sec; seqNo:1599959136513; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959136.11 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959136.51 epoch sec; seqNo:12 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959136.51 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959136.52 epoch sec; seqNo:12; 4061440.31 north; 594268.56 east 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959136.51 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959136.91 epoch sec; seqNo:13 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959136.51 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 10.55 epoch sec; seqNo:1599959136913; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959136.51 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959136.91 epoch sec; seqNo:13 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959136.91 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959136.91 epoch sec; seqNo:13; 4061440.69 north; 594268.55 east 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959136.91 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959137.31 epoch sec; seqNo:14 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959136.91 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 10.61 epoch sec; seqNo:1599959137313; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959136.91 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959137.31 epoch sec; seqNo:14 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959137.31 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959137.32 epoch sec; seqNo:14; 4061440.69 north; 594268.55 east 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959137.31 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959137.71 epoch sec; seqNo:15 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959137.31 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 10.68 epoch sec; seqNo:1599959137713; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959137.31 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959137.71 epoch sec; seqNo:15 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959137.71 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959137.72 epoch sec; seqNo:15; 4061441.07 north; 594268.55 east 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959137.71 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959138.11 epoch sec; seqNo:16 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959137.71 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 10.75 epoch sec; seqNo:1599959138114; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959137.71 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959138.11 epoch sec; seqNo:16 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959138.11 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959138.12 epoch sec; seqNo:16; 4061441.44 north; 594268.55 east 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959138.11 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959138.51 epoch sec; seqNo:17 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959138.11 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 10.82 epoch sec; seqNo:1599959138514; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959138.11 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959138.52 epoch sec; seqNo:17 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959138.31, time is 1599959138.52 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959138.51, meas time 1599959138.52 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959138.52, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959138.52 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061441, 594268.55, 10.82) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959138.52 epoch sec; seqNo:17; 4061441.82 north; 594268.54 east 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959138.52 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959138.91 epoch sec; seqNo:18 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959138.52 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 10.89 epoch sec; seqNo:1599959138914; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959138.52 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959138.91 epoch sec; seqNo:18 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959138.91 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959138.92 epoch sec; seqNo:18; 4061442.20 north; 594268.54 east 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959138.91 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959139.31 epoch sec; seqNo:19 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959138.91 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 10.96 epoch sec; seqNo:1599959139314; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959138.91 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959139.32 epoch sec; seqNo:19 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959139.32 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959139.32 epoch sec; seqNo:19; 4061442.58 north; 594268.53 east 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959139.32 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959139.71 epoch sec; seqNo:20 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959139.32 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 11.03 epoch sec; seqNo:1599959139716; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959139.32 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959139.72 epoch sec; seqNo:20 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959139.72 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959139.72 epoch sec; seqNo:20; 4061442.96 north; 594268.53 east 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959139.72 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959140.12 epoch sec; seqNo:21 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.20 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959139.72 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 11.10 epoch sec; seqNo:1599959140115; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959139.72 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959140.12 epoch sec; seqNo:21 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959140.12 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959140.12 epoch sec; seqNo:21; 4061443.33 north; 594267.30 east 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959140.12 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959140.52 epoch sec; seqNo:22 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.20 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959140.12 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 11.17 epoch sec; seqNo:1599959140516; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959140.12 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959140.52 epoch sec; seqNo:22 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959140.52 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959140.52 epoch sec; seqNo:22; 4061443.70 north; 594267.30 east 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959140.52 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959140.92 epoch sec; seqNo:23 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.20 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959140.52 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 11.24 epoch sec; seqNo:1599959140918; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959140.52 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959140.92 epoch sec; seqNo:23 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959140.92 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959140.92 epoch sec; seqNo:23; 4061444.08 north; 594267.30 east 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959140.92 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959141.32 epoch sec; seqNo:24 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.20 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959140.92 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 11.32 epoch sec; seqNo:1599959141318; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959140.92 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959141.32 epoch sec; seqNo:24 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959141.32 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959141.32 epoch sec; seqNo:24; 4061444.46 north; 594267.29 east 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959141.32 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959141.72 epoch sec; seqNo:25 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.20 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959141.32 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 11.39 epoch sec; seqNo:1599959141718; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959141.32 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959141.72 epoch sec; seqNo:25 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959141.52, time is 1599959141.72 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959141.72, meas time 1599959141.72 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959141.72, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959141.72 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061444, 594267.29, 11.39) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959141.72 epoch sec; seqNo:25; 4061444.46 north; 594267.29 east 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959141.72 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959142.12 epoch sec; seqNo:26 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.20 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959141.72 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 11.46 epoch sec; seqNo:1599959142118; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959141.72 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959142.12 epoch sec; seqNo:26 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959142.12 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959142.12 epoch sec; seqNo:26; 4061444.84 north; 594267.29 east 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959142.12 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959142.52 epoch sec; seqNo:27 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.20 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959142.12 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 11.54 epoch sec; seqNo:1599959142520; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959142.12 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959142.52 epoch sec; seqNo:27 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959142.52 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959142.52 epoch sec; seqNo:27; 4061445.22 north; 594267.28 east 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959142.52 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959142.92 epoch sec; seqNo:28 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.20 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959142.52 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 11.61 epoch sec; seqNo:1599959142919; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959142.52 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959142.92 epoch sec; seqNo:28 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959142.92 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959142.92 epoch sec; seqNo:28; 4061445.60 north; 594267.28 east 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959142.92 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959143.32 epoch sec; seqNo:29 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.20 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959142.92 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 11.69 epoch sec; seqNo:1599959143320; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959142.92 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959143.32 epoch sec; seqNo:29 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959143.32 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959143.32 epoch sec; seqNo:29; 4061445.98 north; 594267.27 east 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959143.32 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959143.72 epoch sec; seqNo:30 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.21 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959143.32 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 11.76 epoch sec; seqNo:1599959143722; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959143.32 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959143.72 epoch sec; seqNo:30 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959143.72 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959143.72 epoch sec; seqNo:30; 4061446.36 north; 594267.27 east 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959143.72 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959144.12 epoch sec; seqNo:31 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.21 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959143.72 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 11.84 epoch sec; seqNo:1599959144121; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959143.72 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959144.12 epoch sec; seqNo:31 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959144.12 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959144.12 epoch sec; seqNo:31; 4061446.74 north; 594267.27 east 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959144.12 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959144.52 epoch sec; seqNo:32 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.21 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959144.12 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 11.91 epoch sec; seqNo:1599959144522; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959144.12 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959144.52 epoch sec; seqNo:32 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959144.52 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959144.53 epoch sec; seqNo:32; 4061447.11 north; 594267.26 east 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959144.52 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959144.92 epoch sec; seqNo:33 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.21 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959144.52 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 11.99 epoch sec; seqNo:1599959144924; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959144.52 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959144.92 epoch sec; seqNo:33 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959144.72, time is 1599959144.92 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959144.92, meas time 1599959144.92 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959144.92, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959144.92 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061447, 594267.26, 11.99) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959144.92 epoch sec; seqNo:33; 4061447.49 north; 594267.26 east 2020-11-23T22:53:55Z- waiting for 1599959147.92, time is 1599959144.92 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959146.53 epoch sec; seqNo:37 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959147.92, time is 1599959146.53 2020-11-23T22:53:55Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959146.92 epoch sec; seqNo:38 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.20 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959147.92, time is 1599959146.53 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 12.37 epoch sec; seqNo:1599959146924; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959147.92, time is 1599959146.53 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 12.97 epoch sec; seqNo:1599959150126; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959147.92, time is 1599959146.53 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959150.13 epoch sec; seqNo:46 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959147.92, time is 1599959150.13 2020-11-23T22:53:55Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959150.13 epoch sec; seqNo:46; 4061451.65 north; 594265.99 east 2020-11-23T22:53:55Z- waiting for 1599959147.92, time is 1599959150.13 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959150.13, meas time 1599959150.13 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959150.13, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959150.13 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061452, 594265.99, 12.97) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959150.53 epoch sec; seqNo:47 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.10 phi; -0.20 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959153.13, time is 1599959150.13 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959154.93 epoch sec; seqNo:58 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.10 phi; -0.20 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959153.13, time is 1599959150.13 2020-11-23T22:53:55Z- sync is 4.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 13.87 epoch sec; seqNo:1599959154928; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959153.13, time is 1599959150.13 2020-11-23T22:53:55Z- sync is 4.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959154.93 epoch sec; seqNo:58 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959153.13, time is 1599959154.93 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959154.93, meas time 1599959154.93 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959154.93, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959154.93 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061452, 594265.99, 13.87) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959154.93 epoch sec; seqNo:58; 4061455.81 north; 594265.95 east 2020-11-23T22:53:55Z- waiting for 1599959157.93, time is 1599959154.93 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959159.34 epoch sec; seqNo:69 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.10 phi; -0.20 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959157.93, time is 1599959154.93 2020-11-23T22:53:55Z- sync is 4.41, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 14.69 epoch sec; seqNo:1599959159337; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959157.93, time is 1599959154.93 2020-11-23T22:53:55Z- sync is 4.41, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959159.34 epoch sec; seqNo:69 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959157.93, time is 1599959159.34 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959159.34, meas time 1599959159.34 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959159.34, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959159.34 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061456, 594265.95, 14.69) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959159.34 epoch sec; seqNo:69; 4061459.60 north; 594265.90 east 2020-11-23T22:53:55Z- waiting for 1599959162.34, time is 1599959159.34 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959164.54 epoch sec; seqNo:82 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959162.34, time is 1599959164.54 2020-11-23T22:53:55Z- sync is 5.20, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959164.54 epoch sec; seqNo:82; 4061464.14 north; 594264.63 east 2020-11-23T22:53:55Z- waiting for 1599959162.34, time is 1599959164.54 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959164.54, meas time 1599959164.54 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959164.54, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959164.54 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061464, 594264.63, 14.69) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959164.94 epoch sec; seqNo:83 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.10 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959167.54, time is 1599959164.54 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 15.71 epoch sec; seqNo:1599959164943; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959167.54, time is 1599959164.54 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959164.94 epoch sec; seqNo:83 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959167.54, time is 1599959164.94 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959164.94 epoch sec; seqNo:83; 4061464.51 north; 594264.63 east 2020-11-23T22:53:55Z- waiting for 1599959167.54, time is 1599959164.94 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959165.34 epoch sec; seqNo:84 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.10 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959167.54, time is 1599959164.94 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 15.79 epoch sec; seqNo:1599959165343; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959167.54, time is 1599959164.94 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 16.44 epoch sec; seqNo:1599959168950; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959167.54, time is 1599959164.94 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959168.95 epoch sec; seqNo:93; 4061467.92 north; 594264.59 east 2020-11-23T22:53:55Z- waiting for 1599959167.54, time is 1599959164.94 2020-11-23T22:53:55Z- sync is 4.01, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959169.35 epoch sec; seqNo:94 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959167.54, time is 1599959164.94 2020-11-23T22:53:55Z- sync is 4.41, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959169.35 epoch sec; seqNo:94 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959167.54, time is 1599959169.35 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959169.35, meas time 1599959169.35 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959169.35, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959169.35 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061468, 594264.59, 16.44) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959171.75 epoch sec; seqNo:100 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959172.35, time is 1599959171.75 2020-11-23T22:53:55Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959171.75 epoch sec; seqNo:100; 4061470.18 north; 594263.35 east 2020-11-23T22:53:55Z- waiting for 1599959172.35, time is 1599959171.75 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959172.15 epoch sec; seqNo:101 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959172.35, time is 1599959171.75 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 17.01 epoch sec; seqNo:1599959172152; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959172.35, time is 1599959171.75 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959172.15 epoch sec; seqNo:101 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959172.35, time is 1599959172.15 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959172.15 epoch sec; seqNo:101; 4061470.56 north; 594263.34 east 2020-11-23T22:53:55Z- waiting for 1599959172.35, time is 1599959172.15 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959172.55 epoch sec; seqNo:102 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959172.35, time is 1599959172.15 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 17.08 epoch sec; seqNo:1599959172553; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959172.35, time is 1599959172.15 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959172.55 epoch sec; seqNo:102; 4061470.94 north; 594263.34 east 2020-11-23T22:53:55Z- waiting for 1599959172.35, time is 1599959172.15 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959172.95 epoch sec; seqNo:103 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959172.35, time is 1599959172.15 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 17.15 epoch sec; seqNo:1599959172953; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959172.35, time is 1599959172.15 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959174.15 epoch sec; seqNo:106 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959172.35, time is 1599959174.15 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959172.95, meas time 1599959174.15 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959174.15, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959174.15 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061471, 594263.34, 17.15) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959176.96 epoch sec; seqNo:113; 4061474.73 north; 594263.30 east 2020-11-23T22:53:55Z- waiting for 1599959177.15, time is 1599959174.15 2020-11-23T22:53:55Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959178.56 epoch sec; seqNo:117 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959177.15, time is 1599959174.15 2020-11-23T22:53:55Z- sync is 4.41, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 18.35 epoch sec; seqNo:1599959179765; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959177.15, time is 1599959174.15 2020-11-23T22:53:55Z- sync is 4.41, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959179.77 epoch sec; seqNo:120 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959177.15, time is 1599959179.77 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959178.56, meas time 1599959179.77 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959179.77, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959179.77 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061475, 594263.30, 18.35) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959180.16 epoch sec; seqNo:121; 4061477.37 north; 594262.05 east 2020-11-23T22:53:55Z- waiting for 1599959182.77, time is 1599959179.77 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959180.57 epoch sec; seqNo:122 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959182.77, time is 1599959179.77 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 18.56 epoch sec; seqNo:1599959180968; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959182.77, time is 1599959179.77 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959181.37 epoch sec; seqNo:124 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959182.77, time is 1599959181.37 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959181.37 epoch sec; seqNo:124; 4061478.50 north; 594262.03 east 2020-11-23T22:53:55Z- waiting for 1599959182.77, time is 1599959181.37 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959182.17 epoch sec; seqNo:126 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959182.77, time is 1599959181.37 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 18.76 epoch sec; seqNo:1599959182170; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959182.77, time is 1599959181.37 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959182.57 epoch sec; seqNo:127 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959182.77, time is 1599959182.57 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959182.97 epoch sec; seqNo:128; 4061480.02 north; 594262.02 east 2020-11-23T22:53:55Z- waiting for 1599959182.77, time is 1599959182.57 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959183.37 epoch sec; seqNo:129 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959182.77, time is 1599959182.57 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 19.04 epoch sec; seqNo:1599959183774; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959182.77, time is 1599959182.57 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959183.77 epoch sec; seqNo:130 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959182.77, time is 1599959183.77 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959183.37, meas time 1599959183.77 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959183.77, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959183.77 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061480, 594262.02, 19.04) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959185.38 epoch sec; seqNo:134; 4061481.91 north; 594262.00 east 2020-11-23T22:53:55Z- waiting for 1599959186.77, time is 1599959183.77 2020-11-23T22:53:55Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959185.78 epoch sec; seqNo:135 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959186.77, time is 1599959183.77 2020-11-23T22:53:55Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 19.39 epoch sec; seqNo:1599959185777; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959186.77, time is 1599959183.77 2020-11-23T22:53:55Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959186.18 epoch sec; seqNo:136 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959186.77, time is 1599959186.18 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959186.58 epoch sec; seqNo:137; 4061483.05 north; 594261.98 east 2020-11-23T22:53:55Z- waiting for 1599959186.77, time is 1599959186.18 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959186.98 epoch sec; seqNo:138 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959186.77, time is 1599959186.18 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 19.66 epoch sec; seqNo:1599959187383; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959186.77, time is 1599959186.18 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959187.38 epoch sec; seqNo:139 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959186.77, time is 1599959187.38 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959186.98, meas time 1599959187.38 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959187.38, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959187.38 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061483, 594261.98, 19.66) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959187.79 epoch sec; seqNo:140; 4061484.19 north; 594261.97 east 2020-11-23T22:53:55Z- waiting for 1599959190.38, time is 1599959187.38 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959188.18 epoch sec; seqNo:141 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959190.38, time is 1599959187.38 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 19.87 epoch sec; seqNo:1599959188585; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959190.38, time is 1599959187.38 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959188.59 epoch sec; seqNo:142 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959190.38, time is 1599959188.59 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959188.99 epoch sec; seqNo:143; 4061484.93 north; 594260.74 east 2020-11-23T22:53:55Z- waiting for 1599959190.38, time is 1599959188.59 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959189.79 epoch sec; seqNo:145 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959190.38, time is 1599959188.59 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 20.14 epoch sec; seqNo:1599959190187; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959190.38, time is 1599959188.59 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959190.19 epoch sec; seqNo:146 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.02 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959190.38, time is 1599959190.19 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959190.59 epoch sec; seqNo:147; 4061486.45 north; 594260.73 east 2020-11-23T22:53:55Z- waiting for 1599959190.38, time is 1599959190.19 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959190.99 epoch sec; seqNo:148 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959190.38, time is 1599959190.19 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 20.35 epoch sec; seqNo:1599959191389; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959190.38, time is 1599959190.19 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959191.39 epoch sec; seqNo:149 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.02 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959190.38, time is 1599959191.39 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959190.99, meas time 1599959191.39 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959191.39, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959191.39 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061486, 594260.73, 20.35) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959191.79 epoch sec; seqNo:150; 4061487.58 north; 594260.71 east 2020-11-23T22:53:55Z- waiting for 1599959194.39, time is 1599959191.39 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959192.59 epoch sec; seqNo:152 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959194.39, time is 1599959191.39 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 20.55 epoch sec; seqNo:1599959192592; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959194.39, time is 1599959191.39 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959192.99 epoch sec; seqNo:153 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.02 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959194.39, time is 1599959192.99 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959193.40 epoch sec; seqNo:154; 4061489.10 north; 594260.70 east 2020-11-23T22:53:55Z- waiting for 1599959194.39, time is 1599959192.99 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959193.80 epoch sec; seqNo:155 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959194.39, time is 1599959192.99 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 20.82 epoch sec; seqNo:1599959194197; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959194.39, time is 1599959192.99 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959194.20 epoch sec; seqNo:156 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.02 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959194.39, time is 1599959194.20 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959194.60 epoch sec; seqNo:157; 4061489.86 north; 594260.69 east 2020-11-23T22:53:55Z- waiting for 1599959194.39, time is 1599959194.20 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959195.00 epoch sec; seqNo:158 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.18 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959194.39, time is 1599959194.20 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 21.02 epoch sec; seqNo:1599959195400; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959194.39, time is 1599959194.20 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959195.40 epoch sec; seqNo:159 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.02 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959194.39, time is 1599959195.40 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959195.00, meas time 1599959195.40 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959195.40, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959195.40 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061490, 594260.69, 21.02) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959197.00 epoch sec; seqNo:163; 4061492.13 north; 594260.66 east 2020-11-23T22:53:55Z- waiting for 1599959198.40, time is 1599959195.40 2020-11-23T22:53:55Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959197.40 epoch sec; seqNo:164 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959198.40, time is 1599959195.40 2020-11-23T22:53:55Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 21.43 epoch sec; seqNo:1599959197805; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959198.40, time is 1599959195.40 2020-11-23T22:53:55Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959197.81 epoch sec; seqNo:165 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.02 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959198.40, time is 1599959197.81 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959198.21 epoch sec; seqNo:166; 4061493.25 north; 594259.43 east 2020-11-23T22:53:55Z- waiting for 1599959198.40, time is 1599959197.81 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959198.61 epoch sec; seqNo:167 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959198.40, time is 1599959197.81 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 21.64 epoch sec; seqNo:1599959199008; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959198.40, time is 1599959197.81 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959199.01 epoch sec; seqNo:168 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.02 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959198.40, time is 1599959199.01 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959198.61, meas time 1599959199.01 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959199.01, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959199.01 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061493, 594259.43, 21.64) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959199.41 epoch sec; seqNo:169; 4061494.01 north; 594259.42 east 2020-11-23T22:53:55Z- waiting for 1599959202.01, time is 1599959199.01 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959200.21 epoch sec; seqNo:171 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.20 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959202.01, time is 1599959199.01 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 21.85 epoch sec; seqNo:1599959200212; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959202.01, time is 1599959199.01 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959200.21 epoch sec; seqNo:171 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.02 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959202.01, time is 1599959200.21 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959201.01 epoch sec; seqNo:173; 4061495.53 north; 594259.41 east 2020-11-23T22:53:55Z- waiting for 1599959202.01, time is 1599959200.21 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959201.41 epoch sec; seqNo:174 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.20 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959202.01, time is 1599959200.21 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 22.14 epoch sec; seqNo:1599959201816; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959202.01, time is 1599959200.21 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959201.82 epoch sec; seqNo:175 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.02 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959202.01, time is 1599959201.82 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959202.22 epoch sec; seqNo:176; 4061496.66 north; 594259.39 east 2020-11-23T22:53:55Z- waiting for 1599959202.01, time is 1599959201.82 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959202.62 epoch sec; seqNo:177 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.21 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959202.01, time is 1599959201.82 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 22.36 epoch sec; seqNo:1599959203018; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959202.01, time is 1599959201.82 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959203.02 epoch sec; seqNo:178 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.02 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959202.01, time is 1599959203.02 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959202.62, meas time 1599959203.02 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959203.02, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959203.02 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061497, 594259.39, 22.36) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959203.42 epoch sec; seqNo:179; 4061497.42 north; 594259.39 east 2020-11-23T22:53:55Z- waiting for 1599959206.02, time is 1599959203.02 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959205.02 epoch sec; seqNo:183 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.21 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959206.02, time is 1599959203.02 2020-11-23T22:53:55Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 22.81 epoch sec; seqNo:1599959205423; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959206.02, time is 1599959203.02 2020-11-23T22:53:55Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959205.42 epoch sec; seqNo:184 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.02 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959206.02, time is 1599959205.42 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959205.82 epoch sec; seqNo:185; 4061499.69 north; 594259.36 east 2020-11-23T22:53:55Z- waiting for 1599959206.02, time is 1599959205.42 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959206.62 epoch sec; seqNo:187 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.21 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959206.02, time is 1599959205.42 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 23.03 epoch sec; seqNo:1599959206625; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959206.02, time is 1599959205.42 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959207.03 epoch sec; seqNo:188 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.02 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959206.02, time is 1599959207.03 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959206.62, meas time 1599959207.03 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959207.03, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959207.03 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061500, 594259.36, 23.03) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959207.43 epoch sec; seqNo:189; 4061501.21 north; 594259.34 east 2020-11-23T22:53:55Z- waiting for 1599959210.03, time is 1599959207.03 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959207.83 epoch sec; seqNo:190 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.22 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959210.03, time is 1599959207.03 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 23.34 epoch sec; seqNo:1599959208231; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959210.03, time is 1599959207.03 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959208.23 epoch sec; seqNo:191 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.02 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959210.03, time is 1599959208.23 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959209.44 epoch sec; seqNo:194; 4061502.71 north; 594258.11 east 2020-11-23T22:53:55Z- waiting for 1599959210.03, time is 1599959208.23 2020-11-23T22:53:55Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959209.84 epoch sec; seqNo:195 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.02 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959210.03, time is 1599959209.84 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959210.64 epoch sec; seqNo:197 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.22 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959210.03, time is 1599959209.84 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 23.90 epoch sec; seqNo:1599959211039; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959210.03, time is 1599959209.84 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 23.98 epoch sec; seqNo:1599959211439; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959210.03, time is 1599959209.84 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959211.44 epoch sec; seqNo:199 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.02 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959210.03, time is 1599959211.44 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959210.64, meas time 1599959211.44 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959211.44, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959211.44 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061503, 594258.11, 23.98) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959211.84 epoch sec; seqNo:200; 4061504.98 north; 594258.08 east 2020-11-23T22:53:55Z- waiting for 1599959214.44, time is 1599959211.44 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959213.04 epoch sec; seqNo:203 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.23 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959214.44, time is 1599959211.44 2020-11-23T22:53:55Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959213.44 epoch sec; seqNo:204 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.23 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959214.44, time is 1599959211.44 2020-11-23T22:53:55Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 24.46 epoch sec; seqNo:1599959213845; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959214.44, time is 1599959211.44 2020-11-23T22:53:55Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959213.85 epoch sec; seqNo:205 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.02 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959214.44, time is 1599959213.85 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959215.05 epoch sec; seqNo:208; 4061507.64 north; 594258.05 east 2020-11-23T22:53:55Z- waiting for 1599959214.44, time is 1599959213.85 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959215.44 epoch sec; seqNo:209 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.23 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959214.44, time is 1599959213.85 2020-11-23T22:53:55Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 24.87 epoch sec; seqNo:1599959215848; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959214.44, time is 1599959213.85 2020-11-23T22:53:55Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959216.25 epoch sec; seqNo:211 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.02 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959214.44, time is 1599959216.25 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959215.44, meas time 1599959216.25 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959216.25, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959216.25 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061508, 594258.05, 24.87) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959217.45 epoch sec; seqNo:214; 4061509.53 north; 594258.03 east 2020-11-23T22:53:55Z- waiting for 1599959219.25, time is 1599959216.25 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959217.85 epoch sec; seqNo:215 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959219.25, time is 1599959217.85 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959218.25 epoch sec; seqNo:216; 4061510.29 north; 594258.02 east 2020-11-23T22:53:55Z- waiting for 1599959219.25, time is 1599959217.85 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959219.85 epoch sec; seqNo:220 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.24 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959219.25, time is 1599959217.85 2020-11-23T22:53:55Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 25.80 epoch sec; seqNo:1599959220252; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959219.25, time is 1599959217.85 2020-11-23T22:53:55Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959220.25 epoch sec; seqNo:221 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959219.25, time is 1599959220.25 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959219.85, meas time 1599959220.25 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959220.25, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959220.25 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061510, 594258.02, 25.80) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959220.65 epoch sec; seqNo:222; 4061512.55 north; 594256.78 east 2020-11-23T22:53:55Z- waiting for 1599959223.25, time is 1599959220.25 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959221.05 epoch sec; seqNo:223 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.24 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959223.25, time is 1599959220.25 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 26.06 epoch sec; seqNo:1599959221454; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959223.25, time is 1599959220.25 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 26.15 epoch sec; seqNo:1599959221855; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959223.25, time is 1599959220.25 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959221.86 epoch sec; seqNo:225; 4061513.30 north; 594256.77 east 2020-11-23T22:53:55Z- waiting for 1599959223.25, time is 1599959220.25 2020-11-23T22:53:55Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959222.26 epoch sec; seqNo:226 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.11 phi; -0.24 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959223.25, time is 1599959220.25 2020-11-23T22:53:55Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959222.26 epoch sec; seqNo:226 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959223.25, time is 1599959222.26 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959223.86 epoch sec; seqNo:230 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959223.25, time is 1599959223.86 2020-11-23T22:53:55Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959222.26, meas time 1599959223.86 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959223.86, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959223.86 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061513, 594256.77, 26.15) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959224.26 epoch sec; seqNo:231; 4061515.58 north; 594256.74 east 2020-11-23T22:53:55Z- waiting for 1599959226.86, time is 1599959223.86 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959225.06 epoch sec; seqNo:233 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.24 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959226.86, time is 1599959223.86 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 26.84 epoch sec; seqNo:1599959225058; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959226.86, time is 1599959223.86 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959225.46 epoch sec; seqNo:234 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959226.86, time is 1599959225.46 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959225.47 epoch sec; seqNo:234; 4061516.71 north; 594256.73 east 2020-11-23T22:53:55Z- waiting for 1599959226.86, time is 1599959225.46 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959226.26 epoch sec; seqNo:236 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.12 phi; -0.25 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959226.86, time is 1599959225.46 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 27.11 epoch sec; seqNo:1599959226262; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959226.86, time is 1599959225.46 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959226.26 epoch sec; seqNo:236; 4061517.09 north; 594256.73 east 2020-11-23T22:53:55Z- waiting for 1599959226.86, time is 1599959225.46 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959227.06 epoch sec; seqNo:238 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.13 phi; -0.25 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959226.86, time is 1599959225.46 2020-11-23T22:53:55Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 27.37 epoch sec; seqNo:1599959227463; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959226.86, time is 1599959225.46 2020-11-23T22:53:55Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959227.47 epoch sec; seqNo:239 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959226.86, time is 1599959227.47 2020-11-23T22:53:55Z- sync is 0.41, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959227.06, meas time 1599959227.47 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959227.47, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959227.47 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061517, 594256.73, 27.37) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959228.66 epoch sec; seqNo:242; 4061519.37 north; 594256.70 east 2020-11-23T22:53:55Z- waiting for 1599959230.47, time is 1599959227.47 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959229.46 epoch sec; seqNo:244 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.13 phi; -0.25 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959230.47, time is 1599959227.47 2020-11-23T22:53:55Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 27.82 epoch sec; seqNo:1599959229466; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959230.47, time is 1599959227.47 2020-11-23T22:53:55Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959229.47 epoch sec; seqNo:244 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959230.47, time is 1599959229.47 2020-11-23T22:53:55Z- sync is 0.01, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959231.07 epoch sec; seqNo:248; 4061521.25 north; 594255.46 east 2020-11-23T22:53:55Z- waiting for 1599959230.47, time is 1599959229.47 2020-11-23T22:53:55Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959231.47 epoch sec; seqNo:249 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.14 phi; -0.25 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959230.47, time is 1599959229.47 2020-11-23T22:53:55Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 28.36 epoch sec; seqNo:1599959231872; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959230.47, time is 1599959229.47 2020-11-23T22:53:55Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959231.87 epoch sec; seqNo:250 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959230.47, time is 1599959231.87 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959231.47, meas time 1599959231.87 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959231.87, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959231.87 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061521, 594255.46, 28.36) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959232.27 epoch sec; seqNo:251; 4061522.38 north; 594255.45 east 2020-11-23T22:53:55Z- waiting for 1599959234.87, time is 1599959231.87 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959232.67 epoch sec; seqNo:252 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.14 phi; -0.25 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959234.87, time is 1599959231.87 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 28.63 epoch sec; seqNo:1599959233074; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959234.87, time is 1599959231.87 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959233.48 epoch sec; seqNo:254 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959234.87, time is 1599959233.48 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959233.88 epoch sec; seqNo:255; 4061523.90 north; 594255.43 east 2020-11-23T22:53:55Z- waiting for 1599959234.87, time is 1599959233.48 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959234.28 epoch sec; seqNo:256 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.14 phi; -0.25 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959234.87, time is 1599959233.48 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 28.91 epoch sec; seqNo:1599959234275; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959234.87, time is 1599959233.48 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959234.67 epoch sec; seqNo:257 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959234.87, time is 1599959234.67 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959235.88 epoch sec; seqNo:260; 4061525.41 north; 594255.42 east 2020-11-23T22:53:55Z- waiting for 1599959234.87, time is 1599959234.67 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959236.28 epoch sec; seqNo:261 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.14 phi; -0.26 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959234.87, time is 1599959234.67 2020-11-23T22:53:55Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 29.46 epoch sec; seqNo:1599959236678; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959234.87, time is 1599959234.67 2020-11-23T22:53:55Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959236.68 epoch sec; seqNo:262 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959234.87, time is 1599959236.68 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959236.28, meas time 1599959236.68 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959236.68, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959236.68 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061525, 594255.42, 29.46) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959237.08 epoch sec; seqNo:263; 4061526.55 north; 594255.40 east 2020-11-23T22:53:55Z- waiting for 1599959239.68, time is 1599959236.68 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959237.88 epoch sec; seqNo:265 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.14 phi; -0.25 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959239.68, time is 1599959236.68 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 29.74 epoch sec; seqNo:1599959237881; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959239.68, time is 1599959236.68 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959238.28 epoch sec; seqNo:266 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959239.68, time is 1599959238.28 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959239.49 epoch sec; seqNo:269; 4061528.43 north; 594254.16 east 2020-11-23T22:53:55Z- waiting for 1599959239.68, time is 1599959238.28 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959240.28 epoch sec; seqNo:271 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.14 phi; -0.25 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959239.68, time is 1599959238.28 2020-11-23T22:53:55Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 30.28 epoch sec; seqNo:1599959240284; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959239.68, time is 1599959238.28 2020-11-23T22:53:55Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959240.28 epoch sec; seqNo:271 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959239.68, time is 1599959240.28 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959240.28, meas time 1599959240.28 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959240.28, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959240.28 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061528, 594254.16, 30.28) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959241.09 epoch sec; seqNo:273; 4061529.95 north; 594254.15 east 2020-11-23T22:53:55Z- waiting for 1599959243.28, time is 1599959240.28 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959241.48 epoch sec; seqNo:274 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.14 phi; -0.24 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959243.28, time is 1599959240.28 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 30.55 epoch sec; seqNo:1599959241486; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959243.28, time is 1599959240.28 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959241.89 epoch sec; seqNo:275 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959243.28, time is 1599959241.89 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959242.29 epoch sec; seqNo:276; 4061531.08 north; 594254.13 east 2020-11-23T22:53:55Z- waiting for 1599959243.28, time is 1599959241.89 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959242.69 epoch sec; seqNo:277 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.14 phi; -0.24 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959243.28, time is 1599959241.89 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 30.91 epoch sec; seqNo:1599959243090; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959243.28, time is 1599959241.89 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959243.09 epoch sec; seqNo:278 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.01 2020-11-23T22:53:55Z- waiting for 1599959243.28, time is 1599959243.09 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959244.30 epoch sec; seqNo:281; 4061532.60 north; 594254.12 east 2020-11-23T22:53:55Z- waiting for 1599959243.28, time is 1599959243.09 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959245.10 epoch sec; seqNo:283 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.14 phi; -0.24 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959243.28, time is 1599959243.09 2020-11-23T22:53:55Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 31.35 epoch sec; seqNo:1599959245097; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959243.28, time is 1599959243.09 2020-11-23T22:53:55Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959245.50 epoch sec; seqNo:284 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959243.28, time is 1599959245.50 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959245.10, meas time 1599959245.50 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959245.50, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959245.50 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061533, 594254.12, 31.35) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959245.90 epoch sec; seqNo:285; 4061534.11 north; 594254.10 east 2020-11-23T22:53:55Z- waiting for 1599959248.50, time is 1599959245.50 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959246.30 epoch sec; seqNo:286 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.14 phi; -0.23 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959248.50, time is 1599959245.50 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 31.69 epoch sec; seqNo:1599959246700; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959248.50, time is 1599959245.50 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959246.70 epoch sec; seqNo:287 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959248.50, time is 1599959246.70 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959247.10 epoch sec; seqNo:288; 4061535.25 north; 594254.09 east 2020-11-23T22:53:55Z- waiting for 1599959248.50, time is 1599959246.70 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959247.50 epoch sec; seqNo:289 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.14 phi; -0.23 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959248.50, time is 1599959246.70 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 31.95 epoch sec; seqNo:1599959247900; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959248.50, time is 1599959246.70 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959248.30 epoch sec; seqNo:291 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959248.50, time is 1599959248.30 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959249.50 epoch sec; seqNo:294; 4061537.13 north; 594252.85 east 2020-11-23T22:53:55Z- waiting for 1599959248.50, time is 1599959248.30 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959249.90 epoch sec; seqNo:295 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.14 phi; -0.23 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959248.50, time is 1599959248.30 2020-11-23T22:53:55Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 32.45 epoch sec; seqNo:1599959250303; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959248.50, time is 1599959248.30 2020-11-23T22:53:55Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959250.30 epoch sec; seqNo:296 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959248.50, time is 1599959250.30 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959249.90, meas time 1599959250.30 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959250.30, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959250.30 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061537, 594252.85, 32.45) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959251.11 epoch sec; seqNo:298; 4061538.65 north; 594252.83 east 2020-11-23T22:53:55Z- waiting for 1599959253.30, time is 1599959250.30 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959251.50 epoch sec; seqNo:299 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.13 phi; -0.23 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959253.30, time is 1599959250.30 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 32.78 epoch sec; seqNo:1599959251907; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959253.30, time is 1599959250.30 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959251.91 epoch sec; seqNo:300 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959253.30, time is 1599959251.91 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959253.51 epoch sec; seqNo:304; 4061540.54 north; 594252.81 east 2020-11-23T22:53:55Z- waiting for 1599959253.30, time is 1599959251.91 2020-11-23T22:53:55Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959253.91 epoch sec; seqNo:305 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.13 phi; -0.22 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959253.30, time is 1599959251.91 2020-11-23T22:53:55Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 33.26 epoch sec; seqNo:1599959254309; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959253.30, time is 1599959251.91 2020-11-23T22:53:55Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959254.31 epoch sec; seqNo:306 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959253.30, time is 1599959254.31 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959253.91, meas time 1599959254.31 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959254.31, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959254.31 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061541, 594252.81, 33.26) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959254.71 epoch sec; seqNo:307; 4061541.68 north; 594252.80 east 2020-11-23T22:53:55Z- waiting for 1599959257.31, time is 1599959254.31 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959255.11 epoch sec; seqNo:308 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.13 phi; -0.22 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959257.31, time is 1599959254.31 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 33.50 epoch sec; seqNo:1599959255512; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959257.31, time is 1599959254.31 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959255.91 epoch sec; seqNo:310 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959257.31, time is 1599959255.91 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959255.91 epoch sec; seqNo:310; 4061542.81 north; 594252.78 east 2020-11-23T22:53:55Z- waiting for 1599959257.31, time is 1599959255.91 2020-11-23T22:53:55Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959256.31 epoch sec; seqNo:311 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.13 phi; -0.22 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959257.31, time is 1599959255.91 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 33.74 epoch sec; seqNo:1599959256712; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959257.31, time is 1599959255.91 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959256.71 epoch sec; seqNo:312 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959257.31, time is 1599959256.71 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959257.92 epoch sec; seqNo:315; 4061544.33 north; 594252.77 east 2020-11-23T22:53:55Z- waiting for 1599959257.31, time is 1599959256.71 2020-11-23T22:53:55Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959258.71 epoch sec; seqNo:317 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.13 phi; -0.21 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959257.31, time is 1599959256.71 2020-11-23T22:53:55Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 34.13 epoch sec; seqNo:1599959258716; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959257.31, time is 1599959256.71 2020-11-23T22:53:55Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959259.12 epoch sec; seqNo:318 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959257.31, time is 1599959259.12 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959258.71, meas time 1599959259.12 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959259.12, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959259.12 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061544, 594252.77, 34.13) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959259.52 epoch sec; seqNo:319; 4061545.83 north; 594251.53 east 2020-11-23T22:53:55Z- waiting for 1599959262.12, time is 1599959259.12 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959259.92 epoch sec; seqNo:320 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.13 phi; -0.20 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959262.12, time is 1599959259.12 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 34.43 epoch sec; seqNo:1599959260320; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959262.12, time is 1599959259.12 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959260.32 epoch sec; seqNo:321 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959262.12, time is 1599959260.32 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959261.53 epoch sec; seqNo:324; 4061547.73 north; 594251.51 east 2020-11-23T22:53:55Z- waiting for 1599959262.12, time is 1599959260.32 2020-11-23T22:53:55Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959261.92 epoch sec; seqNo:325 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.13 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959262.12, time is 1599959260.32 2020-11-23T22:53:55Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 34.79 epoch sec; seqNo:1599959262324; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959262.12, time is 1599959260.32 2020-11-23T22:53:55Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959262.33 epoch sec; seqNo:326 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959262.12, time is 1599959262.33 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959261.92, meas time 1599959262.33 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959262.33, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959262.33 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061548, 594251.51, 34.79) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959262.73 epoch sec; seqNo:327; 4061548.48 north; 594251.50 east 2020-11-23T22:53:55Z- waiting for 1599959265.33, time is 1599959262.33 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959263.13 epoch sec; seqNo:328 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959265.33, time is 1599959263.13 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959263.93 epoch sec; seqNo:330 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.13 phi; -0.18 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959265.33, time is 1599959263.13 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 35.13 epoch sec; seqNo:1599959264328; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959265.33, time is 1599959263.13 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959264.33 epoch sec; seqNo:331 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959265.33, time is 1599959264.33 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 35.20 epoch sec; seqNo:1599959264729; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959265.33, time is 1599959264.33 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959265.93 epoch sec; seqNo:335; 4061551.51 north; 594251.47 east 2020-11-23T22:53:55Z- waiting for 1599959265.33, time is 1599959264.33 2020-11-23T22:53:55Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959266.33 epoch sec; seqNo:336 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.13 phi; -0.18 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959265.33, time is 1599959264.33 2020-11-23T22:53:55Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959266.73 epoch sec; seqNo:337 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.13 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959265.33, time is 1599959264.33 2020-11-23T22:53:55Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 35.59 epoch sec; seqNo:1599959267135; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959265.33, time is 1599959264.33 2020-11-23T22:53:55Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959267.14 epoch sec; seqNo:338 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959265.33, time is 1599959267.14 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959266.73, meas time 1599959267.14 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959267.14, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959267.14 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061552, 594251.47, 35.59) 2020-11-23T22:53:55Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:55Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:55Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959267.54 epoch sec; seqNo:339; 4061553.03 north; 594251.45 east 2020-11-23T22:53:55Z- waiting for 1599959270.14, time is 1599959267.14 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959267.93 epoch sec; seqNo:340 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.13 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959270.14, time is 1599959267.14 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 35.78 epoch sec; seqNo:1599959268335; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959270.14, time is 1599959267.14 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959268.34 epoch sec; seqNo:341 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959270.14, time is 1599959268.34 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959269.54 epoch sec; seqNo:344; 4061554.53 north; 594250.21 east 2020-11-23T22:53:55Z- waiting for 1599959270.14, time is 1599959268.34 2020-11-23T22:53:55Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959269.94 epoch sec; seqNo:345 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.00 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959270.14, time is 1599959269.94 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959270.34 epoch sec; seqNo:346; 4061555.29 north; 594250.21 east 2020-11-23T22:53:55Z- waiting for 1599959270.14, time is 1599959269.94 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- AHRS_M2 msg: 1599959270.74 epoch sec; seqNo:347 2020-11-23T22:53:55Z- AHRS_M2 msg: -0.14 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:55Z- waiting for 1599959270.14, time is 1599959269.94 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDepth()-Depth_Keller msg: 36.20 epoch sec; seqNo:1599959271138; depth 0.00 2020-11-23T22:53:55Z- waiting for 1599959270.14, time is 1599959269.94 2020-11-23T22:53:55Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: 1599959271.14 epoch sec; seqNo:348 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.00 , 0.00 2020-11-23T22:53:55Z- waiting for 1599959270.14, time is 1599959271.14 2020-11-23T22:53:55Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:55Z- LcmTrn::updateTrn() >>>> pose time 1599959270.74, meas time 1599959271.14 <<<< 2020-11-23T22:53:55Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959271.14, ping # 0. 2020-11-23T22:53:55Z- TerrainNav::Measurement type 1 from time = 1599959271.14 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:55Z- TerrainNav::motionUpdate() - currEstimate = (4061555, 594250.21, 36.20) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959272.34 epoch sec; seqNo:351; 4061557.18 north; 594250.18 east 2020-11-23T22:53:56Z- waiting for 1599959274.14, time is 1599959271.14 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959273.14 epoch sec; seqNo:353 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.14 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959274.14, time is 1599959271.14 2020-11-23T22:53:56Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 36.49 epoch sec; seqNo:1599959273141; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959274.14, time is 1599959271.14 2020-11-23T22:53:56Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 36.54 epoch sec; seqNo:1599959273541; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959274.14, time is 1599959271.14 2020-11-23T22:53:56Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959273.54 epoch sec; seqNo:354; 4061558.32 north; 594250.17 east 2020-11-23T22:53:56Z- waiting for 1599959274.14, time is 1599959271.14 2020-11-23T22:53:56Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959273.94 epoch sec; seqNo:355 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959274.14, time is 1599959271.14 2020-11-23T22:53:56Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959274.34 epoch sec; seqNo:356 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.00 , -0.00 2020-11-23T22:53:56Z- waiting for 1599959274.14, time is 1599959274.34 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959273.94, meas time 1599959274.34 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959274.34, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959274.34 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061558, 594250.17, 36.54) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959274.74 epoch sec; seqNo:357 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.00 , -0.00 2020-11-23T22:53:56Z- waiting for 1599959277.34, time is 1599959274.74 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959275.95 epoch sec; seqNo:360; 4061560.21 north; 594250.15 east 2020-11-23T22:53:56Z- waiting for 1599959277.34, time is 1599959274.74 2020-11-23T22:53:56Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959276.75 epoch sec; seqNo:362 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.16 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959277.34, time is 1599959274.74 2020-11-23T22:53:56Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 37.00 epoch sec; seqNo:1599959276747; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959277.34, time is 1599959274.74 2020-11-23T22:53:56Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959277.15 epoch sec; seqNo:363 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.00 , -0.00 2020-11-23T22:53:56Z- waiting for 1599959277.34, time is 1599959277.15 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959277.55 epoch sec; seqNo:364; 4061561.73 north; 594250.13 east 2020-11-23T22:53:56Z- waiting for 1599959277.34, time is 1599959277.15 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959277.95 epoch sec; seqNo:365 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.16 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959277.34, time is 1599959277.15 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 37.22 epoch sec; seqNo:1599959278350; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959277.34, time is 1599959277.15 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959278.35 epoch sec; seqNo:366; 4061562.47 north; 594248.91 east 2020-11-23T22:53:56Z- waiting for 1599959277.34, time is 1599959277.15 2020-11-23T22:53:56Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959278.75 epoch sec; seqNo:367 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.16 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959277.34, time is 1599959277.15 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 37.34 epoch sec; seqNo:1599959279151; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959277.34, time is 1599959277.15 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959279.15 epoch sec; seqNo:368 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.00 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959277.34, time is 1599959279.15 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959278.75, meas time 1599959279.15 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959279.15, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959279.15 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061562, 594248.91, 37.34) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959280.35 epoch sec; seqNo:371; 4061564.37 north; 594248.88 east 2020-11-23T22:53:56Z- waiting for 1599959282.15, time is 1599959279.15 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959280.75 epoch sec; seqNo:372 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.16 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959282.15, time is 1599959279.15 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 37.62 epoch sec; seqNo:1599959281151; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959282.15, time is 1599959279.15 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959281.15 epoch sec; seqNo:373 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959282.15, time is 1599959281.15 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959281.55 epoch sec; seqNo:374; 4061565.13 north; 594248.88 east 2020-11-23T22:53:56Z- waiting for 1599959282.15, time is 1599959281.15 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959282.35 epoch sec; seqNo:376 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.16 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959282.15, time is 1599959281.15 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 37.79 epoch sec; seqNo:1599959282353; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959282.15, time is 1599959281.15 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959282.75 epoch sec; seqNo:377 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959282.15, time is 1599959282.75 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959282.35, meas time 1599959282.75 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959282.75, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959282.75 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061565, 594248.88, 37.79) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959283.95 epoch sec; seqNo:380; 4061567.40 north; 594248.85 east 2020-11-23T22:53:56Z- waiting for 1599959285.75, time is 1599959282.75 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959284.35 epoch sec; seqNo:381 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.16 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959285.75, time is 1599959282.75 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 38.13 epoch sec; seqNo:1599959284755; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959285.75, time is 1599959282.75 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959284.76 epoch sec; seqNo:382 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959285.75, time is 1599959284.76 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959285.16 epoch sec; seqNo:383; 4061568.54 north; 594248.84 east 2020-11-23T22:53:56Z- waiting for 1599959285.75, time is 1599959284.76 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959285.56 epoch sec; seqNo:384 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.16 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959285.75, time is 1599959284.76 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 38.30 epoch sec; seqNo:1599959285957; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959285.75, time is 1599959284.76 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959285.96 epoch sec; seqNo:385 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959285.75, time is 1599959285.96 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959285.56, meas time 1599959285.96 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959285.96, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959285.96 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061569, 594248.84, 38.30) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959286.36 epoch sec; seqNo:386; 4061569.66 north; 594247.61 east 2020-11-23T22:53:56Z- waiting for 1599959288.96, time is 1599959285.96 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959286.76 epoch sec; seqNo:387 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959288.96, time is 1599959285.96 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 38.47 epoch sec; seqNo:1599959287161; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959288.96, time is 1599959285.96 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959287.56 epoch sec; seqNo:389 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959288.96, time is 1599959287.56 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959288.77 epoch sec; seqNo:392; 4061571.55 north; 594247.59 east 2020-11-23T22:53:56Z- waiting for 1599959288.96, time is 1599959287.56 2020-11-23T22:53:56Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959289.16 epoch sec; seqNo:393 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959288.96, time is 1599959287.56 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 38.81 epoch sec; seqNo:1599959289566; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959288.96, time is 1599959287.56 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959289.57 epoch sec; seqNo:394 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959288.96, time is 1599959289.57 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959289.16, meas time 1599959289.57 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959289.57, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959289.57 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061572, 594247.59, 38.81) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959289.97 epoch sec; seqNo:395; 4061572.69 north; 594247.57 east 2020-11-23T22:53:56Z- waiting for 1599959292.57, time is 1599959289.57 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959290.37 epoch sec; seqNo:396 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959292.57, time is 1599959289.57 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 38.98 epoch sec; seqNo:1599959290766; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959292.57, time is 1599959289.57 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959290.77 epoch sec; seqNo:397 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959292.57, time is 1599959290.77 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959291.97 epoch sec; seqNo:400; 4061574.58 north; 594247.55 east 2020-11-23T22:53:56Z- waiting for 1599959292.57, time is 1599959290.77 2020-11-23T22:53:56Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959292.77 epoch sec; seqNo:402 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959292.57, time is 1599959290.77 2020-11-23T22:53:56Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 39.26 epoch sec; seqNo:1599959292769; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959292.57, time is 1599959290.77 2020-11-23T22:53:56Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959293.17 epoch sec; seqNo:403 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959292.57, time is 1599959293.17 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959292.77, meas time 1599959293.17 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959293.17, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959293.17 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061575, 594247.55, 39.26) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959293.57 epoch sec; seqNo:404; 4061575.72 north; 594247.54 east 2020-11-23T22:53:56Z- waiting for 1599959296.17, time is 1599959293.17 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959293.97 epoch sec; seqNo:405 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959296.17, time is 1599959293.17 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 39.49 epoch sec; seqNo:1599959294370; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959296.17, time is 1599959293.17 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959294.37 epoch sec; seqNo:406 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959296.17, time is 1599959294.37 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959294.77 epoch sec; seqNo:407; 4061576.84 north; 594246.31 east 2020-11-23T22:53:56Z- waiting for 1599959296.17, time is 1599959294.37 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959295.17 epoch sec; seqNo:408 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959296.17, time is 1599959294.37 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 39.66 epoch sec; seqNo:1599959295571; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959296.17, time is 1599959294.37 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959295.57 epoch sec; seqNo:409 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959296.17, time is 1599959295.57 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959296.78 epoch sec; seqNo:412; 4061578.74 north; 594246.29 east 2020-11-23T22:53:56Z- waiting for 1599959296.17, time is 1599959295.57 2020-11-23T22:53:56Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959297.58 epoch sec; seqNo:414 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959296.17, time is 1599959295.57 2020-11-23T22:53:56Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 39.94 epoch sec; seqNo:1599959297575; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959296.17, time is 1599959295.57 2020-11-23T22:53:56Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959297.98 epoch sec; seqNo:415 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959296.17, time is 1599959297.98 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959297.58, meas time 1599959297.98 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959297.98, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959297.98 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061579, 594246.29, 39.94) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959298.38 epoch sec; seqNo:416; 4061580.25 north; 594246.27 east 2020-11-23T22:53:56Z- waiting for 1599959300.98, time is 1599959297.98 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959298.78 epoch sec; seqNo:417 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959300.98, time is 1599959297.98 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 40.17 epoch sec; seqNo:1599959299176; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959300.98, time is 1599959297.98 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959299.18 epoch sec; seqNo:418 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959300.98, time is 1599959299.18 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959299.58 epoch sec; seqNo:419; 4061581.01 north; 594246.26 east 2020-11-23T22:53:56Z- waiting for 1599959300.98, time is 1599959299.18 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959300.38 epoch sec; seqNo:421 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959300.98, time is 1599959299.18 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 40.34 epoch sec; seqNo:1599959300379; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959300.98, time is 1599959299.18 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959300.78 epoch sec; seqNo:422 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959300.98, time is 1599959300.78 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959301.98 epoch sec; seqNo:425; 4061583.28 north; 594246.24 east 2020-11-23T22:53:56Z- waiting for 1599959300.98, time is 1599959300.78 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959302.38 epoch sec; seqNo:426 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959300.98, time is 1599959300.78 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 40.63 epoch sec; seqNo:1599959302379; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959300.98, time is 1599959300.78 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959302.78 epoch sec; seqNo:427 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959300.98, time is 1599959302.78 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959302.38, meas time 1599959302.78 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959302.78, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959302.78 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061583, 594246.24, 40.63) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959303.18 epoch sec; seqNo:428; 4061584.41 north; 594245.00 east 2020-11-23T22:53:56Z- waiting for 1599959305.78, time is 1599959302.78 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959303.58 epoch sec; seqNo:429 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959305.78, time is 1599959302.78 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 40.85 epoch sec; seqNo:1599959303982; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959305.78, time is 1599959302.78 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959303.98 epoch sec; seqNo:430 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959305.78, time is 1599959303.98 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959305.19 epoch sec; seqNo:433; 4061586.30 north; 594244.98 east 2020-11-23T22:53:56Z- waiting for 1599959305.78, time is 1599959303.98 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959305.58 epoch sec; seqNo:434 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959305.78, time is 1599959303.98 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 41.14 epoch sec; seqNo:1599959305985; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959305.78, time is 1599959303.98 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959306.39 epoch sec; seqNo:436 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959305.78, time is 1599959306.39 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959305.58, meas time 1599959306.39 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959306.39, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959306.39 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061586, 594244.98, 41.14) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959306.39 epoch sec; seqNo:436; 4061587.06 north; 594244.97 east 2020-11-23T22:53:56Z- waiting for 1599959309.39, time is 1599959306.39 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959307.19 epoch sec; seqNo:438 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959309.39, time is 1599959306.39 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 41.37 epoch sec; seqNo:1599959307588; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959309.39, time is 1599959306.39 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959307.59 epoch sec; seqNo:439 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959309.39, time is 1599959307.59 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959307.99 epoch sec; seqNo:440; 4061588.57 north; 594244.96 east 2020-11-23T22:53:56Z- waiting for 1599959309.39, time is 1599959307.59 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959308.39 epoch sec; seqNo:441 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959309.39, time is 1599959307.59 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 41.54 epoch sec; seqNo:1599959308789; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959309.39, time is 1599959307.59 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959308.79 epoch sec; seqNo:442 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959309.39, time is 1599959308.79 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959310.00 epoch sec; seqNo:445; 4061590.47 north; 594244.94 east 2020-11-23T22:53:56Z- waiting for 1599959309.39, time is 1599959308.79 2020-11-23T22:53:56Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959310.80 epoch sec; seqNo:447 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959309.39, time is 1599959308.79 2020-11-23T22:53:56Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 41.82 epoch sec; seqNo:1599959310795; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959309.39, time is 1599959308.79 2020-11-23T22:53:56Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959311.19 epoch sec; seqNo:448 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959309.39, time is 1599959311.19 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959310.80, meas time 1599959311.19 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959311.19, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959311.19 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061590, 594244.94, 41.82) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959311.60 epoch sec; seqNo:449; 4061591.98 north; 594244.92 east 2020-11-23T22:53:56Z- waiting for 1599959314.19, time is 1599959311.19 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959311.99 epoch sec; seqNo:450 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959314.19, time is 1599959311.19 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 42.05 epoch sec; seqNo:1599959312396; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959314.19, time is 1599959311.19 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959312.40 epoch sec; seqNo:451 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.00 2020-11-23T22:53:56Z- waiting for 1599959314.19, time is 1599959312.40 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959313.60 epoch sec; seqNo:454; 4061593.49 north; 594243.68 east 2020-11-23T22:53:56Z- waiting for 1599959314.19, time is 1599959312.40 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959314.00 epoch sec; seqNo:455 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.00 2020-11-23T22:53:56Z- waiting for 1599959314.19, time is 1599959314.00 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959314.80 epoch sec; seqNo:457 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959314.19, time is 1599959314.00 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 42.38 epoch sec; seqNo:1599959314801; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959314.19, time is 1599959314.00 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959315.20 epoch sec; seqNo:458 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.00 2020-11-23T22:53:56Z- waiting for 1599959314.19, time is 1599959315.20 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959314.80, meas time 1599959315.20 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959315.20, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959315.20 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061593, 594243.68, 42.38) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 42.49 epoch sec; seqNo:1599959315602; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959318.20, time is 1599959315.20 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959315.61 epoch sec; seqNo:459; 4061595.38 north; 594243.66 east 2020-11-23T22:53:56Z- waiting for 1599959318.20, time is 1599959315.20 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959316.00 epoch sec; seqNo:460 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959318.20, time is 1599959315.20 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959316.40 epoch sec; seqNo:461 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959318.20, time is 1599959315.20 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 42.65 epoch sec; seqNo:1599959316802; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959318.20, time is 1599959315.20 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959316.80 epoch sec; seqNo:462 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.00 2020-11-23T22:53:56Z- waiting for 1599959318.20, time is 1599959316.80 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959317.60 epoch sec; seqNo:464 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959318.20, time is 1599959316.80 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959317.60 epoch sec; seqNo:464; 4061597.27 north; 594243.64 east 2020-11-23T22:53:56Z- waiting for 1599959318.20, time is 1599959316.80 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 42.81 epoch sec; seqNo:1599959318003; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959318.20, time is 1599959316.80 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959318.00 epoch sec; seqNo:465 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.00 2020-11-23T22:53:56Z- waiting for 1599959318.20, time is 1599959318.00 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959318.01 epoch sec; seqNo:465; 4061597.65 north; 594243.64 east 2020-11-23T22:53:56Z- waiting for 1599959318.20, time is 1599959318.00 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959318.41 epoch sec; seqNo:466 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.00 2020-11-23T22:53:56Z- waiting for 1599959318.20, time is 1599959318.41 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959318.01, meas time 1599959318.41 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959318.41, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959318.41 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061598, 594243.64, 42.81) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959318.41 epoch sec; seqNo:466; 4061598.03 north; 594243.63 east 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959318.41 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959318.81 epoch sec; seqNo:467 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.14 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959318.41 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 42.91 epoch sec; seqNo:1599959318805; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959318.41 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959318.81 epoch sec; seqNo:467 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.00 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959318.81 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959319.21 epoch sec; seqNo:468; 4061598.41 north; 594243.63 east 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959318.81 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959319.61 epoch sec; seqNo:469 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.14 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959318.81 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 43.01 epoch sec; seqNo:1599959319605; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959318.81 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959319.61 epoch sec; seqNo:469; 4061598.79 north; 594243.62 east 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959318.81 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959320.01 epoch sec; seqNo:470 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.14 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959318.81 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 43.06 epoch sec; seqNo:1599959320006; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959318.81 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959320.01 epoch sec; seqNo:470 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.00 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959320.01 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959320.81 epoch sec; seqNo:472 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.00 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959320.81 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959320.81 epoch sec; seqNo:472; 4061599.91 north; 594242.39 east 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959320.81 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959321.21 epoch sec; seqNo:473 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.14 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959320.81 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 43.21 epoch sec; seqNo:1599959321208; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959320.81 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959321.21 epoch sec; seqNo:473 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.00 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959321.21 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959321.21 epoch sec; seqNo:473; 4061600.29 north; 594242.39 east 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959321.21 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959321.61 epoch sec; seqNo:474 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.14 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959321.21 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 43.25 epoch sec; seqNo:1599959321608; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959321.21 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959321.61 epoch sec; seqNo:474; 4061600.67 north; 594242.38 east 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959321.21 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959322.01 epoch sec; seqNo:475 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.13 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959321.21 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 43.30 epoch sec; seqNo:1599959322008; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959321.21 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959322.01 epoch sec; seqNo:475 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.00 2020-11-23T22:53:56Z- waiting for 1599959321.41, time is 1599959322.01 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959322.01, meas time 1599959322.01 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959322.01, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959322.01 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061601, 594242.38, 43.30) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959322.41 epoch sec; seqNo:476; 4061601.43 north; 594242.37 east 2020-11-23T22:53:56Z- waiting for 1599959325.01, time is 1599959322.01 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959322.81 epoch sec; seqNo:477 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.13 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959325.01, time is 1599959322.01 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 43.40 epoch sec; seqNo:1599959322811; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959325.01, time is 1599959322.01 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959322.81 epoch sec; seqNo:477 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.00 2020-11-23T22:53:56Z- waiting for 1599959325.01, time is 1599959322.81 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959323.21 epoch sec; seqNo:478; 4061602.19 north; 594242.37 east 2020-11-23T22:53:56Z- waiting for 1599959325.01, time is 1599959322.81 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959323.61 epoch sec; seqNo:479 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; -0.13 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959325.01, time is 1599959322.81 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 43.49 epoch sec; seqNo:1599959323613; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959325.01, time is 1599959322.81 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959323.61 epoch sec; seqNo:479 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.00 2020-11-23T22:53:56Z- waiting for 1599959325.01, time is 1599959323.61 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959324.02 epoch sec; seqNo:480; 4061602.94 north; 594242.36 east 2020-11-23T22:53:56Z- waiting for 1599959325.01, time is 1599959323.61 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959324.41 epoch sec; seqNo:481 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.14 phi; -0.13 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959325.01, time is 1599959323.61 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 43.58 epoch sec; seqNo:1599959324415; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959325.01, time is 1599959323.61 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959324.42 epoch sec; seqNo:481 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.00 2020-11-23T22:53:56Z- waiting for 1599959325.01, time is 1599959324.42 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959324.42 epoch sec; seqNo:481; 4061603.32 north; 594242.35 east 2020-11-23T22:53:56Z- waiting for 1599959325.01, time is 1599959324.42 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959324.81 epoch sec; seqNo:482 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.14 phi; -0.13 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959325.01, time is 1599959324.42 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 43.67 epoch sec; seqNo:1599959325214; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959325.01, time is 1599959324.42 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959325.21 epoch sec; seqNo:483 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.00 2020-11-23T22:53:56Z- waiting for 1599959325.01, time is 1599959325.21 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959324.81, meas time 1599959325.21 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959325.21, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959325.21 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061603, 594242.35, 43.67) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959325.62 epoch sec; seqNo:484; 4061604.46 north; 594242.34 east 2020-11-23T22:53:56Z- waiting for 1599959328.21, time is 1599959325.21 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959326.01 epoch sec; seqNo:485 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.14 phi; -0.13 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959328.21, time is 1599959325.21 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 43.76 epoch sec; seqNo:1599959326014; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959328.21, time is 1599959325.21 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959326.02 epoch sec; seqNo:485 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959328.21, time is 1599959326.02 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959326.41 epoch sec; seqNo:486 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.14 phi; -0.12 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959328.21, time is 1599959326.02 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959326.41 epoch sec; seqNo:486; 4061604.84 north; 594242.34 east 2020-11-23T22:53:56Z- waiting for 1599959328.21, time is 1599959326.02 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 43.85 epoch sec; seqNo:1599959326816; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959328.21, time is 1599959326.02 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959326.82 epoch sec; seqNo:487 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959328.21, time is 1599959326.82 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959327.22 epoch sec; seqNo:488; 4061605.60 north; 594242.33 east 2020-11-23T22:53:56Z- waiting for 1599959328.21, time is 1599959326.82 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959327.62 epoch sec; seqNo:489 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.14 phi; -0.12 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959328.21, time is 1599959326.82 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 43.93 epoch sec; seqNo:1599959327616; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959328.21, time is 1599959326.82 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959327.62 epoch sec; seqNo:489 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959328.21, time is 1599959327.62 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959327.62 epoch sec; seqNo:489; 4061605.97 north; 594242.32 east 2020-11-23T22:53:56Z- waiting for 1599959328.21, time is 1599959327.62 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959328.02 epoch sec; seqNo:490 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.14 phi; -0.12 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959328.21, time is 1599959327.62 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 43.97 epoch sec; seqNo:1599959328017; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959328.21, time is 1599959327.62 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959328.02 epoch sec; seqNo:490 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959328.21, time is 1599959328.02 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959328.42 epoch sec; seqNo:491; 4061606.73 north; 594242.32 east 2020-11-23T22:53:56Z- waiting for 1599959328.21, time is 1599959328.02 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959328.82 epoch sec; seqNo:492 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.14 phi; -0.12 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959328.21, time is 1599959328.02 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 44.06 epoch sec; seqNo:1599959328819; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959328.21, time is 1599959328.02 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959328.82 epoch sec; seqNo:492 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959328.21, time is 1599959328.82 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959328.82, meas time 1599959328.82 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959328.82, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959328.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061607, 594242.32, 44.06) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959329.22 epoch sec; seqNo:493; 4061607.48 north; 594241.09 east 2020-11-23T22:53:56Z- waiting for 1599959331.82, time is 1599959328.82 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959329.62 epoch sec; seqNo:494 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.14 phi; -0.12 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959331.82, time is 1599959328.82 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 44.14 epoch sec; seqNo:1599959329619; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959331.82, time is 1599959328.82 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959329.62 epoch sec; seqNo:494 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959331.82, time is 1599959329.62 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959329.62 epoch sec; seqNo:494; 4061607.86 north; 594241.08 east 2020-11-23T22:53:56Z- waiting for 1599959331.82, time is 1599959329.62 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959330.02 epoch sec; seqNo:495 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.14 phi; -0.12 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959331.82, time is 1599959329.62 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 44.18 epoch sec; seqNo:1599959330021; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959331.82, time is 1599959329.62 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959330.02 epoch sec; seqNo:495 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959331.82, time is 1599959330.02 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959330.42 epoch sec; seqNo:496; 4061608.61 north; 594241.08 east 2020-11-23T22:53:56Z- waiting for 1599959331.82, time is 1599959330.02 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959330.82 epoch sec; seqNo:497 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.14 phi; -0.12 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959331.82, time is 1599959330.02 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 44.30 epoch sec; seqNo:1599959331222; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959331.82, time is 1599959330.02 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959331.22 epoch sec; seqNo:498 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959331.82, time is 1599959331.22 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959331.22 epoch sec; seqNo:498; 4061609.37 north; 594241.07 east 2020-11-23T22:53:56Z- waiting for 1599959331.82, time is 1599959331.22 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959331.62 epoch sec; seqNo:499 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.14 phi; -0.12 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959331.82, time is 1599959331.22 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 44.34 epoch sec; seqNo:1599959331623; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959331.82, time is 1599959331.22 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959331.62 epoch sec; seqNo:499 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959331.82, time is 1599959331.62 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959331.63 epoch sec; seqNo:499; 4061609.75 north; 594241.06 east 2020-11-23T22:53:56Z- waiting for 1599959331.82, time is 1599959331.62 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959332.03 epoch sec; seqNo:500 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.14 phi; -0.12 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959331.82, time is 1599959331.62 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 44.38 epoch sec; seqNo:1599959332027; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959331.82, time is 1599959331.62 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959332.03 epoch sec; seqNo:500 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959331.82, time is 1599959332.03 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959332.03, meas time 1599959332.03 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959332.03, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959332.03 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061610, 594241.06, 44.38) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959332.43 epoch sec; seqNo:501; 4061610.51 north; 594241.05 east 2020-11-23T22:53:56Z- waiting for 1599959335.03, time is 1599959332.03 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959332.83 epoch sec; seqNo:502 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.14 phi; -0.12 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959335.03, time is 1599959332.03 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 44.50 epoch sec; seqNo:1599959333225; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959335.03, time is 1599959332.03 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959333.23 epoch sec; seqNo:503 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959335.03, time is 1599959333.23 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959333.23 epoch sec; seqNo:503; 4061611.26 north; 594241.05 east 2020-11-23T22:53:56Z- waiting for 1599959335.03, time is 1599959333.23 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959333.63 epoch sec; seqNo:504 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.14 phi; -0.12 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959335.03, time is 1599959333.23 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 44.54 epoch sec; seqNo:1599959333628; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959335.03, time is 1599959333.23 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959333.63 epoch sec; seqNo:504 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959335.03, time is 1599959333.63 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959334.03 epoch sec; seqNo:505; 4061611.64 north; 594241.04 east 2020-11-23T22:53:56Z- waiting for 1599959335.03, time is 1599959333.63 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959334.43 epoch sec; seqNo:506 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.14 phi; -0.12 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959335.03, time is 1599959333.63 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 44.62 epoch sec; seqNo:1599959334428; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959335.03, time is 1599959333.63 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959334.43 epoch sec; seqNo:506 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959335.03, time is 1599959334.43 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959334.84 epoch sec; seqNo:507; 4061612.40 north; 594241.03 east 2020-11-23T22:53:56Z- waiting for 1599959335.03, time is 1599959334.43 2020-11-23T22:53:56Z- sync is 0.41, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959335.23 epoch sec; seqNo:508 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.14 phi; -0.12 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959335.03, time is 1599959334.43 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 44.71 epoch sec; seqNo:1599959335229; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959335.03, time is 1599959334.43 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959335.23 epoch sec; seqNo:508 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959335.03, time is 1599959335.23 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959335.23, meas time 1599959335.23 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599959335.23, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959335.23 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061612, 594241.03, 44.71) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959335.23 epoch sec; seqNo:508; 4061612.78 north; 594241.03 east 2020-11-23T22:53:56Z- waiting for 1599959338.23, time is 1599959335.23 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959335.63 epoch sec; seqNo:509 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.14 phi; -0.12 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959338.23, time is 1599959335.23 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 44.75 epoch sec; seqNo:1599959335629; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959338.23, time is 1599959335.23 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959335.63 epoch sec; seqNo:509 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959338.23, time is 1599959335.63 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959336.04 epoch sec; seqNo:510; 4061613.54 north; 594241.02 east 2020-11-23T22:53:56Z- waiting for 1599959338.23, time is 1599959335.63 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959336.43 epoch sec; seqNo:511 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.14 phi; -0.12 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959338.23, time is 1599959335.63 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 44.83 epoch sec; seqNo:1599959336431; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959338.23, time is 1599959335.63 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959336.43 epoch sec; seqNo:511 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959338.23, time is 1599959336.43 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959336.83 epoch sec; seqNo:512 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959338.23, time is 1599959336.83 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959336.84 epoch sec; seqNo:512; 4061614.30 north; 594241.01 east 2020-11-23T22:53:56Z- waiting for 1599959338.23, time is 1599959336.83 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959337.23 epoch sec; seqNo:513 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.14 phi; -0.13 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959338.23, time is 1599959336.83 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 44.91 epoch sec; seqNo:1599959337231; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959338.23, time is 1599959336.83 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959482.26 epoch sec; seqNo:875; 4061660.09 north; 594305.19 east 2020-11-23T22:53:56Z- waiting for 1599959338.23, time is 1599959336.83 2020-11-23T22:53:56Z- sync is 145.43, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959482.66 epoch sec; seqNo:876 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.27 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959338.23, time is 1599959336.83 2020-11-23T22:53:56Z- sync is 145.83, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1599959482665; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959338.23, time is 1599959336.83 2020-11-23T22:53:56Z- sync is 145.83, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959482.66 epoch sec; seqNo:876 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.08 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959338.23, time is 1599959482.66 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959482.66, meas time 1599959482.66 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 28.000 at t=1599959482.66, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959482.66 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061660, 594305.19, 50.25) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959482.66 epoch sec; seqNo:876; 4061660.10 north; 594306.41 east 2020-11-23T22:53:56Z- waiting for 1599959485.66, time is 1599959482.66 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959483.07 epoch sec; seqNo:877 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.27 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959485.66, time is 1599959482.66 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1599959483065; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959485.66, time is 1599959482.66 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959483.07 epoch sec; seqNo:877 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.08 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959485.66, time is 1599959483.07 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959483.07 epoch sec; seqNo:877; 4061660.48 north; 594306.41 east 2020-11-23T22:53:56Z- waiting for 1599959485.66, time is 1599959483.07 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959483.47 epoch sec; seqNo:878 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.27 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959485.66, time is 1599959483.07 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1599959483466; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959485.66, time is 1599959483.07 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959483.47 epoch sec; seqNo:878 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.08 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959485.66, time is 1599959483.47 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959483.47 epoch sec; seqNo:878; 4061660.48 north; 594306.41 east 2020-11-23T22:53:56Z- waiting for 1599959485.66, time is 1599959483.47 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959483.87 epoch sec; seqNo:879 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.27 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959485.66, time is 1599959483.47 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1599959483868; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959485.66, time is 1599959483.47 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959483.87 epoch sec; seqNo:879 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.08 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959485.66, time is 1599959483.87 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959483.87 epoch sec; seqNo:879; 4061660.50 north; 594307.63 east 2020-11-23T22:53:56Z- waiting for 1599959485.66, time is 1599959483.87 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959484.27 epoch sec; seqNo:880 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.26 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959485.66, time is 1599959483.87 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1599959484269; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959485.66, time is 1599959483.87 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959484.27 epoch sec; seqNo:880 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.08 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959485.66, time is 1599959484.27 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959484.27 epoch sec; seqNo:880; 4061660.50 north; 594307.63 east 2020-11-23T22:53:56Z- waiting for 1599959485.66, time is 1599959484.27 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959484.67 epoch sec; seqNo:881 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.26 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959485.66, time is 1599959484.27 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1599959484670; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959485.66, time is 1599959484.27 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1599959506302; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959485.66, time is 1599959484.27 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959506.30 epoch sec; seqNo:935 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959485.66, time is 1599959506.30 2020-11-23T22:53:56Z- sync is 21.63, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959506.30 epoch sec; seqNo:935; 4061665.65 north; 594328.32 east 2020-11-23T22:53:56Z- waiting for 1599959485.66, time is 1599959506.30 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959506.30, meas time 1599959506.30 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 18.000 at t=1599959506.30, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959506.30 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594328.32, 49.87) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959506.70 epoch sec; seqNo:936 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.29 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959509.30, time is 1599959506.30 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.86 epoch sec; seqNo:1599959506701; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959509.30, time is 1599959506.30 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959506.70 epoch sec; seqNo:936 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959509.30, time is 1599959506.70 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959506.70 epoch sec; seqNo:936; 4061665.66 north; 594329.54 east 2020-11-23T22:53:56Z- waiting for 1599959509.30, time is 1599959506.70 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959507.10 epoch sec; seqNo:937 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.30 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959509.30, time is 1599959506.70 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.86 epoch sec; seqNo:1599959507101; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959509.30, time is 1599959506.70 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959507.10 epoch sec; seqNo:937 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959509.30, time is 1599959507.10 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959507.10 epoch sec; seqNo:937; 4061665.66 north; 594329.54 east 2020-11-23T22:53:56Z- waiting for 1599959509.30, time is 1599959507.10 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959507.50 epoch sec; seqNo:938 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.30 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959509.30, time is 1599959507.10 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1599959507503; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959509.30, time is 1599959507.10 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959507.50 epoch sec; seqNo:938 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959509.30, time is 1599959507.50 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959507.50 epoch sec; seqNo:938; 4061666.04 north; 594329.54 east 2020-11-23T22:53:56Z- waiting for 1599959509.30, time is 1599959507.50 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959507.90 epoch sec; seqNo:939 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.30 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959509.30, time is 1599959507.50 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959507.90 epoch sec; seqNo:939 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959509.30, time is 1599959507.90 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959507.90 epoch sec; seqNo:939; 4061666.04 north; 594329.54 east 2020-11-23T22:53:56Z- waiting for 1599959509.30, time is 1599959507.90 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599959517920; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959509.30, time is 1599959507.90 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959517.92 epoch sec; seqNo:964 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959509.30, time is 1599959517.92 2020-11-23T22:53:56Z- sync is 10.02, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959517.92 epoch sec; seqNo:964; 4061668.04 north; 594339.28 east 2020-11-23T22:53:56Z- waiting for 1599959509.30, time is 1599959517.92 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959517.92, meas time 1599959517.92 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 29.000 at t=1599959517.92, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959517.92 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061668, 594339.28, 49.77) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959518.32 epoch sec; seqNo:965 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.31 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959520.92, time is 1599959517.92 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599959518320; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959520.92, time is 1599959517.92 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959518.32 epoch sec; seqNo:965 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959520.92, time is 1599959518.32 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959518.32 epoch sec; seqNo:965; 4061668.06 north; 594340.50 east 2020-11-23T22:53:56Z- waiting for 1599959520.92, time is 1599959518.32 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959518.72 epoch sec; seqNo:966 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.31 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959520.92, time is 1599959518.32 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599959518721; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959520.92, time is 1599959518.32 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959518.72 epoch sec; seqNo:966 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959520.92, time is 1599959518.72 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959519.12 epoch sec; seqNo:967 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.31 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959520.92, time is 1599959518.72 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959547.57 epoch sec; seqNo:1038 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959520.92, time is 1599959547.57 2020-11-23T22:53:56Z- sync is 28.45, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959547.57 epoch sec; seqNo:1038; 4061672.91 north; 594368.52 east 2020-11-23T22:53:56Z- waiting for 1599959520.92, time is 1599959547.57 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959547.57, meas time 1599959547.57 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 25.000 at t=1599959547.57, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959547.57 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061673, 594368.52, 49.76) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959547.97 epoch sec; seqNo:1039 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.35 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959547.57 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1599959547972; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959547.57 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959547.97 epoch sec; seqNo:1039 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959547.97 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959547.97 epoch sec; seqNo:1039; 4061673.29 north; 594368.51 east 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959547.97 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959548.37 epoch sec; seqNo:1040 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.35 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959547.97 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1599959548372; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959547.97 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959548.37 epoch sec; seqNo:1040 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959548.37 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959548.37 epoch sec; seqNo:1040; 4061673.29 north; 594368.51 east 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959548.37 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959548.77 epoch sec; seqNo:1041 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.35 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959548.37 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1599959548773; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959548.37 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959548.77 epoch sec; seqNo:1041 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959548.77 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959548.77 epoch sec; seqNo:1041; 4061673.30 north; 594369.73 east 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959548.77 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959549.17 epoch sec; seqNo:1042 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.35 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959548.77 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1599959549173; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959548.77 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959549.17 epoch sec; seqNo:1042 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959549.17 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959549.17 epoch sec; seqNo:1042; 4061673.30 north; 594369.73 east 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959549.17 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959549.57 epoch sec; seqNo:1043 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.35 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959549.17 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1599959549574; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959549.17 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959549.57 epoch sec; seqNo:1043; 4061673.30 north; 594369.73 east 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959549.17 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959549.97 epoch sec; seqNo:1044 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.35 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959549.17 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1599959549974; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959549.17 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959570.82 epoch sec; seqNo:1096 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959570.82 2020-11-23T22:53:56Z- sync is 20.85, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959570.82 epoch sec; seqNo:1096; 4061676.56 north; 594390.45 east 2020-11-23T22:53:56Z- waiting for 1599959550.57, time is 1599959570.82 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959570.82, meas time 1599959570.82 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 14.000 at t=1599959570.82, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959570.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061677, 594390.45, 49.92) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959571.22 epoch sec; seqNo:1097 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.35 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959573.82, time is 1599959570.82 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1599959571218; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959573.82, time is 1599959570.82 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959571.22 epoch sec; seqNo:1097 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959573.82, time is 1599959571.22 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959571.22 epoch sec; seqNo:1097; 4061676.58 north; 594391.67 east 2020-11-23T22:53:56Z- waiting for 1599959573.82, time is 1599959571.22 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959571.62 epoch sec; seqNo:1098 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.35 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959573.82, time is 1599959571.22 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1599959571620; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959573.82, time is 1599959571.22 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959571.62 epoch sec; seqNo:1098 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959573.82, time is 1599959571.62 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959571.62 epoch sec; seqNo:1098; 4061676.58 north; 594391.67 east 2020-11-23T22:53:56Z- waiting for 1599959573.82, time is 1599959571.62 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959572.02 epoch sec; seqNo:1099 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.35 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959573.82, time is 1599959571.62 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1599959572020; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959573.82, time is 1599959571.62 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959572.02 epoch sec; seqNo:1099 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959573.82, time is 1599959572.02 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959572.02 epoch sec; seqNo:1099; 4061676.96 north; 594391.66 east 2020-11-23T22:53:56Z- waiting for 1599959573.82, time is 1599959572.02 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959572.42 epoch sec; seqNo:1100 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.35 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959573.82, time is 1599959572.02 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1599959572421; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959573.82, time is 1599959572.02 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959572.42 epoch sec; seqNo:1100 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959573.82, time is 1599959572.42 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959572.42 epoch sec; seqNo:1100; 4061676.97 north; 594392.88 east 2020-11-23T22:53:56Z- waiting for 1599959573.82, time is 1599959572.42 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959572.82 epoch sec; seqNo:1101 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.35 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959573.82, time is 1599959572.42 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1599959599269; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959573.82, time is 1599959572.42 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959599.27 epoch sec; seqNo:1167 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959573.82, time is 1599959599.27 2020-11-23T22:53:56Z- sync is 26.45, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959599.27 epoch sec; seqNo:1167; 4061680.66 north; 594418.47 east 2020-11-23T22:53:56Z- waiting for 1599959573.82, time is 1599959599.27 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959599.27, meas time 1599959599.27 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 9.000 at t=1599959599.27, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959599.27 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061681, 594418.47, 50.29) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959599.67 epoch sec; seqNo:1168 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.38 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959599.27 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1599959599669; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959599.27 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959599.67 epoch sec; seqNo:1168 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959599.67 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959599.67 epoch sec; seqNo:1168; 4061680.66 north; 594418.47 east 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959599.67 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959600.07 epoch sec; seqNo:1169 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.38 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959599.67 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1599959600070; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959599.67 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959600.07 epoch sec; seqNo:1169 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959600.07 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959600.07 epoch sec; seqNo:1169; 4061680.68 north; 594419.69 east 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959600.07 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959600.47 epoch sec; seqNo:1170 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.38 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959600.07 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.26 epoch sec; seqNo:1599959600470; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959600.07 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959600.47 epoch sec; seqNo:1170 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959600.47 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959600.47 epoch sec; seqNo:1170; 4061680.68 north; 594419.69 east 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959600.47 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959600.87 epoch sec; seqNo:1171 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.38 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959600.47 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1599959600872; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959600.47 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959600.87 epoch sec; seqNo:1171 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959600.87 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959600.87 epoch sec; seqNo:1171; 4061680.68 north; 594419.69 east 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959600.87 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959601.27 epoch sec; seqNo:1172 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.38 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959600.87 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1599959601273; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959600.87 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959601.27 epoch sec; seqNo:1172 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959601.27 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959601.27 epoch sec; seqNo:1172; 4061680.69 north; 594420.91 east 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959601.27 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959601.67 epoch sec; seqNo:1173 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959601.67 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959619.70 epoch sec; seqNo:1218; 4061683.15 north; 594437.97 east 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959601.67 2020-11-23T22:53:56Z- sync is 18.03, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959620.10 epoch sec; seqNo:1219 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.38 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959601.67 2020-11-23T22:53:56Z- sync is 18.42, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599959620098; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959601.67 2020-11-23T22:53:56Z- sync is 18.42, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959620.10 epoch sec; seqNo:1219 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959602.27, time is 1599959620.10 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959620.10, meas time 1599959620.10 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 30.000 at t=1599959620.10, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959620.10 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061683, 594437.97, 49.78) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959620.10 epoch sec; seqNo:1219; 4061683.16 north; 594439.19 east 2020-11-23T22:53:56Z- waiting for 1599959623.10, time is 1599959620.10 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959620.50 epoch sec; seqNo:1220 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.38 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959623.10, time is 1599959620.10 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599959620498; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959623.10, time is 1599959620.10 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959620.50 epoch sec; seqNo:1220 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959623.10, time is 1599959620.50 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959620.50 epoch sec; seqNo:1220; 4061683.16 north; 594439.19 east 2020-11-23T22:53:56Z- waiting for 1599959623.10, time is 1599959620.50 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959620.90 epoch sec; seqNo:1221 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.38 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959623.10, time is 1599959620.50 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599959620900; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959623.10, time is 1599959620.50 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959620.90 epoch sec; seqNo:1221 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959623.10, time is 1599959620.90 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959620.90 epoch sec; seqNo:1221; 4061683.16 north; 594439.19 east 2020-11-23T22:53:56Z- waiting for 1599959623.10, time is 1599959620.90 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959621.30 epoch sec; seqNo:1222 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.38 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959623.10, time is 1599959620.90 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599959621300; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959623.10, time is 1599959620.90 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959621.30 epoch sec; seqNo:1222 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959623.10, time is 1599959621.30 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959621.30 epoch sec; seqNo:1222; 4061683.18 north; 594440.41 east 2020-11-23T22:53:56Z- waiting for 1599959623.10, time is 1599959621.30 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959621.70 epoch sec; seqNo:1223 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.38 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959623.10, time is 1599959621.30 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599959621701; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959623.10, time is 1599959621.30 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959621.70 epoch sec; seqNo:1223 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959623.10, time is 1599959621.70 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959622.10 epoch sec; seqNo:1224 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.38 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959623.10, time is 1599959621.70 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599959622102; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959623.10, time is 1599959621.70 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959638.93 epoch sec; seqNo:1266 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959623.10, time is 1599959638.93 2020-11-23T22:53:56Z- sync is 16.83, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959638.93 epoch sec; seqNo:1266; 4061685.64 north; 594457.47 east 2020-11-23T22:53:56Z- waiting for 1599959623.10, time is 1599959638.93 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959638.93, meas time 1599959638.93 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 14.000 at t=1599959638.93, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959638.93 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061686, 594457.47, 49.76) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959639.33 epoch sec; seqNo:1267 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.38 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959638.93 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1599959639330; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959638.93 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959639.33 epoch sec; seqNo:1267 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959639.33 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959639.33 epoch sec; seqNo:1267; 4061685.64 north; 594457.47 east 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959639.33 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959639.73 epoch sec; seqNo:1268 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.38 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959639.33 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1599959639731; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959639.33 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959639.73 epoch sec; seqNo:1268 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959639.73 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959639.73 epoch sec; seqNo:1268; 4061685.64 north; 594457.47 east 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959639.73 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959640.13 epoch sec; seqNo:1269 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.38 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959639.73 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1599959640131; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959639.73 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959640.13 epoch sec; seqNo:1269 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959640.13 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959640.13 epoch sec; seqNo:1269; 4061685.65 north; 594458.69 east 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959640.13 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959640.53 epoch sec; seqNo:1270 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.38 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959640.13 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1599959640531; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959640.13 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959640.53 epoch sec; seqNo:1270 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959640.53 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959640.53 epoch sec; seqNo:1270; 4061685.65 north; 594458.69 east 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959640.53 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959640.93 epoch sec; seqNo:1271 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.38 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959640.53 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1599959640931; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959640.53 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959640.93 epoch sec; seqNo:1271; 4061685.65 north; 594458.69 east 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959640.53 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959650.95 epoch sec; seqNo:1296; 4061686.90 north; 594468.44 east 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959640.53 2020-11-23T22:53:56Z- sync is 10.42, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959651.35 epoch sec; seqNo:1297 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.38 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959640.53 2020-11-23T22:53:56Z- sync is 10.82, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1599959651354; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959640.53 2020-11-23T22:53:56Z- sync is 10.82, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959651.35 epoch sec; seqNo:1297 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959641.93, time is 1599959651.35 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959651.35, meas time 1599959651.35 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 27.000 at t=1599959651.35, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959651.35 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061687, 594468.44, 49.80) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959651.35 epoch sec; seqNo:1297; 4061686.91 north; 594469.66 east 2020-11-23T22:53:56Z- waiting for 1599959654.35, time is 1599959651.35 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959651.76 epoch sec; seqNo:1298 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.38 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959654.35, time is 1599959651.35 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599959651755; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959654.35, time is 1599959651.35 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959651.76 epoch sec; seqNo:1298 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959654.35, time is 1599959651.76 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959652.16 epoch sec; seqNo:1299 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.38 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959654.35, time is 1599959651.76 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1599959652156; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959654.35, time is 1599959651.76 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959652.16 epoch sec; seqNo:1299 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959654.35, time is 1599959652.16 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959652.56 epoch sec; seqNo:1300 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959654.35, time is 1599959652.56 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959658.18 epoch sec; seqNo:1314; 4061688.11 north; 594475.75 east 2020-11-23T22:53:56Z- waiting for 1599959654.35, time is 1599959652.56 2020-11-23T22:53:56Z- sync is 5.62, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959658.57 epoch sec; seqNo:1315 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.38 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959654.35, time is 1599959652.56 2020-11-23T22:53:56Z- sync is 6.02, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1599959658575; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959654.35, time is 1599959652.56 2020-11-23T22:53:56Z- sync is 6.02, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959658.58 epoch sec; seqNo:1315 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959654.35, time is 1599959658.58 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959658.57, meas time 1599959658.58 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1599959658.58, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959658.58 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061688, 594475.75, 50.03) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959658.58 epoch sec; seqNo:1315; 4061688.13 north; 594476.97 east 2020-11-23T22:53:56Z- waiting for 1599959661.58, time is 1599959658.58 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959658.97 epoch sec; seqNo:1316 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.38 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959661.58, time is 1599959658.58 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.05 epoch sec; seqNo:1599959658976; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959661.58, time is 1599959658.58 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.17 epoch sec; seqNo:1599959662985; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959661.58, time is 1599959658.58 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959662.99 epoch sec; seqNo:1326 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959661.58, time is 1599959662.99 2020-11-23T22:53:56Z- sync is 4.01, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959662.99 epoch sec; seqNo:1326; 4061688.55 north; 594480.63 east 2020-11-23T22:53:56Z- waiting for 1599959661.58, time is 1599959662.99 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959662.99, meas time 1599959662.99 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 4.000 at t=1599959662.99, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959662.99 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061689, 594480.63, 50.17) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959663.38 epoch sec; seqNo:1327 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.38 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959665.99, time is 1599959662.99 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959663.39 epoch sec; seqNo:1327 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959665.99, time is 1599959663.39 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959663.39 epoch sec; seqNo:1327; 4061688.55 north; 594480.63 east 2020-11-23T22:53:56Z- waiting for 1599959665.99, time is 1599959663.39 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1599959665788; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959665.99, time is 1599959663.39 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959665.79 epoch sec; seqNo:1333 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959665.99, time is 1599959665.79 2020-11-23T22:53:56Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959666.19 epoch sec; seqNo:1334 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.39 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959665.99, time is 1599959665.79 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959667.39 epoch sec; seqNo:1337 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.39 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959665.99, time is 1599959665.79 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959667.39 epoch sec; seqNo:1337; 4061688.98 north; 594485.51 east 2020-11-23T22:53:56Z- waiting for 1599959665.99, time is 1599959665.79 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1599959668194; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959665.99, time is 1599959665.79 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959668.19 epoch sec; seqNo:1339; 4061688.98 north; 594485.51 east 2020-11-23T22:53:56Z- waiting for 1599959665.99, time is 1599959665.79 2020-11-23T22:53:56Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959669.39 epoch sec; seqNo:1342 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.40 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959665.99, time is 1599959665.79 2020-11-23T22:53:56Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1599959669796; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959665.99, time is 1599959665.79 2020-11-23T22:53:56Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959670.20 epoch sec; seqNo:1344 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959665.99, time is 1599959670.20 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959669.39, meas time 1599959670.20 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 12.000 at t=1599959670.20, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959670.20 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061689, 594485.51, 50.35) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959671.00 epoch sec; seqNo:1346; 4061689.38 north; 594487.94 east 2020-11-23T22:53:56Z- waiting for 1599959673.20, time is 1599959670.20 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959673.40 epoch sec; seqNo:1352 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.40 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959673.20, time is 1599959670.20 2020-11-23T22:53:56Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1599959673802; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959673.20, time is 1599959670.20 2020-11-23T22:53:56Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959674.20 epoch sec; seqNo:1354 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959673.20, time is 1599959674.20 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959673.40, meas time 1599959674.20 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 16.000 at t=1599959674.20, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959674.20 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061689, 594487.94, 50.41) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959674.60 epoch sec; seqNo:1355; 4061689.80 north; 594491.60 east 2020-11-23T22:53:56Z- waiting for 1599959677.20, time is 1599959674.20 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959675.40 epoch sec; seqNo:1357 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.40 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959677.20, time is 1599959674.20 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1599959675806; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959677.20, time is 1599959674.20 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959676.21 epoch sec; seqNo:1359 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959677.20, time is 1599959676.21 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959677.01 epoch sec; seqNo:1361; 4061690.21 north; 594494.04 east 2020-11-23T22:53:56Z- waiting for 1599959677.20, time is 1599959676.21 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959677.81 epoch sec; seqNo:1363 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.40 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959677.20, time is 1599959676.21 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1599959678210; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959677.20, time is 1599959676.21 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959678.61 epoch sec; seqNo:1365 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959677.20, time is 1599959678.61 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959677.81, meas time 1599959678.61 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 20.000 at t=1599959678.61, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959678.61 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061690, 594494.04, 50.42) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959679.02 epoch sec; seqNo:1366; 4061690.24 north; 594496.48 east 2020-11-23T22:53:56Z- waiting for 1599959681.61, time is 1599959678.61 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959679.81 epoch sec; seqNo:1368 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.40 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959681.61, time is 1599959678.61 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1599959680215; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959681.61, time is 1599959678.61 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959680.62 epoch sec; seqNo:1370 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959681.61, time is 1599959680.62 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959681.42 epoch sec; seqNo:1372; 4061690.64 north; 594498.91 east 2020-11-23T22:53:56Z- waiting for 1599959681.61, time is 1599959680.62 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959682.22 epoch sec; seqNo:1374 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.40 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959681.61, time is 1599959680.62 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599959682620; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959681.61, time is 1599959680.62 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959682.62 epoch sec; seqNo:1375 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959681.61, time is 1599959682.62 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959682.22, meas time 1599959682.62 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 24.000 at t=1599959682.62, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959682.62 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061691, 594498.91, 50.39) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959683.42 epoch sec; seqNo:1377; 4061690.66 north; 594500.13 east 2020-11-23T22:53:56Z- waiting for 1599959685.62, time is 1599959682.62 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959685.83 epoch sec; seqNo:1383 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.40 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959685.62, time is 1599959682.62 2020-11-23T22:53:56Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1599959686227; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959685.62, time is 1599959682.62 2020-11-23T22:53:56Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959686.63 epoch sec; seqNo:1385 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959685.62, time is 1599959686.63 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959685.83, meas time 1599959686.63 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 28.000 at t=1599959686.63, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959686.63 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061691, 594500.13, 50.32) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959687.43 epoch sec; seqNo:1387; 4061691.09 north; 594505.01 east 2020-11-23T22:53:56Z- waiting for 1599959689.63, time is 1599959686.63 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959688.23 epoch sec; seqNo:1389 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.40 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959689.63, time is 1599959686.63 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.26 epoch sec; seqNo:1599959688631; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959689.63, time is 1599959686.63 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959689.03 epoch sec; seqNo:1391 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959689.63, time is 1599959689.03 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959689.43 epoch sec; seqNo:1392; 4061691.48 north; 594506.23 east 2020-11-23T22:53:56Z- waiting for 1599959689.63, time is 1599959689.03 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959690.23 epoch sec; seqNo:1394 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.40 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959689.63, time is 1599959689.03 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1599959690632; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959689.63, time is 1599959689.03 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959690.63 epoch sec; seqNo:1395 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959689.63, time is 1599959690.63 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959690.23, meas time 1599959690.63 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 32.000 at t=1599959690.63, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959690.63 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061691, 594506.23, 50.21) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959691.43 epoch sec; seqNo:1397; 4061691.51 north; 594508.67 east 2020-11-23T22:53:56Z- waiting for 1599959693.63, time is 1599959690.63 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959692.24 epoch sec; seqNo:1399 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.40 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959693.63, time is 1599959690.63 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.14 epoch sec; seqNo:1599959692637; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959693.63, time is 1599959690.63 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959692.64 epoch sec; seqNo:1400 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959693.63, time is 1599959692.64 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959693.84 epoch sec; seqNo:1403; 4061691.91 north; 594511.10 east 2020-11-23T22:53:56Z- waiting for 1599959693.63, time is 1599959692.64 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959694.24 epoch sec; seqNo:1404 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.40 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959693.63, time is 1599959692.64 2020-11-23T22:53:56Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.08 epoch sec; seqNo:1599959694643; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959693.63, time is 1599959692.64 2020-11-23T22:53:56Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959695.04 epoch sec; seqNo:1406 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959693.63, time is 1599959695.04 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959694.24, meas time 1599959695.04 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 3.000 at t=1599959695.04, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959695.04 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061692, 594511.10, 50.08) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959695.84 epoch sec; seqNo:1408; 4061691.93 north; 594512.32 east 2020-11-23T22:53:56Z- waiting for 1599959698.04, time is 1599959695.04 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959696.24 epoch sec; seqNo:1409 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959698.04, time is 1599959696.24 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959697.05 epoch sec; seqNo:1411; 4061691.94 north; 594513.54 east 2020-11-23T22:53:56Z- waiting for 1599959698.04, time is 1599959696.24 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959697.85 epoch sec; seqNo:1413 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.40 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959698.04, time is 1599959696.24 2020-11-23T22:53:56Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.98 epoch sec; seqNo:1599959698251; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959698.04, time is 1599959696.24 2020-11-23T22:53:56Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959698.65 epoch sec; seqNo:1415 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959698.04, time is 1599959698.65 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959697.85, meas time 1599959698.65 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 6.000 at t=1599959698.65, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959698.65 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061692, 594513.54, 49.98) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959886.57 epoch sec; seqNo:1884 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959701.65, time is 1599959886.57 2020-11-23T22:53:56Z- sync is 188.72, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959886.58 epoch sec; seqNo:1884; 4061712.95 north; 594700.04 east 2020-11-23T22:53:56Z- waiting for 1599959701.65, time is 1599959886.57 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959886.58, meas time 1599959886.57 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 24.000 at t=1599959886.57, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959886.57 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061713, 594700.04, 49.98) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959886.97 epoch sec; seqNo:1885 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959886.57 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599959886974; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959886.57 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959886.97 epoch sec; seqNo:1885 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959886.97 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959886.98 epoch sec; seqNo:1885; 4061712.95 north; 594700.04 east 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959886.97 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959887.38 epoch sec; seqNo:1886 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959886.97 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599959887376; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959886.97 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959887.38 epoch sec; seqNo:1886 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959887.38 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959887.38 epoch sec; seqNo:1886; 4061712.95 north; 594700.04 east 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959887.38 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959887.77 epoch sec; seqNo:1887 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959887.38 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599959887775; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959887.38 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959887.78 epoch sec; seqNo:1887 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959887.78 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959887.78 epoch sec; seqNo:1887; 4061712.95 north; 594700.04 east 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959887.78 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959888.18 epoch sec; seqNo:1888 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959887.78 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599959888176; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959887.78 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959888.18 epoch sec; seqNo:1888 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959888.18 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959888.18 epoch sec; seqNo:1888; 4061712.96 north; 594701.26 east 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959888.18 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959888.58 epoch sec; seqNo:1889 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959888.18 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599959888577; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959888.18 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959888.58 epoch sec; seqNo:1889 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959888.58 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959888.58 epoch sec; seqNo:1889; 4061712.96 north; 594701.26 east 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959888.58 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959888.98 epoch sec; seqNo:1890 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959888.58 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599959888978; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959888.58 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959889.38 epoch sec; seqNo:1891 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959888.58 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599959889378; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959888.58 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959889.38 epoch sec; seqNo:1891 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959889.38 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959889.38 epoch sec; seqNo:1891; 4061712.97 north; 594702.49 east 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959889.38 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959889.78 epoch sec; seqNo:1892 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959889.38 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959901.81 epoch sec; seqNo:1922 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959901.81 2020-11-23T22:53:56Z- sync is 12.03, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959901.81 epoch sec; seqNo:1922; 4061714.24 north; 594714.68 east 2020-11-23T22:53:56Z- waiting for 1599959889.57, time is 1599959901.81 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959901.81, meas time 1599959901.81 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 5.000 at t=1599959901.81, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959901.81 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061714, 594714.68, 49.68) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959902.21 epoch sec; seqNo:1923 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959904.81, time is 1599959901.81 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599959902208; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959904.81, time is 1599959901.81 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959902.21 epoch sec; seqNo:1923 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959904.81, time is 1599959902.21 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959902.21 epoch sec; seqNo:1923; 4061714.24 north; 594714.68 east 2020-11-23T22:53:56Z- waiting for 1599959904.81, time is 1599959902.21 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959902.61 epoch sec; seqNo:1924 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959904.81, time is 1599959902.21 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599959902608; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959904.81, time is 1599959902.21 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959902.61 epoch sec; seqNo:1924 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959904.81, time is 1599959902.61 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959902.61 epoch sec; seqNo:1924; 4061714.24 north; 594714.68 east 2020-11-23T22:53:56Z- waiting for 1599959904.81, time is 1599959902.61 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959903.01 epoch sec; seqNo:1925 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959904.81, time is 1599959902.61 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599959903010; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959904.81, time is 1599959902.61 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959903.01 epoch sec; seqNo:1925; 4061714.26 north; 594715.90 east 2020-11-23T22:53:56Z- waiting for 1599959904.81, time is 1599959902.61 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599959903411; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959904.81, time is 1599959902.61 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959915.04 epoch sec; seqNo:1955; 4061715.52 north; 594726.87 east 2020-11-23T22:53:56Z- waiting for 1599959904.81, time is 1599959902.61 2020-11-23T22:53:56Z- sync is 12.43, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959915.44 epoch sec; seqNo:1956 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.40 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959904.81, time is 1599959902.61 2020-11-23T22:53:56Z- sync is 12.83, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.02 epoch sec; seqNo:1599959915437; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959904.81, time is 1599959902.61 2020-11-23T22:53:56Z- sync is 12.83, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959915.44 epoch sec; seqNo:1956 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959904.81, time is 1599959915.44 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959915.44, meas time 1599959915.44 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 19.000 at t=1599959915.44, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959915.44 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061716, 594726.87, 50.02) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959915.84 epoch sec; seqNo:1957 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.40 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959918.44, time is 1599959915.44 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1599959915837; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959918.44, time is 1599959915.44 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1599959941085; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959918.44, time is 1599959915.44 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959941.09 epoch sec; seqNo:2020 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959918.44, time is 1599959941.09 2020-11-23T22:53:56Z- sync is 25.25, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959941.09 epoch sec; seqNo:2020; 4061718.45 north; 594752.46 east 2020-11-23T22:53:56Z- waiting for 1599959918.44, time is 1599959941.09 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959941.09, meas time 1599959941.09 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 11.000 at t=1599959941.09, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959941.09 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061718, 594752.46, 50.34) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959941.48 epoch sec; seqNo:2021 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.39 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959944.09, time is 1599959941.09 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1599959941484; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959944.09, time is 1599959941.09 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959941.48 epoch sec; seqNo:2021 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959944.09, time is 1599959941.48 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959941.49 epoch sec; seqNo:2021; 4061718.46 north; 594753.68 east 2020-11-23T22:53:56Z- waiting for 1599959944.09, time is 1599959941.48 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959941.88 epoch sec; seqNo:2022 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.39 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959944.09, time is 1599959941.48 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1599959941886; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959944.09, time is 1599959941.48 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959941.89 epoch sec; seqNo:2022 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959944.09, time is 1599959941.89 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959941.89 epoch sec; seqNo:2022; 4061718.46 north; 594753.68 east 2020-11-23T22:53:56Z- waiting for 1599959944.09, time is 1599959941.89 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959942.29 epoch sec; seqNo:2023 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.39 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959944.09, time is 1599959941.89 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1599959942286; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959944.09, time is 1599959941.89 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959942.29 epoch sec; seqNo:2023 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959944.09, time is 1599959942.29 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959942.29 epoch sec; seqNo:2023; 4061718.46 north; 594753.68 east 2020-11-23T22:53:56Z- waiting for 1599959944.09, time is 1599959942.29 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959942.69 epoch sec; seqNo:2024 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959944.09, time is 1599959942.69 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959943.09 epoch sec; seqNo:2025 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959944.09, time is 1599959943.09 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959968.74 epoch sec; seqNo:2089; 4061721.41 north; 594780.50 east 2020-11-23T22:53:56Z- waiting for 1599959944.09, time is 1599959943.09 2020-11-23T22:53:56Z- sync is 25.65, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959969.14 epoch sec; seqNo:2090 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959944.09, time is 1599959943.09 2020-11-23T22:53:56Z- sync is 26.05, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599959969143; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959944.09, time is 1599959943.09 2020-11-23T22:53:56Z- sync is 26.05, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959969.14 epoch sec; seqNo:2090 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959944.09, time is 1599959969.14 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599959969.14, meas time 1599959969.14 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 5.000 at t=1599959969.14, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599959969.14 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061721, 594780.50, 49.75) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959969.15 epoch sec; seqNo:2090; 4061721.41 north; 594780.50 east 2020-11-23T22:53:56Z- waiting for 1599959972.14, time is 1599959969.14 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959969.54 epoch sec; seqNo:2091 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959972.14, time is 1599959969.14 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1599959969544; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959972.14, time is 1599959969.14 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959969.54 epoch sec; seqNo:2091 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959972.14, time is 1599959969.54 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959969.55 epoch sec; seqNo:2091; 4061721.41 north; 594780.50 east 2020-11-23T22:53:56Z- waiting for 1599959972.14, time is 1599959969.54 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959969.94 epoch sec; seqNo:2092 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959972.14, time is 1599959969.54 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1599959969943; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959972.14, time is 1599959969.54 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959969.94 epoch sec; seqNo:2092 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959972.14, time is 1599959969.94 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959969.94 epoch sec; seqNo:2092; 4061721.41 north; 594780.50 east 2020-11-23T22:53:56Z- waiting for 1599959972.14, time is 1599959969.94 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959970.34 epoch sec; seqNo:2093 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959972.14, time is 1599959969.94 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1599959970343; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959972.14, time is 1599959969.94 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599959970.34 epoch sec; seqNo:2093 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599959972.14, time is 1599959970.34 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599959970.34 epoch sec; seqNo:2093; 4061721.81 north; 594781.72 east 2020-11-23T22:53:56Z- waiting for 1599959972.14, time is 1599959970.34 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959970.74 epoch sec; seqNo:2094 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959972.14, time is 1599959970.34 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1599959970745; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959972.14, time is 1599959970.34 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599959971.15 epoch sec; seqNo:2095 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959972.14, time is 1599959970.34 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960004.81 epoch sec; seqNo:2179 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.39 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599959972.14, time is 1599959970.34 2020-11-23T22:53:56Z- sync is 34.46, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.07 epoch sec; seqNo:1599960004806; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599959972.14, time is 1599959970.34 2020-11-23T22:53:56Z- sync is 34.46, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960004.81 epoch sec; seqNo:2179 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599959972.14, time is 1599960004.81 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960004.81, meas time 1599960004.81 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 6.000 at t=1599960004.81, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960004.81 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061722, 594781.72, 50.07) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960004.81 epoch sec; seqNo:2179; 4061724.84 north; 594815.86 east 2020-11-23T22:53:56Z- waiting for 1599960007.81, time is 1599960004.81 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960005.20 epoch sec; seqNo:2180 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.39 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960007.81, time is 1599960004.81 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.09 epoch sec; seqNo:1599960005206; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960007.81, time is 1599960004.81 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960005.21 epoch sec; seqNo:2180 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960007.81, time is 1599960005.21 2020-11-23T22:53:56Z- sync is 0.01, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960005.21 epoch sec; seqNo:2180; 4061724.84 north; 594815.86 east 2020-11-23T22:53:56Z- waiting for 1599960007.81, time is 1599960005.21 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960005.61 epoch sec; seqNo:2181 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.39 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960007.81, time is 1599960005.21 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.10 epoch sec; seqNo:1599960005607; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960007.81, time is 1599960005.21 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960005.61 epoch sec; seqNo:2181 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960007.81, time is 1599960005.61 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960005.61 epoch sec; seqNo:2181; 4061724.84 north; 594815.86 east 2020-11-23T22:53:56Z- waiting for 1599960007.81, time is 1599960005.61 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960006.01 epoch sec; seqNo:2182 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.39 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960007.81, time is 1599960005.61 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1599960006008; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960007.81, time is 1599960005.61 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960006.01 epoch sec; seqNo:2182 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960007.81, time is 1599960006.01 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960006.01 epoch sec; seqNo:2182; 4061724.85 north; 594817.08 east 2020-11-23T22:53:56Z- waiting for 1599960007.81, time is 1599960006.01 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960006.41 epoch sec; seqNo:2183 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.39 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960007.81, time is 1599960006.01 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960006.41 epoch sec; seqNo:2183; 4061725.23 north; 594817.07 east 2020-11-23T22:53:56Z- waiting for 1599960007.81, time is 1599960006.01 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1599960014816; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960007.81, time is 1599960006.01 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960014.82 epoch sec; seqNo:2204 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960007.81, time is 1599960014.82 2020-11-23T22:53:56Z- sync is 8.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960014.82 epoch sec; seqNo:2204; 4061726.08 north; 594825.61 east 2020-11-23T22:53:56Z- waiting for 1599960007.81, time is 1599960014.82 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960014.82, meas time 1599960014.82 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 16.000 at t=1599960014.82, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960014.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061726, 594825.61, 50.36) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960015.22 epoch sec; seqNo:2205 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.39 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960017.82, time is 1599960014.82 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1599960015216; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960017.82, time is 1599960014.82 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960015.22 epoch sec; seqNo:2205 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960017.82, time is 1599960015.22 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960015.22 epoch sec; seqNo:2205; 4061726.08 north; 594825.61 east 2020-11-23T22:53:56Z- waiting for 1599960017.82, time is 1599960015.22 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960015.62 epoch sec; seqNo:2206 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.39 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960017.82, time is 1599960015.22 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960044.86 epoch sec; seqNo:2279 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960017.82, time is 1599960044.86 2020-11-23T22:53:56Z- sync is 29.24, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960044.86 epoch sec; seqNo:2279; 4061729.44 north; 594854.86 east 2020-11-23T22:53:56Z- waiting for 1599960017.82, time is 1599960044.86 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960044.86, meas time 1599960044.86 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 12.000 at t=1599960044.86, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960044.86 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061729, 594854.86, 50.37) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960045.26 epoch sec; seqNo:2280 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.39 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960047.86, time is 1599960044.86 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1599960045262; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960047.86, time is 1599960044.86 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960045.26 epoch sec; seqNo:2280 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960047.86, time is 1599960045.26 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960045.27 epoch sec; seqNo:2280; 4061729.44 north; 594854.86 east 2020-11-23T22:53:56Z- waiting for 1599960047.86, time is 1599960045.26 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960045.66 epoch sec; seqNo:2281 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.39 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960047.86, time is 1599960045.26 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1599960045663; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960047.86, time is 1599960045.26 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960045.66 epoch sec; seqNo:2281 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960047.86, time is 1599960045.66 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960045.66 epoch sec; seqNo:2281; 4061729.44 north; 594854.86 east 2020-11-23T22:53:56Z- waiting for 1599960047.86, time is 1599960045.66 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1599960046061; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960047.86, time is 1599960045.66 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960046.06 epoch sec; seqNo:2282 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960047.86, time is 1599960046.06 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960046.46 epoch sec; seqNo:2283 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960047.86, time is 1599960046.46 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960066.51 epoch sec; seqNo:2333; 4061731.56 north; 594875.59 east 2020-11-23T22:53:56Z- waiting for 1599960047.86, time is 1599960046.46 2020-11-23T22:53:56Z- sync is 20.04, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960066.91 epoch sec; seqNo:2334 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960047.86, time is 1599960046.46 2020-11-23T22:53:56Z- sync is 20.44, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1599960066906; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960047.86, time is 1599960046.46 2020-11-23T22:53:56Z- sync is 20.44, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960066.91 epoch sec; seqNo:2334 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960047.86, time is 1599960066.91 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960066.91, meas time 1599960066.91 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1599960066.91, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960066.91 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061732, 594875.59, 49.65) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960066.91 epoch sec; seqNo:2334; 4061731.56 north; 594875.59 east 2020-11-23T22:53:56Z- waiting for 1599960069.91, time is 1599960066.91 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960067.31 epoch sec; seqNo:2335 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960069.91, time is 1599960066.91 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1599960067308; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960069.91, time is 1599960066.91 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960067.31 epoch sec; seqNo:2335 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960069.91, time is 1599960067.31 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960067.31 epoch sec; seqNo:2335; 4061731.57 north; 594876.81 east 2020-11-23T22:53:56Z- waiting for 1599960069.91, time is 1599960067.31 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960067.71 epoch sec; seqNo:2336 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960069.91, time is 1599960067.31 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1599960067709; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960069.91, time is 1599960067.31 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960067.71 epoch sec; seqNo:2336 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960069.91, time is 1599960067.71 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960067.71 epoch sec; seqNo:2336; 4061731.95 north; 594876.80 east 2020-11-23T22:53:56Z- waiting for 1599960069.91, time is 1599960067.71 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960068.11 epoch sec; seqNo:2337 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960069.91, time is 1599960067.71 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1599960068110; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960069.91, time is 1599960067.71 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960068.11 epoch sec; seqNo:2337 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960069.91, time is 1599960068.11 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960068.11 epoch sec; seqNo:2337; 4061731.95 north; 594876.80 east 2020-11-23T22:53:56Z- waiting for 1599960069.91, time is 1599960068.11 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960068.51 epoch sec; seqNo:2338 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960069.91, time is 1599960068.11 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1599960068512; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960069.91, time is 1599960068.11 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960068.51 epoch sec; seqNo:2338 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960069.91, time is 1599960068.51 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960068.91 epoch sec; seqNo:2339 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960069.91, time is 1599960068.51 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.64 epoch sec; seqNo:1599960068913; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960069.91, time is 1599960068.51 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960084.54 epoch sec; seqNo:2378; 4061733.28 north; 594893.87 east 2020-11-23T22:53:56Z- waiting for 1599960069.91, time is 1599960068.51 2020-11-23T22:53:56Z- sync is 16.03, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960084.94 epoch sec; seqNo:2379 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960069.91, time is 1599960068.51 2020-11-23T22:53:56Z- sync is 16.43, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1599960084938; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960069.91, time is 1599960068.51 2020-11-23T22:53:56Z- sync is 16.43, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960084.94 epoch sec; seqNo:2379 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960069.91, time is 1599960084.94 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960084.94, meas time 1599960084.94 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 18.000 at t=1599960084.94, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960084.94 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061733, 594893.87, 49.91) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960084.94 epoch sec; seqNo:2379; 4061733.28 north; 594893.87 east 2020-11-23T22:53:56Z- waiting for 1599960087.94, time is 1599960084.94 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960085.34 epoch sec; seqNo:2380 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960087.94, time is 1599960084.94 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1599960085339; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960087.94, time is 1599960084.94 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960085.34 epoch sec; seqNo:2380 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960087.94, time is 1599960085.34 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960085.34 epoch sec; seqNo:2380; 4061733.28 north; 594893.87 east 2020-11-23T22:53:56Z- waiting for 1599960087.94, time is 1599960085.34 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960085.74 epoch sec; seqNo:2381 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960087.94, time is 1599960085.34 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1599960085740; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960087.94, time is 1599960085.34 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960085.74 epoch sec; seqNo:2381 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960087.94, time is 1599960085.74 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960085.74 epoch sec; seqNo:2381; 4061733.29 north; 594895.09 east 2020-11-23T22:53:56Z- waiting for 1599960087.94, time is 1599960085.74 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960086.14 epoch sec; seqNo:2382 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960087.94, time is 1599960085.74 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1599960086140; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960087.94, time is 1599960085.74 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960086.14 epoch sec; seqNo:2382 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960087.94, time is 1599960086.14 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960086.14 epoch sec; seqNo:2382; 4061733.67 north; 594895.09 east 2020-11-23T22:53:56Z- waiting for 1599960087.94, time is 1599960086.14 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960086.54 epoch sec; seqNo:2383 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.42 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960087.94, time is 1599960086.14 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.96 epoch sec; seqNo:1599960086540; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960087.94, time is 1599960086.14 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960086.54 epoch sec; seqNo:2383; 4061733.67 north; 594895.09 east 2020-11-23T22:53:56Z- waiting for 1599960087.94, time is 1599960086.14 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960096.16 epoch sec; seqNo:2407 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.39 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960087.94, time is 1599960086.14 2020-11-23T22:53:56Z- sync is 10.02, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1599960096160; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960087.94, time is 1599960086.14 2020-11-23T22:53:56Z- sync is 10.02, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960096.16 epoch sec; seqNo:2407 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960087.94, time is 1599960096.16 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960096.16, meas time 1599960096.16 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 30.000 at t=1599960096.16, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960096.16 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061734, 594895.09, 50.24) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960096.16 epoch sec; seqNo:2407; 4061734.54 north; 594904.84 east 2020-11-23T22:53:56Z- waiting for 1599960099.16, time is 1599960096.16 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960096.56 epoch sec; seqNo:2408 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.39 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960099.16, time is 1599960096.16 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.26 epoch sec; seqNo:1599960096561; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960099.16, time is 1599960096.16 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960096.56 epoch sec; seqNo:2408 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960099.16, time is 1599960096.56 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960096.56 epoch sec; seqNo:2408; 4061734.54 north; 594904.84 east 2020-11-23T22:53:56Z- waiting for 1599960099.16, time is 1599960096.56 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1599960096961; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960099.16, time is 1599960096.56 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960102.98 epoch sec; seqNo:2424 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.04 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960099.16, time is 1599960102.98 2020-11-23T22:53:56Z- sync is 6.41, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960102.98 epoch sec; seqNo:2424; 4061735.36 north; 594910.94 east 2020-11-23T22:53:56Z- waiting for 1599960099.16, time is 1599960102.98 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960102.98, meas time 1599960102.98 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 2.000 at t=1599960102.98, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960102.98 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061735, 594910.94, 50.27) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960103.38 epoch sec; seqNo:2425 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.45 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960105.98, time is 1599960102.98 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1599960103377; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960105.98, time is 1599960102.98 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960103.38 epoch sec; seqNo:2425 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.03 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960105.98, time is 1599960103.38 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960103.38 epoch sec; seqNo:2425; 4061735.38 north; 594912.16 east 2020-11-23T22:53:56Z- waiting for 1599960105.98, time is 1599960103.38 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960103.78 epoch sec; seqNo:2426 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.47 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960105.98, time is 1599960103.38 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599960103779; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960105.98, time is 1599960103.38 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960103.78 epoch sec; seqNo:2426 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.02 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960105.98, time is 1599960103.78 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960107.38 epoch sec; seqNo:2435 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.04 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960105.98, time is 1599960107.38 2020-11-23T22:53:56Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960107.39 epoch sec; seqNo:2435; 4061735.42 north; 594915.82 east 2020-11-23T22:53:56Z- waiting for 1599960105.98, time is 1599960107.38 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960107.39, meas time 1599960107.38 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 7.000 at t=1599960107.38, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960107.38 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061735, 594915.82, 50.39) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960107.78 epoch sec; seqNo:2436 2020-11-23T22:53:56Z- AHRS_M2 msg: 1.77 phi; -0.00 theta; -0.00 psi 2020-11-23T22:53:56Z- waiting for 1599960110.38, time is 1599960107.38 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599960107784; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960110.38, time is 1599960107.38 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960107.78 epoch sec; seqNo:2436 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.04 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960110.38, time is 1599960107.78 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960111.39 epoch sec; seqNo:2445 2020-11-23T22:53:56Z- AHRS_M2 msg: 2.05 phi; 0.00 theta; 0.00 psi 2020-11-23T22:53:56Z- waiting for 1599960110.38, time is 1599960107.78 2020-11-23T22:53:56Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960111.40 epoch sec; seqNo:2445; 4061734.32 north; 594919.49 east 2020-11-23T22:53:56Z- waiting for 1599960110.38, time is 1599960107.78 2020-11-23T22:53:56Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1599960112595; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960110.38, time is 1599960107.78 2020-11-23T22:53:56Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960113.00 epoch sec; seqNo:2449 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.05 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960110.38, time is 1599960113.00 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960111.40, meas time 1599960113.00 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 12.000 at t=1599960113.00, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960113.00 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061734, 594919.49, 50.34) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960113.80 epoch sec; seqNo:2451; 4061733.21 north; 594921.95 east 2020-11-23T22:53:56Z- waiting for 1599960116.00, time is 1599960113.00 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960114.20 epoch sec; seqNo:2452 2020-11-23T22:53:56Z- AHRS_M2 msg: 2.27 phi; 0.01 theta; 0.00 psi 2020-11-23T22:53:56Z- waiting for 1599960116.00, time is 1599960113.00 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1599960114598; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960116.00, time is 1599960113.00 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960115.00 epoch sec; seqNo:2454 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.06 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960116.00, time is 1599960115.00 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960115.80 epoch sec; seqNo:2456; 4061731.71 north; 594923.18 east 2020-11-23T22:53:56Z- waiting for 1599960116.00, time is 1599960115.00 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960116.60 epoch sec; seqNo:2458 2020-11-23T22:53:56Z- AHRS_M2 msg: 2.45 phi; 0.01 theta; 0.00 psi 2020-11-23T22:53:56Z- waiting for 1599960116.00, time is 1599960115.00 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1599960117002; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960116.00, time is 1599960115.00 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960117.40 epoch sec; seqNo:2460 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.07 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960116.00, time is 1599960117.40 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960116.60, meas time 1599960117.40 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 17.000 at t=1599960117.40, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960117.40 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061732, 594923.18, 50.24) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960117.80 epoch sec; seqNo:2461; 4061730.21 north; 594924.42 east 2020-11-23T22:53:56Z- waiting for 1599960120.40, time is 1599960117.40 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960118.61 epoch sec; seqNo:2463 2020-11-23T22:53:56Z- AHRS_M2 msg: 2.61 phi; 0.02 theta; 0.00 psi 2020-11-23T22:53:56Z- waiting for 1599960120.40, time is 1599960117.40 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.18 epoch sec; seqNo:1599960119007; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960120.40, time is 1599960117.40 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960119.81 epoch sec; seqNo:2466 2020-11-23T22:53:56Z- AHRS_M2 msg: 2.70 phi; 0.01 theta; 0.00 psi 2020-11-23T22:53:56Z- waiting for 1599960120.40, time is 1599960117.40 2020-11-23T22:53:56Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960120.21 epoch sec; seqNo:2467 2020-11-23T22:53:56Z- AHRS_M2 msg: 2.73 phi; 0.01 theta; 0.00 psi 2020-11-23T22:53:56Z- waiting for 1599960120.40, time is 1599960117.40 2020-11-23T22:53:56Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.13 epoch sec; seqNo:1599960121012; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960120.40, time is 1599960117.40 2020-11-23T22:53:56Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960121.01 epoch sec; seqNo:2469 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.08 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960120.40, time is 1599960121.01 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960120.21, meas time 1599960121.01 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 21.000 at t=1599960121.01, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960121.01 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061730, 594924.42, 50.13) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960123.42 epoch sec; seqNo:2475; 4061725.31 north; 594926.92 east 2020-11-23T22:53:56Z- waiting for 1599960124.01, time is 1599960121.01 2020-11-23T22:53:56Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960123.82 epoch sec; seqNo:2476 2020-11-23T22:53:56Z- AHRS_M2 msg: 3.01 phi; 0.01 theta; 0.00 psi 2020-11-23T22:53:56Z- waiting for 1599960124.01, time is 1599960121.01 2020-11-23T22:53:56Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1599960124219; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960124.01, time is 1599960121.01 2020-11-23T22:53:56Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960124.62 epoch sec; seqNo:2478 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.10 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960124.01, time is 1599960124.62 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960123.82, meas time 1599960124.62 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 24.000 at t=1599960124.62, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960124.62 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061725, 594926.92, 50.04) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960125.02 epoch sec; seqNo:2479; 4061723.79 north; 594926.93 east 2020-11-23T22:53:56Z- waiting for 1599960127.62, time is 1599960124.62 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960125.82 epoch sec; seqNo:2481 2020-11-23T22:53:56Z- AHRS_M2 msg: -3.12 phi; 0.01 theta; 0.00 psi 2020-11-23T22:53:56Z- waiting for 1599960127.62, time is 1599960124.62 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1599960126223; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960127.62, time is 1599960124.62 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960126.62 epoch sec; seqNo:2483 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.11 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960127.62, time is 1599960126.62 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960127.42 epoch sec; seqNo:2485; 4061721.14 north; 594926.96 east 2020-11-23T22:53:56Z- waiting for 1599960127.62, time is 1599960126.62 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960128.23 epoch sec; seqNo:2487 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.94 phi; 0.01 theta; 0.00 psi 2020-11-23T22:53:56Z- waiting for 1599960127.62, time is 1599960126.62 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1599960128626; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960127.62, time is 1599960126.62 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960129.03 epoch sec; seqNo:2489 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.12 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960127.62, time is 1599960129.03 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960128.23, meas time 1599960129.03 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 29.000 at t=1599960129.03, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960129.03 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061721, 594926.96, 49.93) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960129.43 epoch sec; seqNo:2490; 4061719.25 north; 594926.98 east 2020-11-23T22:53:56Z- waiting for 1599960132.03, time is 1599960129.03 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960130.23 epoch sec; seqNo:2492 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.78 phi; 0.00 theta; 0.00 psi 2020-11-23T22:53:56Z- waiting for 1599960132.03, time is 1599960129.03 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960130.63 epoch sec; seqNo:2493; 4061718.11 north; 594927.00 east 2020-11-23T22:53:56Z- waiting for 1599960132.03, time is 1599960129.03 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.88 epoch sec; seqNo:1599960131029; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960132.03, time is 1599960129.03 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960131.43 epoch sec; seqNo:2495 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.14 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960132.03, time is 1599960131.43 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960132.24 epoch sec; seqNo:2497; 4061716.58 north; 594925.79 east 2020-11-23T22:53:56Z- waiting for 1599960132.03, time is 1599960131.43 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960134.63 epoch sec; seqNo:2503 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.44 phi; -0.00 theta; 0.00 psi 2020-11-23T22:53:56Z- waiting for 1599960132.03, time is 1599960131.43 2020-11-23T22:53:56Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1599960135033; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960132.03, time is 1599960131.43 2020-11-23T22:53:56Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960135.43 epoch sec; seqNo:2505 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.15 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960132.03, time is 1599960135.43 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960134.63, meas time 1599960135.43 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 1.000 at t=1599960135.43, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960135.43 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061717, 594925.79, 49.81) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960136.23 epoch sec; seqNo:2507; 4061712.78 north; 594924.61 east 2020-11-23T22:53:56Z- waiting for 1599960138.43, time is 1599960135.43 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960136.63 epoch sec; seqNo:2508 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.31 phi; -0.00 theta; 0.00 psi 2020-11-23T22:53:56Z- waiting for 1599960138.43, time is 1599960135.43 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960137.04 epoch sec; seqNo:2509 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.15 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960138.43, time is 1599960137.04 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960137.84 epoch sec; seqNo:2511; 4061711.63 north; 594923.41 east 2020-11-23T22:53:56Z- waiting for 1599960138.43, time is 1599960137.04 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960140.24 epoch sec; seqNo:2517 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.13 phi; -0.00 theta; -0.00 psi 2020-11-23T22:53:56Z- waiting for 1599960138.43, time is 1599960137.04 2020-11-23T22:53:56Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1599960140638; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960138.43, time is 1599960137.04 2020-11-23T22:53:56Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960141.04 epoch sec; seqNo:2519 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.13 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960138.43, time is 1599960141.04 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960140.24, meas time 1599960141.04 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 7.000 at t=1599960141.04, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960141.04 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061712, 594923.41, 49.73) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960141.44 epoch sec; seqNo:2520; 4061709.33 north; 594920.99 east 2020-11-23T22:53:56Z- waiting for 1599960144.04, time is 1599960141.04 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960142.24 epoch sec; seqNo:2522 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.06 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960144.04, time is 1599960141.04 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599960142645; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960144.04, time is 1599960141.04 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960143.05 epoch sec; seqNo:2524 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.12 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960144.04, time is 1599960143.05 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960143.85 epoch sec; seqNo:2526; 4061707.79 north; 594918.57 east 2020-11-23T22:53:56Z- waiting for 1599960144.04, time is 1599960143.05 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599960144650; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960144.04, time is 1599960143.05 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960144.65 epoch sec; seqNo:2528 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.11 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960144.04, time is 1599960144.65 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960143.85, meas time 1599960144.65 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 10.000 at t=1599960144.65, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960144.65 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061708, 594918.57, 49.68) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960145.85 epoch sec; seqNo:2531 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.11 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960147.65, time is 1599960145.85 2020-11-23T22:53:56Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960146.25 epoch sec; seqNo:2532; 4061706.62 north; 594916.14 east 2020-11-23T22:53:56Z- waiting for 1599960147.65, time is 1599960145.85 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960147.45 epoch sec; seqNo:2535 2020-11-23T22:53:56Z- AHRS_M2 msg: -1.93 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960147.65, time is 1599960145.85 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1599960147856; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960147.65, time is 1599960145.85 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960148.26 epoch sec; seqNo:2537 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.10 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960147.65, time is 1599960148.26 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960147.45, meas time 1599960148.26 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 14.000 at t=1599960148.26, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960148.26 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061707, 594916.14, 49.66) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960150.66 epoch sec; seqNo:2543; 4061704.69 north; 594912.50 east 2020-11-23T22:53:56Z- waiting for 1599960151.26, time is 1599960148.26 2020-11-23T22:53:56Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960151.46 epoch sec; seqNo:2545 2020-11-23T22:53:56Z- AHRS_M2 msg: -1.88 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960151.26, time is 1599960148.26 2020-11-23T22:53:56Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1599960151866; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960151.26, time is 1599960148.26 2020-11-23T22:53:56Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960152.27 epoch sec; seqNo:2547 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.09 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960151.26, time is 1599960152.27 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960151.46, meas time 1599960152.27 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 18.000 at t=1599960152.27, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960152.27 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061705, 594912.50, 49.66) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960153.07 epoch sec; seqNo:2549; 4061703.52 north; 594910.07 east 2020-11-23T22:53:56Z- waiting for 1599960155.27, time is 1599960152.27 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960153.87 epoch sec; seqNo:2551 2020-11-23T22:53:56Z- AHRS_M2 msg: -1.87 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960155.27, time is 1599960152.27 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599960154271; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960155.27, time is 1599960152.27 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960154.67 epoch sec; seqNo:2553 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.08 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960155.27, time is 1599960154.67 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960155.07 epoch sec; seqNo:2554; 4061702.74 north; 594907.64 east 2020-11-23T22:53:56Z- waiting for 1599960155.27, time is 1599960154.67 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960156.28 epoch sec; seqNo:2557 2020-11-23T22:53:56Z- AHRS_M2 msg: -1.88 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960155.27, time is 1599960154.67 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1599960156676; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960155.27, time is 1599960154.67 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960157.08 epoch sec; seqNo:2559 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960155.27, time is 1599960157.08 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960156.28, meas time 1599960157.08 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 23.000 at t=1599960157.08, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960157.08 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061703, 594907.64, 49.73) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960157.88 epoch sec; seqNo:2561; 4061701.96 north; 594905.21 east 2020-11-23T22:53:56Z- waiting for 1599960160.08, time is 1599960157.08 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960158.68 epoch sec; seqNo:2563 2020-11-23T22:53:56Z- AHRS_M2 msg: -1.91 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960160.08, time is 1599960157.08 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1599960159481; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960160.08, time is 1599960157.08 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960169.50 epoch sec; seqNo:2590 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.00 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960160.08, time is 1599960169.50 2020-11-23T22:53:56Z- sync is 10.82, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960169.50 epoch sec; seqNo:2590; 4061696.15 north; 594894.29 east 2020-11-23T22:53:56Z- waiting for 1599960160.08, time is 1599960169.50 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960169.50, meas time 1599960169.50 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 1.000 at t=1599960169.50, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960169.50 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061696, 594894.29, 49.81) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960169.90 epoch sec; seqNo:2591 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.21 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960172.50, time is 1599960169.50 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.12 epoch sec; seqNo:1599960169897; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960172.50, time is 1599960169.50 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960170.30 epoch sec; seqNo:2592 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.22 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960172.50, time is 1599960169.50 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.14 epoch sec; seqNo:1599960170297; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960172.50, time is 1599960169.50 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960177.11 epoch sec; seqNo:2609; 4061690.79 north; 594889.46 east 2020-11-23T22:53:56Z- waiting for 1599960172.50, time is 1599960169.50 2020-11-23T22:53:56Z- sync is 7.62, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960177.51 epoch sec; seqNo:2610 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.45 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960172.50, time is 1599960169.50 2020-11-23T22:53:56Z- sync is 8.02, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1599960177513; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960172.50, time is 1599960169.50 2020-11-23T22:53:56Z- sync is 8.02, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960177.51 epoch sec; seqNo:2610 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.02 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960172.50, time is 1599960177.51 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960177.51, meas time 1599960177.51 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 9.000 at t=1599960177.51, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960177.51 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061691, 594889.46, 50.33) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960177.91 epoch sec; seqNo:2611 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.02 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960180.51, time is 1599960177.91 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960186.73 epoch sec; seqNo:2633 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.02 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960180.51, time is 1599960186.73 2020-11-23T22:53:56Z- sync is 9.22, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960186.73 epoch sec; seqNo:2633; 4061682.39 north; 594883.45 east 2020-11-23T22:53:56Z- waiting for 1599960180.51, time is 1599960186.73 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960186.73, meas time 1599960186.73 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 18.000 at t=1599960186.73, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960186.73 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061682, 594883.45, 50.33) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960187.13 epoch sec; seqNo:2634 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.69 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960189.73, time is 1599960186.73 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1599960187130; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960189.73, time is 1599960186.73 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960187.13 epoch sec; seqNo:2634 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.02 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960189.73, time is 1599960187.13 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960187.13 epoch sec; seqNo:2634; 4061682.01 north; 594883.46 east 2020-11-23T22:53:56Z- waiting for 1599960189.73, time is 1599960187.13 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960187.53 epoch sec; seqNo:2635 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.70 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960189.73, time is 1599960187.13 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1599960187531; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960189.73, time is 1599960187.13 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960187.53 epoch sec; seqNo:2635; 4061681.63 north; 594883.46 east 2020-11-23T22:53:56Z- waiting for 1599960189.73, time is 1599960187.13 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960199.14 epoch sec; seqNo:2664 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.87 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960189.73, time is 1599960187.13 2020-11-23T22:53:56Z- sync is 12.01, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1599960199143; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960189.73, time is 1599960187.13 2020-11-23T22:53:56Z- sync is 12.01, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960199.14 epoch sec; seqNo:2664 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960189.73, time is 1599960199.14 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960199.14, meas time 1599960199.14 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 31.000 at t=1599960199.14, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960199.14 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061682, 594883.46, 50.21) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960199.14 epoch sec; seqNo:2664; 4061669.83 north; 594878.71 east 2020-11-23T22:53:56Z- waiting for 1599960202.14, time is 1599960199.14 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960199.55 epoch sec; seqNo:2665 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.88 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960202.14, time is 1599960199.14 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1599960199545; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960202.14, time is 1599960199.14 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960199.55 epoch sec; seqNo:2665 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960202.14, time is 1599960199.55 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960199.55 epoch sec; seqNo:2665; 4061669.46 north; 594878.72 east 2020-11-23T22:53:56Z- waiting for 1599960202.14, time is 1599960199.55 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960199.94 epoch sec; seqNo:2666 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.88 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960202.14, time is 1599960199.55 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.19 epoch sec; seqNo:1599960199945; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960202.14, time is 1599960199.55 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960212.77 epoch sec; seqNo:2698 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.00 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960202.14, time is 1599960212.77 2020-11-23T22:53:56Z- sync is 12.82, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960212.77 epoch sec; seqNo:2698; 4061655.78 north; 594875.21 east 2020-11-23T22:53:56Z- waiting for 1599960202.14, time is 1599960212.77 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960212.77, meas time 1599960212.77 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 10.000 at t=1599960212.77, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960212.77 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061656, 594875.21, 50.19) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960213.16 epoch sec; seqNo:2699 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.94 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960215.77, time is 1599960212.77 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599960213166; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960215.77, time is 1599960212.77 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960213.17 epoch sec; seqNo:2699 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.00 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960215.77, time is 1599960213.17 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960213.17 epoch sec; seqNo:2699; 4061655.40 north; 594875.21 east 2020-11-23T22:53:56Z- waiting for 1599960215.77, time is 1599960213.17 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960213.57 epoch sec; seqNo:2700 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.94 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960215.77, time is 1599960213.17 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1599960213565; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960215.77, time is 1599960213.17 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960213.57 epoch sec; seqNo:2700 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.00 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960215.77, time is 1599960213.57 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960213.57 epoch sec; seqNo:2700; 4061655.02 north; 594875.21 east 2020-11-23T22:53:56Z- waiting for 1599960215.77, time is 1599960213.57 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1599960213965; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960215.77, time is 1599960213.57 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.60 epoch sec; seqNo:1599960229184; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960215.77, time is 1599960213.57 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960229.18 epoch sec; seqNo:2739 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960215.77, time is 1599960229.18 2020-11-23T22:53:56Z- sync is 15.61, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960229.19 epoch sec; seqNo:2739; 4061638.70 north; 594872.95 east 2020-11-23T22:53:56Z- waiting for 1599960215.77, time is 1599960229.18 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960229.19, meas time 1599960229.18 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 27.000 at t=1599960229.18, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960229.18 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061639, 594872.95, 49.60) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960229.58 epoch sec; seqNo:2740 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.93 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960232.18, time is 1599960229.18 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.60 epoch sec; seqNo:1599960229585; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960232.18, time is 1599960229.18 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960229.59 epoch sec; seqNo:2740 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960232.18, time is 1599960229.59 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960229.59 epoch sec; seqNo:2740; 4061638.32 north; 594872.96 east 2020-11-23T22:53:56Z- waiting for 1599960232.18, time is 1599960229.59 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960229.98 epoch sec; seqNo:2741 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.93 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960232.18, time is 1599960229.59 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960229.99 epoch sec; seqNo:2741 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960232.18, time is 1599960229.99 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960249.62 epoch sec; seqNo:2790 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.90 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960232.18, time is 1599960229.99 2020-11-23T22:53:56Z- sync is 19.63, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1599960249618; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960232.18, time is 1599960229.99 2020-11-23T22:53:56Z- sync is 19.63, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960249.62 epoch sec; seqNo:2790 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960232.18, time is 1599960249.62 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960249.62, meas time 1599960249.62 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 13.000 at t=1599960249.62, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960249.62 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061638, 594872.96, 49.99) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960249.62 epoch sec; seqNo:2790; 4061617.43 north; 594868.31 east 2020-11-23T22:53:56Z- waiting for 1599960252.62, time is 1599960249.62 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960250.02 epoch sec; seqNo:2791 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.90 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960252.62, time is 1599960249.62 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.00 epoch sec; seqNo:1599960250020; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960252.62, time is 1599960249.62 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960250.02 epoch sec; seqNo:2791 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960252.62, time is 1599960250.02 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960250.03 epoch sec; seqNo:2791; 4061617.05 north; 594868.31 east 2020-11-23T22:53:56Z- waiting for 1599960252.62, time is 1599960250.02 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960250.42 epoch sec; seqNo:2792 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.90 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960252.62, time is 1599960250.02 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.01 epoch sec; seqNo:1599960250420; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960252.62, time is 1599960250.02 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960250.42 epoch sec; seqNo:2792 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960252.62, time is 1599960250.42 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960250.42 epoch sec; seqNo:2792; 4061616.67 north; 594868.32 east 2020-11-23T22:53:56Z- waiting for 1599960252.62, time is 1599960250.42 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960250.82 epoch sec; seqNo:2793 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.89 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960252.62, time is 1599960250.42 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1599960250820; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960252.62, time is 1599960250.42 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960251.22 epoch sec; seqNo:2794 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.89 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960252.62, time is 1599960250.42 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1599960274067; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960252.62, time is 1599960250.42 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960274.07 epoch sec; seqNo:2851 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960252.62, time is 1599960274.07 2020-11-23T22:53:56Z- sync is 22.85, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960274.07 epoch sec; seqNo:2851; 4061591.97 north; 594861.27 east 2020-11-23T22:53:56Z- waiting for 1599960252.62, time is 1599960274.07 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960274.07, meas time 1599960274.07 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 4.000 at t=1599960274.07, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960274.07 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061592, 594861.27, 50.34) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960274.47 epoch sec; seqNo:2852 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.86 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960277.07, time is 1599960274.07 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1599960274468; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960277.07, time is 1599960274.07 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960274.47 epoch sec; seqNo:2852 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960277.07, time is 1599960274.47 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960274.47 epoch sec; seqNo:2852; 4061591.59 north; 594861.27 east 2020-11-23T22:53:56Z- waiting for 1599960277.07, time is 1599960274.47 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960274.87 epoch sec; seqNo:2853 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.86 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960277.07, time is 1599960274.47 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1599960274868; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960277.07, time is 1599960274.47 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960274.87 epoch sec; seqNo:2853 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960277.07, time is 1599960274.87 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960274.87 epoch sec; seqNo:2853; 4061591.21 north; 594861.27 east 2020-11-23T22:53:56Z- waiting for 1599960277.07, time is 1599960274.87 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960275.27 epoch sec; seqNo:2854 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.86 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960277.07, time is 1599960274.87 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1599960275270; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960277.07, time is 1599960274.87 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960275.27 epoch sec; seqNo:2854 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960277.07, time is 1599960275.27 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960275.27 epoch sec; seqNo:2854; 4061590.83 north; 594861.28 east 2020-11-23T22:53:56Z- waiting for 1599960277.07, time is 1599960275.27 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960275.67 epoch sec; seqNo:2855 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.86 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960277.07, time is 1599960275.27 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1599960275669; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960277.07, time is 1599960275.27 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960275.67 epoch sec; seqNo:2855; 4061590.45 north; 594861.28 east 2020-11-23T22:53:56Z- waiting for 1599960277.07, time is 1599960275.27 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960276.07 epoch sec; seqNo:2856 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.86 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960277.07, time is 1599960275.27 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960276.07 epoch sec; seqNo:2856; 4061590.07 north; 594861.29 east 2020-11-23T22:53:56Z- waiting for 1599960277.07, time is 1599960275.27 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960300.91 epoch sec; seqNo:2918; 4061564.23 north; 594854.25 east 2020-11-23T22:53:56Z- waiting for 1599960277.07, time is 1599960275.27 2020-11-23T22:53:56Z- sync is 25.64, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960301.31 epoch sec; seqNo:2919 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.86 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960277.07, time is 1599960275.27 2020-11-23T22:53:56Z- sync is 26.04, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599960301314; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960277.07, time is 1599960275.27 2020-11-23T22:53:56Z- sync is 26.04, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960301.32 epoch sec; seqNo:2919 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960277.07, time is 1599960301.32 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960301.31, meas time 1599960301.32 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 31.000 at t=1599960301.32, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960301.32 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061564, 594854.25, 49.78) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960301.32 epoch sec; seqNo:2919; 4061563.85 north; 594854.25 east 2020-11-23T22:53:56Z- waiting for 1599960304.32, time is 1599960301.32 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960301.71 epoch sec; seqNo:2920 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.86 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960304.32, time is 1599960301.32 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599960301715; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960304.32, time is 1599960301.32 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960301.71 epoch sec; seqNo:2920 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960304.32, time is 1599960301.71 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960301.71 epoch sec; seqNo:2920; 4061563.47 north; 594854.26 east 2020-11-23T22:53:56Z- waiting for 1599960304.32, time is 1599960301.71 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960302.12 epoch sec; seqNo:2921 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.86 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960304.32, time is 1599960301.71 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599960302115; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960304.32, time is 1599960301.71 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960302.12 epoch sec; seqNo:2921 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960304.32, time is 1599960302.12 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960302.12 epoch sec; seqNo:2921; 4061563.09 north; 594854.26 east 2020-11-23T22:53:56Z- waiting for 1599960304.32, time is 1599960302.12 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960302.52 epoch sec; seqNo:2922 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.86 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960304.32, time is 1599960302.12 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960302.52 epoch sec; seqNo:2922 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960304.32, time is 1599960302.52 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960302.52 epoch sec; seqNo:2922; 4061562.72 north; 594854.27 east 2020-11-23T22:53:56Z- waiting for 1599960304.32, time is 1599960302.52 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960302.92 epoch sec; seqNo:2923 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960304.32, time is 1599960302.92 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960303.32 epoch sec; seqNo:2924 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960304.32, time is 1599960303.32 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599960328153; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960304.32, time is 1599960303.32 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960328.15 epoch sec; seqNo:2986 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960304.32, time is 1599960328.15 2020-11-23T22:53:56Z- sync is 25.64, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960328.15 epoch sec; seqNo:2986; 4061536.49 north; 594847.23 east 2020-11-23T22:53:56Z- waiting for 1599960304.32, time is 1599960328.15 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960328.15, meas time 1599960328.15 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 24.000 at t=1599960328.15, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960328.15 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061536, 594847.23, 49.75) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960328.56 epoch sec; seqNo:2987 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960331.15, time is 1599960328.15 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599960328555; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960331.15, time is 1599960328.15 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960328.56 epoch sec; seqNo:2987 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960331.15, time is 1599960328.56 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960328.56 epoch sec; seqNo:2987; 4061536.12 north; 594847.24 east 2020-11-23T22:53:56Z- waiting for 1599960331.15, time is 1599960328.56 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960328.95 epoch sec; seqNo:2988 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960331.15, time is 1599960328.56 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599960328956; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960331.15, time is 1599960328.56 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960328.96 epoch sec; seqNo:2988 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960331.15, time is 1599960328.96 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960328.96 epoch sec; seqNo:2988; 4061535.34 north; 594846.03 east 2020-11-23T22:53:56Z- waiting for 1599960331.15, time is 1599960328.96 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960329.36 epoch sec; seqNo:2989 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960331.15, time is 1599960328.96 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599960329355; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960331.15, time is 1599960328.96 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960329.36 epoch sec; seqNo:2989 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960331.15, time is 1599960329.36 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960329.36 epoch sec; seqNo:2989; 4061534.97 north; 594846.03 east 2020-11-23T22:53:56Z- waiting for 1599960331.15, time is 1599960329.36 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960329.76 epoch sec; seqNo:2990 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960331.15, time is 1599960329.36 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599960329756; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960331.15, time is 1599960329.36 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960329.76 epoch sec; seqNo:2990 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960331.15, time is 1599960329.76 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960329.76 epoch sec; seqNo:2990; 4061534.59 north; 594846.04 east 2020-11-23T22:53:56Z- waiting for 1599960331.15, time is 1599960329.76 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.46 epoch sec; seqNo:1599960357004; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960331.15, time is 1599960329.76 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960357.00 epoch sec; seqNo:3058 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960331.15, time is 1599960357.00 2020-11-23T22:53:56Z- sync is 27.24, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960357.01 epoch sec; seqNo:3058; 4061506.84 north; 594837.80 east 2020-11-23T22:53:56Z- waiting for 1599960331.15, time is 1599960357.00 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960357.01, meas time 1599960357.00 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 19.000 at t=1599960357.00, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960357.00 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061507, 594837.80, 50.46) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960357.40 epoch sec; seqNo:3059 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960360.00, time is 1599960357.00 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.46 epoch sec; seqNo:1599960357404; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960360.00, time is 1599960357.00 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960357.40 epoch sec; seqNo:3059 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960360.00, time is 1599960357.40 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960357.40 epoch sec; seqNo:3059; 4061506.46 north; 594837.80 east 2020-11-23T22:53:56Z- waiting for 1599960360.00, time is 1599960357.40 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960357.80 epoch sec; seqNo:3060 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960360.00, time is 1599960357.40 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.47 epoch sec; seqNo:1599960357804; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960360.00, time is 1599960357.40 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960357.80 epoch sec; seqNo:3060 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960360.00, time is 1599960357.80 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960357.81 epoch sec; seqNo:3060; 4061506.08 north; 594837.81 east 2020-11-23T22:53:56Z- waiting for 1599960360.00, time is 1599960357.80 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960358.20 epoch sec; seqNo:3061 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960360.00, time is 1599960357.80 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.47 epoch sec; seqNo:1599960358204; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960360.00, time is 1599960357.80 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960358.20 epoch sec; seqNo:3061 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960360.00, time is 1599960358.20 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960358.20 epoch sec; seqNo:3061; 4061505.70 north; 594837.81 east 2020-11-23T22:53:56Z- waiting for 1599960360.00, time is 1599960358.20 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960358.61 epoch sec; seqNo:3062 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960360.00, time is 1599960358.20 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.47 epoch sec; seqNo:1599960358605; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960360.00, time is 1599960358.20 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960358.61 epoch sec; seqNo:3062 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960360.00, time is 1599960358.61 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960359.01 epoch sec; seqNo:3063 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960360.00, time is 1599960358.61 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.47 epoch sec; seqNo:1599960359005; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960360.00, time is 1599960358.61 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960359.41 epoch sec; seqNo:3064 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960360.00, time is 1599960358.61 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960375.84 epoch sec; seqNo:3105; 4061487.45 north; 594831.91 east 2020-11-23T22:53:56Z- waiting for 1599960360.00, time is 1599960358.61 2020-11-23T22:53:56Z- sync is 17.23, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960376.24 epoch sec; seqNo:3106 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960360.00, time is 1599960358.61 2020-11-23T22:53:56Z- sync is 17.63, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.13 epoch sec; seqNo:1599960376240; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960360.00, time is 1599960358.61 2020-11-23T22:53:56Z- sync is 17.63, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960376.24 epoch sec; seqNo:3106 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960360.00, time is 1599960376.24 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960376.24, meas time 1599960376.24 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 4.000 at t=1599960376.24, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960376.24 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061487, 594831.91, 50.13) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960376.24 epoch sec; seqNo:3106; 4061487.07 north; 594831.92 east 2020-11-23T22:53:56Z- waiting for 1599960379.24, time is 1599960376.24 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960376.64 epoch sec; seqNo:3107 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960379.24, time is 1599960376.24 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.12 epoch sec; seqNo:1599960376642; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960379.24, time is 1599960376.24 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960376.64 epoch sec; seqNo:3107 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960379.24, time is 1599960376.64 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960376.64 epoch sec; seqNo:3107; 4061486.69 north; 594831.92 east 2020-11-23T22:53:56Z- waiting for 1599960379.24, time is 1599960376.64 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960377.04 epoch sec; seqNo:3108 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960379.24, time is 1599960376.64 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1599960377043; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960379.24, time is 1599960376.64 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960377.04 epoch sec; seqNo:3108 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960379.24, time is 1599960377.04 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960377.05 epoch sec; seqNo:3108; 4061486.31 north; 594831.92 east 2020-11-23T22:53:56Z- waiting for 1599960379.24, time is 1599960377.04 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960377.44 epoch sec; seqNo:3109 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960379.24, time is 1599960377.04 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.10 epoch sec; seqNo:1599960377443; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960379.24, time is 1599960377.04 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960377.44 epoch sec; seqNo:3109 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960379.24, time is 1599960377.44 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960377.45 epoch sec; seqNo:3109; 4061485.93 north; 594831.93 east 2020-11-23T22:53:56Z- waiting for 1599960379.24, time is 1599960377.44 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.08 epoch sec; seqNo:1599960377845; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960379.24, time is 1599960377.44 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960377.85 epoch sec; seqNo:3110 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960379.24, time is 1599960377.85 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960377.85 epoch sec; seqNo:3110; 4061485.55 north; 594831.93 east 2020-11-23T22:53:56Z- waiting for 1599960379.24, time is 1599960377.85 2020-11-23T22:53:56Z- sync is 0.01, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.07 epoch sec; seqNo:1599960378247; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960379.24, time is 1599960377.85 2020-11-23T22:53:56Z- sync is 0.01, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960381.45 epoch sec; seqNo:3119 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960379.24, time is 1599960381.45 2020-11-23T22:53:56Z- sync is 3.60, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960381.45 epoch sec; seqNo:3119; 4061481.75 north; 594830.75 east 2020-11-23T22:53:56Z- waiting for 1599960379.24, time is 1599960381.45 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960381.45, meas time 1599960381.45 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 9.000 at t=1599960381.45, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960381.45 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061482, 594830.75, 50.07) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960381.85 epoch sec; seqNo:3120 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960384.45, time is 1599960381.45 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.97 epoch sec; seqNo:1599960381852; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960384.45, time is 1599960381.45 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960382.25 epoch sec; seqNo:3121 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960384.45, time is 1599960381.45 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960391.48 epoch sec; seqNo:3144; 4061471.50 north; 594828.43 east 2020-11-23T22:53:56Z- waiting for 1599960384.45, time is 1599960381.45 2020-11-23T22:53:56Z- sync is 10.03, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960391.87 epoch sec; seqNo:3145 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960384.45, time is 1599960381.45 2020-11-23T22:53:56Z- sync is 10.42, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599960391874; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960384.45, time is 1599960381.45 2020-11-23T22:53:56Z- sync is 10.42, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960391.88 epoch sec; seqNo:3145 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960384.45, time is 1599960391.88 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960391.87, meas time 1599960391.88 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 19.000 at t=1599960391.88, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960391.88 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061471, 594828.43, 49.76) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960391.88 epoch sec; seqNo:3145; 4061471.10 north; 594827.21 east 2020-11-23T22:53:56Z- waiting for 1599960394.88, time is 1599960391.88 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960392.27 epoch sec; seqNo:3146 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960394.88, time is 1599960391.88 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599960392274; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960394.88, time is 1599960391.88 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960392.28 epoch sec; seqNo:3146 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960394.88, time is 1599960392.28 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960392.67 epoch sec; seqNo:3147 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960394.88, time is 1599960392.28 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960392.68 epoch sec; seqNo:3147 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960394.88, time is 1599960392.68 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599960397889; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960394.88, time is 1599960392.68 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960397.89 epoch sec; seqNo:3160 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960394.88, time is 1599960397.89 2020-11-23T22:53:56Z- sync is 5.22, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960397.89 epoch sec; seqNo:3160; 4061465.03 north; 594826.06 east 2020-11-23T22:53:56Z- waiting for 1599960394.88, time is 1599960397.89 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960397.89, meas time 1599960397.89 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 25.000 at t=1599960397.89, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960397.89 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061465, 594826.06, 49.68) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960398.29 epoch sec; seqNo:3161 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960400.89, time is 1599960397.89 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599960398289; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960400.89, time is 1599960397.89 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960398.29 epoch sec; seqNo:3161 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960400.89, time is 1599960398.29 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960398.69 epoch sec; seqNo:3162 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960400.89, time is 1599960398.29 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599960398691; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960400.89, time is 1599960398.29 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960401.90 epoch sec; seqNo:3170 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960400.89, time is 1599960398.29 2020-11-23T22:53:56Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960401.90 epoch sec; seqNo:3170; 4061460.85 north; 594824.88 east 2020-11-23T22:53:56Z- waiting for 1599960400.89, time is 1599960398.29 2020-11-23T22:53:56Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.64 epoch sec; seqNo:1599960404302; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960400.89, time is 1599960398.29 2020-11-23T22:53:56Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960404.30 epoch sec; seqNo:3176 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960400.89, time is 1599960404.30 2020-11-23T22:53:56Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960404.30 epoch sec; seqNo:3176; 4061458.56 north; 594823.69 east 2020-11-23T22:53:56Z- waiting for 1599960400.89, time is 1599960404.30 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960404.30, meas time 1599960404.30 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 32.000 at t=1599960404.30, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960404.30 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061459, 594823.69, 49.64) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960405.90 epoch sec; seqNo:3180 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960407.30, time is 1599960404.30 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.63 epoch sec; seqNo:1599960405903; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960407.30, time is 1599960404.30 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960406.70 epoch sec; seqNo:3182 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960407.30, time is 1599960406.70 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960407.11 epoch sec; seqNo:3183; 4061455.53 north; 594823.72 east 2020-11-23T22:53:56Z- waiting for 1599960407.30, time is 1599960406.70 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960407.91 epoch sec; seqNo:3185 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960407.30, time is 1599960406.70 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.62 epoch sec; seqNo:1599960408309; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960407.30, time is 1599960406.70 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960408.71 epoch sec; seqNo:3187 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960407.30, time is 1599960408.71 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960407.91, meas time 1599960408.71 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 2.000 at t=1599960408.71, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960408.71 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061456, 594823.72, 49.62) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960409.52 epoch sec; seqNo:3189; 4061453.24 north; 594822.53 east 2020-11-23T22:53:56Z- waiting for 1599960411.71, time is 1599960408.71 2020-11-23T22:53:56Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960410.32 epoch sec; seqNo:3191 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960411.71, time is 1599960408.71 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.64 epoch sec; seqNo:1599960410716; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960411.71, time is 1599960408.71 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960411.12 epoch sec; seqNo:3193; 4061451.35 north; 594822.55 east 2020-11-23T22:53:56Z- waiting for 1599960411.71, time is 1599960408.71 2020-11-23T22:53:56Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960411.52 epoch sec; seqNo:3194 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960411.71, time is 1599960408.71 2020-11-23T22:53:56Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960411.92 epoch sec; seqNo:3195; 4061450.58 north; 594821.34 east 2020-11-23T22:53:56Z- waiting for 1599960411.71, time is 1599960408.71 2020-11-23T22:53:56Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960412.32 epoch sec; seqNo:3196; 4061450.20 north; 594821.34 east 2020-11-23T22:53:56Z- waiting for 1599960411.71, time is 1599960408.71 2020-11-23T22:53:56Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960413.12 epoch sec; seqNo:3198 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960411.71, time is 1599960408.71 2020-11-23T22:53:56Z- sync is 4.41, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599960413520; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960411.71, time is 1599960408.71 2020-11-23T22:53:56Z- sync is 4.41, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960413.92 epoch sec; seqNo:3200 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.03 2020-11-23T22:53:56Z- waiting for 1599960411.71, time is 1599960413.92 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960413.12, meas time 1599960413.92 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 7.000 at t=1599960413.92, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960413.92 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061450, 594821.34, 49.68) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960416.32 epoch sec; seqNo:3206; 4061446.02 north; 594820.16 east 2020-11-23T22:53:56Z- waiting for 1599960416.92, time is 1599960413.92 2020-11-23T22:53:56Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960416.72 epoch sec; seqNo:3207 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960416.92, time is 1599960413.92 2020-11-23T22:53:56Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599960417123; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960416.92, time is 1599960413.92 2020-11-23T22:53:56Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960417.52 epoch sec; seqNo:3209 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960416.92, time is 1599960417.52 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960416.72, meas time 1599960417.52 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 11.000 at t=1599960417.52, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960417.52 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061446, 594820.16, 49.76) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960418.33 epoch sec; seqNo:3211; 4061444.12 north; 594820.19 east 2020-11-23T22:53:56Z- waiting for 1599960420.52, time is 1599960417.52 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960418.73 epoch sec; seqNo:3212 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960420.52, time is 1599960417.52 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599960419127; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960420.52, time is 1599960417.52 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960419.53 epoch sec; seqNo:3214 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960420.52, time is 1599960419.53 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960420.33 epoch sec; seqNo:3216; 4061442.22 north; 594818.99 east 2020-11-23T22:53:56Z- waiting for 1599960420.52, time is 1599960419.53 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960421.13 epoch sec; seqNo:3218 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960420.52, time is 1599960419.53 2020-11-23T22:53:56Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960421.53 epoch sec; seqNo:3219 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960420.52, time is 1599960421.53 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960421.13, meas time 1599960421.53 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 15.000 at t=1599960421.53, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960421.53 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061442, 594818.99, 49.82) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960421.93 epoch sec; seqNo:3220; 4061440.32 north; 594819.01 east 2020-11-23T22:53:56Z- waiting for 1599960424.53, time is 1599960421.53 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960422.33 epoch sec; seqNo:3221 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960424.53, time is 1599960422.33 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960423.13 epoch sec; seqNo:3223 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960424.53, time is 1599960423.13 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.97 epoch sec; seqNo:1599960423934; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960424.53, time is 1599960423.13 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960424.34 epoch sec; seqNo:3226 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960424.53, time is 1599960424.34 2020-11-23T22:53:56Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960425.14 epoch sec; seqNo:3228; 4061437.28 north; 594817.82 east 2020-11-23T22:53:56Z- waiting for 1599960424.53, time is 1599960424.34 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960427.54 epoch sec; seqNo:3234 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960424.53, time is 1599960424.34 2020-11-23T22:53:56Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.09 epoch sec; seqNo:1599960427942; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960424.53, time is 1599960424.34 2020-11-23T22:53:56Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960428.34 epoch sec; seqNo:3236 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960424.53, time is 1599960428.34 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960427.54, meas time 1599960428.34 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 22.000 at t=1599960428.34, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960428.34 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061437, 594817.82, 50.09) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960428.74 epoch sec; seqNo:3237; 4061433.48 north; 594816.64 east 2020-11-23T22:53:56Z- waiting for 1599960431.34, time is 1599960428.34 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960429.54 epoch sec; seqNo:3239 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960431.34, time is 1599960428.34 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.16 epoch sec; seqNo:1599960430343; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960431.34, time is 1599960428.34 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960430.34 epoch sec; seqNo:3241 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960431.34, time is 1599960430.34 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960431.15 epoch sec; seqNo:3243; 4061431.19 north; 594815.45 east 2020-11-23T22:53:56Z- waiting for 1599960431.34, time is 1599960430.34 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960431.54 epoch sec; seqNo:3244 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960431.34, time is 1599960430.34 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1599960431945; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960431.34, time is 1599960430.34 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960432.35 epoch sec; seqNo:3246 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960431.34, time is 1599960432.35 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960431.54, meas time 1599960432.35 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 26.000 at t=1599960432.35, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960432.35 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061431, 594815.45, 50.21) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960433.15 epoch sec; seqNo:3248; 4061428.92 north; 594815.47 east 2020-11-23T22:53:56Z- waiting for 1599960435.35, time is 1599960432.35 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960433.55 epoch sec; seqNo:3249 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.83 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960435.35, time is 1599960432.35 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1599960434348; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960435.35, time is 1599960432.35 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960434.35 epoch sec; seqNo:3251 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960435.35, time is 1599960434.35 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960435.15 epoch sec; seqNo:3253; 4061427.01 north; 594814.27 east 2020-11-23T22:53:56Z- waiting for 1599960435.35, time is 1599960434.35 2020-11-23T22:53:56Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1599960435951; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960435.35, time is 1599960434.35 2020-11-23T22:53:56Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960436.35 epoch sec; seqNo:3256 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960435.35, time is 1599960436.35 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960435.15, meas time 1599960436.35 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 30.000 at t=1599960436.35, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960436.35 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061427, 594814.27, 50.31) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960437.15 epoch sec; seqNo:3258; 4061424.74 north; 594814.30 east 2020-11-23T22:53:56Z- waiting for 1599960439.35, time is 1599960436.35 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960439.95 epoch sec; seqNo:3265 2020-11-23T22:53:56Z- AHRS_M2 msg: -2.75 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960439.35, time is 1599960436.35 2020-11-23T22:53:56Z- sync is 3.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1599960440357; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960439.35, time is 1599960436.35 2020-11-23T22:53:56Z- sync is 3.60, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960440.76 epoch sec; seqNo:3267 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.09 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960439.35, time is 1599960440.76 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960439.95, meas time 1599960440.76 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1599960440.76, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960440.76 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061425, 594814.30, 50.37) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960532.92 epoch sec; seqNo:3497 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.04 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960443.76, time is 1599960532.92 2020-11-23T22:53:56Z- sync is 92.96, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960532.92 epoch sec; seqNo:3497; 4061467.88 north; 594810.16 east 2020-11-23T22:53:56Z- waiting for 1599960443.76, time is 1599960532.92 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960532.92, meas time 1599960532.92 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 24.000 at t=1599960532.92, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960532.92 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061468, 594810.16, 50.37) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960533.32 epoch sec; seqNo:3498 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.08 phi; 0.01 theta; -0.02 psi 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960532.92 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1599960533320; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960532.92 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960533.32 epoch sec; seqNo:3498 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.04 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960533.32 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960533.32 epoch sec; seqNo:3498; 4061468.26 north; 594810.15 east 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960533.32 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960533.72 epoch sec; seqNo:3499 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.09 phi; 0.01 theta; -0.02 psi 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960533.32 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1599960533721; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960533.32 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960533.72 epoch sec; seqNo:3499 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.04 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960533.72 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960533.72 epoch sec; seqNo:3499; 4061468.64 north; 594810.15 east 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960533.72 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960534.12 epoch sec; seqNo:3500 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.10 phi; 0.01 theta; -0.02 psi 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960533.72 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1599960534123; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960533.72 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960534.12 epoch sec; seqNo:3500 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.03 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960534.12 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960534.12 epoch sec; seqNo:3500; 4061469.02 north; 594810.15 east 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960534.12 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960534.52 epoch sec; seqNo:3501 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.11 phi; 0.01 theta; -0.02 psi 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960534.12 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1599960534524; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960534.12 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960534.52 epoch sec; seqNo:3501 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.03 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960534.52 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960534.52 epoch sec; seqNo:3501; 4061469.40 north; 594810.14 east 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960534.52 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960534.92 epoch sec; seqNo:3502 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.12 phi; 0.01 theta; -0.02 psi 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960534.52 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1599960534924; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960534.52 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960534.92 epoch sec; seqNo:3502 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.03 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960534.92 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960534.92 epoch sec; seqNo:3502; 4061469.78 north; 594810.14 east 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960534.92 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960535.32 epoch sec; seqNo:3503 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.13 phi; 0.01 theta; -0.02 psi 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960534.92 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1599960535325; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960534.92 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960535.73 epoch sec; seqNo:3504 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.14 phi; 0.01 theta; -0.02 psi 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960534.92 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.26 epoch sec; seqNo:1599960535728; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960534.92 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960536.13 epoch sec; seqNo:3505 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.15 phi; 0.01 theta; -0.02 psi 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960534.92 2020-11-23T22:53:56Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960539.34 epoch sec; seqNo:3513 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.02 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960539.34 2020-11-23T22:53:56Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960539.34 epoch sec; seqNo:3513; 4061473.57 north; 594810.10 east 2020-11-23T22:53:56Z- waiting for 1599960535.92, time is 1599960539.34 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960539.34, meas time 1599960539.34 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 31.000 at t=1599960539.34, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960539.34 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061474, 594810.10, 50.26) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960539.74 epoch sec; seqNo:3514 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.23 phi; 0.02 theta; -0.02 psi 2020-11-23T22:53:56Z- waiting for 1599960542.34, time is 1599960539.34 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.16 epoch sec; seqNo:1599960539740; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960542.34, time is 1599960539.34 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960539.74 epoch sec; seqNo:3514 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.02 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960542.34, time is 1599960539.74 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960539.74 epoch sec; seqNo:3514; 4061473.94 north; 594810.09 east 2020-11-23T22:53:56Z- waiting for 1599960542.34, time is 1599960539.74 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.15 epoch sec; seqNo:1599960540142; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960542.34, time is 1599960539.74 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960548.57 epoch sec; seqNo:3536 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.36 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960542.34, time is 1599960539.74 2020-11-23T22:53:56Z- sync is 8.83, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1599960548568; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960542.34, time is 1599960539.74 2020-11-23T22:53:56Z- sync is 8.83, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960548.57 epoch sec; seqNo:3536 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.01 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960542.34, time is 1599960548.57 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960548.57, meas time 1599960548.57 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 6.000 at t=1599960548.57, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960548.57 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061474, 594810.09, 49.91) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960548.57 epoch sec; seqNo:3536; 4061481.87 north; 594807.56 east 2020-11-23T22:53:56Z- waiting for 1599960551.57, time is 1599960548.57 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1599960548969; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960551.57, time is 1599960548.57 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960548.97 epoch sec; seqNo:3537; 4061482.25 north; 594807.56 east 2020-11-23T22:53:56Z- waiting for 1599960551.57, time is 1599960548.57 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1599960580653; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960551.57, time is 1599960548.57 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960580.65 epoch sec; seqNo:3616 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960551.57, time is 1599960580.65 2020-11-23T22:53:56Z- sync is 31.68, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960580.65 epoch sec; seqNo:3616; 4061508.62 north; 594793.84 east 2020-11-23T22:53:56Z- waiting for 1599960551.57, time is 1599960580.65 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960580.65, meas time 1599960580.65 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 4.000 at t=1599960580.65, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960580.65 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061509, 594793.84, 49.66) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960581.05 epoch sec; seqNo:3617 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.42 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960583.65, time is 1599960580.65 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599960581054; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960583.65, time is 1599960580.65 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960581.06 epoch sec; seqNo:3617 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960583.65, time is 1599960581.06 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960581.06 epoch sec; seqNo:3617; 4061509.00 north; 594793.84 east 2020-11-23T22:53:56Z- waiting for 1599960583.65, time is 1599960581.06 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960581.45 epoch sec; seqNo:3618 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.41 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960583.65, time is 1599960581.06 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599960581455; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960583.65, time is 1599960581.06 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960581.45 epoch sec; seqNo:3618 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960583.65, time is 1599960581.45 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960581.46 epoch sec; seqNo:3618; 4061509.38 north; 594793.83 east 2020-11-23T22:53:56Z- waiting for 1599960583.65, time is 1599960581.45 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960581.86 epoch sec; seqNo:3619 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.41 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960583.65, time is 1599960581.45 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599960581856; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960583.65, time is 1599960581.45 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960581.86 epoch sec; seqNo:3619 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960583.65, time is 1599960581.86 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960581.86 epoch sec; seqNo:3619; 4061509.75 north; 594792.61 east 2020-11-23T22:53:56Z- waiting for 1599960583.65, time is 1599960581.86 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960582.26 epoch sec; seqNo:3620 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.41 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960583.65, time is 1599960581.86 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599960582257; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960583.65, time is 1599960581.86 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960582.26 epoch sec; seqNo:3620 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960583.65, time is 1599960582.26 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960582.66 epoch sec; seqNo:3621 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.41 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960583.65, time is 1599960582.26 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960583.06 epoch sec; seqNo:3622 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.41 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960583.65, time is 1599960582.26 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960583.46 epoch sec; seqNo:3623 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.41 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960583.65, time is 1599960582.26 2020-11-23T22:53:56Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960585.87 epoch sec; seqNo:3629 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960583.65, time is 1599960585.87 2020-11-23T22:53:56Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960585.87 epoch sec; seqNo:3629; 4061513.14 north; 594791.35 east 2020-11-23T22:53:56Z- waiting for 1599960583.65, time is 1599960585.87 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960585.87, meas time 1599960585.87 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 9.000 at t=1599960585.87, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960585.87 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061513, 594791.35, 49.69) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1599960586269; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960588.87, time is 1599960585.87 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960616.34 epoch sec; seqNo:3705; 4061538.77 north; 594778.86 east 2020-11-23T22:53:56Z- waiting for 1599960588.87, time is 1599960585.87 2020-11-23T22:53:56Z- sync is 30.47, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960616.74 epoch sec; seqNo:3706 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.36 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960588.87, time is 1599960585.87 2020-11-23T22:53:56Z- sync is 30.88, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599960616740; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960588.87, time is 1599960585.87 2020-11-23T22:53:56Z- sync is 30.88, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960616.74 epoch sec; seqNo:3706 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960588.87, time is 1599960616.74 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960616.74, meas time 1599960616.74 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 6.000 at t=1599960616.74, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960616.74 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061539, 594778.86, 50.39) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960616.74 epoch sec; seqNo:3706; 4061539.15 north; 594778.86 east 2020-11-23T22:53:56Z- waiting for 1599960619.74, time is 1599960616.74 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960617.14 epoch sec; seqNo:3707 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.36 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960619.74, time is 1599960616.74 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1599960617141; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960619.74, time is 1599960616.74 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960617.14 epoch sec; seqNo:3707 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960619.74, time is 1599960617.14 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960617.14 epoch sec; seqNo:3707; 4061539.53 north; 594778.85 east 2020-11-23T22:53:56Z- waiting for 1599960619.74, time is 1599960617.14 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960617.54 epoch sec; seqNo:3708 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.36 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960619.74, time is 1599960617.14 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1599960617542; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960619.74, time is 1599960617.14 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960617.54 epoch sec; seqNo:3708 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960619.74, time is 1599960617.54 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960617.54 epoch sec; seqNo:3708; 4061539.91 north; 594778.85 east 2020-11-23T22:53:56Z- waiting for 1599960619.74, time is 1599960617.54 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960617.94 epoch sec; seqNo:3709 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.35 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960619.74, time is 1599960617.54 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1599960617942; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960619.74, time is 1599960617.54 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960617.94 epoch sec; seqNo:3709 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.01 2020-11-23T22:53:56Z- waiting for 1599960619.74, time is 1599960617.94 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960617.94 epoch sec; seqNo:3709; 4061540.28 north; 594778.84 east 2020-11-23T22:53:56Z- waiting for 1599960619.74, time is 1599960617.94 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960618.34 epoch sec; seqNo:3710 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.35 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960619.74, time is 1599960617.94 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1599960618342; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960619.74, time is 1599960617.94 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960618.34 epoch sec; seqNo:3710; 4061540.66 north; 594778.84 east 2020-11-23T22:53:56Z- waiting for 1599960619.74, time is 1599960617.94 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960618.74 epoch sec; seqNo:3711 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.35 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960619.74, time is 1599960617.94 2020-11-23T22:53:56Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960633.17 epoch sec; seqNo:3747 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960619.74, time is 1599960633.17 2020-11-23T22:53:56Z- sync is 14.42, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960633.17 epoch sec; seqNo:3747; 4061553.49 north; 594773.82 east 2020-11-23T22:53:56Z- waiting for 1599960619.74, time is 1599960633.17 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960633.17, meas time 1599960633.17 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 23.000 at t=1599960633.17, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960633.17 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061553, 594773.82, 50.37) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960633.57 epoch sec; seqNo:3748 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.35 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960636.17, time is 1599960633.17 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.98 epoch sec; seqNo:1599960633567; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960636.17, time is 1599960633.17 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960633.57 epoch sec; seqNo:3748 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960636.17, time is 1599960633.57 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960635.17 epoch sec; seqNo:3752 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960636.17, time is 1599960635.17 2020-11-23T22:53:56Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960635.17 epoch sec; seqNo:3752; 4061554.99 north; 594772.58 east 2020-11-23T22:53:56Z- waiting for 1599960636.17, time is 1599960635.17 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960635.57 epoch sec; seqNo:3753 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.35 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960636.17, time is 1599960635.17 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1599960635571; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960636.17, time is 1599960635.17 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960635.57 epoch sec; seqNo:3753 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960636.17, time is 1599960635.57 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960635.57 epoch sec; seqNo:3753; 4061555.37 north; 594772.58 east 2020-11-23T22:53:56Z- waiting for 1599960636.17, time is 1599960635.57 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960655.21 epoch sec; seqNo:3802 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.04 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960636.17, time is 1599960655.21 2020-11-23T22:53:56Z- sync is 19.64, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960655.21 epoch sec; seqNo:3802; 4061572.34 north; 594765.06 east 2020-11-23T22:53:56Z- waiting for 1599960636.17, time is 1599960655.21 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- LcmTrn::updateTrn() >>>> pose time 1599960655.21, meas time 1599960655.21 <<<< 2020-11-23T22:53:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 11.000 at t=1599960655.21, ping # 0. 2020-11-23T22:53:56Z- TerrainNav::Measurement type 1 from time = 1599960655.21 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061572, 594765.06, 49.93) 2020-11-23T22:53:56Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:56Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:56Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960655.61 epoch sec; seqNo:3803 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.33 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960658.21, time is 1599960655.21 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599960655613; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960658.21, time is 1599960655.21 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960655.61 epoch sec; seqNo:3803 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.04 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960658.21, time is 1599960655.61 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960655.61 epoch sec; seqNo:3803; 4061572.72 north; 594765.06 east 2020-11-23T22:53:56Z- waiting for 1599960658.21, time is 1599960655.61 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960656.01 epoch sec; seqNo:3804 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.33 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960658.21, time is 1599960655.61 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599960656013; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960658.21, time is 1599960655.61 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960656.01 epoch sec; seqNo:3804 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.04 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960658.21, time is 1599960656.01 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960656.01 epoch sec; seqNo:3804; 4061573.10 north; 594765.06 east 2020-11-23T22:53:56Z- waiting for 1599960658.21, time is 1599960656.01 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- AHRS_M2 msg: 1599960656.41 epoch sec; seqNo:3805 2020-11-23T22:53:56Z- AHRS_M2 msg: -0.32 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:56Z- waiting for 1599960658.21, time is 1599960656.01 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599960656413; depth 0.00 2020-11-23T22:53:56Z- waiting for 1599960658.21, time is 1599960656.01 2020-11-23T22:53:56Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: 1599960656.41 epoch sec; seqNo:3805 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.04 , -0.02 2020-11-23T22:53:56Z- waiting for 1599960658.21, time is 1599960656.41 2020-11-23T22:53:56Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960656.41 epoch sec; seqNo:3805; 4061573.47 north; 594765.05 east 2020-11-23T22:53:57Z- waiting for 1599960658.21, time is 1599960656.41 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960656.81 epoch sec; seqNo:3806 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.32 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960658.21, time is 1599960656.41 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960682.06 epoch sec; seqNo:3869 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.32 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960658.21, time is 1599960656.41 2020-11-23T22:53:57Z- sync is 25.65, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.07 epoch sec; seqNo:1599960682065; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960658.21, time is 1599960656.41 2020-11-23T22:53:57Z- sync is 25.65, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960682.07 epoch sec; seqNo:3869 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960658.21, time is 1599960682.07 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599960682.06, meas time 1599960682.07 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 4.000 at t=1599960682.07, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599960682.07 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061573, 594765.05, 50.07) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960682.07 epoch sec; seqNo:3869; 4061595.73 north; 594756.26 east 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960682.07 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960682.46 epoch sec; seqNo:3870 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.32 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960682.07 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.08 epoch sec; seqNo:1599960682465; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960682.07 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960682.47 epoch sec; seqNo:3870 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960682.47 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960682.47 epoch sec; seqNo:3870; 4061596.11 north; 594756.26 east 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960682.47 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960682.87 epoch sec; seqNo:3871 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.32 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960682.47 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.10 epoch sec; seqNo:1599960682865; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960682.47 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960682.87 epoch sec; seqNo:3871 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960682.87 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960682.87 epoch sec; seqNo:3871; 4061596.49 north; 594756.25 east 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960682.87 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960683.27 epoch sec; seqNo:3872 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.32 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960682.87 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1599960683266; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960682.87 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960683.27 epoch sec; seqNo:3872 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960683.27 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960683.27 epoch sec; seqNo:3872; 4061596.87 north; 594756.25 east 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960683.27 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960683.67 epoch sec; seqNo:3873 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.32 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960683.27 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.12 epoch sec; seqNo:1599960683667; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960683.27 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960683.67 epoch sec; seqNo:3873 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960683.67 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960683.67 epoch sec; seqNo:3873; 4061597.25 north; 594756.25 east 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960683.67 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.13 epoch sec; seqNo:1599960684068; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960683.67 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960684.07 epoch sec; seqNo:3874 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960684.07 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960684.07 epoch sec; seqNo:3874; 4061597.63 north; 594756.24 east 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960684.07 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960684.47 epoch sec; seqNo:3875 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960684.47 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960698.49 epoch sec; seqNo:3910 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.32 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960684.47 2020-11-23T22:53:57Z- sync is 14.02, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1599960698492; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960684.47 2020-11-23T22:53:57Z- sync is 14.02, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960698.49 epoch sec; seqNo:3910 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960685.07, time is 1599960698.49 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599960698.49, meas time 1599960698.49 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 20.000 at t=1599960698.49, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599960698.49 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061598, 594756.24, 50.44) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960698.49 epoch sec; seqNo:3910; 4061610.07 north; 594751.22 east 2020-11-23T22:53:57Z- waiting for 1599960701.49, time is 1599960698.49 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960698.89 epoch sec; seqNo:3911 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.32 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960701.49, time is 1599960698.49 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1599960698893; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960701.49, time is 1599960698.49 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960698.89 epoch sec; seqNo:3911 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960701.49, time is 1599960698.89 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960698.89 epoch sec; seqNo:3911; 4061610.45 north; 594751.22 east 2020-11-23T22:53:57Z- waiting for 1599960701.49, time is 1599960698.89 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960699.30 epoch sec; seqNo:3912 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.32 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960701.49, time is 1599960698.89 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1599960699295; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960701.49, time is 1599960698.89 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960699.30 epoch sec; seqNo:3912 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960701.49, time is 1599960699.30 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960699.30 epoch sec; seqNo:3912; 4061610.83 north; 594751.21 east 2020-11-23T22:53:57Z- waiting for 1599960701.49, time is 1599960699.30 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960699.70 epoch sec; seqNo:3913 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.32 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960701.49, time is 1599960699.30 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1599960699698; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960701.49, time is 1599960699.30 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960699.70 epoch sec; seqNo:3913 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960701.49, time is 1599960699.70 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960699.70 epoch sec; seqNo:3913; 4061611.21 north; 594751.21 east 2020-11-23T22:53:57Z- waiting for 1599960701.49, time is 1599960699.70 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960700.10 epoch sec; seqNo:3914 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.32 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960701.49, time is 1599960699.70 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1599960700099; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960701.49, time is 1599960699.70 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1599960700501; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960701.49, time is 1599960699.70 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960708.51 epoch sec; seqNo:3935 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960701.49, time is 1599960708.51 2020-11-23T22:53:57Z- sync is 8.41, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960708.51 epoch sec; seqNo:3935; 4061618.75 north; 594747.46 east 2020-11-23T22:53:57Z- waiting for 1599960701.49, time is 1599960708.51 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599960708.51, meas time 1599960708.51 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 30.000 at t=1599960708.51, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599960708.51 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061619, 594747.46, 50.44) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960708.91 epoch sec; seqNo:3936 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.32 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960711.51, time is 1599960708.51 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1599960708911; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960711.51, time is 1599960708.51 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960708.91 epoch sec; seqNo:3936 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960711.51, time is 1599960708.91 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960708.91 epoch sec; seqNo:3936; 4061619.13 north; 594747.46 east 2020-11-23T22:53:57Z- waiting for 1599960711.51, time is 1599960708.91 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1599960709312; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960711.51, time is 1599960708.91 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960709.31 epoch sec; seqNo:3937; 4061619.50 north; 594747.46 east 2020-11-23T22:53:57Z- waiting for 1599960711.51, time is 1599960708.91 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1599960709713; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960711.51, time is 1599960708.91 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1599960714525; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960711.51, time is 1599960708.91 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960714.53 epoch sec; seqNo:3950 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960711.51, time is 1599960714.53 2020-11-23T22:53:57Z- sync is 5.21, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960714.53 epoch sec; seqNo:3950; 4061624.04 north; 594746.19 east 2020-11-23T22:53:57Z- waiting for 1599960711.51, time is 1599960714.53 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599960714.53, meas time 1599960714.53 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 2.000 at t=1599960714.53, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599960714.53 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061624, 594746.19, 50.21) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960714.92 epoch sec; seqNo:3951 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.32 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960717.53, time is 1599960714.53 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.19 epoch sec; seqNo:1599960714925; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960717.53, time is 1599960714.53 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960714.92 epoch sec; seqNo:3951 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960717.53, time is 1599960714.92 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960715.33 epoch sec; seqNo:3952 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.32 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960717.53, time is 1599960714.92 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960718.13 epoch sec; seqNo:3959; 4061627.43 north; 594744.93 east 2020-11-23T22:53:57Z- waiting for 1599960717.53, time is 1599960714.92 2020-11-23T22:53:57Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960718.53 epoch sec; seqNo:3960 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.32 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960717.53, time is 1599960714.92 2020-11-23T22:53:57Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.08 epoch sec; seqNo:1599960718533; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960717.53, time is 1599960714.92 2020-11-23T22:53:57Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960718.53 epoch sec; seqNo:3960 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960717.53, time is 1599960718.53 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599960718.53, meas time 1599960718.53 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 6.000 at t=1599960718.53, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599960718.53 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061627, 594744.93, 50.08) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960720.53 epoch sec; seqNo:3965 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960721.53, time is 1599960720.53 2020-11-23T22:53:57Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960720.54 epoch sec; seqNo:3965; 4061629.31 north; 594743.69 east 2020-11-23T22:53:57Z- waiting for 1599960721.53, time is 1599960720.53 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960720.93 epoch sec; seqNo:3966 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.32 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960721.53, time is 1599960720.53 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.01 epoch sec; seqNo:1599960720935; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960721.53, time is 1599960720.53 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960722.54 epoch sec; seqNo:3970 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.32 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960721.53, time is 1599960720.53 2020-11-23T22:53:57Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960722.94 epoch sec; seqNo:3971 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.32 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960721.53, time is 1599960720.53 2020-11-23T22:53:57Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960723.74 epoch sec; seqNo:3973 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.32 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960721.53, time is 1599960720.53 2020-11-23T22:53:57Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960724.14 epoch sec; seqNo:3974 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960721.53, time is 1599960724.14 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599960723.74, meas time 1599960724.14 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 12.000 at t=1599960724.14, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599960724.14 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061629, 594743.69, 50.01) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960724.94 epoch sec; seqNo:3976; 4061633.09 north; 594742.42 east 2020-11-23T22:53:57Z- waiting for 1599960727.14, time is 1599960724.14 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.86 epoch sec; seqNo:1599960726946; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960727.14, time is 1599960724.14 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960726.95 epoch sec; seqNo:3981; 4061634.97 north; 594741.18 east 2020-11-23T22:53:57Z- waiting for 1599960727.14, time is 1599960724.14 2020-11-23T22:53:57Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960727.75 epoch sec; seqNo:3983 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.31 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960727.14, time is 1599960724.14 2020-11-23T22:53:57Z- sync is 3.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1599960728148; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960727.14, time is 1599960724.14 2020-11-23T22:53:57Z- sync is 3.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960728.55 epoch sec; seqNo:3985 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960727.14, time is 1599960728.55 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599960727.75, meas time 1599960728.55 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 16.000 at t=1599960728.55, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599960728.55 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061635, 594741.18, 49.84) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960730.95 epoch sec; seqNo:3991; 4061638.37 north; 594739.92 east 2020-11-23T22:53:57Z- waiting for 1599960731.55, time is 1599960728.55 2020-11-23T22:53:57Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960731.75 epoch sec; seqNo:3993 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960731.55, time is 1599960728.55 2020-11-23T22:53:57Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599960732155; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960731.55, time is 1599960728.55 2020-11-23T22:53:57Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960732.56 epoch sec; seqNo:3995 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960731.55, time is 1599960732.56 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599960731.75, meas time 1599960732.56 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 20.000 at t=1599960732.56, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599960732.56 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061638, 594739.92, 49.77) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960733.36 epoch sec; seqNo:3997; 4061640.64 north; 594739.90 east 2020-11-23T22:53:57Z- waiting for 1599960735.56, time is 1599960732.56 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960733.76 epoch sec; seqNo:3998 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.29 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960735.56, time is 1599960732.56 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1599960734558; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960735.56, time is 1599960732.56 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960734.56 epoch sec; seqNo:4000 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960735.56, time is 1599960734.56 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960735.36 epoch sec; seqNo:4002; 4061642.52 north; 594738.66 east 2020-11-23T22:53:57Z- waiting for 1599960735.56, time is 1599960734.56 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960736.16 epoch sec; seqNo:4004 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.29 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960735.56, time is 1599960734.56 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.71 epoch sec; seqNo:1599960736561; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960735.56, time is 1599960734.56 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960736.56 epoch sec; seqNo:4005 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960735.56, time is 1599960736.56 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599960736.16, meas time 1599960736.56 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 24.000 at t=1599960736.56, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599960736.56 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061643, 594738.66, 49.71) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960737.36 epoch sec; seqNo:4007; 4061644.03 north; 594738.64 east 2020-11-23T22:53:57Z- waiting for 1599960739.56, time is 1599960736.56 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960738.16 epoch sec; seqNo:4009 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.29 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960739.56, time is 1599960736.56 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599960738565; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960739.56, time is 1599960736.56 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960738.57 epoch sec; seqNo:4010; 4061645.17 north; 594738.63 east 2020-11-23T22:53:57Z- waiting for 1599960739.56, time is 1599960736.56 2020-11-23T22:53:57Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960739.37 epoch sec; seqNo:4012 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.29 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960739.56, time is 1599960736.56 2020-11-23T22:53:57Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960739.77 epoch sec; seqNo:4013 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960739.56, time is 1599960739.77 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599960739.37, meas time 1599960739.77 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 27.000 at t=1599960739.77, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599960739.77 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061645, 594738.63, 49.69) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960740.57 epoch sec; seqNo:4015; 4061647.05 north; 594737.39 east 2020-11-23T22:53:57Z- waiting for 1599960742.77, time is 1599960739.77 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960742.98 epoch sec; seqNo:4021 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.29 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960742.77, time is 1599960739.77 2020-11-23T22:53:57Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1599960743376; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960742.77, time is 1599960739.77 2020-11-23T22:53:57Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960743.78 epoch sec; seqNo:4023 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960742.77, time is 1599960743.78 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599960742.98, meas time 1599960743.78 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 31.000 at t=1599960743.78, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599960743.78 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061647, 594737.39, 49.65) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960744.58 epoch sec; seqNo:4025 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960746.78, time is 1599960744.58 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960745.38 epoch sec; seqNo:4027; 4061651.21 north; 594736.12 east 2020-11-23T22:53:57Z- waiting for 1599960746.78, time is 1599960744.58 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960745.78 epoch sec; seqNo:4028 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.29 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960746.78, time is 1599960744.58 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.64 epoch sec; seqNo:1599960746584; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960746.78, time is 1599960744.58 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960746.59 epoch sec; seqNo:4030 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960746.78, time is 1599960746.59 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960747.38 epoch sec; seqNo:4032; 4061653.09 north; 594734.88 east 2020-11-23T22:53:57Z- waiting for 1599960746.78, time is 1599960746.59 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960747.79 epoch sec; seqNo:4033 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960746.78, time is 1599960747.79 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599960747.38, meas time 1599960747.79 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 1.000 at t=1599960747.79, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599960747.79 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061653, 594734.88, 49.64) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960748.59 epoch sec; seqNo:4035; 4061653.84 north; 594734.87 east 2020-11-23T22:53:57Z- waiting for 1599960750.79, time is 1599960747.79 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960751.00 epoch sec; seqNo:4041 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.29 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960750.79, time is 1599960747.79 2020-11-23T22:53:57Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.64 epoch sec; seqNo:1599960750996; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960750.79, time is 1599960747.79 2020-11-23T22:53:57Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960751.40 epoch sec; seqNo:4042 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960750.79, time is 1599960751.40 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599960751.00, meas time 1599960751.40 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 5.000 at t=1599960751.40, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599960751.40 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061654, 594734.87, 49.64) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960752.20 epoch sec; seqNo:4044; 4061657.24 north; 594733.61 east 2020-11-23T22:53:57Z- waiting for 1599960754.40, time is 1599960751.40 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960753.00 epoch sec; seqNo:4046 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.29 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960754.40, time is 1599960751.40 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599960753399; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960754.40, time is 1599960751.40 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960753.80 epoch sec; seqNo:4048 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960754.40, time is 1599960753.80 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960755.00 epoch sec; seqNo:4051; 4061659.51 north; 594733.59 east 2020-11-23T22:53:57Z- waiting for 1599960754.40, time is 1599960753.80 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960755.80 epoch sec; seqNo:4053 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.29 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960754.40, time is 1599960753.80 2020-11-23T22:53:57Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960843.18 epoch sec; seqNo:4271; 4061737.26 north; 594705.88 east 2020-11-23T22:53:57Z- waiting for 1599960754.40, time is 1599960753.80 2020-11-23T22:53:57Z- sync is 89.38, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960843.58 epoch sec; seqNo:4272 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960754.40, time is 1599960753.80 2020-11-23T22:53:57Z- sync is 89.78, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1599960843577; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960754.40, time is 1599960753.80 2020-11-23T22:53:57Z- sync is 89.78, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960843.58 epoch sec; seqNo:4272 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960754.40, time is 1599960843.58 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599960843.58, meas time 1599960843.58 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 29.000 at t=1599960843.58, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599960843.58 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061737, 594705.88, 49.74) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960843.58 epoch sec; seqNo:4272; 4061737.26 north; 594705.88 east 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960843.58 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960843.98 epoch sec; seqNo:4273 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960843.58 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599960843978; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960843.58 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960843.98 epoch sec; seqNo:4273 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960843.98 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960843.98 epoch sec; seqNo:4273; 4061737.64 north; 594705.87 east 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960843.98 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960844.38 epoch sec; seqNo:4274 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960843.98 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599960844378; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960843.98 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960844.38 epoch sec; seqNo:4274 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960844.38 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960844.38 epoch sec; seqNo:4274; 4061738.02 north; 594705.87 east 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960844.38 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960844.78 epoch sec; seqNo:4275 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960844.38 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599960844779; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960844.38 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960844.78 epoch sec; seqNo:4275 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960844.78 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960844.78 epoch sec; seqNo:4275; 4061738.38 north; 594704.65 east 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960844.78 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960845.18 epoch sec; seqNo:4276 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960844.78 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599960845180; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960844.78 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960845.18 epoch sec; seqNo:4276 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960845.18 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960845.18 epoch sec; seqNo:4276; 4061738.76 north; 594704.64 east 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960845.18 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960845.58 epoch sec; seqNo:4277 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960845.18 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599960845580; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960845.18 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960845.58 epoch sec; seqNo:4277 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960845.58 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1599960845981; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960845.58 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960845.98 epoch sec; seqNo:4278 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960845.98 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.86 epoch sec; seqNo:1599960848386; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960845.98 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960848.39 epoch sec; seqNo:4284 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960848.39 2020-11-23T22:53:57Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960848.39 epoch sec; seqNo:4284; 4061741.79 north; 594704.61 east 2020-11-23T22:53:57Z- waiting for 1599960846.58, time is 1599960848.39 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599960848.39, meas time 1599960848.39 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1599960848.39, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599960848.39 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061742, 594704.61, 49.86) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960848.79 epoch sec; seqNo:4285 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960851.39, time is 1599960848.39 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960848.79 epoch sec; seqNo:4285 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960851.39, time is 1599960848.79 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960878.85 epoch sec; seqNo:4360 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960851.39, time is 1599960878.85 2020-11-23T22:53:57Z- sync is 30.06, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960878.85 epoch sec; seqNo:4360; 4061768.20 north; 594694.55 east 2020-11-23T22:53:57Z- waiting for 1599960851.39, time is 1599960878.85 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599960878.85, meas time 1599960878.85 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 30.000 at t=1599960878.85, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599960878.85 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061768, 594694.55, 49.86) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960879.25 epoch sec; seqNo:4361 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960881.85, time is 1599960878.85 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1599960879252; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960881.85, time is 1599960878.85 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960879.25 epoch sec; seqNo:4361 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960881.85, time is 1599960879.25 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960879.26 epoch sec; seqNo:4361; 4061768.58 north; 594694.55 east 2020-11-23T22:53:57Z- waiting for 1599960881.85, time is 1599960879.25 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960879.65 epoch sec; seqNo:4362 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960881.85, time is 1599960879.25 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1599960879653; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960881.85, time is 1599960879.25 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960879.65 epoch sec; seqNo:4362 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960881.85, time is 1599960879.65 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960879.66 epoch sec; seqNo:4362; 4061768.96 north; 594694.54 east 2020-11-23T22:53:57Z- waiting for 1599960881.85, time is 1599960879.65 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960880.05 epoch sec; seqNo:4363 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960881.85, time is 1599960879.65 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599960880053; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960881.85, time is 1599960879.65 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960880.05 epoch sec; seqNo:4363 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960881.85, time is 1599960880.05 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960880.06 epoch sec; seqNo:4363; 4061769.34 north; 594694.54 east 2020-11-23T22:53:57Z- waiting for 1599960881.85, time is 1599960880.05 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960880.45 epoch sec; seqNo:4364 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960881.85, time is 1599960880.05 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1599960880453; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960881.85, time is 1599960880.05 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960880.45 epoch sec; seqNo:4364 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960881.85, time is 1599960880.45 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960880.45 epoch sec; seqNo:4364; 4061769.72 north; 594694.53 east 2020-11-23T22:53:57Z- waiting for 1599960881.85, time is 1599960880.45 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960880.85 epoch sec; seqNo:4365 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960881.85, time is 1599960880.45 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1599960880854; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960881.85, time is 1599960880.45 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1599960881256; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960881.85, time is 1599960880.45 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1599960898087; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960881.85, time is 1599960880.45 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960898.09 epoch sec; seqNo:4408 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960881.85, time is 1599960898.09 2020-11-23T22:53:57Z- sync is 17.24, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960898.09 epoch sec; seqNo:4408; 4061785.18 north; 594688.26 east 2020-11-23T22:53:57Z- waiting for 1599960881.85, time is 1599960898.09 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599960898.09, meas time 1599960898.09 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 16.000 at t=1599960898.09, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599960898.09 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061785, 594688.26, 49.90) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960898.49 epoch sec; seqNo:4409 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960901.09, time is 1599960898.09 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1599960898488; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960901.09, time is 1599960898.09 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960898.49 epoch sec; seqNo:4409 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960901.09, time is 1599960898.49 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960898.49 epoch sec; seqNo:4409; 4061785.56 north; 594688.26 east 2020-11-23T22:53:57Z- waiting for 1599960901.09, time is 1599960898.49 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960898.89 epoch sec; seqNo:4410 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960901.09, time is 1599960898.49 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1599960898887; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960901.09, time is 1599960898.49 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960898.89 epoch sec; seqNo:4410 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960901.09, time is 1599960898.89 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960898.89 epoch sec; seqNo:4410; 4061785.94 north; 594688.25 east 2020-11-23T22:53:57Z- waiting for 1599960901.09, time is 1599960898.89 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960899.29 epoch sec; seqNo:4411 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960901.09, time is 1599960898.89 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.88 epoch sec; seqNo:1599960899289; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960901.09, time is 1599960898.89 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960899.29 epoch sec; seqNo:4411; 4061786.32 north; 594688.25 east 2020-11-23T22:53:57Z- waiting for 1599960901.09, time is 1599960898.89 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1599960899691; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960901.09, time is 1599960898.89 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960925.74 epoch sec; seqNo:4477; 4061809.34 north; 594679.45 east 2020-11-23T22:53:57Z- waiting for 1599960901.09, time is 1599960898.89 2020-11-23T22:53:57Z- sync is 26.86, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960926.14 epoch sec; seqNo:4478 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.28 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960901.09, time is 1599960898.89 2020-11-23T22:53:57Z- sync is 27.26, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1599960926145; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960901.09, time is 1599960898.89 2020-11-23T22:53:57Z- sync is 27.26, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960926.14 epoch sec; seqNo:4478 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960901.09, time is 1599960926.14 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599960926.14, meas time 1599960926.14 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 10.000 at t=1599960926.14, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599960926.14 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061809, 594679.45, 49.66) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960926.15 epoch sec; seqNo:4478; 4061809.71 north; 594679.45 east 2020-11-23T22:53:57Z- waiting for 1599960929.14, time is 1599960926.14 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960926.55 epoch sec; seqNo:4479 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.28 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960929.14, time is 1599960926.14 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599960926545; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960929.14, time is 1599960926.14 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960926.55 epoch sec; seqNo:4479 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960929.14, time is 1599960926.55 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960926.55 epoch sec; seqNo:4479; 4061810.09 north; 594679.44 east 2020-11-23T22:53:57Z- waiting for 1599960929.14, time is 1599960926.55 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960926.94 epoch sec; seqNo:4480 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.28 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960929.14, time is 1599960926.55 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599960926946; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960929.14, time is 1599960926.55 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960926.95 epoch sec; seqNo:4480 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960929.14, time is 1599960926.95 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960926.95 epoch sec; seqNo:4480; 4061810.47 north; 594679.44 east 2020-11-23T22:53:57Z- waiting for 1599960929.14, time is 1599960926.95 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960927.35 epoch sec; seqNo:4481 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.28 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960929.14, time is 1599960926.95 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599960927346; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960929.14, time is 1599960926.95 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960927.35 epoch sec; seqNo:4481 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960929.14, time is 1599960927.35 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960927.75 epoch sec; seqNo:4482 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.28 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960929.14, time is 1599960927.35 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960928.15 epoch sec; seqNo:4483 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.28 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960929.14, time is 1599960927.35 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960953.81 epoch sec; seqNo:4547 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960929.14, time is 1599960927.35 2020-11-23T22:53:57Z- sync is 26.46, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1599960953806; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960929.14, time is 1599960927.35 2020-11-23T22:53:57Z- sync is 26.46, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960953.81 epoch sec; seqNo:4547 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.02 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960929.14, time is 1599960953.81 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599960953.81, meas time 1599960953.81 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 3.000 at t=1599960953.81, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599960953.81 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061810, 594679.44, 50.38) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960953.81 epoch sec; seqNo:4547; 4061834.26 north; 594671.85 east 2020-11-23T22:53:57Z- waiting for 1599960956.81, time is 1599960953.81 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960954.21 epoch sec; seqNo:4548 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960956.81, time is 1599960953.81 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1599960954209; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960956.81, time is 1599960953.81 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960954.21 epoch sec; seqNo:4548 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.02 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960956.81, time is 1599960954.21 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960954.21 epoch sec; seqNo:4548; 4061834.64 north; 594671.85 east 2020-11-23T22:53:57Z- waiting for 1599960956.81, time is 1599960954.21 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960954.61 epoch sec; seqNo:4549 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960956.81, time is 1599960954.21 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1599960954608; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960956.81, time is 1599960954.21 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960954.61 epoch sec; seqNo:4549 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.02 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960956.81, time is 1599960954.61 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960954.61 epoch sec; seqNo:4549; 4061835.02 north; 594671.84 east 2020-11-23T22:53:57Z- waiting for 1599960956.81, time is 1599960954.61 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960955.01 epoch sec; seqNo:4550 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960956.81, time is 1599960954.61 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599960955008; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960956.81, time is 1599960954.61 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960955.01 epoch sec; seqNo:4550 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.02 , -0.01 2020-11-23T22:53:57Z- waiting for 1599960956.81, time is 1599960955.01 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960955.01 epoch sec; seqNo:4550; 4061835.40 north; 594671.84 east 2020-11-23T22:53:57Z- waiting for 1599960956.81, time is 1599960955.01 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960955.41 epoch sec; seqNo:4551 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960956.81, time is 1599960955.01 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960955.41 epoch sec; seqNo:4551; 4061835.77 north; 594671.84 east 2020-11-23T22:53:57Z- waiting for 1599960956.81, time is 1599960955.01 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960981.45 epoch sec; seqNo:4616 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960956.81, time is 1599960981.45 2020-11-23T22:53:57Z- sync is 26.04, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960981.45 epoch sec; seqNo:4616; 4061858.41 north; 594663.04 east 2020-11-23T22:53:57Z- waiting for 1599960956.81, time is 1599960981.45 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599960981.45, meas time 1599960981.45 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 31.000 at t=1599960981.45, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599960981.45 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061858, 594663.04, 50.39) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960981.85 epoch sec; seqNo:4617 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599960981.45 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1599960981851; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599960981.45 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960981.85 epoch sec; seqNo:4617 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599960981.85 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960981.85 epoch sec; seqNo:4617; 4061858.79 north; 594663.04 east 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599960981.85 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960982.25 epoch sec; seqNo:4618 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599960981.85 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1599960982250; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599960981.85 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960982.25 epoch sec; seqNo:4618 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599960982.25 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960982.25 epoch sec; seqNo:4618; 4061859.17 north; 594663.03 east 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599960982.25 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960982.65 epoch sec; seqNo:4619 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599960982.25 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.88 epoch sec; seqNo:1599960982650; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599960982.25 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960982.65 epoch sec; seqNo:4619 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599960982.65 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960982.65 epoch sec; seqNo:4619; 4061859.55 north; 594663.03 east 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599960982.65 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960983.05 epoch sec; seqNo:4620 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599960982.65 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1599960983052; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599960982.65 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960983.05 epoch sec; seqNo:4620 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599960983.05 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960983.05 epoch sec; seqNo:4620; 4061859.93 north; 594663.03 east 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599960983.05 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599960983.45 epoch sec; seqNo:4621 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599960983.05 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599960983.45 epoch sec; seqNo:4621 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599960983.45 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599960983.45 epoch sec; seqNo:4621; 4061860.30 north; 594663.02 east 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599960983.45 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961009.50 epoch sec; seqNo:4686; 4061882.94 north; 594654.23 east 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599960983.45 2020-11-23T22:53:57Z- sync is 26.05, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961009.90 epoch sec; seqNo:4687 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599960983.45 2020-11-23T22:53:57Z- sync is 26.45, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599961009902; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599960983.45 2020-11-23T22:53:57Z- sync is 26.45, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961009.90 epoch sec; seqNo:4687 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599960984.45, time is 1599961009.90 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961009.90, meas time 1599961009.90 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 25.000 at t=1599961009.90, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961009.90 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061883, 594654.23, 49.67) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961009.90 epoch sec; seqNo:4687; 4061883.32 north; 594654.22 east 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961009.90 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961010.30 epoch sec; seqNo:4688 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961009.90 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599961010302; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961009.90 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961010.30 epoch sec; seqNo:4688 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961010.30 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961010.30 epoch sec; seqNo:4688; 4061883.70 north; 594654.22 east 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961010.30 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961010.70 epoch sec; seqNo:4689 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961010.30 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599961010703; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961010.30 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961010.70 epoch sec; seqNo:4689 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961010.70 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961010.70 epoch sec; seqNo:4689; 4061884.08 north; 594654.22 east 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961010.70 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961011.10 epoch sec; seqNo:4690 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961010.70 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599961011105; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961010.70 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961011.11 epoch sec; seqNo:4690 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961011.11 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961011.11 epoch sec; seqNo:4690; 4061884.46 north; 594654.21 east 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961011.11 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961011.51 epoch sec; seqNo:4691 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.30 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961011.11 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599961011505; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961011.11 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961011.51 epoch sec; seqNo:4691 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961011.51 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961011.51 epoch sec; seqNo:4691; 4061884.84 north; 594654.21 east 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961011.51 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599961011905; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961011.51 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961011.91 epoch sec; seqNo:4692 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961011.91 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599961012306; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961011.91 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961012.31 epoch sec; seqNo:4693 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961012.31 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.17 epoch sec; seqNo:1599961030339; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961012.31 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961030.34 epoch sec; seqNo:4738 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961030.34 2020-11-23T22:53:57Z- sync is 18.83, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961030.34 epoch sec; seqNo:4738; 4061901.44 north; 594647.92 east 2020-11-23T22:53:57Z- waiting for 1599961012.90, time is 1599961030.34 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961030.34, meas time 1599961030.34 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 12.000 at t=1599961030.34, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961030.34 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061901, 594647.92, 50.17) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961030.74 epoch sec; seqNo:4739 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.27 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961030.34 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.18 epoch sec; seqNo:1599961030738; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961030.34 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961030.74 epoch sec; seqNo:4739 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961030.74 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961030.74 epoch sec; seqNo:4739; 4061901.82 north; 594647.92 east 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961030.74 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961031.14 epoch sec; seqNo:4740 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.27 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961030.74 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1599961031141; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961030.74 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961031.14 epoch sec; seqNo:4740 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961031.14 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961031.14 epoch sec; seqNo:4740; 4061902.19 north; 594647.91 east 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961031.14 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961031.54 epoch sec; seqNo:4741 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.27 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961031.14 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1599961031542; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961031.14 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961031.54 epoch sec; seqNo:4741 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961031.54 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961031.55 epoch sec; seqNo:4741; 4061902.57 north; 594647.91 east 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961031.54 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961031.94 epoch sec; seqNo:4742 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.27 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961031.54 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1599961031941; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961031.54 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961031.94 epoch sec; seqNo:4742 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961031.94 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961031.94 epoch sec; seqNo:4742; 4061902.57 north; 594647.91 east 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961031.94 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961032.34 epoch sec; seqNo:4743 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.27 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961031.94 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1599961032343; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961031.94 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961032.35 epoch sec; seqNo:4743 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961032.35 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961032.74 epoch sec; seqNo:4744 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.27 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961032.35 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961043.56 epoch sec; seqNo:4771 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.81 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961032.35 2020-11-23T22:53:57Z- sync is 11.21, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1599961043558; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961032.35 2020-11-23T22:53:57Z- sync is 11.21, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961043.56 epoch sec; seqNo:4771 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.05 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961033.34, time is 1599961043.56 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961043.56, meas time 1599961043.56 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 25.000 at t=1599961043.56, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961043.56 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061903, 594647.91, 50.44) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961043.56 epoch sec; seqNo:4771; 4061912.37 north; 594642.92 east 2020-11-23T22:53:57Z- waiting for 1599961046.56, time is 1599961043.56 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961043.96 epoch sec; seqNo:4772 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.84 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961046.56, time is 1599961043.56 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.45 epoch sec; seqNo:1599961043959; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961046.56, time is 1599961043.56 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961043.96 epoch sec; seqNo:4772 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.05 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961046.56, time is 1599961043.96 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961043.96 epoch sec; seqNo:4772; 4061912.75 north; 594642.92 east 2020-11-23T22:53:57Z- waiting for 1599961046.56, time is 1599961043.96 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961044.36 epoch sec; seqNo:4773 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.87 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961046.56, time is 1599961043.96 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.45 epoch sec; seqNo:1599961044361; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961046.56, time is 1599961043.96 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961044.36 epoch sec; seqNo:4773 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.05 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961046.56, time is 1599961044.36 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961044.36 epoch sec; seqNo:4773; 4061912.75 north; 594642.92 east 2020-11-23T22:53:57Z- waiting for 1599961046.56, time is 1599961044.36 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.45 epoch sec; seqNo:1599961044761; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961046.56, time is 1599961044.36 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961044.76 epoch sec; seqNo:4774; 4061913.13 north; 594642.91 east 2020-11-23T22:53:57Z- waiting for 1599961046.56, time is 1599961044.36 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961051.17 epoch sec; seqNo:4790 2020-11-23T22:53:57Z- AHRS_M2 msg: -1.40 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961046.56, time is 1599961044.36 2020-11-23T22:53:57Z- sync is 6.81, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1599961051171; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961046.56, time is 1599961044.36 2020-11-23T22:53:57Z- sync is 6.81, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961051.17 epoch sec; seqNo:4790 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.04 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961046.56, time is 1599961051.17 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961051.17, meas time 1599961051.17 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 33.000 at t=1599961051.17, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961051.17 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061913, 594642.91, 50.44) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961051.17 epoch sec; seqNo:4790; 4061915.71 north; 594636.78 east 2020-11-23T22:53:57Z- waiting for 1599961054.17, time is 1599961051.17 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961051.57 epoch sec; seqNo:4791 2020-11-23T22:53:57Z- AHRS_M2 msg: -1.43 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961054.17, time is 1599961051.17 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1599961051573; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961054.17, time is 1599961051.17 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961051.57 epoch sec; seqNo:4791; 4061915.71 north; 594636.78 east 2020-11-23T22:53:57Z- waiting for 1599961054.17, time is 1599961051.17 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961055.98 epoch sec; seqNo:4802 2020-11-23T22:53:57Z- AHRS_M2 msg: -1.77 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961054.17, time is 1599961051.17 2020-11-23T22:53:57Z- sync is 4.81, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599961055982; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961054.17, time is 1599961051.17 2020-11-23T22:53:57Z- sync is 4.81, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961055.98 epoch sec; seqNo:4802 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.04 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961054.17, time is 1599961055.98 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961055.98, meas time 1599961055.98 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 3.000 at t=1599961055.98, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961055.98 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061916, 594636.78, 50.39) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961055.98 epoch sec; seqNo:4802; 4061915.67 north; 594633.12 east 2020-11-23T22:53:57Z- waiting for 1599961058.98, time is 1599961055.98 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599961056382; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961058.98, time is 1599961055.98 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961056.38 epoch sec; seqNo:4803 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.04 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961058.98, time is 1599961056.38 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1599961058790; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961058.98, time is 1599961056.38 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961058.79 epoch sec; seqNo:4809 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.05 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961058.98, time is 1599961058.79 2020-11-23T22:53:57Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961058.79 epoch sec; seqNo:4809; 4061914.87 north; 594629.47 east 2020-11-23T22:53:57Z- waiting for 1599961058.98, time is 1599961058.79 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961059.19 epoch sec; seqNo:4810 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961058.98, time is 1599961058.79 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961060.79 epoch sec; seqNo:4814 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.14 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961058.98, time is 1599961058.79 2020-11-23T22:53:57Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961061.19 epoch sec; seqNo:4815 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.17 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961058.98, time is 1599961058.79 2020-11-23T22:53:57Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961062.00 epoch sec; seqNo:4817 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.23 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961058.98, time is 1599961058.79 2020-11-23T22:53:57Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1599961061996; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961058.98, time is 1599961058.79 2020-11-23T22:53:57Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961062.80 epoch sec; seqNo:4819 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.06 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961058.98, time is 1599961062.80 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961062.00, meas time 1599961062.80 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 10.000 at t=1599961062.80, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961062.80 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061915, 594629.47, 50.28) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961065.20 epoch sec; seqNo:4825; 4061911.03 north; 594624.63 east 2020-11-23T22:53:57Z- waiting for 1599961065.80, time is 1599961062.80 2020-11-23T22:53:57Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961065.60 epoch sec; seqNo:4826 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.51 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961065.80, time is 1599961062.80 2020-11-23T22:53:57Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.18 epoch sec; seqNo:1599961066004; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961065.80, time is 1599961062.80 2020-11-23T22:53:57Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961066.40 epoch sec; seqNo:4828 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , 0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961065.80, time is 1599961066.40 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961065.60, meas time 1599961066.40 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 14.000 at t=1599961066.40, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961066.40 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061911, 594624.63, 50.18) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961066.81 epoch sec; seqNo:4829; 4061909.88 north; 594623.42 east 2020-11-23T22:53:57Z- waiting for 1599961069.40, time is 1599961066.40 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961068.01 epoch sec; seqNo:4832 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.66 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961069.40, time is 1599961066.40 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.12 epoch sec; seqNo:1599961068407; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961069.40, time is 1599961066.40 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961068.81 epoch sec; seqNo:4834 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961069.40, time is 1599961068.81 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961069.21 epoch sec; seqNo:4835; 4061907.59 north; 594622.22 east 2020-11-23T22:53:57Z- waiting for 1599961069.40, time is 1599961068.81 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961070.01 epoch sec; seqNo:4837 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.76 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961069.40, time is 1599961068.81 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.06 epoch sec; seqNo:1599961070412; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961069.40, time is 1599961068.81 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961070.81 epoch sec; seqNo:4839 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.06 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961069.40, time is 1599961070.81 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961070.01, meas time 1599961070.81 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 18.000 at t=1599961070.81, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961070.81 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061908, 594622.22, 50.06) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961071.62 epoch sec; seqNo:4841; 4061905.31 north; 594621.03 east 2020-11-23T22:53:57Z- waiting for 1599961073.81, time is 1599961070.81 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961072.41 epoch sec; seqNo:4843 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.85 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961073.81, time is 1599961070.81 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961072.82 epoch sec; seqNo:4844; 4061904.17 north; 594621.04 east 2020-11-23T22:53:57Z- waiting for 1599961073.81, time is 1599961070.81 2020-11-23T22:53:57Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961073.22 epoch sec; seqNo:4845 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.05 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961073.81, time is 1599961073.22 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961074.02 epoch sec; seqNo:4847; 4061903.03 north; 594621.05 east 2020-11-23T22:53:57Z- waiting for 1599961073.81, time is 1599961073.22 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961076.42 epoch sec; seqNo:4853 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.96 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961073.81, time is 1599961073.22 2020-11-23T22:53:57Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1599961076421; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961073.81, time is 1599961073.22 2020-11-23T22:53:57Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961076.42 epoch sec; seqNo:4853 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.04 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961073.81, time is 1599961076.42 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961076.42, meas time 1599961076.42 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 24.000 at t=1599961076.42, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961076.42 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061903, 594621.05, 49.87) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961077.22 epoch sec; seqNo:4855; 4061899.61 north; 594619.87 east 2020-11-23T22:53:57Z- waiting for 1599961079.42, time is 1599961076.42 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961078.02 epoch sec; seqNo:4857 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.99 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961079.42, time is 1599961076.42 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1599961078424; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961079.42, time is 1599961076.42 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961078.82 epoch sec; seqNo:4859 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961079.42, time is 1599961078.82 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961079.62 epoch sec; seqNo:4861; 4061896.96 north; 594619.90 east 2020-11-23T22:53:57Z- waiting for 1599961079.42, time is 1599961078.82 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961080.43 epoch sec; seqNo:4863 2020-11-23T22:53:57Z- AHRS_M2 msg: -3.00 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961079.42, time is 1599961078.82 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599961080828; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961079.42, time is 1599961078.82 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961081.23 epoch sec; seqNo:4865 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.01 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961079.42, time is 1599961081.23 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961080.43, meas time 1599961081.23 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 29.000 at t=1599961081.23, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961081.23 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061897, 594619.90, 49.75) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961081.63 epoch sec; seqNo:4866; 4061895.05 north; 594618.70 east 2020-11-23T22:53:57Z- waiting for 1599961084.23, time is 1599961081.23 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961082.43 epoch sec; seqNo:4868 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.98 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961084.23, time is 1599961081.23 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.71 epoch sec; seqNo:1599961082833; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961084.23, time is 1599961081.23 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961083.23 epoch sec; seqNo:4870 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961084.23, time is 1599961083.23 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961084.04 epoch sec; seqNo:4872; 4061892.40 north; 594618.73 east 2020-11-23T22:53:57Z- waiting for 1599961084.23, time is 1599961083.23 2020-11-23T22:53:57Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961084.84 epoch sec; seqNo:4874 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.94 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961084.23, time is 1599961083.23 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961084.84 epoch sec; seqNo:4874 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.03 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961084.23, time is 1599961084.84 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961084.84, meas time 1599961084.84 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 32.000 at t=1599961084.84, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961084.84 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061892, 594618.73, 49.71) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961085.64 epoch sec; seqNo:4876; 4061890.88 north; 594618.75 east 2020-11-23T22:53:57Z- waiting for 1599961087.84, time is 1599961084.84 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961086.04 epoch sec; seqNo:4877; 4061890.51 north; 594618.75 east 2020-11-23T22:53:57Z- waiting for 1599961087.84, time is 1599961084.84 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961086.84 epoch sec; seqNo:4879 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.89 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961087.84, time is 1599961084.84 2020-11-23T22:53:57Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.62 epoch sec; seqNo:1599961087239; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961087.84, time is 1599961084.84 2020-11-23T22:53:57Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961087.64 epoch sec; seqNo:4881 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.05 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961087.84, time is 1599961087.64 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961089.65 epoch sec; seqNo:4886; 4061886.70 north; 594617.57 east 2020-11-23T22:53:57Z- waiting for 1599961087.84, time is 1599961087.64 2020-11-23T22:53:57Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961090.44 epoch sec; seqNo:4888 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.79 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961087.84, time is 1599961087.64 2020-11-23T22:53:57Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.57 epoch sec; seqNo:1599961090846; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961087.84, time is 1599961087.64 2020-11-23T22:53:57Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961091.25 epoch sec; seqNo:4890 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961087.84, time is 1599961091.25 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961090.44, meas time 1599961091.25 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 5.000 at t=1599961091.25, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961091.25 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061887, 594617.57, 49.57) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961092.05 epoch sec; seqNo:4892; 4061884.04 north; 594616.38 east 2020-11-23T22:53:57Z- waiting for 1599961094.25, time is 1599961091.25 2020-11-23T22:53:57Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961092.85 epoch sec; seqNo:4894 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.72 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961094.25, time is 1599961091.25 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.53 epoch sec; seqNo:1599961093249; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961094.25, time is 1599961091.25 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961093.65 epoch sec; seqNo:4896 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.08 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961094.25, time is 1599961093.65 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961094.45 epoch sec; seqNo:4898; 4061881.77 north; 594616.41 east 2020-11-23T22:53:57Z- waiting for 1599961094.25, time is 1599961093.65 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961201.44 epoch sec; seqNo:5165 2020-11-23T22:53:57Z- AHRS_M2 msg: -1.97 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961094.25, time is 1599961093.65 2020-11-23T22:53:57Z- sync is 107.79, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599961201445; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961094.25, time is 1599961093.65 2020-11-23T22:53:57Z- sync is 107.79, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961201.44 epoch sec; seqNo:5165 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961094.25, time is 1599961201.44 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961201.44, meas time 1599961201.44 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 13.000 at t=1599961201.44, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961201.44 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061882, 594616.41, 49.82) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961201.45 epoch sec; seqNo:5165; 4061826.92 north; 594521.82 east 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961201.44 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961201.85 epoch sec; seqNo:5166 2020-11-23T22:53:57Z- AHRS_M2 msg: -1.97 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961201.44 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599961201845; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961201.44 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961201.85 epoch sec; seqNo:5166 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961201.85 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961201.85 epoch sec; seqNo:5166; 4061826.92 north; 594521.82 east 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961201.85 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961202.25 epoch sec; seqNo:5167 2020-11-23T22:53:57Z- AHRS_M2 msg: -1.97 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961201.85 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1599961202247; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961201.85 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961202.25 epoch sec; seqNo:5167 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961202.25 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961202.25 epoch sec; seqNo:5167; 4061826.53 north; 594520.60 east 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961202.25 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961202.65 epoch sec; seqNo:5168 2020-11-23T22:53:57Z- AHRS_M2 msg: -1.97 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961202.25 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1599961202647; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961202.25 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961202.65 epoch sec; seqNo:5168 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961202.65 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961202.65 epoch sec; seqNo:5168; 4061826.53 north; 594520.60 east 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961202.65 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961203.05 epoch sec; seqNo:5169 2020-11-23T22:53:57Z- AHRS_M2 msg: -1.97 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961202.65 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1599961203047; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961202.65 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961203.05 epoch sec; seqNo:5169 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961203.05 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961203.05 epoch sec; seqNo:5169; 4061826.15 north; 594520.61 east 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961203.05 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1599961203448; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961203.05 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961203.45 epoch sec; seqNo:5170 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961203.45 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1599961203849; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961203.45 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961203.85 epoch sec; seqNo:5171 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961203.85 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1599961204249; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961203.85 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961204.25 epoch sec; seqNo:5172 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961204.25 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961222.28 epoch sec; seqNo:5217; 4061816.85 north; 594502.40 east 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961204.25 2020-11-23T22:53:57Z- sync is 18.03, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961222.68 epoch sec; seqNo:5218 2020-11-23T22:53:57Z- AHRS_M2 msg: -1.97 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961204.25 2020-11-23T22:53:57Z- sync is 18.44, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.05 epoch sec; seqNo:1599961222685; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961204.25 2020-11-23T22:53:57Z- sync is 18.44, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961222.68 epoch sec; seqNo:5218 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961204.44, time is 1599961222.68 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961222.68, meas time 1599961222.68 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1599961222.68, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961222.68 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061817, 594502.40, 50.05) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961222.69 epoch sec; seqNo:5218; 4061816.85 north; 594502.40 east 2020-11-23T22:53:57Z- waiting for 1599961225.68, time is 1599961222.68 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961223.09 epoch sec; seqNo:5219 2020-11-23T22:53:57Z- AHRS_M2 msg: -1.97 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961225.68, time is 1599961222.68 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.05 epoch sec; seqNo:1599961223086; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961225.68, time is 1599961222.68 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961223.09 epoch sec; seqNo:5219 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961225.68, time is 1599961223.09 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961223.09 epoch sec; seqNo:5219; 4061816.46 north; 594501.19 east 2020-11-23T22:53:57Z- waiting for 1599961225.68, time is 1599961223.09 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961223.49 epoch sec; seqNo:5220 2020-11-23T22:53:57Z- AHRS_M2 msg: -1.97 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961225.68, time is 1599961223.09 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.06 epoch sec; seqNo:1599961223486; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961225.68, time is 1599961223.09 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961223.49 epoch sec; seqNo:5220 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961225.68, time is 1599961223.49 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961223.89 epoch sec; seqNo:5221 2020-11-23T22:53:57Z- AHRS_M2 msg: -1.97 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961225.68, time is 1599961223.49 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961224.29 epoch sec; seqNo:5222 2020-11-23T22:53:57Z- AHRS_M2 msg: -1.97 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961225.68, time is 1599961223.49 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1599961263959; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961225.68, time is 1599961223.49 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961263.96 epoch sec; seqNo:5321 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961225.68, time is 1599961263.96 2020-11-23T22:53:57Z- sync is 39.67, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961263.96 epoch sec; seqNo:5321; 4061796.36 north; 594464.79 east 2020-11-23T22:53:57Z- waiting for 1599961225.68, time is 1599961263.96 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961263.96, meas time 1599961263.96 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 7.000 at t=1599961263.96, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961263.96 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061796, 594464.79, 50.29) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961264.36 epoch sec; seqNo:5322 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961266.96, time is 1599961263.96 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1599961264360; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961266.96, time is 1599961263.96 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961264.36 epoch sec; seqNo:5322 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961266.96, time is 1599961264.36 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961264.36 epoch sec; seqNo:5322; 4061795.96 north; 594463.58 east 2020-11-23T22:53:57Z- waiting for 1599961266.96, time is 1599961264.36 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961264.76 epoch sec; seqNo:5323 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961266.96, time is 1599961264.36 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.26 epoch sec; seqNo:1599961264760; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961266.96, time is 1599961264.36 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961264.76 epoch sec; seqNo:5323 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961266.96, time is 1599961264.76 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961264.76 epoch sec; seqNo:5323; 4061795.58 north; 594463.58 east 2020-11-23T22:53:57Z- waiting for 1599961266.96, time is 1599961264.76 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961265.16 epoch sec; seqNo:5324 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961266.96, time is 1599961264.76 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1599961265162; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961266.96, time is 1599961264.76 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961265.16 epoch sec; seqNo:5324 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961266.96, time is 1599961265.16 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961265.16 epoch sec; seqNo:5324; 4061795.58 north; 594463.58 east 2020-11-23T22:53:57Z- waiting for 1599961266.96, time is 1599961265.16 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961265.56 epoch sec; seqNo:5325 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961266.96, time is 1599961265.16 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1599961265564; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961266.96, time is 1599961265.16 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961265.56 epoch sec; seqNo:5325; 4061795.21 north; 594463.59 east 2020-11-23T22:53:57Z- waiting for 1599961266.96, time is 1599961265.16 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1599961265964; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961266.96, time is 1599961265.16 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961269.17 epoch sec; seqNo:5334; 4061793.65 north; 594459.94 east 2020-11-23T22:53:57Z- waiting for 1599961266.96, time is 1599961265.16 2020-11-23T22:53:57Z- sync is 4.01, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.12 epoch sec; seqNo:1599961269573; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961266.96, time is 1599961265.16 2020-11-23T22:53:57Z- sync is 4.01, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961269.57 epoch sec; seqNo:5335 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961266.96, time is 1599961269.57 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961269.17, meas time 1599961269.57 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 13.000 at t=1599961269.57, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961269.57 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061794, 594459.94, 50.12) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1599961269976; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961272.57, time is 1599961269.57 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961298.84 epoch sec; seqNo:5408 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961272.57, time is 1599961269.57 2020-11-23T22:53:57Z- sync is 29.26, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1599961298836; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961272.57, time is 1599961269.57 2020-11-23T22:53:57Z- sync is 29.26, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961298.84 epoch sec; seqNo:5408 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961272.57, time is 1599961298.84 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961298.84, meas time 1599961298.84 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 8.000 at t=1599961298.84, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961298.84 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061794, 594459.94, 49.65) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961298.84 epoch sec; seqNo:5408; 4061778.58 north; 594433.26 east 2020-11-23T22:53:57Z- waiting for 1599961301.84, time is 1599961298.84 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961299.24 epoch sec; seqNo:5409 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961301.84, time is 1599961298.84 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1599961299236; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961301.84, time is 1599961298.84 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961299.24 epoch sec; seqNo:5409 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961301.84, time is 1599961299.24 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961299.24 epoch sec; seqNo:5409; 4061778.19 north; 594432.04 east 2020-11-23T22:53:57Z- waiting for 1599961301.84, time is 1599961299.24 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961299.63 epoch sec; seqNo:5410 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961301.84, time is 1599961299.24 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1599961299636; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961301.84, time is 1599961299.24 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961299.64 epoch sec; seqNo:5410 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961301.84, time is 1599961299.64 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961299.64 epoch sec; seqNo:5410; 4061778.19 north; 594432.04 east 2020-11-23T22:53:57Z- waiting for 1599961301.84, time is 1599961299.64 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961300.04 epoch sec; seqNo:5411 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961301.84, time is 1599961299.64 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.64 epoch sec; seqNo:1599961300037; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961301.84, time is 1599961299.64 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961300.04 epoch sec; seqNo:5411 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961301.84, time is 1599961300.04 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961300.04 epoch sec; seqNo:5411; 4061777.81 north; 594432.05 east 2020-11-23T22:53:57Z- waiting for 1599961301.84, time is 1599961300.04 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961300.44 epoch sec; seqNo:5412 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961301.84, time is 1599961300.04 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961300.44 epoch sec; seqNo:5412 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961301.84, time is 1599961300.44 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961300.84 epoch sec; seqNo:5413 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961301.84, time is 1599961300.44 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961301.24 epoch sec; seqNo:5414 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961301.84, time is 1599961300.44 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961326.88 epoch sec; seqNo:5478 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.03 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961301.84, time is 1599961300.44 2020-11-23T22:53:57Z- sync is 26.44, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.17 epoch sec; seqNo:1599961326882; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961301.84, time is 1599961300.44 2020-11-23T22:53:57Z- sync is 26.44, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961326.88 epoch sec; seqNo:5478 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.06 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961301.84, time is 1599961326.88 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961326.88, meas time 1599961326.88 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 2.000 at t=1599961326.88, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961326.88 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061778, 594432.05, 50.17) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961326.88 epoch sec; seqNo:5478; 4061764.28 north; 594407.79 east 2020-11-23T22:53:57Z- waiting for 1599961329.88, time is 1599961326.88 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961327.28 epoch sec; seqNo:5479 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.03 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961329.88, time is 1599961326.88 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.18 epoch sec; seqNo:1599961327282; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961329.88, time is 1599961326.88 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961327.28 epoch sec; seqNo:5479 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.06 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961329.88, time is 1599961327.28 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961327.28 epoch sec; seqNo:5479; 4061763.89 north; 594406.57 east 2020-11-23T22:53:57Z- waiting for 1599961329.88, time is 1599961327.28 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961327.68 epoch sec; seqNo:5480 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.03 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961329.88, time is 1599961327.28 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1599961327683; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961329.88, time is 1599961327.28 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961327.68 epoch sec; seqNo:5480 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.06 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961329.88, time is 1599961327.68 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961327.68 epoch sec; seqNo:5480; 4061763.89 north; 594406.57 east 2020-11-23T22:53:57Z- waiting for 1599961329.88, time is 1599961327.68 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961328.08 epoch sec; seqNo:5481 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.03 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961329.88, time is 1599961327.68 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1599961328084; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961329.88, time is 1599961327.68 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961328.09 epoch sec; seqNo:5481 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.06 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961329.88, time is 1599961328.09 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961328.09 epoch sec; seqNo:5481; 4061763.51 north; 594406.57 east 2020-11-23T22:53:57Z- waiting for 1599961329.88, time is 1599961328.09 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961328.49 epoch sec; seqNo:5482 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.03 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961329.88, time is 1599961328.09 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961328.49 epoch sec; seqNo:5482 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.06 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961329.88, time is 1599961328.49 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961328.49 epoch sec; seqNo:5482; 4061763.12 north; 594405.36 east 2020-11-23T22:53:57Z- waiting for 1599961329.88, time is 1599961328.49 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961328.89 epoch sec; seqNo:5483; 4061763.12 north; 594405.36 east 2020-11-23T22:53:57Z- waiting for 1599961329.88, time is 1599961328.49 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961353.74 epoch sec; seqNo:5545; 4061749.99 north; 594383.53 east 2020-11-23T22:53:57Z- waiting for 1599961329.88, time is 1599961328.49 2020-11-23T22:53:57Z- sync is 25.25, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961354.13 epoch sec; seqNo:5546 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.03 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961329.88, time is 1599961328.49 2020-11-23T22:53:57Z- sync is 25.64, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.17 epoch sec; seqNo:1599961354131; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961329.88, time is 1599961328.49 2020-11-23T22:53:57Z- sync is 25.64, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961354.13 epoch sec; seqNo:5546 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961329.88, time is 1599961354.13 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961354.13, meas time 1599961354.13 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 30.000 at t=1599961354.13, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961354.13 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061750, 594383.53, 50.17) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961354.14 epoch sec; seqNo:5546; 4061749.60 north; 594382.32 east 2020-11-23T22:53:57Z- waiting for 1599961357.13, time is 1599961354.13 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961354.53 epoch sec; seqNo:5547 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.03 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961357.13, time is 1599961354.13 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.16 epoch sec; seqNo:1599961354533; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961357.13, time is 1599961354.13 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961354.53 epoch sec; seqNo:5547 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961357.13, time is 1599961354.53 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961354.54 epoch sec; seqNo:5547; 4061749.60 north; 594382.32 east 2020-11-23T22:53:57Z- waiting for 1599961357.13, time is 1599961354.53 2020-11-23T22:53:57Z- sync is 0.01, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961354.93 epoch sec; seqNo:5548 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.03 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961357.13, time is 1599961354.53 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.15 epoch sec; seqNo:1599961354932; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961357.13, time is 1599961354.53 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961354.93 epoch sec; seqNo:5548 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961357.13, time is 1599961354.93 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961354.93 epoch sec; seqNo:5548; 4061749.22 north; 594382.32 east 2020-11-23T22:53:57Z- waiting for 1599961357.13, time is 1599961354.93 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961355.33 epoch sec; seqNo:5549 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.03 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961357.13, time is 1599961354.93 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.13 epoch sec; seqNo:1599961355334; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961357.13, time is 1599961354.93 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961355.33 epoch sec; seqNo:5549 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961357.13, time is 1599961355.33 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961355.34 epoch sec; seqNo:5549; 4061748.84 north; 594382.33 east 2020-11-23T22:53:57Z- waiting for 1599961357.13, time is 1599961355.33 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961355.73 epoch sec; seqNo:5550 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.03 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961357.13, time is 1599961355.33 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961355.73 epoch sec; seqNo:5550 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961357.13, time is 1599961355.73 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961355.74 epoch sec; seqNo:5550; 4061748.83 north; 594381.11 east 2020-11-23T22:53:57Z- waiting for 1599961357.13, time is 1599961355.73 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961376.17 epoch sec; seqNo:5601 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961357.13, time is 1599961355.73 2020-11-23T22:53:57Z- sync is 20.43, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1599961376169; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961357.13, time is 1599961355.73 2020-11-23T22:53:57Z- sync is 20.43, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961376.17 epoch sec; seqNo:5601 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961357.13, time is 1599961376.17 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961376.17, meas time 1599961376.17 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 18.000 at t=1599961376.17, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961376.17 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061749, 594381.11, 49.73) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961376.17 epoch sec; seqNo:5601; 4061738.02 north; 594362.92 east 2020-11-23T22:53:57Z- waiting for 1599961379.17, time is 1599961376.17 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961376.57 epoch sec; seqNo:5602 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961379.17, time is 1599961376.17 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1599961376570; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961379.17, time is 1599961376.17 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961376.57 epoch sec; seqNo:5602 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961379.17, time is 1599961376.57 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961376.57 epoch sec; seqNo:5602; 4061737.64 north; 594362.92 east 2020-11-23T22:53:57Z- waiting for 1599961379.17, time is 1599961376.57 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961376.97 epoch sec; seqNo:5603 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961379.17, time is 1599961376.57 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1599961376971; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961379.17, time is 1599961376.57 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961376.97 epoch sec; seqNo:5603 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961379.17, time is 1599961376.97 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961376.97 epoch sec; seqNo:5603; 4061737.64 north; 594362.92 east 2020-11-23T22:53:57Z- waiting for 1599961379.17, time is 1599961376.97 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961377.37 epoch sec; seqNo:5604 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961379.17, time is 1599961376.97 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1599961377371; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961379.17, time is 1599961376.97 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961377.37 epoch sec; seqNo:5604 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961379.17, time is 1599961377.37 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961377.37 epoch sec; seqNo:5604; 4061737.25 north; 594361.71 east 2020-11-23T22:53:57Z- waiting for 1599961379.17, time is 1599961377.37 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961377.77 epoch sec; seqNo:5605; 4061737.25 north; 594361.71 east 2020-11-23T22:53:57Z- waiting for 1599961379.17, time is 1599961377.37 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961401.41 epoch sec; seqNo:5664; 4061724.88 north; 594339.87 east 2020-11-23T22:53:57Z- waiting for 1599961379.17, time is 1599961377.37 2020-11-23T22:53:57Z- sync is 24.04, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961401.82 epoch sec; seqNo:5665 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961379.17, time is 1599961377.37 2020-11-23T22:53:57Z- sync is 24.44, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599961401815; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961379.17, time is 1599961377.37 2020-11-23T22:53:57Z- sync is 24.44, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961401.82 epoch sec; seqNo:5665 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961379.17, time is 1599961401.82 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961401.82, meas time 1599961401.82 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 9.000 at t=1599961401.82, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961401.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061725, 594339.87, 49.82) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961401.82 epoch sec; seqNo:5665; 4061724.88 north; 594339.87 east 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961401.82 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961402.21 epoch sec; seqNo:5666 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961401.82 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1599961402216; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961401.82 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961402.22 epoch sec; seqNo:5666 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961402.22 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961402.22 epoch sec; seqNo:5666; 4061724.51 north; 594339.88 east 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961402.22 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961402.62 epoch sec; seqNo:5667 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961402.22 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1599961402617; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961402.22 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961402.62 epoch sec; seqNo:5667 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961402.62 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961402.62 epoch sec; seqNo:5667; 4061724.49 north; 594338.66 east 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961402.62 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961403.02 epoch sec; seqNo:5668 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961402.62 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.86 epoch sec; seqNo:1599961403018; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961402.62 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961403.02 epoch sec; seqNo:5668 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961403.02 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961403.42 epoch sec; seqNo:5669 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961403.02 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1599961403421; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961403.02 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961403.42 epoch sec; seqNo:5669 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961403.42 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961403.82 epoch sec; seqNo:5670 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961403.42 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1599961403822; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961403.42 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961403.82 epoch sec; seqNo:5670 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961403.82 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1599961404221; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961403.82 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961404.22 epoch sec; seqNo:5671 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961404.22 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1599961404621; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961404.22 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961404.62 epoch sec; seqNo:5672 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961404.62 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961417.84 epoch sec; seqNo:5705; 4061716.39 north; 594325.32 east 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961404.62 2020-11-23T22:53:57Z- sync is 13.22, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961418.24 epoch sec; seqNo:5706 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961404.62 2020-11-23T22:53:57Z- sync is 13.62, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1599961418242; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961404.62 2020-11-23T22:53:57Z- sync is 13.62, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961418.24 epoch sec; seqNo:5706 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961404.82, time is 1599961418.24 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961418.24, meas time 1599961418.24 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 26.000 at t=1599961418.24, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961418.24 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061716, 594325.32, 50.32) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961418.24 epoch sec; seqNo:5706; 4061716.39 north; 594325.32 east 2020-11-23T22:53:57Z- waiting for 1599961421.24, time is 1599961418.24 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961418.64 epoch sec; seqNo:5707 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961421.24, time is 1599961418.24 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1599961418642; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961421.24, time is 1599961418.24 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961418.64 epoch sec; seqNo:5707 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961421.24, time is 1599961418.64 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961418.64 epoch sec; seqNo:5707; 4061716.00 north; 594324.11 east 2020-11-23T22:53:57Z- waiting for 1599961421.24, time is 1599961418.64 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961419.04 epoch sec; seqNo:5708 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961421.24, time is 1599961418.64 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1599961419043; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961421.24, time is 1599961418.64 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961419.04 epoch sec; seqNo:5708 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961421.24, time is 1599961419.04 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961419.04 epoch sec; seqNo:5708; 4061716.00 north; 594324.11 east 2020-11-23T22:53:57Z- waiting for 1599961421.24, time is 1599961419.04 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961419.44 epoch sec; seqNo:5709 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961421.24, time is 1599961419.04 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1599961419444; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961421.24, time is 1599961419.04 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961419.44 epoch sec; seqNo:5709; 4061715.62 north; 594324.11 east 2020-11-23T22:53:57Z- waiting for 1599961421.24, time is 1599961419.04 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1599961419845; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961421.24, time is 1599961419.04 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1599961420245; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961421.24, time is 1599961419.04 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1599961420645; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961421.24, time is 1599961419.04 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961428.26 epoch sec; seqNo:5731 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961421.24, time is 1599961428.26 2020-11-23T22:53:57Z- sync is 8.81, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961428.26 epoch sec; seqNo:5731; 4061710.98 north; 594315.62 east 2020-11-23T22:53:57Z- waiting for 1599961421.24, time is 1599961428.26 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961428.26, meas time 1599961428.26 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 2.000 at t=1599961428.26, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961428.26 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061711, 594315.62, 50.37) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961428.66 epoch sec; seqNo:5732 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961431.26, time is 1599961428.26 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1599961428659; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961431.26, time is 1599961428.26 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961428.66 epoch sec; seqNo:5732 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961431.26, time is 1599961428.66 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961428.66 epoch sec; seqNo:5732; 4061710.60 north; 594315.62 east 2020-11-23T22:53:57Z- waiting for 1599961431.26, time is 1599961428.66 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961429.06 epoch sec; seqNo:5733 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961431.26, time is 1599961428.66 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1599961429060; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961431.26, time is 1599961428.66 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961429.06 epoch sec; seqNo:5733 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961431.26, time is 1599961429.06 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961429.06 epoch sec; seqNo:5733; 4061710.60 north; 594315.62 east 2020-11-23T22:53:57Z- waiting for 1599961431.26, time is 1599961429.06 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961434.67 epoch sec; seqNo:5747 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961431.26, time is 1599961429.06 2020-11-23T22:53:57Z- sync is 5.61, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1599961434673; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961431.26, time is 1599961429.06 2020-11-23T22:53:57Z- sync is 5.61, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961434.67 epoch sec; seqNo:5747 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961431.26, time is 1599961434.67 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961434.67, meas time 1599961434.67 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 8.000 at t=1599961434.67, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961434.67 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061711, 594315.62, 50.35) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961434.68 epoch sec; seqNo:5747; 4061707.51 north; 594310.77 east 2020-11-23T22:53:57Z- waiting for 1599961437.67, time is 1599961434.67 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961435.07 epoch sec; seqNo:5748 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961437.67, time is 1599961434.67 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961435.08 epoch sec; seqNo:5748 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961437.67, time is 1599961435.08 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961435.47 epoch sec; seqNo:5749 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961437.67, time is 1599961435.08 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961435.88 epoch sec; seqNo:5750 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961437.67, time is 1599961435.08 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961438.68 epoch sec; seqNo:5757 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961437.67, time is 1599961435.08 2020-11-23T22:53:57Z- sync is 3.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1599961438680; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961437.67, time is 1599961435.08 2020-11-23T22:53:57Z- sync is 3.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961438.68 epoch sec; seqNo:5757 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961437.67, time is 1599961438.68 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961438.68, meas time 1599961438.68 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 12.000 at t=1599961438.68, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961438.68 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061708, 594310.77, 50.27) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961441.09 epoch sec; seqNo:5763; 4061704.04 north; 594304.71 east 2020-11-23T22:53:57Z- waiting for 1599961441.68, time is 1599961438.68 2020-11-23T22:53:57Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961441.48 epoch sec; seqNo:5764 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961441.68, time is 1599961438.68 2020-11-23T22:53:57Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.19 epoch sec; seqNo:1599961441486; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961441.68, time is 1599961438.68 2020-11-23T22:53:57Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961443.09 epoch sec; seqNo:5768 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961441.68, time is 1599961443.09 2020-11-23T22:53:57Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961441.48, meas time 1599961443.09 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 17.000 at t=1599961443.09, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961443.09 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061704, 594304.71, 50.19) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961443.09 epoch sec; seqNo:5768; 4061702.87 north; 594302.28 east 2020-11-23T22:53:57Z- waiting for 1599961446.09, time is 1599961443.09 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961444.29 epoch sec; seqNo:5771 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961446.09, time is 1599961443.09 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.09 epoch sec; seqNo:1599961444692; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961446.09, time is 1599961443.09 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961444.69 epoch sec; seqNo:5772 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961446.09, time is 1599961444.69 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961445.50 epoch sec; seqNo:5774; 4061701.72 north; 594301.07 east 2020-11-23T22:53:57Z- waiting for 1599961446.09, time is 1599961444.69 2020-11-23T22:53:57Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961446.30 epoch sec; seqNo:5776 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961446.09, time is 1599961444.69 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1599961446697; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961446.09, time is 1599961444.69 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961447.10 epoch sec; seqNo:5778 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961446.09, time is 1599961447.10 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961446.30, meas time 1599961447.10 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 21.000 at t=1599961447.10, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961447.10 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061702, 594301.07, 50.03) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961447.90 epoch sec; seqNo:5780; 4061700.56 north; 594298.65 east 2020-11-23T22:53:57Z- waiting for 1599961450.10, time is 1599961447.10 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961448.30 epoch sec; seqNo:5781 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961450.10, time is 1599961447.10 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961448.70 epoch sec; seqNo:5782 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961450.10, time is 1599961448.70 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961449.51 epoch sec; seqNo:5784; 4061699.41 north; 594297.44 east 2020-11-23T22:53:57Z- waiting for 1599961450.10, time is 1599961448.70 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961449.91 epoch sec; seqNo:5785; 4061699.40 north; 594296.22 east 2020-11-23T22:53:57Z- waiting for 1599961450.10, time is 1599961448.70 2020-11-23T22:53:57Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961450.31 epoch sec; seqNo:5786; 4061699.02 north; 594296.22 east 2020-11-23T22:53:57Z- waiting for 1599961450.10, time is 1599961448.70 2020-11-23T22:53:57Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961451.51 epoch sec; seqNo:5789 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961450.10, time is 1599961448.70 2020-11-23T22:53:57Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1599961451911; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961450.10, time is 1599961448.70 2020-11-23T22:53:57Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961452.31 epoch sec; seqNo:5791 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961450.10, time is 1599961452.31 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961451.51, meas time 1599961452.31 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 26.000 at t=1599961452.31, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961452.31 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061699, 594296.22, 49.90) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961454.72 epoch sec; seqNo:5797; 4061696.70 north; 594292.59 east 2020-11-23T22:53:57Z- waiting for 1599961455.31, time is 1599961452.31 2020-11-23T22:53:57Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961455.52 epoch sec; seqNo:5799 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.03 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961455.31, time is 1599961452.31 2020-11-23T22:53:57Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599961455920; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961455.31, time is 1599961452.31 2020-11-23T22:53:57Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961457.12 epoch sec; seqNo:5803 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961455.31, time is 1599961457.12 2020-11-23T22:53:57Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961455.52, meas time 1599961457.12 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 31.000 at t=1599961457.12, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961457.12 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061697, 594292.59, 49.82) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961459.13 epoch sec; seqNo:5808; 4061694.39 north; 594288.95 east 2020-11-23T22:53:57Z- waiting for 1599961460.12, time is 1599961457.12 2020-11-23T22:53:57Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961459.93 epoch sec; seqNo:5810 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.02 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961460.12, time is 1599961457.12 2020-11-23T22:53:57Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1599961461129; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961460.12, time is 1599961457.12 2020-11-23T22:53:57Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961461.93 epoch sec; seqNo:5815 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961460.12, time is 1599961461.93 2020-11-23T22:53:57Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961463.94 epoch sec; seqNo:5820 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961460.12, time is 1599961461.93 2020-11-23T22:53:57Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961463.94 epoch sec; seqNo:5820; 4061692.06 north; 594284.09 east 2020-11-23T22:53:57Z- waiting for 1599961460.12, time is 1599961461.93 2020-11-23T22:53:57Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599961465542; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961460.12, time is 1599961461.93 2020-11-23T22:53:57Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961465.54 epoch sec; seqNo:5824 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961460.12, time is 1599961465.54 2020-11-23T22:53:57Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961463.94, meas time 1599961465.54 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 5.000 at t=1599961465.54, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961465.54 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061692, 594284.09, 49.69) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961467.55 epoch sec; seqNo:5829; 4061690.13 north; 594280.45 east 2020-11-23T22:53:57Z- waiting for 1599961468.54, time is 1599961465.54 2020-11-23T22:53:57Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961467.94 epoch sec; seqNo:5830 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961468.54, time is 1599961465.54 2020-11-23T22:53:57Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961470.35 epoch sec; seqNo:5836 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961468.54, time is 1599961470.35 2020-11-23T22:53:57Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961470.35 epoch sec; seqNo:5836; 4061688.59 north; 594278.03 east 2020-11-23T22:53:57Z- waiting for 1599961468.54, time is 1599961470.35 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961470.35, meas time 1599961470.35 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 10.000 at t=1599961470.35, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961470.35 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061689, 594278.03, 49.69) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961473.95 epoch sec; seqNo:5845 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961473.35, time is 1599961470.35 2020-11-23T22:53:57Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1599961473955; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961473.35, time is 1599961470.35 2020-11-23T22:53:57Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961473.96 epoch sec; seqNo:5845 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961473.35, time is 1599961473.96 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961473.95, meas time 1599961473.96 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 13.000 at t=1599961473.96, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961473.96 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061689, 594278.03, 49.65) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961477.96 epoch sec; seqNo:5855 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961476.96, time is 1599961473.96 2020-11-23T22:53:57Z- sync is 4.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961477.96 epoch sec; seqNo:5855; 4061684.73 north; 594271.97 east 2020-11-23T22:53:57Z- waiting for 1599961476.96, time is 1599961473.96 2020-11-23T22:53:57Z- sync is 4.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961482.77 epoch sec; seqNo:5867 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961476.96, time is 1599961473.96 2020-11-23T22:53:57Z- sync is 8.81, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1599961482766; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961476.96, time is 1599961473.96 2020-11-23T22:53:57Z- sync is 8.81, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961482.77 epoch sec; seqNo:5867 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961476.96, time is 1599961482.77 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961482.77, meas time 1599961482.77 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 22.000 at t=1599961482.77, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961482.77 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061685, 594271.97, 49.73) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961482.77 epoch sec; seqNo:5867; 4061682.03 north; 594267.12 east 2020-11-23T22:53:57Z- waiting for 1599961485.77, time is 1599961482.77 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1599961483166; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961485.77, time is 1599961482.77 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1599961489578; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961485.77, time is 1599961482.77 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961489.58 epoch sec; seqNo:5884 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961485.77, time is 1599961489.58 2020-11-23T22:53:57Z- sync is 6.81, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961489.58 epoch sec; seqNo:5884; 4061678.55 north; 594261.05 east 2020-11-23T22:53:57Z- waiting for 1599961485.77, time is 1599961489.58 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961489.58, meas time 1599961489.58 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 29.000 at t=1599961489.58, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961489.58 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061679, 594261.05, 49.92) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961489.98 epoch sec; seqNo:5885 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961492.58, time is 1599961489.58 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961489.98 epoch sec; seqNo:5885 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961492.58, time is 1599961489.98 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961489.98 epoch sec; seqNo:5885; 4061678.55 north; 594261.05 east 2020-11-23T22:53:57Z- waiting for 1599961492.58, time is 1599961489.98 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961490.38 epoch sec; seqNo:5886; 4061678.16 north; 594259.84 east 2020-11-23T22:53:57Z- waiting for 1599961492.58, time is 1599961489.98 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.16 epoch sec; seqNo:1599961497587; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961492.58, time is 1599961489.98 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961497.59 epoch sec; seqNo:5904 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961492.58, time is 1599961497.59 2020-11-23T22:53:57Z- sync is 7.20, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961497.59 epoch sec; seqNo:5904; 4061674.68 north; 594253.77 east 2020-11-23T22:53:57Z- waiting for 1599961492.58, time is 1599961497.59 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961497.59, meas time 1599961497.59 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 3.000 at t=1599961497.59, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961497.59 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061675, 594253.77, 50.16) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961497.99 epoch sec; seqNo:5905 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.02 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961500.59, time is 1599961497.59 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961497.99 epoch sec; seqNo:5905; 4061674.30 north; 594253.78 east 2020-11-23T22:53:57Z- waiting for 1599961500.59, time is 1599961497.59 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961505.60 epoch sec; seqNo:5924 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961500.59, time is 1599961497.59 2020-11-23T22:53:57Z- sync is 8.01, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1599961505599; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961500.59, time is 1599961497.59 2020-11-23T22:53:57Z- sync is 8.01, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961505.60 epoch sec; seqNo:5924 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961500.59, time is 1599961505.60 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961505.60, meas time 1599961505.60 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 11.000 at t=1599961505.60, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961505.60 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061674, 594253.78, 50.36) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961505.60 epoch sec; seqNo:5924; 4061670.43 north; 594246.50 east 2020-11-23T22:53:57Z- waiting for 1599961508.60, time is 1599961505.60 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961506.00 epoch sec; seqNo:5925 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961508.60, time is 1599961505.60 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1599961505999; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961508.60, time is 1599961505.60 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961506.00 epoch sec; seqNo:5925 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961508.60, time is 1599961506.00 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961506.00 epoch sec; seqNo:5925; 4061670.05 north; 594246.50 east 2020-11-23T22:53:57Z- waiting for 1599961508.60, time is 1599961506.00 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1599961516818; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961508.60, time is 1599961506.00 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961516.82 epoch sec; seqNo:5952 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961508.60, time is 1599961516.82 2020-11-23T22:53:57Z- sync is 10.82, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961517.22 epoch sec; seqNo:5953 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961508.60, time is 1599961516.82 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961517.22, meas time 1599961516.82 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 22.000 at t=1599961516.82, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961516.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061670, 594246.50, 50.36) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1599961517219; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961519.82, time is 1599961516.82 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961517.22 epoch sec; seqNo:5953 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961519.82, time is 1599961517.22 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961517.62 epoch sec; seqNo:5954 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961519.82, time is 1599961517.22 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1599961517620; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961519.82, time is 1599961517.22 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961517.62 epoch sec; seqNo:5954 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961519.82, time is 1599961517.62 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961518.02 epoch sec; seqNo:5955 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961519.82, time is 1599961517.62 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1599961518020; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961519.82, time is 1599961517.62 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961518.02 epoch sec; seqNo:5955 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961519.82, time is 1599961518.02 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.45 epoch sec; seqNo:1599961530435; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961519.82, time is 1599961518.02 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961530.44 epoch sec; seqNo:5986 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , 0.04 2020-11-23T22:53:57Z- waiting for 1599961519.82, time is 1599961530.44 2020-11-23T22:53:57Z- sync is 12.42, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961530.44 epoch sec; seqNo:5986; 4061656.93 north; 594224.68 east 2020-11-23T22:53:57Z- waiting for 1599961519.82, time is 1599961530.44 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961530.44, meas time 1599961530.44 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 2.000 at t=1599961530.44, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961530.44 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061657, 594224.68, 49.45) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961530.84 epoch sec; seqNo:5987 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; 0.22 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961533.44, time is 1599961530.44 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.37 epoch sec; seqNo:1599961530836; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961533.44, time is 1599961530.44 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961530.84 epoch sec; seqNo:5987 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , 0.04 2020-11-23T22:53:57Z- waiting for 1599961533.44, time is 1599961530.84 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961530.84 epoch sec; seqNo:5987; 4061656.92 north; 594223.46 east 2020-11-23T22:53:57Z- waiting for 1599961533.44, time is 1599961530.84 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961531.24 epoch sec; seqNo:5988 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.04 phi; 0.22 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961533.44, time is 1599961530.84 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.30 epoch sec; seqNo:1599961531236; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961533.44, time is 1599961530.84 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961531.24 epoch sec; seqNo:5988 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , 0.04 2020-11-23T22:53:57Z- waiting for 1599961533.44, time is 1599961531.24 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961546.08 epoch sec; seqNo:6025; 4061648.83 north; 594211.34 east 2020-11-23T22:53:57Z- waiting for 1599961533.44, time is 1599961531.24 2020-11-23T22:53:57Z- sync is 14.84, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961546.48 epoch sec; seqNo:6026 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.05 phi; 0.36 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961533.44, time is 1599961531.24 2020-11-23T22:53:57Z- sync is 15.24, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 44.96 epoch sec; seqNo:1599961546477; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961533.44, time is 1599961531.24 2020-11-23T22:53:57Z- sync is 15.24, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961546.48 epoch sec; seqNo:6026 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.02 2020-11-23T22:53:57Z- waiting for 1599961533.44, time is 1599961546.48 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961546.48, meas time 1599961546.48 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961546.48, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961546.48 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061649, 594211.34, 44.96) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961546.48 epoch sec; seqNo:6026; 4061648.43 north; 594210.12 east 2020-11-23T22:53:57Z- waiting for 1599961549.48, time is 1599961546.48 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961546.88 epoch sec; seqNo:6027 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.05 phi; 0.36 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961549.48, time is 1599961546.48 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 44.82 epoch sec; seqNo:1599961546878; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961549.48, time is 1599961546.48 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961546.88 epoch sec; seqNo:6027 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.02 2020-11-23T22:53:57Z- waiting for 1599961549.48, time is 1599961546.88 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961546.88 epoch sec; seqNo:6027; 4061648.43 north; 594210.12 east 2020-11-23T22:53:57Z- waiting for 1599961549.48, time is 1599961546.88 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961547.28 epoch sec; seqNo:6028 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.05 phi; 0.36 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961549.48, time is 1599961546.88 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 44.68 epoch sec; seqNo:1599961547281; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961549.48, time is 1599961546.88 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961547.28 epoch sec; seqNo:6028; 4061648.06 north; 594210.13 east 2020-11-23T22:53:57Z- waiting for 1599961549.48, time is 1599961546.88 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 44.54 epoch sec; seqNo:1599961547682; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961549.48, time is 1599961546.88 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 44.40 epoch sec; seqNo:1599961548083; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961549.48, time is 1599961546.88 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961558.51 epoch sec; seqNo:6056 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.05 phi; 0.37 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961549.48, time is 1599961546.88 2020-11-23T22:53:57Z- sync is 11.63, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 40.63 epoch sec; seqNo:1599961558512; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961549.48, time is 1599961546.88 2020-11-23T22:53:57Z- sync is 11.63, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961558.51 epoch sec; seqNo:6056 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.01 2020-11-23T22:53:57Z- waiting for 1599961549.48, time is 1599961558.51 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961558.51, meas time 1599961558.51 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961558.51, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961558.51 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061648, 594210.13, 40.63) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961558.51 epoch sec; seqNo:6056; 4061642.27 north; 594200.43 east 2020-11-23T22:53:57Z- waiting for 1599961561.51, time is 1599961558.51 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961558.91 epoch sec; seqNo:6057 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.05 phi; 0.37 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961561.51, time is 1599961558.51 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 40.49 epoch sec; seqNo:1599961558913; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961561.51, time is 1599961558.51 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961558.91 epoch sec; seqNo:6057 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.01 2020-11-23T22:53:57Z- waiting for 1599961561.51, time is 1599961558.91 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961558.91 epoch sec; seqNo:6057; 4061641.89 north; 594200.43 east 2020-11-23T22:53:57Z- waiting for 1599961561.51, time is 1599961558.91 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 40.34 epoch sec; seqNo:1599961559315; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961561.51, time is 1599961558.91 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961559.32 epoch sec; seqNo:6058 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.01 2020-11-23T22:53:57Z- waiting for 1599961561.51, time is 1599961559.32 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 32.77 epoch sec; seqNo:1599961579756; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961561.51, time is 1599961559.32 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961579.76 epoch sec; seqNo:6109 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.09 , 0.01 2020-11-23T22:53:57Z- waiting for 1599961561.51, time is 1599961579.76 2020-11-23T22:53:57Z- sync is 20.84, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961579.76 epoch sec; seqNo:6109; 4061630.71 north; 594183.47 east 2020-11-23T22:53:57Z- waiting for 1599961561.51, time is 1599961579.76 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961579.76, meas time 1599961579.76 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961579.76, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961579.76 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061631, 594183.47, 32.77) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961580.16 epoch sec; seqNo:6110 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.06 phi; 0.36 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961579.76 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 32.63 epoch sec; seqNo:1599961580157; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961579.76 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961580.16 epoch sec; seqNo:6110 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.09 , 0.01 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961580.16 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961580.16 epoch sec; seqNo:6110; 4061630.71 north; 594183.47 east 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961580.16 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961580.56 epoch sec; seqNo:6111 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.06 phi; 0.36 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961580.16 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 32.49 epoch sec; seqNo:1599961580558; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961580.16 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961580.56 epoch sec; seqNo:6111 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.09 , 0.01 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961580.56 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961580.56 epoch sec; seqNo:6111; 4061630.32 north; 594182.25 east 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961580.56 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961580.96 epoch sec; seqNo:6112 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.06 phi; 0.36 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961580.56 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 32.34 epoch sec; seqNo:1599961580960; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961580.56 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961580.96 epoch sec; seqNo:6112 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.09 , 0.01 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961580.96 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961580.96 epoch sec; seqNo:6112; 4061629.94 north; 594182.26 east 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961580.96 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961581.36 epoch sec; seqNo:6113 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.06 phi; 0.36 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961580.96 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961581.36 epoch sec; seqNo:6113 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.09 , 0.01 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961581.36 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961581.76 epoch sec; seqNo:6114 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.06 phi; 0.36 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961581.36 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961582.16 epoch sec; seqNo:6115 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.06 phi; 0.35 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961581.36 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961582.56 epoch sec; seqNo:6116 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.06 phi; 0.35 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961581.36 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961590.18 epoch sec; seqNo:6135; 4061624.94 north; 594174.99 east 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961581.36 2020-11-23T22:53:57Z- sync is 8.82, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961591.38 epoch sec; seqNo:6138 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.07 phi; 0.34 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961581.36 2020-11-23T22:53:57Z- sync is 10.02, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961593.39 epoch sec; seqNo:6143 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.09 , 0.02 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961593.39 2020-11-23T22:53:57Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961596.60 epoch sec; seqNo:6151; 4061621.46 north; 594168.93 east 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961593.39 2020-11-23T22:53:57Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961598.61 epoch sec; seqNo:6156; 4061620.31 north; 594167.72 east 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961593.39 2020-11-23T22:53:57Z- sync is 5.22, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961599.01 epoch sec; seqNo:6157 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.07 phi; 0.35 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961593.39 2020-11-23T22:53:57Z- sync is 5.62, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 26.12 epoch sec; seqNo:1599961599012; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961593.39 2020-11-23T22:53:57Z- sync is 5.62, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961599.01 epoch sec; seqNo:6157 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.09 , 0.02 2020-11-23T22:53:57Z- waiting for 1599961582.76, time is 1599961599.01 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961599.01, meas time 1599961599.01 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961599.01, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961599.01 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061620, 594167.72, 26.12) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961599.01 epoch sec; seqNo:6157; 4061619.93 north; 594167.72 east 2020-11-23T22:53:57Z- waiting for 1599961602.01, time is 1599961599.01 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961599.41 epoch sec; seqNo:6158 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.07 phi; 0.35 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961602.01, time is 1599961599.01 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961599.41 epoch sec; seqNo:6158; 4061619.92 north; 594166.50 east 2020-11-23T22:53:57Z- waiting for 1599961602.01, time is 1599961599.01 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961608.64 epoch sec; seqNo:6181 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.07 phi; 0.36 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961602.01, time is 1599961599.01 2020-11-23T22:53:57Z- sync is 9.62, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 22.76 epoch sec; seqNo:1599961608637; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961602.01, time is 1599961599.01 2020-11-23T22:53:57Z- sync is 9.62, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961608.64 epoch sec; seqNo:6181 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.09 , 0.02 2020-11-23T22:53:57Z- waiting for 1599961602.01, time is 1599961608.64 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961608.64, meas time 1599961608.64 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961608.64, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961608.64 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061620, 594166.50, 22.76) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961608.64 epoch sec; seqNo:6181; 4061614.53 north; 594159.24 east 2020-11-23T22:53:57Z- waiting for 1599961611.64, time is 1599961608.64 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961609.04 epoch sec; seqNo:6182 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.07 phi; 0.36 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961611.64, time is 1599961608.64 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 22.62 epoch sec; seqNo:1599961609039; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961611.64, time is 1599961608.64 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961609.04 epoch sec; seqNo:6182 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.09 , 0.03 2020-11-23T22:53:57Z- waiting for 1599961611.64, time is 1599961609.04 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961620.26 epoch sec; seqNo:6210; 4061607.98 north; 594149.55 east 2020-11-23T22:53:57Z- waiting for 1599961611.64, time is 1599961609.04 2020-11-23T22:53:57Z- sync is 11.22, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961620.66 epoch sec; seqNo:6211 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.08 phi; 0.36 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961611.64, time is 1599961609.04 2020-11-23T22:53:57Z- sync is 11.62, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 18.50 epoch sec; seqNo:1599961620659; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961611.64, time is 1599961609.04 2020-11-23T22:53:57Z- sync is 11.62, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961620.66 epoch sec; seqNo:6211 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.09 , 0.02 2020-11-23T22:53:57Z- waiting for 1599961611.64, time is 1599961620.66 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961620.66, meas time 1599961620.66 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961620.66, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961620.66 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061608, 594149.55, 18.50) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961620.66 epoch sec; seqNo:6211; 4061607.61 north; 594149.55 east 2020-11-23T22:53:57Z- waiting for 1599961623.66, time is 1599961620.66 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961621.06 epoch sec; seqNo:6212 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.09 , 0.02 2020-11-23T22:53:57Z- waiting for 1599961623.66, time is 1599961621.06 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961621.06 epoch sec; seqNo:6212; 4061607.23 north; 594149.55 east 2020-11-23T22:53:57Z- waiting for 1599961623.66, time is 1599961621.06 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 14.18 epoch sec; seqNo:1599961633493; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961623.66, time is 1599961621.06 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961633.49 epoch sec; seqNo:6243 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.10 , 0.03 2020-11-23T22:53:57Z- waiting for 1599961623.66, time is 1599961633.49 2020-11-23T22:53:57Z- sync is 12.43, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961633.49 epoch sec; seqNo:6243; 4061599.91 north; 594138.65 east 2020-11-23T22:53:57Z- waiting for 1599961623.66, time is 1599961633.49 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961633.49, meas time 1599961633.49 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961633.49, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961633.49 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061600, 594138.65, 14.18) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961633.89 epoch sec; seqNo:6244 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.08 phi; 0.34 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961636.49, time is 1599961633.49 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 14.05 epoch sec; seqNo:1599961633894; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961636.49, time is 1599961633.49 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961633.90 epoch sec; seqNo:6244 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.10 , 0.03 2020-11-23T22:53:57Z- waiting for 1599961636.49, time is 1599961633.90 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961633.90 epoch sec; seqNo:6244; 4061599.91 north; 594138.65 east 2020-11-23T22:53:57Z- waiting for 1599961636.49, time is 1599961633.90 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961634.30 epoch sec; seqNo:6245 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.08 phi; 0.34 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961636.49, time is 1599961633.90 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 13.92 epoch sec; seqNo:1599961634296; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961636.49, time is 1599961633.90 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961634.70 epoch sec; seqNo:6246 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.08 phi; 0.34 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961636.49, time is 1599961633.90 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961645.12 epoch sec; seqNo:6272; 4061592.98 north; 594128.96 east 2020-11-23T22:53:57Z- waiting for 1599961636.49, time is 1599961633.90 2020-11-23T22:53:57Z- sync is 11.23, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961645.52 epoch sec; seqNo:6273 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.09 phi; 0.35 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961636.49, time is 1599961633.90 2020-11-23T22:53:57Z- sync is 11.63, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 10.23 epoch sec; seqNo:1599961645523; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961636.49, time is 1599961633.90 2020-11-23T22:53:57Z- sync is 11.63, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961645.52 epoch sec; seqNo:6273 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.10 , 0.04 2020-11-23T22:53:57Z- waiting for 1599961636.49, time is 1599961645.52 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961645.52, meas time 1599961645.52 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961645.52, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961645.52 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061593, 594128.96, 10.23) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961645.53 epoch sec; seqNo:6273; 4061592.98 north; 594128.96 east 2020-11-23T22:53:57Z- waiting for 1599961648.52, time is 1599961645.52 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 10.09 epoch sec; seqNo:1599961645924; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961648.52, time is 1599961645.52 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961645.92 epoch sec; seqNo:6274 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.10 , 0.04 2020-11-23T22:53:57Z- waiting for 1599961648.52, time is 1599961645.92 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961645.93 epoch sec; seqNo:6274; 4061592.59 north; 594127.75 east 2020-11-23T22:53:57Z- waiting for 1599961648.52, time is 1599961645.92 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961646.33 epoch sec; seqNo:6275 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.10 , 0.04 2020-11-23T22:53:57Z- waiting for 1599961648.52, time is 1599961646.33 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961646.33 epoch sec; seqNo:6275; 4061592.59 north; 594127.75 east 2020-11-23T22:53:57Z- waiting for 1599961648.52, time is 1599961646.33 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961647.13 epoch sec; seqNo:6277 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.09 phi; 0.35 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961648.52, time is 1599961646.33 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961653.94 epoch sec; seqNo:6294 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.09 phi; 0.36 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961648.52, time is 1599961646.33 2020-11-23T22:53:57Z- sync is 7.61, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 7.39 epoch sec; seqNo:1599961653937; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961648.52, time is 1599961646.33 2020-11-23T22:53:57Z- sync is 7.61, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961653.94 epoch sec; seqNo:6294 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.15 , 0.04 2020-11-23T22:53:57Z- waiting for 1599961648.52, time is 1599961653.94 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961653.94, meas time 1599961653.94 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961653.94, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961653.94 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061593, 594127.75, 7.39) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961653.94 epoch sec; seqNo:6294; 4061587.98 north; 594121.69 east 2020-11-23T22:53:57Z- waiting for 1599961656.94, time is 1599961653.94 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961654.34 epoch sec; seqNo:6295 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.09 phi; 0.36 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961656.94, time is 1599961653.94 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 7.26 epoch sec; seqNo:1599961654337; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961656.94, time is 1599961653.94 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961654.34 epoch sec; seqNo:6295; 4061587.60 north; 594121.70 east 2020-11-23T22:53:57Z- waiting for 1599961656.94, time is 1599961653.94 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961657.95 epoch sec; seqNo:6304 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.18 , 0.05 2020-11-23T22:53:57Z- waiting for 1599961656.94, time is 1599961657.95 2020-11-23T22:53:57Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961657.95 epoch sec; seqNo:6304; 4061585.66 north; 594118.06 east 2020-11-23T22:53:57Z- waiting for 1599961656.94, time is 1599961657.95 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961657.95, meas time 1599961657.95 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961657.95, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961657.95 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061586, 594118.06, 7.26) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961658.35 epoch sec; seqNo:6305 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.09 phi; 0.36 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961660.95, time is 1599961657.95 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 5.89 epoch sec; seqNo:1599961658349; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961660.95, time is 1599961657.95 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961658.35 epoch sec; seqNo:6305 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.18 , 0.05 2020-11-23T22:53:57Z- waiting for 1599961660.95, time is 1599961658.35 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961662.36 epoch sec; seqNo:6315 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.09 phi; 0.36 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961660.95, time is 1599961658.35 2020-11-23T22:53:57Z- sync is 4.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 4.51 epoch sec; seqNo:1599961662356; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961660.95, time is 1599961658.35 2020-11-23T22:53:57Z- sync is 4.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961662.36 epoch sec; seqNo:6315 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , -0.20 , 0.05 2020-11-23T22:53:57Z- waiting for 1599961660.95, time is 1599961662.36 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961662.36, meas time 1599961662.36 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961662.36, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961662.36 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061586, 594118.06, 4.51) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 4.10 epoch sec; seqNo:1599961663559; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961665.36, time is 1599961662.36 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961663.96 epoch sec; seqNo:6319 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , -0.21 , 0.05 2020-11-23T22:53:57Z- waiting for 1599961665.36, time is 1599961663.96 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961665.16 epoch sec; seqNo:6322 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.09 phi; 0.36 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961665.36, time is 1599961663.96 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 3.41 epoch sec; seqNo:1599961665563; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961665.36, time is 1599961663.96 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961665.96 epoch sec; seqNo:6324 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , -0.22 , 0.04 2020-11-23T22:53:57Z- waiting for 1599961665.36, time is 1599961665.96 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961665.16, meas time 1599961665.96 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961665.96, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961665.96 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061586, 594118.06, 3.41) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 3.00 epoch sec; seqNo:1599961666765; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961668.96, time is 1599961665.96 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961667.17 epoch sec; seqNo:6327 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , -0.22 , 0.04 2020-11-23T22:53:57Z- waiting for 1599961668.96, time is 1599961667.17 2020-11-23T22:53:57Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961667.97 epoch sec; seqNo:6329; 4061579.89 north; 594109.58 east 2020-11-23T22:53:57Z- waiting for 1599961668.96, time is 1599961667.17 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961669.97 epoch sec; seqNo:6334 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; 0.35 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961668.96, time is 1599961667.17 2020-11-23T22:53:57Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 1.77 epoch sec; seqNo:1599961670375; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961668.96, time is 1599961667.17 2020-11-23T22:53:57Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961670.38 epoch sec; seqNo:6335 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.23 , 0.04 2020-11-23T22:53:57Z- waiting for 1599961668.96, time is 1599961670.38 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961669.97, meas time 1599961670.38 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961670.38, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961670.38 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061580, 594109.58, 1.77) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961671.17 epoch sec; seqNo:6337; 4061578.34 north; 594107.15 east 2020-11-23T22:53:57Z- waiting for 1599961673.38, time is 1599961670.38 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961671.97 epoch sec; seqNo:6339 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; 0.35 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961673.38, time is 1599961670.38 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 1.10 epoch sec; seqNo:1599961672376; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961673.38, time is 1599961670.38 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961672.78 epoch sec; seqNo:6341 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.24 , 0.04 2020-11-23T22:53:57Z- waiting for 1599961673.38, time is 1599961672.78 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961673.58 epoch sec; seqNo:6343; 4061577.19 north; 594105.95 east 2020-11-23T22:53:57Z- waiting for 1599961673.38, time is 1599961672.78 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961674.38 epoch sec; seqNo:6345 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; 0.33 theta; -0.05 psi 2020-11-23T22:53:57Z- waiting for 1599961673.38, time is 1599961672.78 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 0.35 epoch sec; seqNo:1599961674780; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961673.38, time is 1599961672.78 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961675.18 epoch sec; seqNo:6347 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.25 , 0.02 2020-11-23T22:53:57Z- waiting for 1599961673.38, time is 1599961675.18 2020-11-23T22:53:57Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961674.38, meas time 1599961675.18 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961675.18, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961675.18 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061577, 594105.95, 0.35) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961677.19 epoch sec; seqNo:6352; 4061577.19 north; 594105.95 east 2020-11-23T22:53:57Z- waiting for 1599961678.18, time is 1599961675.18 2020-11-23T22:53:57Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961677.99 epoch sec; seqNo:6354 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; 0.22 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961678.18, time is 1599961675.18 2020-11-23T22:53:57Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 0.06 epoch sec; seqNo:1599961678391; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961678.18, time is 1599961675.18 2020-11-23T22:53:57Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961678.79 epoch sec; seqNo:6356 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.68 , -0.27 , 0.11 2020-11-23T22:53:57Z- waiting for 1599961678.18, time is 1599961678.79 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961677.99, meas time 1599961678.79 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961678.79, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961678.79 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061577, 594105.95, 0.06) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961679.20 epoch sec; seqNo:6357; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961681.79, time is 1599961678.79 2020-11-23T22:53:57Z- sync is 0.41, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961679.99 epoch sec; seqNo:6359 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; 0.18 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961681.79, time is 1599961678.79 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 0.01 epoch sec; seqNo:1599961680396; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961681.79, time is 1599961678.79 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961680.40 epoch sec; seqNo:6360; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961681.79, time is 1599961678.79 2020-11-23T22:53:57Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 0.00 epoch sec; seqNo:1599961681198; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961681.79, time is 1599961678.79 2020-11-23T22:53:57Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 0.01 epoch sec; seqNo:1599961681599; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961681.79, time is 1599961678.79 2020-11-23T22:53:57Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961682.00 epoch sec; seqNo:6364 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; 0.14 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961681.79, time is 1599961678.79 2020-11-23T22:53:57Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 0.00 epoch sec; seqNo:1599961682800; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961681.79, time is 1599961678.79 2020-11-23T22:53:57Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961682.80 epoch sec; seqNo:6366 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.61 , -0.26 , 0.06 2020-11-23T22:53:57Z- waiting for 1599961681.79, time is 1599961682.80 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961682.00, meas time 1599961682.80 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961682.80, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961682.80 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061571, 594103.57, 0.00) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961685.21 epoch sec; seqNo:6372; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961685.80, time is 1599961682.80 2020-11-23T22:53:57Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961685.61 epoch sec; seqNo:6373 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; 0.09 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961685.80, time is 1599961682.80 2020-11-23T22:53:57Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599961686408; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961685.80, time is 1599961682.80 2020-11-23T22:53:57Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961686.41 epoch sec; seqNo:6375 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.57 , -0.26 , 0.04 2020-11-23T22:53:57Z- waiting for 1599961685.80, time is 1599961686.41 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961685.61, meas time 1599961686.41 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961686.41, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961686.41 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061571, 594103.57, -0.00) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961687.21 epoch sec; seqNo:6377; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961689.41, time is 1599961686.41 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599961687608; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961689.41, time is 1599961686.41 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961687.61 epoch sec; seqNo:6378 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.56 , -0.26 , 0.03 2020-11-23T22:53:57Z- waiting for 1599961689.41, time is 1599961687.61 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599961688811; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961689.41, time is 1599961687.61 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961688.81 epoch sec; seqNo:6381 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.54 , -0.26 , 0.02 2020-11-23T22:53:57Z- waiting for 1599961689.41, time is 1599961688.81 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961689.62 epoch sec; seqNo:6383; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961689.41, time is 1599961688.81 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961692.02 epoch sec; seqNo:6389 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; 0.04 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961689.41, time is 1599961688.81 2020-11-23T22:53:57Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599961692419; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961689.41, time is 1599961688.81 2020-11-23T22:53:57Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961692.82 epoch sec; seqNo:6391 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.51 , -0.26 , 0.01 2020-11-23T22:53:57Z- waiting for 1599961689.41, time is 1599961692.82 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961692.02, meas time 1599961692.82 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961692.82, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961692.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061571, 594103.57, -0.00) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961693.62 epoch sec; seqNo:6393; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961695.82, time is 1599961692.82 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961694.02 epoch sec; seqNo:6394 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; 0.03 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961695.82, time is 1599961692.82 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599961694824; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961695.82, time is 1599961692.82 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961695.22 epoch sec; seqNo:6397 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.49 , -0.26 , -0.00 2020-11-23T22:53:57Z- waiting for 1599961695.82, time is 1599961695.22 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961695.62 epoch sec; seqNo:6398; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961695.82, time is 1599961695.22 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961696.43 epoch sec; seqNo:6400 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; 0.01 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961695.82, time is 1599961695.22 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599961697231; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961695.82, time is 1599961695.22 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961697.63 epoch sec; seqNo:6403 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.48 , -0.26 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961695.82, time is 1599961697.63 2020-11-23T22:53:57Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961696.43, meas time 1599961697.63 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961697.63, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961697.63 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061571, 594103.57, -0.00) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961698.44 epoch sec; seqNo:6405; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961700.63, time is 1599961697.63 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961699.23 epoch sec; seqNo:6407 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; 0.00 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961700.63, time is 1599961697.63 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961699.64 epoch sec; seqNo:6408 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.46 , -0.26 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961700.63, time is 1599961699.64 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961700.44 epoch sec; seqNo:6410 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; -0.00 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961700.63, time is 1599961699.64 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961701.24 epoch sec; seqNo:6412 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; -0.01 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961700.63, time is 1599961699.64 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961702.04 epoch sec; seqNo:6414 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; -0.01 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961700.63, time is 1599961699.64 2020-11-23T22:53:57Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961702.45 epoch sec; seqNo:6415; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961700.63, time is 1599961699.64 2020-11-23T22:53:57Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961703.25 epoch sec; seqNo:6417 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; -0.01 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961700.63, time is 1599961699.64 2020-11-23T22:53:57Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961703.65 epoch sec; seqNo:6418 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.44 , -0.25 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961700.63, time is 1599961703.65 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961703.25, meas time 1599961703.65 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961703.65, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961703.65 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061571, 594103.57, -0.00) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961704.45 epoch sec; seqNo:6420; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961706.65, time is 1599961703.65 2020-11-23T22:53:57Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961704.85 epoch sec; seqNo:6421; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961706.65, time is 1599961703.65 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961705.65 epoch sec; seqNo:6423 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; -0.02 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961706.65, time is 1599961703.65 2020-11-23T22:53:57Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599961706050; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961706.65, time is 1599961703.65 2020-11-23T22:53:57Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961706.85 epoch sec; seqNo:6426 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.42 , -0.25 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961706.65, time is 1599961706.85 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961705.65, meas time 1599961706.85 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961706.85, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961706.85 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061571, 594103.57, -0.00) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961708.86 epoch sec; seqNo:6431; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961709.85, time is 1599961706.85 2020-11-23T22:53:57Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961709.66 epoch sec; seqNo:6433 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; -0.03 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961709.85, time is 1599961706.85 2020-11-23T22:53:57Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961710.07 epoch sec; seqNo:6434; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961709.85, time is 1599961706.85 2020-11-23T22:53:57Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961710.86 epoch sec; seqNo:6436 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; -0.03 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961709.85, time is 1599961706.85 2020-11-23T22:53:57Z- sync is 4.01, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599961711665; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961709.85, time is 1599961706.85 2020-11-23T22:53:57Z- sync is 4.01, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961711.67 epoch sec; seqNo:6438 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.40 , -0.25 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961709.85, time is 1599961711.67 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961710.86, meas time 1599961711.67 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961711.67, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961711.67 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061571, 594103.57, -0.00) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961714.07 epoch sec; seqNo:6444; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961714.67, time is 1599961711.67 2020-11-23T22:53:57Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961714.87 epoch sec; seqNo:6446 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; -0.04 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961714.67, time is 1599961711.67 2020-11-23T22:53:57Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599961715676; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961714.67, time is 1599961711.67 2020-11-23T22:53:57Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961716.08 epoch sec; seqNo:6449 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.38 , -0.25 , -0.03 2020-11-23T22:53:57Z- waiting for 1599961714.67, time is 1599961716.08 2020-11-23T22:53:57Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961714.87, meas time 1599961716.08 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961716.08, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961716.08 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061571, 594103.57, -0.00) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961716.48 epoch sec; seqNo:6450; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961719.08, time is 1599961716.08 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961717.68 epoch sec; seqNo:6453 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; -0.04 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961719.08, time is 1599961716.08 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599961718084; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961719.08, time is 1599961716.08 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961718.49 epoch sec; seqNo:6455 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.37 , -0.25 , -0.03 2020-11-23T22:53:57Z- waiting for 1599961719.08, time is 1599961718.49 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961720.49 epoch sec; seqNo:6460; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961719.08, time is 1599961718.49 2020-11-23T22:53:57Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961721.29 epoch sec; seqNo:6462 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.36 , -0.25 , -0.03 2020-11-23T22:53:57Z- waiting for 1599961719.08, time is 1599961721.29 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961720.49, meas time 1599961721.29 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961721.29, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961721.29 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061571, 594103.57, -0.00) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961722.09 epoch sec; seqNo:6464; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961724.29, time is 1599961721.29 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599961722892; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961724.29, time is 1599961721.29 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961722.89 epoch sec; seqNo:6466 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.36 , -0.25 , -0.03 2020-11-23T22:53:57Z- waiting for 1599961724.29, time is 1599961722.89 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961723.69 epoch sec; seqNo:6468; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961724.29, time is 1599961722.89 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599961805074; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961724.29, time is 1599961722.89 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961805.07 epoch sec; seqNo:6671 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.23 , -0.25 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961724.29, time is 1599961805.07 2020-11-23T22:53:57Z- sync is 81.38, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961805.07 epoch sec; seqNo:6671; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961724.29, time is 1599961805.07 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961805.07, meas time 1599961805.07 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961805.07, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961805.07 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061571, 594103.57, -0.00) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961805.47 epoch sec; seqNo:6672 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961808.07, time is 1599961805.07 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599961805474; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961808.07, time is 1599961805.07 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961805.47 epoch sec; seqNo:6672 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.23 , -0.25 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961808.07, time is 1599961805.47 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961805.47 epoch sec; seqNo:6672; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961808.07, time is 1599961805.47 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961805.88 epoch sec; seqNo:6673 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961808.07, time is 1599961805.47 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599961805875; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961808.07, time is 1599961805.47 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961805.88 epoch sec; seqNo:6673 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.23 , -0.25 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961808.07, time is 1599961805.88 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961805.88 epoch sec; seqNo:6673; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961808.07, time is 1599961805.88 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961806.28 epoch sec; seqNo:6674 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961808.07, time is 1599961805.88 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599961806276; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961808.07, time is 1599961805.88 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961806.28 epoch sec; seqNo:6674 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.23 , -0.25 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961808.07, time is 1599961806.28 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961806.28 epoch sec; seqNo:6674; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961808.07, time is 1599961806.28 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961806.68 epoch sec; seqNo:6675 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961808.07, time is 1599961806.28 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599961806677; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961808.07, time is 1599961806.28 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961806.68 epoch sec; seqNo:6675 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.23 , -0.25 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961808.07, time is 1599961806.68 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961806.68 epoch sec; seqNo:6675; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961808.07, time is 1599961806.68 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961807.08 epoch sec; seqNo:6676 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961808.07, time is 1599961806.68 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961807.48 epoch sec; seqNo:6677 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961808.07, time is 1599961806.68 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599961811890; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961808.07, time is 1599961806.68 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961811.89 epoch sec; seqNo:6688 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.22 , -0.25 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961808.07, time is 1599961811.89 2020-11-23T22:53:57Z- sync is 4.41, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961811.89 epoch sec; seqNo:6688; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961808.07, time is 1599961811.89 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961811.89, meas time 1599961811.89 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961811.89, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961811.89 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061571, 594103.57, -0.00) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961812.29 epoch sec; seqNo:6689 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961814.89, time is 1599961811.89 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961812.29 epoch sec; seqNo:6689; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961814.89, time is 1599961811.89 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961812.69 epoch sec; seqNo:6690; 4061571.11 north; 594103.57 east 2020-11-23T22:53:57Z- waiting for 1599961814.89, time is 1599961811.89 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961834.33 epoch sec; seqNo:6744 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961814.89, time is 1599961811.89 2020-11-23T22:53:57Z- sync is 22.44, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599961834334; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961814.89, time is 1599961811.89 2020-11-23T22:53:57Z- sync is 22.44, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961834.33 epoch sec; seqNo:6744 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.21 , -0.25 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961814.89, time is 1599961834.33 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961834.33, meas time 1599961834.33 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961834.33, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961834.33 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061571, 594103.57, -0.00) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961834.73 epoch sec; seqNo:6745 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961837.33, time is 1599961834.33 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599961834735; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961837.33, time is 1599961834.33 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961834.74 epoch sec; seqNo:6745 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.21 , -0.25 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961837.33, time is 1599961834.74 2020-11-23T22:53:57Z- sync is 0.01, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961835.14 epoch sec; seqNo:6746 2020-11-23T22:53:57Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:57Z- waiting for 1599961837.33, time is 1599961834.74 2020-11-23T22:53:57Z- sync is 0.39, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599961835137; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961837.33, time is 1599961834.74 2020-11-23T22:53:57Z- sync is 0.39, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961835.14 epoch sec; seqNo:6746 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.21 , -0.25 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961837.33, time is 1599961835.14 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599961835537; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961837.33, time is 1599961835.14 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961835.54 epoch sec; seqNo:6747 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.21 , -0.25 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961837.33, time is 1599961835.54 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 1.41 epoch sec; seqNo:1599961867586; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961837.33, time is 1599961835.54 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961867.59 epoch sec; seqNo:6827 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.68 , -0.15 , -0.00 2020-11-23T22:53:57Z- waiting for 1599961837.33, time is 1599961867.59 2020-11-23T22:53:57Z- sync is 32.45, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961867.59 epoch sec; seqNo:6827; 4061515.68 north; 594059.02 east 2020-11-23T22:53:57Z- waiting for 1599961837.33, time is 1599961867.59 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961867.59, meas time 1599961867.59 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961867.59, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961867.59 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061516, 594059.02, 1.41) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961867.99 epoch sec; seqNo:6828 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.25 phi; -0.18 theta; 0.00 psi 2020-11-23T22:53:57Z- waiting for 1599961870.59, time is 1599961867.59 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 1.46 epoch sec; seqNo:1599961867986; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961870.59, time is 1599961867.59 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961867.99 epoch sec; seqNo:6828 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.68 , -0.14 , -0.00 2020-11-23T22:53:57Z- waiting for 1599961870.59, time is 1599961867.99 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961867.99 epoch sec; seqNo:6828; 4061516.06 north; 594059.02 east 2020-11-23T22:53:57Z- waiting for 1599961870.59, time is 1599961867.99 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961868.39 epoch sec; seqNo:6829 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 0.00 psi 2020-11-23T22:53:57Z- waiting for 1599961870.59, time is 1599961867.99 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 1.51 epoch sec; seqNo:1599961868386; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961870.59, time is 1599961867.99 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961868.39 epoch sec; seqNo:6829 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.68 , -0.14 , -0.00 2020-11-23T22:53:57Z- waiting for 1599961870.59, time is 1599961868.39 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961868.39 epoch sec; seqNo:6829; 4061516.43 north; 594059.01 east 2020-11-23T22:53:57Z- waiting for 1599961870.59, time is 1599961868.39 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961868.79 epoch sec; seqNo:6830 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.19 phi; -0.18 theta; 0.00 psi 2020-11-23T22:53:57Z- waiting for 1599961870.59, time is 1599961868.39 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 1.55 epoch sec; seqNo:1599961868787; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961870.59, time is 1599961868.39 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961868.79 epoch sec; seqNo:6830 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.68 , -0.13 , -0.00 2020-11-23T22:53:57Z- waiting for 1599961870.59, time is 1599961868.79 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961868.79 epoch sec; seqNo:6830; 4061516.81 north; 594059.01 east 2020-11-23T22:53:57Z- waiting for 1599961870.59, time is 1599961868.79 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961869.19 epoch sec; seqNo:6831 2020-11-23T22:53:57Z- AHRS_M2 msg: -0.16 phi; -0.19 theta; 0.00 psi 2020-11-23T22:53:57Z- waiting for 1599961870.59, time is 1599961868.79 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 1.60 epoch sec; seqNo:1599961869189; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961870.59, time is 1599961868.79 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961869.19 epoch sec; seqNo:6831 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.68 , -0.12 , -0.00 2020-11-23T22:53:57Z- waiting for 1599961870.59, time is 1599961869.19 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961894.05 epoch sec; seqNo:6893 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.57 phi; -0.14 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961870.59, time is 1599961869.19 2020-11-23T22:53:57Z- sync is 24.86, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 4.90 epoch sec; seqNo:1599961894048; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961870.59, time is 1599961869.19 2020-11-23T22:53:57Z- sync is 24.86, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961894.05 epoch sec; seqNo:6893 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.16 , -0.03 2020-11-23T22:53:57Z- waiting for 1599961870.59, time is 1599961894.05 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961894.05, meas time 1599961894.05 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961894.05, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961894.05 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061517, 594059.01, 4.90) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961894.05 epoch sec; seqNo:6893; 4061532.13 north; 594073.49 east 2020-11-23T22:53:57Z- waiting for 1599961897.05, time is 1599961894.05 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961894.45 epoch sec; seqNo:6894 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.58 phi; -0.14 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961897.05, time is 1599961894.05 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 4.94 epoch sec; seqNo:1599961894448; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961897.05, time is 1599961894.05 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961894.45 epoch sec; seqNo:6894 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.17 , -0.03 2020-11-23T22:53:57Z- waiting for 1599961897.05, time is 1599961894.45 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961894.45 epoch sec; seqNo:6894; 4061532.14 north; 594074.71 east 2020-11-23T22:53:57Z- waiting for 1599961897.05, time is 1599961894.45 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961894.85 epoch sec; seqNo:6895 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.60 phi; -0.14 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961897.05, time is 1599961894.45 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 4.98 epoch sec; seqNo:1599961894850; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961897.05, time is 1599961894.45 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961894.85 epoch sec; seqNo:6895 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.17 , -0.03 2020-11-23T22:53:57Z- waiting for 1599961897.05, time is 1599961894.85 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961894.85 epoch sec; seqNo:6895; 4061532.14 north; 594074.71 east 2020-11-23T22:53:57Z- waiting for 1599961897.05, time is 1599961894.85 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 5.03 epoch sec; seqNo:1599961895253; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961897.05, time is 1599961894.85 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961895.26 epoch sec; seqNo:6896; 4061532.14 north; 594074.71 east 2020-11-23T22:53:57Z- waiting for 1599961897.05, time is 1599961894.85 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 5.07 epoch sec; seqNo:1599961895655; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961897.05, time is 1599961894.85 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 5.11 epoch sec; seqNo:1599961896055; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961897.05, time is 1599961894.85 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 5.15 epoch sec; seqNo:1599961896457; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961897.05, time is 1599961894.85 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961921.72 epoch sec; seqNo:6962 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.21 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961897.05, time is 1599961921.72 2020-11-23T22:53:57Z- sync is 26.46, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961921.72 epoch sec; seqNo:6962; 4061527.51 north; 594101.61 east 2020-11-23T22:53:57Z- waiting for 1599961897.05, time is 1599961921.72 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961921.72, meas time 1599961921.72 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961921.72, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961921.72 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061528, 594101.61, 5.15) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961922.12 epoch sec; seqNo:6963 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.75 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961924.72, time is 1599961921.72 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 6.32 epoch sec; seqNo:1599961922124; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961924.72, time is 1599961921.72 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961922.12 epoch sec; seqNo:6963 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.22 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961924.72, time is 1599961922.12 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961922.12 epoch sec; seqNo:6963; 4061527.51 north; 594101.61 east 2020-11-23T22:53:57Z- waiting for 1599961924.72, time is 1599961922.12 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961922.53 epoch sec; seqNo:6964 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.74 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961924.72, time is 1599961922.12 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 6.33 epoch sec; seqNo:1599961922525; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961924.72, time is 1599961922.12 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961922.53 epoch sec; seqNo:6964 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.22 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961924.72, time is 1599961922.53 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961922.53 epoch sec; seqNo:6964; 4061527.51 north; 594101.61 east 2020-11-23T22:53:57Z- waiting for 1599961924.72, time is 1599961922.53 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961922.92 epoch sec; seqNo:6965 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.74 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961924.72, time is 1599961922.53 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 6.34 epoch sec; seqNo:1599961922926; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961924.72, time is 1599961922.53 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961922.93 epoch sec; seqNo:6965 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.22 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961924.72, time is 1599961922.93 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961922.93 epoch sec; seqNo:6965; 4061527.15 north; 594102.83 east 2020-11-23T22:53:57Z- waiting for 1599961924.72, time is 1599961922.93 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961923.33 epoch sec; seqNo:6966 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.73 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961924.72, time is 1599961922.93 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961923.33 epoch sec; seqNo:6966 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.23 , -0.02 2020-11-23T22:53:57Z- waiting for 1599961924.72, time is 1599961923.33 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961923.33 epoch sec; seqNo:6966; 4061527.15 north; 594102.83 east 2020-11-23T22:53:57Z- waiting for 1599961924.72, time is 1599961923.33 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961923.73 epoch sec; seqNo:6967 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.72 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961924.72, time is 1599961923.33 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961924.13 epoch sec; seqNo:6968 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.71 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961924.72, time is 1599961923.33 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961924.53 epoch sec; seqNo:6969 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.70 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961924.72, time is 1599961923.33 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961924.93 epoch sec; seqNo:6970 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.69 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961924.72, time is 1599961923.33 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961942.18 epoch sec; seqNo:7013 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.08 phi; -0.10 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961924.72, time is 1599961923.33 2020-11-23T22:53:57Z- sync is 18.85, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 7.07 epoch sec; seqNo:1599961942178; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961924.72, time is 1599961923.33 2020-11-23T22:53:57Z- sync is 18.85, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961942.18 epoch sec; seqNo:7013 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.23 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961924.72, time is 1599961942.18 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961942.18, meas time 1599961942.18 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961942.18, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961942.18 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061527, 594102.83, 7.07) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961942.18 epoch sec; seqNo:7013; 4061526.97 north; 594121.14 east 2020-11-23T22:53:57Z- waiting for 1599961945.18, time is 1599961942.18 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961942.58 epoch sec; seqNo:7014 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.07 phi; -0.10 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961945.18, time is 1599961942.18 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 7.10 epoch sec; seqNo:1599961942581; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961945.18, time is 1599961942.18 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961942.58 epoch sec; seqNo:7014 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.23 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961945.18, time is 1599961942.58 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961942.58 epoch sec; seqNo:7014; 4061526.97 north; 594121.14 east 2020-11-23T22:53:57Z- waiting for 1599961945.18, time is 1599961942.58 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961942.98 epoch sec; seqNo:7015 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.05 phi; -0.10 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961945.18, time is 1599961942.58 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961942.98 epoch sec; seqNo:7015 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.22 , -0.01 2020-11-23T22:53:57Z- waiting for 1599961945.18, time is 1599961942.98 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961942.98 epoch sec; seqNo:7015; 4061526.98 north; 594122.36 east 2020-11-23T22:53:57Z- waiting for 1599961945.18, time is 1599961942.98 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961943.38 epoch sec; seqNo:7016; 4061526.98 north; 594122.36 east 2020-11-23T22:53:57Z- waiting for 1599961945.18, time is 1599961942.98 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961943.79 epoch sec; seqNo:7017; 4061527.36 north; 594122.36 east 2020-11-23T22:53:57Z- waiting for 1599961945.18, time is 1599961942.98 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 8.76 epoch sec; seqNo:1599961966229; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961945.18, time is 1599961942.98 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961966.23 epoch sec; seqNo:7073 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.09 , -0.00 2020-11-23T22:53:57Z- waiting for 1599961945.18, time is 1599961966.23 2020-11-23T22:53:57Z- sync is 22.44, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961966.23 epoch sec; seqNo:7073; 4061539.65 north; 594136.87 east 2020-11-23T22:53:57Z- waiting for 1599961945.18, time is 1599961966.23 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961966.23, meas time 1599961966.23 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961966.23, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961966.23 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061540, 594136.87, 8.76) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961966.63 epoch sec; seqNo:7074 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.49 phi; -0.10 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961969.23, time is 1599961966.23 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 8.79 epoch sec; seqNo:1599961966630; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961969.23, time is 1599961966.23 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961966.63 epoch sec; seqNo:7074 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.08 , -0.00 2020-11-23T22:53:57Z- waiting for 1599961969.23, time is 1599961966.63 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961966.63 epoch sec; seqNo:7074; 4061540.02 north; 594136.87 east 2020-11-23T22:53:57Z- waiting for 1599961969.23, time is 1599961966.63 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961967.03 epoch sec; seqNo:7075 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.49 phi; -0.10 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961969.23, time is 1599961966.63 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 8.82 epoch sec; seqNo:1599961967030; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961969.23, time is 1599961966.63 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961967.03 epoch sec; seqNo:7075 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.08 , -0.00 2020-11-23T22:53:57Z- waiting for 1599961969.23, time is 1599961967.03 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961967.03 epoch sec; seqNo:7075; 4061540.42 north; 594138.08 east 2020-11-23T22:53:57Z- waiting for 1599961969.23, time is 1599961967.03 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961967.43 epoch sec; seqNo:7076 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.49 phi; -0.10 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961969.23, time is 1599961967.03 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 8.86 epoch sec; seqNo:1599961967430; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961969.23, time is 1599961967.03 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961967.43 epoch sec; seqNo:7076 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.08 , -0.00 2020-11-23T22:53:57Z- waiting for 1599961969.23, time is 1599961967.43 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961967.43 epoch sec; seqNo:7076; 4061540.79 north; 594138.08 east 2020-11-23T22:53:57Z- waiting for 1599961969.23, time is 1599961967.43 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961967.83 epoch sec; seqNo:7077 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.48 phi; -0.11 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961969.23, time is 1599961967.43 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 8.89 epoch sec; seqNo:1599961967830; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961969.23, time is 1599961967.43 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961967.83 epoch sec; seqNo:7077 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.08 , -0.00 2020-11-23T22:53:57Z- waiting for 1599961969.23, time is 1599961967.83 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961967.83 epoch sec; seqNo:7077; 4061540.79 north; 594138.08 east 2020-11-23T22:53:57Z- waiting for 1599961969.23, time is 1599961967.83 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 8.93 epoch sec; seqNo:1599961968231; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961969.23, time is 1599961967.83 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961968.23 epoch sec; seqNo:7078 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.08 , -0.00 2020-11-23T22:53:57Z- waiting for 1599961969.23, time is 1599961968.23 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961968.23 epoch sec; seqNo:7078; 4061541.17 north; 594138.08 east 2020-11-23T22:53:57Z- waiting for 1599961969.23, time is 1599961968.23 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961968.63 epoch sec; seqNo:7079 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.08 , -0.00 2020-11-23T22:53:57Z- waiting for 1599961969.23, time is 1599961968.63 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961980.68 epoch sec; seqNo:7109 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.04 , -0.00 2020-11-23T22:53:57Z- waiting for 1599961969.23, time is 1599961980.68 2020-11-23T22:53:57Z- sync is 12.45, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961980.68 epoch sec; seqNo:7109; 4061550.71 north; 594144.07 east 2020-11-23T22:53:57Z- waiting for 1599961969.23, time is 1599961980.68 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961980.68, meas time 1599961980.68 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961980.68, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961980.68 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061551, 594144.07, 8.93) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961981.08 epoch sec; seqNo:7110 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.46 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961983.68, time is 1599961980.68 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 10.29 epoch sec; seqNo:1599961981081; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961983.68, time is 1599961980.68 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961981.08 epoch sec; seqNo:7110 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.04 , -0.00 2020-11-23T22:53:57Z- waiting for 1599961983.68, time is 1599961981.08 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961981.08 epoch sec; seqNo:7110; 4061551.09 north; 594144.07 east 2020-11-23T22:53:57Z- waiting for 1599961983.68, time is 1599961981.08 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961981.48 epoch sec; seqNo:7111 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.46 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961983.68, time is 1599961981.08 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 10.34 epoch sec; seqNo:1599961981481; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961983.68, time is 1599961981.08 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961981.48 epoch sec; seqNo:7111 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.04 , -0.00 2020-11-23T22:53:57Z- waiting for 1599961983.68, time is 1599961981.48 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961981.48 epoch sec; seqNo:7111; 4061551.09 north; 594144.07 east 2020-11-23T22:53:57Z- waiting for 1599961983.68, time is 1599961981.48 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961981.88 epoch sec; seqNo:7112 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.46 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961983.68, time is 1599961981.48 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 10.39 epoch sec; seqNo:1599961981881; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961983.68, time is 1599961981.48 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961981.88 epoch sec; seqNo:7112; 4061551.47 north; 594144.06 east 2020-11-23T22:53:57Z- waiting for 1599961983.68, time is 1599961981.48 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961982.28 epoch sec; seqNo:7113 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.46 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961983.68, time is 1599961981.48 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961982.68 epoch sec; seqNo:7114 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.46 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961983.68, time is 1599961981.48 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961989.90 epoch sec; seqNo:7132 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.03 , 0.01 2020-11-23T22:53:57Z- waiting for 1599961983.68, time is 1599961989.90 2020-11-23T22:53:57Z- sync is 7.22, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961989.90 epoch sec; seqNo:7132; 4061557.57 north; 594147.66 east 2020-11-23T22:53:57Z- waiting for 1599961983.68, time is 1599961989.90 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961989.90, meas time 1599961989.90 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961989.90, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961989.90 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061558, 594147.66, 10.39) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961990.31 epoch sec; seqNo:7133 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.49 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961992.90, time is 1599961989.90 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 11.62 epoch sec; seqNo:1599961990305; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961992.90, time is 1599961989.90 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961990.31 epoch sec; seqNo:7133 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.03 , 0.01 2020-11-23T22:53:57Z- waiting for 1599961992.90, time is 1599961990.31 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961990.31 epoch sec; seqNo:7133; 4061557.95 north; 594147.65 east 2020-11-23T22:53:57Z- waiting for 1599961992.90, time is 1599961990.31 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961990.70 epoch sec; seqNo:7134 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.49 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961992.90, time is 1599961990.31 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 11.69 epoch sec; seqNo:1599961990706; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961992.90, time is 1599961990.31 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961991.11 epoch sec; seqNo:7135 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.49 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961992.90, time is 1599961990.31 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961995.52 epoch sec; seqNo:7146 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.03 , 0.01 2020-11-23T22:53:57Z- waiting for 1599961992.90, time is 1599961995.52 2020-11-23T22:53:57Z- sync is 4.41, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599961995.52 epoch sec; seqNo:7146; 4061561.77 north; 594150.05 east 2020-11-23T22:53:57Z- waiting for 1599961992.90, time is 1599961995.52 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961995.52, meas time 1599961995.52 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961995.52, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961995.52 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061562, 594150.05, 11.69) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 12.51 epoch sec; seqNo:1599961995920; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961998.52, time is 1599961995.52 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961995.92 epoch sec; seqNo:7147 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.03 , 0.01 2020-11-23T22:53:57Z- waiting for 1599961998.52, time is 1599961995.92 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 12.57 epoch sec; seqNo:1599961996320; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961998.52, time is 1599961995.92 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961996.32 epoch sec; seqNo:7148 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.03 , 0.01 2020-11-23T22:53:57Z- waiting for 1599961998.52, time is 1599961996.32 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 12.64 epoch sec; seqNo:1599961996720; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961998.52, time is 1599961996.32 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599961999.53 epoch sec; seqNo:7156 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.53 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599961998.52, time is 1599961996.32 2020-11-23T22:53:57Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 13.08 epoch sec; seqNo:1599961999526; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599961998.52, time is 1599961996.32 2020-11-23T22:53:57Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599961999.53 epoch sec; seqNo:7156 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.04 , 0.01 2020-11-23T22:53:57Z- waiting for 1599961998.52, time is 1599961999.53 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599961999.53, meas time 1599961999.53 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599961999.53, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599961999.53 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061562, 594150.05, 13.08) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962001.93 epoch sec; seqNo:7162 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.54 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962002.53, time is 1599961999.53 2020-11-23T22:53:57Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 13.46 epoch sec; seqNo:1599962001929; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962002.53, time is 1599961999.53 2020-11-23T22:53:57Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962001.93 epoch sec; seqNo:7162; 4061566.72 north; 594152.44 east 2020-11-23T22:53:57Z- waiting for 1599962002.53, time is 1599961999.53 2020-11-23T22:53:57Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962003.53 epoch sec; seqNo:7166 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.04 , 0.01 2020-11-23T22:53:57Z- waiting for 1599962002.53, time is 1599962003.53 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599962001.93, meas time 1599962003.53 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599962003.53, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599962003.53 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594152.44, 13.46) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962003.54 epoch sec; seqNo:7166; 4061567.87 north; 594153.65 east 2020-11-23T22:53:57Z- waiting for 1599962006.53, time is 1599962003.53 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962004.73 epoch sec; seqNo:7169 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.55 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962006.53, time is 1599962003.53 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962005.13 epoch sec; seqNo:7170 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.04 , 0.01 2020-11-23T22:53:57Z- waiting for 1599962006.53, time is 1599962005.13 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 14.02 epoch sec; seqNo:1599962005536; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962006.53, time is 1599962005.13 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962006.34 epoch sec; seqNo:7173; 4061569.78 north; 594154.85 east 2020-11-23T22:53:57Z- waiting for 1599962006.53, time is 1599962005.13 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962006.74 epoch sec; seqNo:7174 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.55 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962006.53, time is 1599962005.13 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 14.27 epoch sec; seqNo:1599962007137; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962006.53, time is 1599962005.13 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962007.54 epoch sec; seqNo:7176 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.04 , 0.01 2020-11-23T22:53:57Z- waiting for 1599962006.53, time is 1599962007.54 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599962006.74, meas time 1599962007.54 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599962007.54, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599962007.54 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594154.85, 14.27) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962008.34 epoch sec; seqNo:7178 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.56 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962010.54, time is 1599962007.54 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 14.59 epoch sec; seqNo:1599962009144; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962010.54, time is 1599962007.54 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962009.14 epoch sec; seqNo:7180 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.04 , 0.01 2020-11-23T22:53:57Z- waiting for 1599962010.54, time is 1599962009.14 2020-11-23T22:53:57Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962011.56 epoch sec; seqNo:7186; 4061573.59 north; 594157.25 east 2020-11-23T22:53:57Z- waiting for 1599962010.54, time is 1599962009.14 2020-11-23T22:53:57Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962011.96 epoch sec; seqNo:7187 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.57 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962010.54, time is 1599962009.14 2020-11-23T22:53:57Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 15.15 epoch sec; seqNo:1599962012756; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962010.54, time is 1599962009.14 2020-11-23T22:53:57Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962012.76 epoch sec; seqNo:7189 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.04 , 0.01 2020-11-23T22:53:57Z- waiting for 1599962010.54, time is 1599962012.76 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599962011.96, meas time 1599962012.76 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599962012.76, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599962012.76 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061574, 594157.25, 15.15) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962013.56 epoch sec; seqNo:7191; 4061575.12 north; 594158.45 east 2020-11-23T22:53:57Z- waiting for 1599962015.76, time is 1599962012.76 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962014.36 epoch sec; seqNo:7193 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.58 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962015.76, time is 1599962012.76 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 15.46 epoch sec; seqNo:1599962014763; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962015.76, time is 1599962012.76 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962015.17 epoch sec; seqNo:7195 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.04 , 0.01 2020-11-23T22:53:57Z- waiting for 1599962015.76, time is 1599962015.17 2020-11-23T22:53:57Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962015.97 epoch sec; seqNo:7197; 4061576.65 north; 594159.65 east 2020-11-23T22:53:57Z- waiting for 1599962015.76, time is 1599962015.17 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 15.77 epoch sec; seqNo:1599962016771; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962015.76, time is 1599962015.17 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962016.77 epoch sec; seqNo:7199; 4061577.41 north; 594159.65 east 2020-11-23T22:53:57Z- waiting for 1599962015.76, time is 1599962015.17 2020-11-23T22:53:57Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 15.89 epoch sec; seqNo:1599962017572; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962015.76, time is 1599962015.17 2020-11-23T22:53:57Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 15.95 epoch sec; seqNo:1599962017973; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962015.76, time is 1599962015.17 2020-11-23T22:53:57Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 16.01 epoch sec; seqNo:1599962018376; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962015.76, time is 1599962015.17 2020-11-23T22:53:57Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962018.38 epoch sec; seqNo:7203 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.04 , 0.01 2020-11-23T22:53:57Z- waiting for 1599962015.76, time is 1599962018.38 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599962016.77, meas time 1599962018.38 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599962018.38, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599962018.38 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061577, 594159.65, 16.01) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962018.78 epoch sec; seqNo:7204; 4061578.56 north; 594160.85 east 2020-11-23T22:53:57Z- waiting for 1599962021.38, time is 1599962018.38 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962021.18 epoch sec; seqNo:7210 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.61 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962021.38, time is 1599962018.38 2020-11-23T22:53:57Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 16.51 epoch sec; seqNo:1599962021584; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962021.38, time is 1599962018.38 2020-11-23T22:53:57Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962021.58 epoch sec; seqNo:7211 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.04 , 0.01 2020-11-23T22:53:57Z- waiting for 1599962021.38, time is 1599962021.58 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599962021.18, meas time 1599962021.58 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599962021.58, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599962021.58 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061579, 594160.85, 16.51) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962022.79 epoch sec; seqNo:7214; 4061581.61 north; 594163.26 east 2020-11-23T22:53:57Z- waiting for 1599962024.58, time is 1599962021.58 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962023.19 epoch sec; seqNo:7215 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.62 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962024.58, time is 1599962021.58 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 16.81 epoch sec; seqNo:1599962023590; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962024.58, time is 1599962021.58 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962023.99 epoch sec; seqNo:7217 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.05 , 0.01 2020-11-23T22:53:57Z- waiting for 1599962024.58, time is 1599962023.99 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962024.79 epoch sec; seqNo:7219; 4061582.76 north; 594164.47 east 2020-11-23T22:53:57Z- waiting for 1599962024.58, time is 1599962023.99 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962025.59 epoch sec; seqNo:7221 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.63 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962024.58, time is 1599962023.99 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 17.18 epoch sec; seqNo:1599962025996; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962024.58, time is 1599962023.99 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962026.40 epoch sec; seqNo:7223 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.05 , 0.01 2020-11-23T22:53:57Z- waiting for 1599962024.58, time is 1599962026.40 2020-11-23T22:53:57Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599962025.59, meas time 1599962026.40 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599962026.40, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599962026.40 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061583, 594164.47, 17.18) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962026.81 epoch sec; seqNo:7224; 4061584.29 north; 594165.67 east 2020-11-23T22:53:57Z- waiting for 1599962029.40, time is 1599962026.40 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962027.61 epoch sec; seqNo:7226 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.63 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962029.40, time is 1599962026.40 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962028.41 epoch sec; seqNo:7228 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.05 , 0.00 2020-11-23T22:53:57Z- waiting for 1599962029.40, time is 1599962028.41 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962028.81 epoch sec; seqNo:7229; 4061585.82 north; 594166.88 east 2020-11-23T22:53:57Z- waiting for 1599962029.40, time is 1599962028.41 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962029.61 epoch sec; seqNo:7231 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.63 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962029.40, time is 1599962028.41 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962030.01 epoch sec; seqNo:7232 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.63 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962029.40, time is 1599962028.41 2020-11-23T22:53:57Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962030.81 epoch sec; seqNo:7234 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.63 phi; -0.18 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962029.40, time is 1599962028.41 2020-11-23T22:53:57Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962031.21 epoch sec; seqNo:7235 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.63 phi; -0.18 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962029.40, time is 1599962028.41 2020-11-23T22:53:57Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962032.02 epoch sec; seqNo:7237 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.63 phi; -0.18 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962029.40, time is 1599962028.41 2020-11-23T22:53:57Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 18.11 epoch sec; seqNo:1599962032015; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962029.40, time is 1599962028.41 2020-11-23T22:53:57Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962032.42 epoch sec; seqNo:7238 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.05 , 0.00 2020-11-23T22:53:57Z- waiting for 1599962029.40, time is 1599962032.42 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599962032.02, meas time 1599962032.42 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599962032.42, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599962032.42 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061586, 594166.88, 18.11) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962034.82 epoch sec; seqNo:7244; 4061589.65 north; 594170.50 east 2020-11-23T22:53:57Z- waiting for 1599962035.42, time is 1599962032.42 2020-11-23T22:53:57Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962035.62 epoch sec; seqNo:7246 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.64 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962035.42, time is 1599962032.42 2020-11-23T22:53:57Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 18.77 epoch sec; seqNo:1599962036024; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962035.42, time is 1599962032.42 2020-11-23T22:53:57Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962036.83 epoch sec; seqNo:7249 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.06 , 0.00 2020-11-23T22:53:57Z- waiting for 1599962035.42, time is 1599962036.83 2020-11-23T22:53:57Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599962035.62, meas time 1599962036.83 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599962036.83, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599962036.83 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061590, 594170.50, 18.77) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962037.23 epoch sec; seqNo:7250; 4061591.56 north; 594171.69 east 2020-11-23T22:53:57Z- waiting for 1599962039.83, time is 1599962036.83 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962038.03 epoch sec; seqNo:7252 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.64 phi; -0.20 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962039.83, time is 1599962036.83 2020-11-23T22:53:57Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962113.02 epoch sec; seqNo:7439 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.07 , -0.00 2020-11-23T22:53:57Z- waiting for 1599962039.83, time is 1599962113.02 2020-11-23T22:53:57Z- sync is 74.99, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962113.02 epoch sec; seqNo:7439; 4061642.44 north; 594216.29 east 2020-11-23T22:53:57Z- waiting for 1599962039.83, time is 1599962113.02 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599962113.02, meas time 1599962113.02 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599962113.02, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599962113.02 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061642, 594216.29, 18.77) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962113.42 epoch sec; seqNo:7440 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.70 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962113.02 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 34.07 epoch sec; seqNo:1599962113420; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962113.02 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962113.42 epoch sec; seqNo:7440 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.07 , -0.00 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962113.42 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962113.42 epoch sec; seqNo:7440; 4061642.44 north; 594216.29 east 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962113.42 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962113.82 epoch sec; seqNo:7441 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.70 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962113.42 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 34.14 epoch sec; seqNo:1599962113821; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962113.42 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962113.82 epoch sec; seqNo:7441 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.07 , -0.00 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962113.82 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962113.82 epoch sec; seqNo:7441; 4061642.82 north; 594216.29 east 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962113.82 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962114.22 epoch sec; seqNo:7442 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.70 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962113.82 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 34.21 epoch sec; seqNo:1599962114221; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962113.82 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962114.22 epoch sec; seqNo:7442 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.07 , -0.00 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962114.22 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962114.22 epoch sec; seqNo:7442; 4061643.20 north; 594216.28 east 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962114.22 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962114.62 epoch sec; seqNo:7443 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.70 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962114.22 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 34.27 epoch sec; seqNo:1599962114622; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962114.22 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962114.62 epoch sec; seqNo:7443 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962114.62 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962114.62 epoch sec; seqNo:7443; 4061643.21 north; 594217.51 east 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962114.62 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 34.34 epoch sec; seqNo:1599962115023; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962114.62 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962115.02 epoch sec; seqNo:7444 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962115.02 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962115.02 epoch sec; seqNo:7444; 4061643.59 north; 594217.50 east 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962115.02 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 34.41 epoch sec; seqNo:1599962115426; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962115.02 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962115.43 epoch sec; seqNo:7445 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962115.43 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962115.43 epoch sec; seqNo:7445; 4061643.97 north; 594217.50 east 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962115.43 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962115.83 epoch sec; seqNo:7446 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962115.83 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962115.83 epoch sec; seqNo:7446; 4061644.35 north; 594217.49 east 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962115.83 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962116.23 epoch sec; seqNo:7447 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599962116.02, time is 1599962116.23 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599962115.83, meas time 1599962116.23 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599962116.23, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599962116.23 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061644, 594217.49, 34.41) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962116.23 epoch sec; seqNo:7447; 4061644.36 north; 594218.71 east 2020-11-23T22:53:57Z- waiting for 1599962119.23, time is 1599962116.23 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962116.63 epoch sec; seqNo:7448; 4061644.74 north; 594218.71 east 2020-11-23T22:53:57Z- waiting for 1599962119.23, time is 1599962116.23 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962123.04 epoch sec; seqNo:7464 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.70 phi; -0.18 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962119.23, time is 1599962116.23 2020-11-23T22:53:57Z- sync is 6.81, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 35.65 epoch sec; seqNo:1599962123043; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962119.23, time is 1599962116.23 2020-11-23T22:53:57Z- sync is 6.81, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962123.04 epoch sec; seqNo:7464 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.06 , -0.01 2020-11-23T22:53:57Z- waiting for 1599962119.23, time is 1599962123.04 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599962123.04, meas time 1599962123.04 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599962123.04, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599962123.04 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061645, 594218.71, 35.65) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962123.05 epoch sec; seqNo:7464; 4061648.95 north; 594222.32 east 2020-11-23T22:53:57Z- waiting for 1599962126.04, time is 1599962123.04 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962130.26 epoch sec; seqNo:7482 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.06 , -0.01 2020-11-23T22:53:57Z- waiting for 1599962126.04, time is 1599962130.26 2020-11-23T22:53:57Z- sync is 7.21, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962133.87 epoch sec; seqNo:7491; 4061656.23 north; 594229.57 east 2020-11-23T22:53:57Z- waiting for 1599962126.04, time is 1599962130.26 2020-11-23T22:53:57Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962134.27 epoch sec; seqNo:7492 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.70 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962126.04, time is 1599962130.26 2020-11-23T22:53:57Z- sync is 4.01, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 37.44 epoch sec; seqNo:1599962134266; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962126.04, time is 1599962130.26 2020-11-23T22:53:57Z- sync is 4.01, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962134.27 epoch sec; seqNo:7492; 4061656.61 north; 594229.56 east 2020-11-23T22:53:57Z- waiting for 1599962126.04, time is 1599962130.26 2020-11-23T22:53:57Z- sync is 4.01, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962134.67 epoch sec; seqNo:7493 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.70 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962126.04, time is 1599962130.26 2020-11-23T22:53:57Z- sync is 4.41, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 37.51 epoch sec; seqNo:1599962134667; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962126.04, time is 1599962130.26 2020-11-23T22:53:57Z- sync is 4.41, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962135.07 epoch sec; seqNo:7494 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.70 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962126.04, time is 1599962130.26 2020-11-23T22:53:57Z- sync is 4.81, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962137.88 epoch sec; seqNo:7501 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.06 , -0.01 2020-11-23T22:53:57Z- waiting for 1599962126.04, time is 1599962137.88 2020-11-23T22:53:57Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962137.88 epoch sec; seqNo:7501; 4061658.91 north; 594231.98 east 2020-11-23T22:53:57Z- waiting for 1599962126.04, time is 1599962137.88 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599962137.88, meas time 1599962137.88 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599962137.88, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599962137.88 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061659, 594231.98, 37.51) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962138.28 epoch sec; seqNo:7502 2020-11-23T22:53:57Z- AHRS_M2 msg: 0.70 phi; -0.20 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962140.88, time is 1599962137.88 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962149.27 epoch sec; seqNo:7527 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.02 , -0.01 2020-11-23T22:53:57Z- waiting for 1599962140.88, time is 1599962149.27 2020-11-23T22:53:57Z- sync is 10.99, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962149.27 epoch sec; seqNo:7527; 4061665.81 north; 594239.23 east 2020-11-23T22:53:57Z- waiting for 1599962140.88, time is 1599962149.27 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599962149.27, meas time 1599962149.27 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599962149.27, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599962149.27 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594239.23, 37.51) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962149.67 epoch sec; seqNo:7528 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.17 phi; -0.17 theta; -0.00 psi 2020-11-23T22:53:57Z- waiting for 1599962152.27, time is 1599962149.27 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 40.02 epoch sec; seqNo:1599962149668; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962152.27, time is 1599962149.27 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962149.67 epoch sec; seqNo:7528 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.02 , -0.01 2020-11-23T22:53:57Z- waiting for 1599962152.27, time is 1599962149.67 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962150.07 epoch sec; seqNo:7529 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.20 phi; -0.17 theta; -0.00 psi 2020-11-23T22:53:57Z- waiting for 1599962152.27, time is 1599962149.67 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 40.08 epoch sec; seqNo:1599962150069; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962152.27, time is 1599962149.67 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962150.47 epoch sec; seqNo:7530 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.22 phi; -0.17 theta; -0.00 psi 2020-11-23T22:53:57Z- waiting for 1599962152.27, time is 1599962149.67 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 43.80 epoch sec; seqNo:1599962179727; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962152.27, time is 1599962149.67 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962179.73 epoch sec; seqNo:7603 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.10 , -0.02 2020-11-23T22:53:57Z- waiting for 1599962152.27, time is 1599962179.73 2020-11-23T22:53:57Z- sync is 29.26, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962179.73 epoch sec; seqNo:7603; 4061665.00 north; 594269.75 east 2020-11-23T22:53:57Z- waiting for 1599962152.27, time is 1599962179.73 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599962179.73, meas time 1599962179.73 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599962179.73, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599962179.73 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594269.75, 43.80) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962180.13 epoch sec; seqNo:7604 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.57 phi; -0.12 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962182.73, time is 1599962179.73 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 43.84 epoch sec; seqNo:1599962180127; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962182.73, time is 1599962179.73 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962180.13 epoch sec; seqNo:7604 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.10 , -0.02 2020-11-23T22:53:57Z- waiting for 1599962182.73, time is 1599962180.13 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962180.13 epoch sec; seqNo:7604; 4061665.00 north; 594269.75 east 2020-11-23T22:53:57Z- waiting for 1599962182.73, time is 1599962180.13 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962180.53 epoch sec; seqNo:7605 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.56 phi; -0.12 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962182.73, time is 1599962180.13 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 43.88 epoch sec; seqNo:1599962180529; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962182.73, time is 1599962180.13 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962180.53 epoch sec; seqNo:7605 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.10 , -0.02 2020-11-23T22:53:57Z- waiting for 1599962182.73, time is 1599962180.53 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962180.53 epoch sec; seqNo:7605; 4061665.00 north; 594269.75 east 2020-11-23T22:53:57Z- waiting for 1599962182.73, time is 1599962180.53 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962180.93 epoch sec; seqNo:7606 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.56 phi; -0.12 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962182.73, time is 1599962180.53 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 43.92 epoch sec; seqNo:1599962180931; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962182.73, time is 1599962180.53 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962180.93 epoch sec; seqNo:7606 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.10 , -0.02 2020-11-23T22:53:57Z- waiting for 1599962182.73, time is 1599962180.93 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962180.93 epoch sec; seqNo:7606; 4061665.02 north; 594270.97 east 2020-11-23T22:53:57Z- waiting for 1599962182.73, time is 1599962180.93 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 43.96 epoch sec; seqNo:1599962181330; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962182.73, time is 1599962180.93 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962181.33 epoch sec; seqNo:7607 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.10 , -0.02 2020-11-23T22:53:57Z- waiting for 1599962182.73, time is 1599962181.33 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 44.01 epoch sec; seqNo:1599962181731; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962182.73, time is 1599962181.33 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962199.37 epoch sec; seqNo:7652 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.10 , -0.02 2020-11-23T22:53:57Z- waiting for 1599962182.73, time is 1599962199.37 2020-11-23T22:53:57Z- sync is 18.43, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962199.37 epoch sec; seqNo:7652; 4061665.22 north; 594289.27 east 2020-11-23T22:53:57Z- waiting for 1599962182.73, time is 1599962199.37 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599962199.37, meas time 1599962199.37 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599962199.37, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599962199.37 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594289.27, 44.01) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962199.77 epoch sec; seqNo:7653 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.40 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962202.37, time is 1599962199.37 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 46.05 epoch sec; seqNo:1599962199768; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962202.37, time is 1599962199.37 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962199.77 epoch sec; seqNo:7653 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.09 , -0.02 2020-11-23T22:53:57Z- waiting for 1599962202.37, time is 1599962199.77 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962199.77 epoch sec; seqNo:7653; 4061665.22 north; 594289.27 east 2020-11-23T22:53:57Z- waiting for 1599962202.37, time is 1599962199.77 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962200.17 epoch sec; seqNo:7654 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.40 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962202.37, time is 1599962199.77 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 46.10 epoch sec; seqNo:1599962200172; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962202.37, time is 1599962199.77 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962200.17 epoch sec; seqNo:7654 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.09 , -0.02 2020-11-23T22:53:57Z- waiting for 1599962202.37, time is 1599962200.17 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962200.57 epoch sec; seqNo:7655 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.40 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962202.37, time is 1599962200.17 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 46.15 epoch sec; seqNo:1599962200574; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962202.37, time is 1599962200.17 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962200.97 epoch sec; seqNo:7656 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.40 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962202.37, time is 1599962200.17 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 46.20 epoch sec; seqNo:1599962200974; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962202.37, time is 1599962200.17 2020-11-23T22:53:57Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962227.46 epoch sec; seqNo:7722 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.36 phi; -0.10 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962202.37, time is 1599962200.17 2020-11-23T22:53:57Z- sync is 27.29, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.42 epoch sec; seqNo:1599962227460; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962202.37, time is 1599962200.17 2020-11-23T22:53:57Z- sync is 27.29, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962227.46 epoch sec; seqNo:7722 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:57Z- waiting for 1599962202.37, time is 1599962227.46 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599962227.46, meas time 1599962227.46 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 19.000 at t=1599962227.46, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599962227.46 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594289.27, 49.42) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962227.46 epoch sec; seqNo:7722; 4061668.55 north; 594316.09 east 2020-11-23T22:53:57Z- waiting for 1599962230.46, time is 1599962227.46 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962227.86 epoch sec; seqNo:7723 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.36 phi; -0.10 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962230.46, time is 1599962227.46 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.46 epoch sec; seqNo:1599962227860; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962230.46, time is 1599962227.46 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962227.86 epoch sec; seqNo:7723 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:57Z- waiting for 1599962230.46, time is 1599962227.86 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962227.86 epoch sec; seqNo:7723; 4061668.55 north; 594316.09 east 2020-11-23T22:53:57Z- waiting for 1599962230.46, time is 1599962227.86 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962228.26 epoch sec; seqNo:7724 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.36 phi; -0.10 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962230.46, time is 1599962227.86 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.50 epoch sec; seqNo:1599962228262; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962230.46, time is 1599962227.86 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962228.26 epoch sec; seqNo:7724 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:57Z- waiting for 1599962230.46, time is 1599962228.26 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962228.26 epoch sec; seqNo:7724; 4061668.55 north; 594316.09 east 2020-11-23T22:53:57Z- waiting for 1599962230.46, time is 1599962228.26 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.53 epoch sec; seqNo:1599962228662; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962230.46, time is 1599962228.26 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962228.66 epoch sec; seqNo:7725 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:57Z- waiting for 1599962230.46, time is 1599962228.66 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962228.66 epoch sec; seqNo:7725; 4061668.56 north; 594317.31 east 2020-11-23T22:53:57Z- waiting for 1599962230.46, time is 1599962228.66 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.57 epoch sec; seqNo:1599962229063; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962230.46, time is 1599962228.66 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962229.06 epoch sec; seqNo:7726 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:57Z- waiting for 1599962230.46, time is 1599962229.06 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962229.06 epoch sec; seqNo:7726; 4061668.56 north; 594317.31 east 2020-11-23T22:53:57Z- waiting for 1599962230.46, time is 1599962229.06 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.60 epoch sec; seqNo:1599962229466; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962230.46, time is 1599962229.06 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 49.63 epoch sec; seqNo:1599962229867; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962230.46, time is 1599962229.06 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962255.12 epoch sec; seqNo:7791; 4061672.25 north; 594342.89 east 2020-11-23T22:53:57Z- waiting for 1599962230.46, time is 1599962229.06 2020-11-23T22:53:57Z- sync is 26.06, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962255.53 epoch sec; seqNo:7792 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.37 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962230.46, time is 1599962229.06 2020-11-23T22:53:57Z- sync is 26.46, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.45 epoch sec; seqNo:1599962255526; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962230.46, time is 1599962229.06 2020-11-23T22:53:57Z- sync is 26.46, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962255.53 epoch sec; seqNo:7792 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599962230.46, time is 1599962255.53 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599962255.53, meas time 1599962255.53 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 13.000 at t=1599962255.53, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599962255.53 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061672, 594342.89, 50.45) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962255.53 epoch sec; seqNo:7792; 4061672.25 north; 594342.89 east 2020-11-23T22:53:57Z- waiting for 1599962258.53, time is 1599962255.53 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962255.93 epoch sec; seqNo:7793 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.37 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962258.53, time is 1599962255.53 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1599962255927; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962258.53, time is 1599962255.53 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962255.93 epoch sec; seqNo:7793 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599962258.53, time is 1599962255.93 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962255.93 epoch sec; seqNo:7793; 4061672.26 north; 594344.12 east 2020-11-23T22:53:57Z- waiting for 1599962258.53, time is 1599962255.93 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962256.33 epoch sec; seqNo:7794 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.37 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962258.53, time is 1599962255.93 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962256.33 epoch sec; seqNo:7794 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599962258.53, time is 1599962256.33 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962256.33 epoch sec; seqNo:7794; 4061672.64 north; 594344.11 east 2020-11-23T22:53:57Z- waiting for 1599962258.53, time is 1599962256.33 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962256.73 epoch sec; seqNo:7795 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.37 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962258.53, time is 1599962256.33 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962256.73 epoch sec; seqNo:7795 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:57Z- waiting for 1599962258.53, time is 1599962256.73 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962256.73 epoch sec; seqNo:7795; 4061672.64 north; 594344.11 east 2020-11-23T22:53:57Z- waiting for 1599962258.53, time is 1599962256.73 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962257.14 epoch sec; seqNo:7796 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.38 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962258.53, time is 1599962256.73 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962257.54 epoch sec; seqNo:7797 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.38 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962258.53, time is 1599962256.73 2020-11-23T22:53:57Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962257.94 epoch sec; seqNo:7798 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.38 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962258.53, time is 1599962256.73 2020-11-23T22:53:57Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962258.34 epoch sec; seqNo:7799 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.38 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962258.53, time is 1599962256.73 2020-11-23T22:53:57Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1599962283233; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962258.53, time is 1599962256.73 2020-11-23T22:53:57Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962283.23 epoch sec; seqNo:7861 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:57Z- waiting for 1599962258.53, time is 1599962283.23 2020-11-23T22:53:57Z- sync is 24.89, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962283.24 epoch sec; seqNo:7861; 4061675.58 north; 594369.71 east 2020-11-23T22:53:57Z- waiting for 1599962258.53, time is 1599962283.23 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- LcmTrn::updateTrn() >>>> pose time 1599962283.24, meas time 1599962283.23 <<<< 2020-11-23T22:53:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 7.000 at t=1599962283.23, ping # 0. 2020-11-23T22:53:57Z- TerrainNav::Measurement type 1 from time = 1599962283.23 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:57Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594369.71, 50.34) 2020-11-23T22:53:57Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:57Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:57Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962283.63 epoch sec; seqNo:7862 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.39 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962286.23, time is 1599962283.23 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1599962283636; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962286.23, time is 1599962283.23 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962283.64 epoch sec; seqNo:7862 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:57Z- waiting for 1599962286.23, time is 1599962283.64 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962283.64 epoch sec; seqNo:7862; 4061675.59 north; 594370.93 east 2020-11-23T22:53:57Z- waiting for 1599962286.23, time is 1599962283.64 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962284.04 epoch sec; seqNo:7863 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.39 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962286.23, time is 1599962283.64 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1599962284039; depth 0.00 2020-11-23T22:53:57Z- waiting for 1599962286.23, time is 1599962283.64 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: 1599962284.04 epoch sec; seqNo:7863 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:57Z- waiting for 1599962286.23, time is 1599962284.04 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962284.04 epoch sec; seqNo:7863; 4061675.59 north; 594370.93 east 2020-11-23T22:53:57Z- waiting for 1599962286.23, time is 1599962284.04 2020-11-23T22:53:57Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:57Z- AHRS_M2 msg: 1599962284.44 epoch sec; seqNo:7864 2020-11-23T22:53:57Z- AHRS_M2 msg: 1.39 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:57Z- waiting for 1599962286.23, time is 1599962284.04 2020-11-23T22:53:57Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:57Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1599962284437; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962286.23, time is 1599962284.04 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962284.44 epoch sec; seqNo:7864 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962286.23, time is 1599962284.44 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962284.44 epoch sec; seqNo:7864; 4061675.59 north; 594370.93 east 2020-11-23T22:53:58Z- waiting for 1599962286.23, time is 1599962284.44 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962284.84 epoch sec; seqNo:7865 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962286.23, time is 1599962284.44 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1599962284837; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962286.23, time is 1599962284.44 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962284.84 epoch sec; seqNo:7865 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962286.23, time is 1599962284.84 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962284.84 epoch sec; seqNo:7865; 4061675.60 north; 594372.15 east 2020-11-23T22:53:58Z- waiting for 1599962286.23, time is 1599962284.84 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1599962285238; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962286.23, time is 1599962284.84 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962285.24 epoch sec; seqNo:7866 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962286.23, time is 1599962285.24 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962285.24 epoch sec; seqNo:7866; 4061675.60 north; 594372.15 east 2020-11-23T22:53:58Z- waiting for 1599962286.23, time is 1599962285.24 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962285.64 epoch sec; seqNo:7867 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962286.23, time is 1599962285.64 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962285.64 epoch sec; seqNo:7867; 4061675.98 north; 594372.14 east 2020-11-23T22:53:58Z- waiting for 1599962286.23, time is 1599962285.64 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962286.04 epoch sec; seqNo:7868 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962286.23, time is 1599962286.04 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962303.68 epoch sec; seqNo:7912 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962286.23, time is 1599962286.04 2020-11-23T22:53:58Z- sync is 17.64, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1599962303683; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962286.23, time is 1599962286.04 2020-11-23T22:53:58Z- sync is 17.64, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962303.68 epoch sec; seqNo:7912 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962286.23, time is 1599962303.68 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962303.68, meas time 1599962303.68 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 27.000 at t=1599962303.68, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962303.68 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594372.14, 50.41) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962303.68 epoch sec; seqNo:7912; 4061677.70 north; 594390.43 east 2020-11-23T22:53:58Z- waiting for 1599962306.68, time is 1599962303.68 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962304.08 epoch sec; seqNo:7913 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962306.68, time is 1599962303.68 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1599962304083; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962306.68, time is 1599962303.68 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962304.08 epoch sec; seqNo:7913 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962306.68, time is 1599962304.08 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962304.08 epoch sec; seqNo:7913; 4061677.70 north; 594390.43 east 2020-11-23T22:53:58Z- waiting for 1599962306.68, time is 1599962304.08 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962304.49 epoch sec; seqNo:7914 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962306.68, time is 1599962304.08 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1599962304487; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962306.68, time is 1599962304.08 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962304.49 epoch sec; seqNo:7914 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962306.68, time is 1599962304.49 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962304.49 epoch sec; seqNo:7914; 4061678.09 north; 594391.65 east 2020-11-23T22:53:58Z- waiting for 1599962306.68, time is 1599962304.49 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962304.89 epoch sec; seqNo:7915 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962306.68, time is 1599962304.49 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962304.89 epoch sec; seqNo:7915 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962306.68, time is 1599962304.89 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962304.89 epoch sec; seqNo:7915; 4061678.09 north; 594391.65 east 2020-11-23T22:53:58Z- waiting for 1599962306.68, time is 1599962304.89 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962305.29 epoch sec; seqNo:7916 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962306.68, time is 1599962304.89 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962305.29 epoch sec; seqNo:7916; 4061678.09 north; 594391.65 east 2020-11-23T22:53:58Z- waiting for 1599962306.68, time is 1599962304.89 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962305.69 epoch sec; seqNo:7917; 4061678.09 north; 594391.65 east 2020-11-23T22:53:58Z- waiting for 1599962306.68, time is 1599962304.89 2020-11-23T22:53:58Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962306.09 epoch sec; seqNo:7918; 4061678.11 north; 594392.87 east 2020-11-23T22:53:58Z- waiting for 1599962306.68, time is 1599962304.89 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.13 epoch sec; seqNo:1599962316518; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962306.68, time is 1599962304.89 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962316.52 epoch sec; seqNo:7944 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962306.68, time is 1599962316.52 2020-11-23T22:53:58Z- sync is 10.43, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962316.52 epoch sec; seqNo:7944; 4061679.35 north; 594402.62 east 2020-11-23T22:53:58Z- waiting for 1599962306.68, time is 1599962316.52 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962316.52, meas time 1599962316.52 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 6.000 at t=1599962316.52, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962316.52 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061679, 594402.62, 50.13) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962316.92 epoch sec; seqNo:7945 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962319.52, time is 1599962316.52 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.12 epoch sec; seqNo:1599962316919; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962319.52, time is 1599962316.52 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962316.92 epoch sec; seqNo:7945 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962319.52, time is 1599962316.92 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962316.92 epoch sec; seqNo:7945; 4061679.35 north; 594402.62 east 2020-11-23T22:53:58Z- waiting for 1599962319.52, time is 1599962316.92 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962317.32 epoch sec; seqNo:7946 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962319.52, time is 1599962316.92 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1599962317320; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962319.52, time is 1599962316.92 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962317.32 epoch sec; seqNo:7946 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962319.52, time is 1599962317.32 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962317.72 epoch sec; seqNo:7947 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962319.52, time is 1599962317.32 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.10 epoch sec; seqNo:1599962317721; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962319.52, time is 1599962317.32 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962318.12 epoch sec; seqNo:7948 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962319.52, time is 1599962317.32 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962324.94 epoch sec; seqNo:7965 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962319.52, time is 1599962317.32 2020-11-23T22:53:58Z- sync is 7.62, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1599962324936; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962319.52, time is 1599962317.32 2020-11-23T22:53:58Z- sync is 7.62, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962324.94 epoch sec; seqNo:7965 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962319.52, time is 1599962324.94 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962324.94, meas time 1599962324.94 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 14.000 at t=1599962324.94, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962324.94 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061679, 594402.62, 49.93) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962324.94 epoch sec; seqNo:7965; 4061680.20 north; 594411.15 east 2020-11-23T22:53:58Z- waiting for 1599962327.94, time is 1599962324.94 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962325.34 epoch sec; seqNo:7966 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962327.94, time is 1599962324.94 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1599962325337; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962327.94, time is 1599962324.94 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962325.34 epoch sec; seqNo:7966 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962327.94, time is 1599962325.34 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962325.34 epoch sec; seqNo:7966; 4061680.20 north; 594411.15 east 2020-11-23T22:53:58Z- waiting for 1599962327.94, time is 1599962325.34 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1599962325739; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962327.94, time is 1599962325.34 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962325.74 epoch sec; seqNo:7967 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962327.94, time is 1599962325.74 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962329.75 epoch sec; seqNo:7977; 4061680.63 north; 594416.03 east 2020-11-23T22:53:58Z- waiting for 1599962327.94, time is 1599962325.74 2020-11-23T22:53:58Z- sync is 4.01, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962330.15 epoch sec; seqNo:7978 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962327.94, time is 1599962325.74 2020-11-23T22:53:58Z- sync is 4.41, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1599962330146; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962327.94, time is 1599962325.74 2020-11-23T22:53:58Z- sync is 4.41, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962330.15 epoch sec; seqNo:7978 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962327.94, time is 1599962330.15 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962330.15, meas time 1599962330.15 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 20.000 at t=1599962330.15, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962330.15 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061681, 594416.03, 49.85) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962332.95 epoch sec; seqNo:7985 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962333.15, time is 1599962332.95 2020-11-23T22:53:58Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962332.95 epoch sec; seqNo:7985; 4061681.04 north; 594418.47 east 2020-11-23T22:53:58Z- waiting for 1599962333.15, time is 1599962332.95 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962333.35 epoch sec; seqNo:7986 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962333.15, time is 1599962332.95 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599962333353; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962333.15, time is 1599962332.95 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1599962334958; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962333.15, time is 1599962332.95 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962334.96 epoch sec; seqNo:7990 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962333.15, time is 1599962334.96 2020-11-23T22:53:58Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962333.35, meas time 1599962334.96 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 24.000 at t=1599962334.96, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962334.96 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061681, 594418.47, 49.80) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962336.16 epoch sec; seqNo:7993 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962337.96, time is 1599962334.96 2020-11-23T22:53:58Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1599962336163; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962337.96, time is 1599962334.96 2020-11-23T22:53:58Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962336.96 epoch sec; seqNo:7995 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962337.96, time is 1599962334.96 2020-11-23T22:53:58Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599962337368; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962337.96, time is 1599962334.96 2020-11-23T22:53:58Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962338.17 epoch sec; seqNo:7998 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962337.96, time is 1599962334.96 2020-11-23T22:53:58Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599962338574; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962337.96, time is 1599962334.96 2020-11-23T22:53:58Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962338.98 epoch sec; seqNo:8000 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962337.96, time is 1599962338.98 2020-11-23T22:53:58Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962338.17, meas time 1599962338.98 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 28.000 at t=1599962338.98, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962338.98 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061681, 594418.47, 49.78) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962341.38 epoch sec; seqNo:8006; 4061682.27 north; 594427.00 east 2020-11-23T22:53:58Z- waiting for 1599962341.98, time is 1599962338.98 2020-11-23T22:53:58Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962342.18 epoch sec; seqNo:8008 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962341.98, time is 1599962338.98 2020-11-23T22:53:58Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599962342582; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962341.98, time is 1599962338.98 2020-11-23T22:53:58Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962342.98 epoch sec; seqNo:8010 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962341.98, time is 1599962342.98 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962342.18, meas time 1599962342.98 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 32.000 at t=1599962342.98, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962342.98 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061682, 594427.00, 49.76) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962343.38 epoch sec; seqNo:8011; 4061682.30 north; 594429.44 east 2020-11-23T22:53:58Z- waiting for 1599962345.98, time is 1599962342.98 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962344.18 epoch sec; seqNo:8013 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962345.98, time is 1599962342.98 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599962344584; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962345.98, time is 1599962342.98 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962344.99 epoch sec; seqNo:8015 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962345.98, time is 1599962344.99 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962345.39 epoch sec; seqNo:8016; 4061682.69 north; 594430.65 east 2020-11-23T22:53:58Z- waiting for 1599962345.98, time is 1599962344.99 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599962346189; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962345.98, time is 1599962344.99 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962346.19 epoch sec; seqNo:8018 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962345.98, time is 1599962346.19 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962345.39, meas time 1599962346.19 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 2.000 at t=1599962346.19, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962346.19 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061683, 594430.65, 49.76) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962346.59 epoch sec; seqNo:8019; 4061682.70 north; 594431.87 east 2020-11-23T22:53:58Z- waiting for 1599962349.19, time is 1599962346.19 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599962347392; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962349.19, time is 1599962346.19 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962347.80 epoch sec; seqNo:8022 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962349.19, time is 1599962347.80 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962348.20 epoch sec; seqNo:8023; 4061682.73 north; 594434.31 east 2020-11-23T22:53:58Z- waiting for 1599962349.19, time is 1599962347.80 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599962348997; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962349.19, time is 1599962347.80 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599962349397; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962349.19, time is 1599962347.80 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962349.80 epoch sec; seqNo:8027; 4061683.12 north; 594435.53 east 2020-11-23T22:53:58Z- waiting for 1599962349.19, time is 1599962347.80 2020-11-23T22:53:58Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962350.20 epoch sec; seqNo:8028 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962349.19, time is 1599962347.80 2020-11-23T22:53:58Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599962351003; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962349.19, time is 1599962347.80 2020-11-23T22:53:58Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962351.00 epoch sec; seqNo:8030 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962349.19, time is 1599962351.00 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962350.20, meas time 1599962351.00 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 7.000 at t=1599962351.00, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962351.00 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061683, 594435.53, 49.77) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962353.81 epoch sec; seqNo:8037; 4061683.54 north; 594439.19 east 2020-11-23T22:53:58Z- waiting for 1599962354.00, time is 1599962351.00 2020-11-23T22:53:58Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962354.21 epoch sec; seqNo:8038 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962354.00, time is 1599962351.00 2020-11-23T22:53:58Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599962354611; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962354.00, time is 1599962351.00 2020-11-23T22:53:58Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962355.01 epoch sec; seqNo:8040 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962354.00, time is 1599962355.01 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962354.21, meas time 1599962355.01 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 11.000 at t=1599962355.01, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962355.01 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061684, 594439.19, 49.78) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962355.41 epoch sec; seqNo:8041; 4061683.56 north; 594440.41 east 2020-11-23T22:53:58Z- waiting for 1599962358.01, time is 1599962355.01 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962356.21 epoch sec; seqNo:8043 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962358.01, time is 1599962355.01 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962356.62 epoch sec; seqNo:8044 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962358.01, time is 1599962356.62 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962357.42 epoch sec; seqNo:8046; 4061683.96 north; 594442.84 east 2020-11-23T22:53:58Z- waiting for 1599962358.01, time is 1599962356.62 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962358.22 epoch sec; seqNo:8048 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962358.01, time is 1599962356.62 2020-11-23T22:53:58Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962358.62 epoch sec; seqNo:8049 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962358.01, time is 1599962358.62 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962358.22, meas time 1599962358.62 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 14.000 at t=1599962358.62, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962358.62 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061684, 594442.84, 49.78) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962359.03 epoch sec; seqNo:8050; 4061683.98 north; 594444.06 east 2020-11-23T22:53:58Z- waiting for 1599962361.62, time is 1599962358.62 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962359.83 epoch sec; seqNo:8052 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962361.62, time is 1599962358.62 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962360.23 epoch sec; seqNo:8053 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962361.62, time is 1599962358.62 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962361.03 epoch sec; seqNo:8055 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962361.62, time is 1599962358.62 2020-11-23T22:53:58Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962361.43 epoch sec; seqNo:8056 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962361.62, time is 1599962358.62 2020-11-23T22:53:58Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1599962362235; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962361.62, time is 1599962358.62 2020-11-23T22:53:58Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962362.23 epoch sec; seqNo:8058 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962361.62, time is 1599962362.23 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962361.43, meas time 1599962362.23 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 18.000 at t=1599962362.23, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962362.23 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061684, 594444.06, 49.84) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962363.04 epoch sec; seqNo:8060; 4061684.41 north; 594448.94 east 2020-11-23T22:53:58Z- waiting for 1599962365.23, time is 1599962362.23 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962365.05 epoch sec; seqNo:8065 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962365.23, time is 1599962362.23 2020-11-23T22:53:58Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1599962365849; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962365.23, time is 1599962362.23 2020-11-23T22:53:58Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962365.85 epoch sec; seqNo:8067 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962365.23, time is 1599962365.85 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962365.05, meas time 1599962365.85 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 21.000 at t=1599962365.85, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962365.85 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061684, 594448.94, 49.87) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962366.65 epoch sec; seqNo:8069; 4061684.81 north; 594451.38 east 2020-11-23T22:53:58Z- waiting for 1599962368.85, time is 1599962365.85 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962367.46 epoch sec; seqNo:8071 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962368.85, time is 1599962365.85 2020-11-23T22:53:58Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1599962368259; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962368.85, time is 1599962365.85 2020-11-23T22:53:58Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962368.66 epoch sec; seqNo:8074 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962368.85, time is 1599962368.66 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962369.06 epoch sec; seqNo:8075; 4061685.22 north; 594453.81 east 2020-11-23T22:53:58Z- waiting for 1599962368.85, time is 1599962368.66 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962370.27 epoch sec; seqNo:8078 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962368.85, time is 1599962368.66 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1599962370666; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962368.85, time is 1599962368.66 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962444.85 epoch sec; seqNo:8264; 4061693.62 north; 594528.17 east 2020-11-23T22:53:58Z- waiting for 1599962368.85, time is 1599962368.66 2020-11-23T22:53:58Z- sync is 76.18, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962445.24 epoch sec; seqNo:8265 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962368.85, time is 1599962368.66 2020-11-23T22:53:58Z- sync is 76.58, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599962445245; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962368.85, time is 1599962368.66 2020-11-23T22:53:58Z- sync is 76.58, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962445.25 epoch sec; seqNo:8265 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962368.85, time is 1599962445.25 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962445.24, meas time 1599962445.25 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 33.000 at t=1599962445.25, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962445.25 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061694, 594528.17, 49.70) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962445.25 epoch sec; seqNo:8265; 4061693.63 north; 594529.39 east 2020-11-23T22:53:58Z- waiting for 1599962448.25, time is 1599962445.25 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962445.64 epoch sec; seqNo:8266 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962448.25, time is 1599962445.25 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599962445646; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962448.25, time is 1599962445.25 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962445.65 epoch sec; seqNo:8266 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962448.25, time is 1599962445.65 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962445.65 epoch sec; seqNo:8266; 4061693.63 north; 594529.39 east 2020-11-23T22:53:58Z- waiting for 1599962448.25, time is 1599962445.65 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962446.05 epoch sec; seqNo:8267 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962448.25, time is 1599962445.65 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599962446046; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962448.25, time is 1599962445.65 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962446.05 epoch sec; seqNo:8267 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962448.25, time is 1599962446.05 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962446.05 epoch sec; seqNo:8267; 4061693.63 north; 594529.39 east 2020-11-23T22:53:58Z- waiting for 1599962448.25, time is 1599962446.05 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962446.45 epoch sec; seqNo:8268 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962448.25, time is 1599962446.05 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599962446446; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962448.25, time is 1599962446.05 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962446.45 epoch sec; seqNo:8268 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962448.25, time is 1599962446.45 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962446.45 epoch sec; seqNo:8268; 4061693.63 north; 594529.39 east 2020-11-23T22:53:58Z- waiting for 1599962448.25, time is 1599962446.45 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962446.85 epoch sec; seqNo:8269 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962448.25, time is 1599962446.45 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599962446849; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962448.25, time is 1599962446.45 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962446.85 epoch sec; seqNo:8269 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962448.25, time is 1599962446.85 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962446.85 epoch sec; seqNo:8269; 4061693.64 north; 594530.61 east 2020-11-23T22:53:58Z- waiting for 1599962448.25, time is 1599962446.85 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962447.25 epoch sec; seqNo:8270 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962448.25, time is 1599962447.25 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962447.25 epoch sec; seqNo:8270; 4061693.64 north; 594530.61 east 2020-11-23T22:53:58Z- waiting for 1599962448.25, time is 1599962447.25 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962447.65 epoch sec; seqNo:8271 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962448.25, time is 1599962447.65 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962448.05 epoch sec; seqNo:8272 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962448.25, time is 1599962448.05 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962448.45 epoch sec; seqNo:8273 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962448.25, time is 1599962448.45 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962447.25, meas time 1599962448.45 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 2.000 at t=1599962448.45, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962448.45 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061694, 594530.61, 49.69) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1599962472504; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962451.45, time is 1599962448.45 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962472.50 epoch sec; seqNo:8333 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962451.45, time is 1599962472.50 2020-11-23T22:53:58Z- sync is 25.25, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962472.50 epoch sec; seqNo:8333; 4061696.19 north; 594554.99 east 2020-11-23T22:53:58Z- waiting for 1599962451.45, time is 1599962472.50 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962472.50, meas time 1599962472.50 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 26.000 at t=1599962472.50, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962472.50 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061696, 594554.99, 49.93) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962472.90 epoch sec; seqNo:8334 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962475.50, time is 1599962472.50 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1599962472905; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962475.50, time is 1599962472.50 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962472.90 epoch sec; seqNo:8334 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962475.50, time is 1599962472.90 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962472.91 epoch sec; seqNo:8334; 4061696.20 north; 594556.21 east 2020-11-23T22:53:58Z- waiting for 1599962475.50, time is 1599962472.90 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962473.31 epoch sec; seqNo:8335 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962475.50, time is 1599962472.90 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.96 epoch sec; seqNo:1599962473305; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962475.50, time is 1599962472.90 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962473.31 epoch sec; seqNo:8335 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962475.50, time is 1599962473.31 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962473.31 epoch sec; seqNo:8335; 4061696.20 north; 594556.21 east 2020-11-23T22:53:58Z- waiting for 1599962475.50, time is 1599962473.31 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962473.71 epoch sec; seqNo:8336 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962475.50, time is 1599962473.31 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.97 epoch sec; seqNo:1599962473708; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962475.50, time is 1599962473.31 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962473.71 epoch sec; seqNo:8336 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962475.50, time is 1599962473.71 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962473.71 epoch sec; seqNo:8336; 4061696.20 north; 594556.21 east 2020-11-23T22:53:58Z- waiting for 1599962475.50, time is 1599962473.71 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962474.11 epoch sec; seqNo:8337 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962475.50, time is 1599962473.71 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.98 epoch sec; seqNo:1599962474108; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962475.50, time is 1599962473.71 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962474.11 epoch sec; seqNo:8337; 4061696.21 north; 594557.43 east 2020-11-23T22:53:58Z- waiting for 1599962475.50, time is 1599962473.71 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962474.51 epoch sec; seqNo:8338 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.40 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962475.50, time is 1599962473.71 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962474.51 epoch sec; seqNo:8338; 4061696.59 north; 594557.43 east 2020-11-23T22:53:58Z- waiting for 1599962475.50, time is 1599962473.71 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962474.91 epoch sec; seqNo:8339 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.40 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962475.50, time is 1599962473.71 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962497.36 epoch sec; seqNo:8395 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.38 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962475.50, time is 1599962473.71 2020-11-23T22:53:58Z- sync is 23.65, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1599962497361; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962475.50, time is 1599962473.71 2020-11-23T22:53:58Z- sync is 23.65, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962497.36 epoch sec; seqNo:8395 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962475.50, time is 1599962497.36 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962497.36, meas time 1599962497.36 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 17.000 at t=1599962497.36, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962497.36 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061697, 594557.43, 50.40) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962497.37 epoch sec; seqNo:8395; 4061699.11 north; 594579.37 east 2020-11-23T22:53:58Z- waiting for 1599962500.36, time is 1599962497.36 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962497.76 epoch sec; seqNo:8396 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.38 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962500.36, time is 1599962497.36 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599962497761; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962500.36, time is 1599962497.36 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962497.76 epoch sec; seqNo:8396 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962500.36, time is 1599962497.76 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962497.76 epoch sec; seqNo:8396; 4061699.12 north; 594580.59 east 2020-11-23T22:53:58Z- waiting for 1599962500.36, time is 1599962497.76 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962498.16 epoch sec; seqNo:8397 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.38 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962500.36, time is 1599962497.76 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599962498161; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962500.36, time is 1599962497.76 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962498.16 epoch sec; seqNo:8397 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962500.36, time is 1599962498.16 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962498.16 epoch sec; seqNo:8397; 4061699.12 north; 594580.59 east 2020-11-23T22:53:58Z- waiting for 1599962500.36, time is 1599962498.16 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599962498563; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962500.36, time is 1599962498.16 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962498.56 epoch sec; seqNo:8398 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962500.36, time is 1599962498.56 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962498.57 epoch sec; seqNo:8398; 4061699.12 north; 594580.59 east 2020-11-23T22:53:58Z- waiting for 1599962500.36, time is 1599962498.56 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1599962498962; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962500.36, time is 1599962498.56 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962498.96 epoch sec; seqNo:8399 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962500.36, time is 1599962498.96 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962525.44 epoch sec; seqNo:8465 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962500.36, time is 1599962525.44 2020-11-23T22:53:58Z- sync is 26.87, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962525.44 epoch sec; seqNo:8465; 4061702.45 north; 594607.40 east 2020-11-23T22:53:58Z- waiting for 1599962500.36, time is 1599962525.44 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962525.44, meas time 1599962525.44 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 11.000 at t=1599962525.44, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962525.44 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061702, 594607.40, 50.38) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962525.84 epoch sec; seqNo:8466 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962528.44, time is 1599962525.44 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599962525835; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962528.44, time is 1599962525.44 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962525.84 epoch sec; seqNo:8466 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962528.44, time is 1599962525.84 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962525.84 epoch sec; seqNo:8466; 4061702.45 north; 594607.40 east 2020-11-23T22:53:58Z- waiting for 1599962528.44, time is 1599962525.84 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962526.24 epoch sec; seqNo:8467 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962528.44, time is 1599962525.84 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599962526238; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962528.44, time is 1599962525.84 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962526.24 epoch sec; seqNo:8467 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962528.44, time is 1599962526.24 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962526.24 epoch sec; seqNo:8467; 4061702.46 north; 594608.62 east 2020-11-23T22:53:58Z- waiting for 1599962528.44, time is 1599962526.24 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962526.64 epoch sec; seqNo:8468 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962528.44, time is 1599962526.24 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599962526639; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962528.44, time is 1599962526.24 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962526.64 epoch sec; seqNo:8468 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962528.44, time is 1599962526.64 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962527.04 epoch sec; seqNo:8469 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962528.44, time is 1599962526.64 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599962527040; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962528.44, time is 1599962526.64 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962527.44 epoch sec; seqNo:8470 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962528.44, time is 1599962526.64 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599962527440; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962528.44, time is 1599962526.64 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1599962527842; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962528.44, time is 1599962526.64 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962554.23 epoch sec; seqNo:8536; 4061705.03 north; 594635.45 east 2020-11-23T22:53:58Z- waiting for 1599962528.44, time is 1599962526.64 2020-11-23T22:53:58Z- sync is 27.59, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962554.62 epoch sec; seqNo:8537 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962528.44, time is 1599962526.64 2020-11-23T22:53:58Z- sync is 27.99, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1599962554624; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962528.44, time is 1599962526.64 2020-11-23T22:53:58Z- sync is 27.99, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962554.62 epoch sec; seqNo:8537 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962528.44, time is 1599962554.62 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962554.62, meas time 1599962554.62 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 6.000 at t=1599962554.62, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962554.62 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061705, 594635.45, 49.81) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962554.62 epoch sec; seqNo:8537; 4061705.03 north; 594635.45 east 2020-11-23T22:53:58Z- waiting for 1599962557.62, time is 1599962554.62 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962555.02 epoch sec; seqNo:8538 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962557.62, time is 1599962554.62 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599962555023; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962557.62, time is 1599962554.62 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962555.02 epoch sec; seqNo:8538 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962557.62, time is 1599962555.02 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962555.02 epoch sec; seqNo:8538; 4061705.05 north; 594636.67 east 2020-11-23T22:53:58Z- waiting for 1599962557.62, time is 1599962555.02 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962555.42 epoch sec; seqNo:8539 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962557.62, time is 1599962555.02 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1599962555423; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962557.62, time is 1599962555.02 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962555.42 epoch sec; seqNo:8539 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962557.62, time is 1599962555.42 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962555.42 epoch sec; seqNo:8539; 4061705.05 north; 594636.67 east 2020-11-23T22:53:58Z- waiting for 1599962557.62, time is 1599962555.42 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1599962555824; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962557.62, time is 1599962555.42 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962555.82 epoch sec; seqNo:8540 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962557.62, time is 1599962555.82 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962555.82 epoch sec; seqNo:8540; 4061705.42 north; 594636.66 east 2020-11-23T22:53:58Z- waiting for 1599962557.62, time is 1599962555.82 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.86 epoch sec; seqNo:1599962556224; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962557.62, time is 1599962555.82 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962556.22 epoch sec; seqNo:8541; 4061705.44 north; 594637.88 east 2020-11-23T22:53:58Z- waiting for 1599962557.62, time is 1599962555.82 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962580.67 epoch sec; seqNo:8602; 4061707.97 north; 594661.04 east 2020-11-23T22:53:58Z- waiting for 1599962557.62, time is 1599962555.82 2020-11-23T22:53:58Z- sync is 24.85, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962581.07 epoch sec; seqNo:8603 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962557.62, time is 1599962555.82 2020-11-23T22:53:58Z- sync is 25.25, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1599962581074; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962557.62, time is 1599962555.82 2020-11-23T22:53:58Z- sync is 25.25, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962581.08 epoch sec; seqNo:8603 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962557.62, time is 1599962581.08 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962581.07, meas time 1599962581.08 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 33.000 at t=1599962581.08, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962581.08 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061708, 594661.04, 50.42) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962581.08 epoch sec; seqNo:8603; 4061707.98 north; 594662.26 east 2020-11-23T22:53:58Z- waiting for 1599962584.08, time is 1599962581.08 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962581.47 epoch sec; seqNo:8604 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962584.08, time is 1599962581.08 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1599962581476; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962584.08, time is 1599962581.08 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962581.48 epoch sec; seqNo:8604 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962584.08, time is 1599962581.48 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962581.48 epoch sec; seqNo:8604; 4061707.98 north; 594662.26 east 2020-11-23T22:53:58Z- waiting for 1599962584.08, time is 1599962581.48 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962581.88 epoch sec; seqNo:8605 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962584.08, time is 1599962581.48 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1599962581878; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962584.08, time is 1599962581.48 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962581.88 epoch sec; seqNo:8605 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962584.08, time is 1599962581.88 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962582.28 epoch sec; seqNo:8606 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962584.08, time is 1599962581.88 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962582.28 epoch sec; seqNo:8606 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962584.08, time is 1599962582.28 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962582.68 epoch sec; seqNo:8607 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962584.08, time is 1599962582.28 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962583.08 epoch sec; seqNo:8608 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962584.08, time is 1599962582.28 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962583.48 epoch sec; seqNo:8609 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962584.08, time is 1599962582.28 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962604.31 epoch sec; seqNo:8661 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.40 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962584.08, time is 1599962582.28 2020-11-23T22:53:58Z- sync is 22.03, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1599962604307; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962584.08, time is 1599962582.28 2020-11-23T22:53:58Z- sync is 22.03, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962604.31 epoch sec; seqNo:8661 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962584.08, time is 1599962604.31 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962604.31, meas time 1599962604.31 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 22.000 at t=1599962604.31, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962604.31 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061708, 594662.26, 49.92) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962604.31 epoch sec; seqNo:8661; 4061710.88 north; 594684.20 east 2020-11-23T22:53:58Z- waiting for 1599962607.31, time is 1599962604.31 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962604.71 epoch sec; seqNo:8662 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.40 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962607.31, time is 1599962604.31 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1599962604709; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962607.31, time is 1599962604.31 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962604.71 epoch sec; seqNo:8662 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962607.31, time is 1599962604.71 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962604.71 epoch sec; seqNo:8662; 4061710.88 north; 594684.20 east 2020-11-23T22:53:58Z- waiting for 1599962607.31, time is 1599962604.71 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962605.11 epoch sec; seqNo:8663 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.40 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962607.31, time is 1599962604.71 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1599962605110; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962607.31, time is 1599962604.71 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962605.11 epoch sec; seqNo:8663 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962607.31, time is 1599962605.11 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962605.11 epoch sec; seqNo:8663; 4061710.89 north; 594685.42 east 2020-11-23T22:53:58Z- waiting for 1599962607.31, time is 1599962605.11 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962605.51 epoch sec; seqNo:8664 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.40 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962607.31, time is 1599962605.11 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1599962605510; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962607.31, time is 1599962605.11 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962605.51 epoch sec; seqNo:8664 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962607.31, time is 1599962605.51 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962605.51 epoch sec; seqNo:8664; 4061710.89 north; 594685.42 east 2020-11-23T22:53:58Z- waiting for 1599962607.31, time is 1599962605.51 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962605.91 epoch sec; seqNo:8665 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.40 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962607.31, time is 1599962605.51 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1599962605910; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962607.31, time is 1599962605.51 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962605.91 epoch sec; seqNo:8665; 4061710.89 north; 594685.42 east 2020-11-23T22:53:58Z- waiting for 1599962607.31, time is 1599962605.51 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962606.31 epoch sec; seqNo:8666 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962607.31, time is 1599962605.51 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962606.32 epoch sec; seqNo:8666; 4061710.90 north; 594686.64 east 2020-11-23T22:53:58Z- waiting for 1599962607.31, time is 1599962605.51 2020-11-23T22:53:58Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962630.75 epoch sec; seqNo:8727 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962607.31, time is 1599962605.51 2020-11-23T22:53:58Z- sync is 25.24, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599962630754; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962607.31, time is 1599962605.51 2020-11-23T22:53:58Z- sync is 25.24, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962630.76 epoch sec; seqNo:8727 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962607.31, time is 1599962630.76 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962630.75, meas time 1599962630.76 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 14.000 at t=1599962630.76, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962630.76 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061711, 594686.64, 49.67) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962630.76 epoch sec; seqNo:8727; 4061713.43 north; 594709.80 east 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962630.76 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962631.15 epoch sec; seqNo:8728 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962630.76 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599962631154; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962630.76 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962631.15 epoch sec; seqNo:8728 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962631.15 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962631.15 epoch sec; seqNo:8728; 4061713.45 north; 594711.02 east 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962631.15 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962631.55 epoch sec; seqNo:8729 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962631.15 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599962631555; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962631.15 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962631.56 epoch sec; seqNo:8729 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962631.56 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962631.56 epoch sec; seqNo:8729; 4061713.45 north; 594711.02 east 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962631.56 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962631.96 epoch sec; seqNo:8730 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962631.56 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599962631957; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962631.56 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962631.96 epoch sec; seqNo:8730 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962631.96 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962631.96 epoch sec; seqNo:8730; 4061713.45 north; 594711.02 east 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962631.96 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962632.36 epoch sec; seqNo:8731 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962631.96 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599962632358; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962631.96 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962632.36 epoch sec; seqNo:8731 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962632.36 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962632.36 epoch sec; seqNo:8731; 4061713.46 north; 594712.24 east 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962632.36 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599962632758; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962632.36 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962632.76 epoch sec; seqNo:8732 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962632.76 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962632.76 epoch sec; seqNo:8732; 4061713.46 north; 594712.24 east 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962632.76 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962633.16 epoch sec; seqNo:8733 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962633.16 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962633.16 epoch sec; seqNo:8733; 4061713.46 north; 594712.24 east 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962633.16 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962633.56 epoch sec; seqNo:8734 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962633.56 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962633.96 epoch sec; seqNo:8735 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962633.76, time is 1599962633.96 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962633.16, meas time 1599962633.96 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 17.000 at t=1599962633.96, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962633.96 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061713, 594712.24, 49.67) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962646.39 epoch sec; seqNo:8766; 4061714.74 north; 594725.65 east 2020-11-23T22:53:58Z- waiting for 1599962636.96, time is 1599962633.96 2020-11-23T22:53:58Z- sync is 12.43, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962646.78 epoch sec; seqNo:8767 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962636.96, time is 1599962633.96 2020-11-23T22:53:58Z- sync is 12.82, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1599962646783; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962636.96, time is 1599962633.96 2020-11-23T22:53:58Z- sync is 12.82, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962646.78 epoch sec; seqNo:8767 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962636.96, time is 1599962646.78 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962646.78, meas time 1599962646.78 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 30.000 at t=1599962646.78, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962646.78 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061715, 594725.65, 49.91) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962646.79 epoch sec; seqNo:8767; 4061715.12 north; 594725.65 east 2020-11-23T22:53:58Z- waiting for 1599962649.78, time is 1599962646.78 2020-11-23T22:53:58Z- sync is 0.01, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962647.18 epoch sec; seqNo:8768 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962649.78, time is 1599962646.78 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1599962647183; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962649.78, time is 1599962646.78 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962647.18 epoch sec; seqNo:8768 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962649.78, time is 1599962647.18 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962647.19 epoch sec; seqNo:8768; 4061715.14 north; 594726.87 east 2020-11-23T22:53:58Z- waiting for 1599962649.78, time is 1599962647.18 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962647.58 epoch sec; seqNo:8769 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962649.78, time is 1599962647.18 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1599962647585; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962649.78, time is 1599962647.18 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962647.59 epoch sec; seqNo:8769 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962649.78, time is 1599962647.59 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962647.59 epoch sec; seqNo:8769; 4061715.14 north; 594726.87 east 2020-11-23T22:53:58Z- waiting for 1599962649.78, time is 1599962647.59 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962647.98 epoch sec; seqNo:8770 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962649.78, time is 1599962647.59 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1599962647986; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962649.78, time is 1599962647.59 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962647.99 epoch sec; seqNo:8770 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962649.78, time is 1599962647.99 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962647.99 epoch sec; seqNo:8770; 4061715.14 north; 594726.87 east 2020-11-23T22:53:58Z- waiting for 1599962649.78, time is 1599962647.99 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962656.00 epoch sec; seqNo:8790 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962649.78, time is 1599962656.00 2020-11-23T22:53:58Z- sync is 8.01, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962656.00 epoch sec; seqNo:8790; 4061715.99 north; 594735.40 east 2020-11-23T22:53:58Z- waiting for 1599962649.78, time is 1599962656.00 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962656.00, meas time 1599962656.00 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 6.000 at t=1599962656.00, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962656.00 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061716, 594735.40, 49.95) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962656.40 epoch sec; seqNo:8791 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962659.00, time is 1599962656.00 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1599962656400; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962659.00, time is 1599962656.00 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962656.40 epoch sec; seqNo:8791 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962659.00, time is 1599962656.40 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962656.40 epoch sec; seqNo:8791; 4061715.99 north; 594735.40 east 2020-11-23T22:53:58Z- waiting for 1599962659.00, time is 1599962656.40 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962656.80 epoch sec; seqNo:8792 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962659.00, time is 1599962656.40 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1599962656800; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962659.00, time is 1599962656.40 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962656.80 epoch sec; seqNo:8792 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962659.00, time is 1599962656.80 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962662.01 epoch sec; seqNo:8805 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962659.00, time is 1599962662.01 2020-11-23T22:53:58Z- sync is 5.21, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962662.01 epoch sec; seqNo:8805; 4061716.44 north; 594741.50 east 2020-11-23T22:53:58Z- waiting for 1599962659.00, time is 1599962662.01 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962662.01, meas time 1599962662.01 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 12.000 at t=1599962662.01, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962662.01 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061716, 594741.50, 50.23) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962662.41 epoch sec; seqNo:8806 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962665.01, time is 1599962662.01 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1599962662412; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962665.01, time is 1599962662.01 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962662.41 epoch sec; seqNo:8806 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962665.01, time is 1599962662.41 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962662.81 epoch sec; seqNo:8807 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962665.01, time is 1599962662.41 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599962662814; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962665.01, time is 1599962662.41 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962666.02 epoch sec; seqNo:8815 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962665.01, time is 1599962662.41 2020-11-23T22:53:58Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1599962666019; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962665.01, time is 1599962662.41 2020-11-23T22:53:58Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962666.02 epoch sec; seqNo:8815; 4061716.85 north; 594745.16 east 2020-11-23T22:53:58Z- waiting for 1599962665.01, time is 1599962662.41 2020-11-23T22:53:58Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962666.42 epoch sec; seqNo:8816 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962665.01, time is 1599962662.41 2020-11-23T22:53:58Z- sync is 4.01, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1599962666418; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962665.01, time is 1599962662.41 2020-11-23T22:53:58Z- sync is 4.01, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.45 epoch sec; seqNo:1599962666820; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962665.01, time is 1599962662.41 2020-11-23T22:53:58Z- sync is 4.01, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962668.02 epoch sec; seqNo:8820 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962665.01, time is 1599962668.02 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962666.42, meas time 1599962668.02 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 18.000 at t=1599962668.02, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962668.02 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061717, 594745.16, 50.45) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.46 epoch sec; seqNo:1599962668423; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962671.02, time is 1599962668.02 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962670.43 epoch sec; seqNo:8826; 4061717.65 north; 594748.81 east 2020-11-23T22:53:58Z- waiting for 1599962671.02, time is 1599962668.02 2020-11-23T22:53:58Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962671.22 epoch sec; seqNo:8828 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962671.02, time is 1599962668.02 2020-11-23T22:53:58Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.45 epoch sec; seqNo:1599962671627; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962671.02, time is 1599962668.02 2020-11-23T22:53:58Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962672.03 epoch sec; seqNo:8830 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962671.02, time is 1599962672.03 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962671.22, meas time 1599962672.03 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 22.000 at t=1599962672.03, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962672.03 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061718, 594748.81, 50.45) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962672.83 epoch sec; seqNo:8832; 4061717.68 north; 594751.25 east 2020-11-23T22:53:58Z- waiting for 1599962675.03, time is 1599962672.03 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962673.63 epoch sec; seqNo:8834 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962675.03, time is 1599962672.03 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1599962674034; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962675.03, time is 1599962672.03 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962674.44 epoch sec; seqNo:8836 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962675.03, time is 1599962674.44 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962675.24 epoch sec; seqNo:8838; 4061718.09 north; 594753.69 east 2020-11-23T22:53:58Z- waiting for 1599962675.03, time is 1599962674.44 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1599962675635; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962675.03, time is 1599962674.44 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962676.04 epoch sec; seqNo:8840 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962675.03, time is 1599962676.04 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962675.24, meas time 1599962676.04 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 26.000 at t=1599962676.04, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962676.04 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061718, 594753.69, 50.42) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962676.84 epoch sec; seqNo:8842; 4061718.48 north; 594754.90 east 2020-11-23T22:53:58Z- waiting for 1599962679.04, time is 1599962676.04 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599962677236; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962679.04, time is 1599962676.04 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962677.64 epoch sec; seqNo:8844; 4061718.49 north; 594756.12 east 2020-11-23T22:53:58Z- waiting for 1599962679.04, time is 1599962676.04 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962678.04 epoch sec; seqNo:8845; 4061718.49 north; 594756.12 east 2020-11-23T22:53:58Z- waiting for 1599962679.04, time is 1599962676.04 2020-11-23T22:53:58Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962678.84 epoch sec; seqNo:8847 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962679.04, time is 1599962676.04 2020-11-23T22:53:58Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1599962679240; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962679.04, time is 1599962676.04 2020-11-23T22:53:58Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962679.64 epoch sec; seqNo:8849 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962679.04, time is 1599962679.64 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962678.84, meas time 1599962679.64 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 29.000 at t=1599962679.64, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962679.64 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061718, 594756.12, 50.35) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962681.65 epoch sec; seqNo:8854; 4061718.91 north; 594759.78 east 2020-11-23T22:53:58Z- waiting for 1599962682.64, time is 1599962679.64 2020-11-23T22:53:58Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962682.05 epoch sec; seqNo:8855 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962682.64, time is 1599962679.64 2020-11-23T22:53:58Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1599962682445; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962682.64, time is 1599962679.64 2020-11-23T22:53:58Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962682.85 epoch sec; seqNo:8857 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962682.64, time is 1599962682.85 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962682.05, meas time 1599962682.85 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 32.000 at t=1599962682.85, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962682.85 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061719, 594759.78, 50.27) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962683.65 epoch sec; seqNo:8859; 4061719.32 north; 594762.22 east 2020-11-23T22:53:58Z- waiting for 1599962685.85, time is 1599962682.85 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962684.45 epoch sec; seqNo:8861 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962685.85, time is 1599962682.85 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1599962684853; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962685.85, time is 1599962682.85 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962685.25 epoch sec; seqNo:8863 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962685.85, time is 1599962685.25 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962686.05 epoch sec; seqNo:8865 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962685.85, time is 1599962685.25 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962686.45 epoch sec; seqNo:8866 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962685.85, time is 1599962686.45 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962686.05, meas time 1599962686.45 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 2.000 at t=1599962686.45, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962686.45 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061719, 594762.22, 50.20) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962687.65 epoch sec; seqNo:8869 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962689.45, time is 1599962686.45 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962688.06 epoch sec; seqNo:8870 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962689.45, time is 1599962686.45 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962688.45 epoch sec; seqNo:8871 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962689.45, time is 1599962686.45 2020-11-23T22:53:58Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962689.26 epoch sec; seqNo:8873 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962689.45, time is 1599962686.45 2020-11-23T22:53:58Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1599962689661; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962689.45, time is 1599962686.45 2020-11-23T22:53:58Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962690.06 epoch sec; seqNo:8875 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962689.45, time is 1599962690.06 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962689.26, meas time 1599962690.06 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 6.000 at t=1599962690.06, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962690.06 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061719, 594762.22, 50.04) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962692.07 epoch sec; seqNo:8880; 4061720.17 north; 594770.75 east 2020-11-23T22:53:58Z- waiting for 1599962693.06, time is 1599962690.06 2020-11-23T22:53:58Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962692.47 epoch sec; seqNo:8881 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.40 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962693.06, time is 1599962690.06 2020-11-23T22:53:58Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1599962693268; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962693.06, time is 1599962690.06 2020-11-23T22:53:58Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962693.27 epoch sec; seqNo:8883 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.06 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962693.06, time is 1599962693.27 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962692.47, meas time 1599962693.27 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 9.000 at t=1599962693.27, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962693.27 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061720, 594770.75, 49.94) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962694.07 epoch sec; seqNo:8885; 4061720.56 north; 594771.97 east 2020-11-23T22:53:58Z- waiting for 1599962696.27, time is 1599962693.27 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962694.87 epoch sec; seqNo:8887 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962696.27, time is 1599962693.27 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1599962695274; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962696.27, time is 1599962693.27 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962695.67 epoch sec; seqNo:8889 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.06 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962696.27, time is 1599962695.67 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962696.48 epoch sec; seqNo:8891; 4061720.59 north; 594774.41 east 2020-11-23T22:53:58Z- waiting for 1599962696.27, time is 1599962695.67 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962696.88 epoch sec; seqNo:8892 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962696.27, time is 1599962695.67 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1599962697679; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962696.27, time is 1599962695.67 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962697.68 epoch sec; seqNo:8894 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.06 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962696.27, time is 1599962697.68 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962696.88, meas time 1599962697.68 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 13.000 at t=1599962697.68, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962697.68 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061721, 594774.41, 49.84) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962698.48 epoch sec; seqNo:8896; 4061720.99 north; 594776.85 east 2020-11-23T22:53:58Z- waiting for 1599962700.68, time is 1599962697.68 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962699.28 epoch sec; seqNo:8898 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962700.68, time is 1599962697.68 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1599962700082; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962700.68, time is 1599962697.68 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962700.08 epoch sec; seqNo:8900; 4061721.01 north; 594778.07 east 2020-11-23T22:53:58Z- waiting for 1599962700.68, time is 1599962697.68 2020-11-23T22:53:58Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962700.88 epoch sec; seqNo:8902 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962700.68, time is 1599962697.68 2020-11-23T22:53:58Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962701.29 epoch sec; seqNo:8903; 4061721.02 north; 594779.29 east 2020-11-23T22:53:58Z- waiting for 1599962700.68, time is 1599962697.68 2020-11-23T22:53:58Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962702.09 epoch sec; seqNo:8905 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962700.68, time is 1599962697.68 2020-11-23T22:53:58Z- sync is 4.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599962728932; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962700.68, time is 1599962697.68 2020-11-23T22:53:58Z- sync is 4.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962728.93 epoch sec; seqNo:8972 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962700.68, time is 1599962728.93 2020-11-23T22:53:58Z- sync is 26.85, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962728.93 epoch sec; seqNo:8972; 4061723.59 north; 594806.11 east 2020-11-23T22:53:58Z- waiting for 1599962700.68, time is 1599962728.93 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962728.93, meas time 1599962728.93 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 10.000 at t=1599962728.93, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962728.93 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061724, 594806.11, 49.82) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962729.33 epoch sec; seqNo:8973 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962728.93 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1599962729333; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962728.93 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962729.33 epoch sec; seqNo:8973 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962729.33 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962729.34 epoch sec; seqNo:8973; 4061723.98 north; 594807.32 east 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962729.33 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962729.73 epoch sec; seqNo:8974 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962729.33 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1599962729734; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962729.33 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962729.73 epoch sec; seqNo:8974 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962729.73 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962729.73 epoch sec; seqNo:8974; 4061723.98 north; 594807.32 east 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962729.73 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962730.13 epoch sec; seqNo:8975 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962729.73 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.86 epoch sec; seqNo:1599962730136; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962729.73 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962730.14 epoch sec; seqNo:8975 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962730.14 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962730.14 epoch sec; seqNo:8975; 4061723.98 north; 594807.32 east 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962730.14 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962730.54 epoch sec; seqNo:8976 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.41 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962730.14 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1599962730536; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962730.14 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962730.54 epoch sec; seqNo:8976 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962730.54 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962730.54 epoch sec; seqNo:8976; 4061724.00 north; 594808.54 east 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962730.54 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.88 epoch sec; seqNo:1599962730936; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962730.54 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962730.94 epoch sec; seqNo:8977 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962730.94 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962730.94 epoch sec; seqNo:8977; 4061724.00 north; 594808.54 east 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962730.94 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962731.34 epoch sec; seqNo:8978 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962731.34 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962731.34 epoch sec; seqNo:8978; 4061724.00 north; 594808.54 east 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962731.34 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962731.74 epoch sec; seqNo:8979 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962731.74 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962732.14 epoch sec; seqNo:8980 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962731.93, time is 1599962732.14 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962731.34, meas time 1599962732.14 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 14.000 at t=1599962732.14, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962732.14 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061724, 594808.54, 49.88) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962758.99 epoch sec; seqNo:9047; 4061726.95 north; 594835.36 east 2020-11-23T22:53:58Z- waiting for 1599962735.14, time is 1599962732.14 2020-11-23T22:53:58Z- sync is 26.85, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962759.38 epoch sec; seqNo:9048 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962735.14, time is 1599962732.14 2020-11-23T22:53:58Z- sync is 27.24, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1599962759383; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962735.14, time is 1599962732.14 2020-11-23T22:53:58Z- sync is 27.24, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962759.38 epoch sec; seqNo:9048 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962735.14, time is 1599962759.38 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962759.38, meas time 1599962759.38 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 7.000 at t=1599962759.38, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962759.38 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061727, 594835.36, 50.34) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962759.38 epoch sec; seqNo:9048; 4061726.96 north; 594836.58 east 2020-11-23T22:53:58Z- waiting for 1599962762.38, time is 1599962759.38 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962759.78 epoch sec; seqNo:9049 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962762.38, time is 1599962759.38 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1599962759784; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962762.38, time is 1599962759.38 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962759.78 epoch sec; seqNo:9049 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962762.38, time is 1599962759.78 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962759.79 epoch sec; seqNo:9049; 4061726.96 north; 594836.58 east 2020-11-23T22:53:58Z- waiting for 1599962762.38, time is 1599962759.78 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962760.19 epoch sec; seqNo:9050 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962762.38, time is 1599962759.78 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1599962760186; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962762.38, time is 1599962759.78 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962760.19 epoch sec; seqNo:9050 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962762.38, time is 1599962760.19 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962760.19 epoch sec; seqNo:9050; 4061727.34 north; 594836.58 east 2020-11-23T22:53:58Z- waiting for 1599962762.38, time is 1599962760.19 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962760.59 epoch sec; seqNo:9051 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.39 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962762.38, time is 1599962760.19 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1599962760587; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962762.38, time is 1599962760.19 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962760.59 epoch sec; seqNo:9051 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962762.38, time is 1599962760.59 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962760.59 epoch sec; seqNo:9051; 4061727.35 north; 594837.80 east 2020-11-23T22:53:58Z- waiting for 1599962762.38, time is 1599962760.59 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962760.99 epoch sec; seqNo:9052 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962762.38, time is 1599962760.99 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962760.99 epoch sec; seqNo:9052; 4061727.35 north; 594837.80 east 2020-11-23T22:53:58Z- waiting for 1599962762.38, time is 1599962760.99 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962786.63 epoch sec; seqNo:9116 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962762.38, time is 1599962760.99 2020-11-23T22:53:58Z- sync is 25.64, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599962786631; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962762.38, time is 1599962760.99 2020-11-23T22:53:58Z- sync is 25.64, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962786.63 epoch sec; seqNo:9116 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962762.38, time is 1599962786.63 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962786.63, meas time 1599962786.63 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1599962786.63, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962786.63 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061727, 594837.80, 49.76) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962786.63 epoch sec; seqNo:9116; 4061730.29 north; 594863.40 east 2020-11-23T22:53:58Z- waiting for 1599962789.63, time is 1599962786.63 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962787.03 epoch sec; seqNo:9117 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962789.63, time is 1599962786.63 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599962787032; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962789.63, time is 1599962786.63 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962787.03 epoch sec; seqNo:9117 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962789.63, time is 1599962787.03 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962787.03 epoch sec; seqNo:9117; 4061730.29 north; 594863.40 east 2020-11-23T22:53:58Z- waiting for 1599962789.63, time is 1599962787.03 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962787.43 epoch sec; seqNo:9118 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962789.63, time is 1599962787.03 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599962787432; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962789.63, time is 1599962787.03 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962787.43 epoch sec; seqNo:9118 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962789.63, time is 1599962787.43 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962787.44 epoch sec; seqNo:9118; 4061730.29 north; 594863.40 east 2020-11-23T22:53:58Z- waiting for 1599962789.63, time is 1599962787.43 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962787.83 epoch sec; seqNo:9119 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962789.63, time is 1599962787.43 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599962787833; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962789.63, time is 1599962787.43 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962787.83 epoch sec; seqNo:9119 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962789.63, time is 1599962787.83 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962788.23 epoch sec; seqNo:9120 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962789.63, time is 1599962787.83 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1599962788236; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962789.63, time is 1599962787.83 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962788.24 epoch sec; seqNo:9120 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962789.63, time is 1599962788.24 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962788.63 epoch sec; seqNo:9121 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962789.63, time is 1599962788.24 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1599962788636; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962789.63, time is 1599962788.24 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1599962789037; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962789.63, time is 1599962788.24 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962814.29 epoch sec; seqNo:9185; 4061732.86 north; 594890.22 east 2020-11-23T22:53:58Z- waiting for 1599962789.63, time is 1599962788.24 2020-11-23T22:53:58Z- sync is 26.05, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962814.68 epoch sec; seqNo:9186 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.42 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962789.63, time is 1599962788.24 2020-11-23T22:53:58Z- sync is 26.45, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1599962814686; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962789.63, time is 1599962788.24 2020-11-23T22:53:58Z- sync is 26.45, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962814.69 epoch sec; seqNo:9186 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962789.63, time is 1599962814.69 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962814.68, meas time 1599962814.69 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 28.000 at t=1599962814.69, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962814.69 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061733, 594890.22, 49.83) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962814.69 epoch sec; seqNo:9186; 4061732.86 north; 594890.22 east 2020-11-23T22:53:58Z- waiting for 1599962817.69, time is 1599962814.69 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962815.09 epoch sec; seqNo:9187 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.42 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962817.69, time is 1599962814.69 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1599962815086; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962817.69, time is 1599962814.69 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962815.09 epoch sec; seqNo:9187 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962817.69, time is 1599962815.09 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962815.09 epoch sec; seqNo:9187; 4061732.87 north; 594891.44 east 2020-11-23T22:53:58Z- waiting for 1599962817.69, time is 1599962815.09 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962815.49 epoch sec; seqNo:9188 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.42 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962817.69, time is 1599962815.09 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1599962815487; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962817.69, time is 1599962815.09 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962815.49 epoch sec; seqNo:9188 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962817.69, time is 1599962815.49 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962815.49 epoch sec; seqNo:9188; 4061732.87 north; 594891.44 east 2020-11-23T22:53:58Z- waiting for 1599962817.69, time is 1599962815.49 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1599962815889; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962817.69, time is 1599962815.49 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962815.89 epoch sec; seqNo:9189 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962817.69, time is 1599962815.89 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962815.89 epoch sec; seqNo:9189; 4061732.87 north; 594891.44 east 2020-11-23T22:53:58Z- waiting for 1599962817.69, time is 1599962815.89 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.88 epoch sec; seqNo:1599962816288; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962817.69, time is 1599962815.89 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962816.29 epoch sec; seqNo:9190; 4061733.25 north; 594891.43 east 2020-11-23T22:53:58Z- waiting for 1599962817.69, time is 1599962815.89 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1599962816690; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962817.69, time is 1599962815.89 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962842.33 epoch sec; seqNo:9255 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.05 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962817.69, time is 1599962842.33 2020-11-23T22:53:58Z- sync is 26.04, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962842.33 epoch sec; seqNo:9255; 4061735.05 north; 594917.04 east 2020-11-23T22:53:58Z- waiting for 1599962817.69, time is 1599962842.33 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962842.33, meas time 1599962842.33 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 22.000 at t=1599962842.33, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962842.33 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061735, 594917.04, 49.89) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962842.73 epoch sec; seqNo:9256 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.89 phi; -0.00 theta; 0.00 psi 2020-11-23T22:53:58Z- waiting for 1599962845.33, time is 1599962842.33 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1599962842729; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962845.33, time is 1599962842.33 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962842.73 epoch sec; seqNo:9256 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.05 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962845.33, time is 1599962842.73 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962842.73 epoch sec; seqNo:9256; 4061734.68 north; 594918.27 east 2020-11-23T22:53:58Z- waiting for 1599962845.33, time is 1599962842.73 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962843.13 epoch sec; seqNo:9257 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.92 phi; 0.00 theta; 0.00 psi 2020-11-23T22:53:58Z- waiting for 1599962845.33, time is 1599962842.73 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1599962843130; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962845.33, time is 1599962842.73 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962843.13 epoch sec; seqNo:9257 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.05 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962845.33, time is 1599962843.13 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962843.13 epoch sec; seqNo:9257; 4061734.68 north; 594918.27 east 2020-11-23T22:53:58Z- waiting for 1599962845.33, time is 1599962843.13 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962843.53 epoch sec; seqNo:9258 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.95 phi; 0.00 theta; 0.00 psi 2020-11-23T22:53:58Z- waiting for 1599962845.33, time is 1599962843.13 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1599962843529; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962845.33, time is 1599962843.13 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962843.53 epoch sec; seqNo:9258 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.05 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962845.33, time is 1599962843.53 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962843.93 epoch sec; seqNo:9259 2020-11-23T22:53:58Z- AHRS_M2 msg: 1.98 phi; 0.00 theta; 0.00 psi 2020-11-23T22:53:58Z- waiting for 1599962845.33, time is 1599962843.53 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962844.33 epoch sec; seqNo:9260 2020-11-23T22:53:58Z- AHRS_M2 msg: 2.01 phi; 0.00 theta; 0.00 psi 2020-11-23T22:53:58Z- waiting for 1599962845.33, time is 1599962843.53 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962844.73 epoch sec; seqNo:9261 2020-11-23T22:53:58Z- AHRS_M2 msg: 2.05 phi; 0.00 theta; 0.00 psi 2020-11-23T22:53:58Z- waiting for 1599962845.33, time is 1599962843.53 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962845.13 epoch sec; seqNo:9262 2020-11-23T22:53:58Z- AHRS_M2 msg: 2.08 phi; 0.01 theta; 0.00 psi 2020-11-23T22:53:58Z- waiting for 1599962845.33, time is 1599962843.53 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962845.53 epoch sec; seqNo:9263 2020-11-23T22:53:58Z- AHRS_M2 msg: 2.11 phi; 0.01 theta; 0.00 psi 2020-11-23T22:53:58Z- waiting for 1599962845.33, time is 1599962843.53 2020-11-23T22:53:58Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962869.99 epoch sec; seqNo:9324; 4061712.40 north; 594924.62 east 2020-11-23T22:53:58Z- waiting for 1599962845.33, time is 1599962843.53 2020-11-23T22:53:58Z- sync is 26.46, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962870.39 epoch sec; seqNo:9325 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.29 phi; -0.00 theta; 0.00 psi 2020-11-23T22:53:58Z- waiting for 1599962845.33, time is 1599962843.53 2020-11-23T22:53:58Z- sync is 26.86, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599962870388; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962845.33, time is 1599962843.53 2020-11-23T22:53:58Z- sync is 26.86, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962870.39 epoch sec; seqNo:9325 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.15 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962845.33, time is 1599962870.39 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962870.39, meas time 1599962870.39 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 16.000 at t=1599962870.39, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962870.39 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061712, 594924.62, 49.78) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962870.39 epoch sec; seqNo:9325; 4061712.02 north; 594924.62 east 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962870.39 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962870.79 epoch sec; seqNo:9326 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.27 phi; -0.00 theta; -0.00 psi 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962870.39 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599962870788; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962870.39 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962870.79 epoch sec; seqNo:9326 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.14 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962870.79 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962870.79 epoch sec; seqNo:9326; 4061712.01 north; 594923.40 east 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962870.79 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962871.19 epoch sec; seqNo:9327 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.25 phi; -0.00 theta; -0.00 psi 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962870.79 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599962871190; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962870.79 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962871.19 epoch sec; seqNo:9327 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.14 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962871.19 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962871.19 epoch sec; seqNo:9327; 4061711.63 north; 594923.41 east 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962871.19 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962871.59 epoch sec; seqNo:9328 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.22 phi; -0.00 theta; -0.00 psi 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962871.19 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599962871590; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962871.19 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962871.59 epoch sec; seqNo:9328 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.14 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962871.59 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962871.60 epoch sec; seqNo:9328; 4061711.25 north; 594923.41 east 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962871.59 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962871.99 epoch sec; seqNo:9329 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.20 phi; -0.00 theta; -0.00 psi 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962871.59 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599962871992; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962871.59 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962871.99 epoch sec; seqNo:9329 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.14 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962871.99 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962871.99 epoch sec; seqNo:9329; 4061710.87 north; 594923.41 east 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962871.99 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962872.39 epoch sec; seqNo:9330 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.18 phi; -0.00 theta; -0.00 psi 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962871.99 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599962872393; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962871.99 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962872.39 epoch sec; seqNo:9330; 4061710.86 north; 594922.19 east 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962871.99 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962872.79 epoch sec; seqNo:9331 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.17 phi; -0.00 theta; -0.00 psi 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962871.99 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1599962872793; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962871.99 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962886.83 epoch sec; seqNo:9366; 4061703.52 north; 594910.07 east 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962871.99 2020-11-23T22:53:58Z- sync is 14.84, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962887.23 epoch sec; seqNo:9367 2020-11-23T22:53:58Z- AHRS_M2 msg: -1.87 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962871.99 2020-11-23T22:53:58Z- sync is 15.23, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1599962887228; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962871.99 2020-11-23T22:53:58Z- sync is 15.23, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962887.23 epoch sec; seqNo:9367 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962873.39, time is 1599962887.23 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962887.23, meas time 1599962887.23 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 33.000 at t=1599962887.23, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962887.23 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061704, 594910.07, 49.66) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962887.23 epoch sec; seqNo:9367; 4061703.15 north; 594910.07 east 2020-11-23T22:53:58Z- waiting for 1599962890.23, time is 1599962887.23 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962887.63 epoch sec; seqNo:9368 2020-11-23T22:53:58Z- AHRS_M2 msg: -1.86 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962890.23, time is 1599962887.23 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599962887630; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962890.23, time is 1599962887.23 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962887.63 epoch sec; seqNo:9368 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962890.23, time is 1599962887.63 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962887.64 epoch sec; seqNo:9368; 4061703.13 north; 594908.85 east 2020-11-23T22:53:58Z- waiting for 1599962890.23, time is 1599962887.63 2020-11-23T22:53:58Z- sync is 0.01, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599962888032; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962890.23, time is 1599962887.63 2020-11-23T22:53:58Z- sync is 0.01, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962888.03 epoch sec; seqNo:9369 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962890.23, time is 1599962888.03 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962888.03 epoch sec; seqNo:9369; 4061703.13 north; 594908.85 east 2020-11-23T22:53:58Z- waiting for 1599962890.23, time is 1599962888.03 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962888.43 epoch sec; seqNo:9370 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.08 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962890.23, time is 1599962888.43 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962888.44 epoch sec; seqNo:9370; 4061702.75 north; 594908.86 east 2020-11-23T22:53:58Z- waiting for 1599962890.23, time is 1599962888.43 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962888.84 epoch sec; seqNo:9371 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962890.23, time is 1599962888.84 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962889.24 epoch sec; seqNo:9372 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962890.23, time is 1599962889.24 2020-11-23T22:53:58Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962889.64 epoch sec; seqNo:9373 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962890.23, time is 1599962889.64 2020-11-23T22:53:58Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962897.26 epoch sec; seqNo:9392 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962890.23, time is 1599962889.64 2020-11-23T22:53:58Z- sync is 7.61, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1599962897256; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962890.23, time is 1599962889.64 2020-11-23T22:53:58Z- sync is 7.61, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962897.26 epoch sec; seqNo:9392 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.02 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962890.23, time is 1599962897.26 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962897.26, meas time 1599962897.26 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 9.000 at t=1599962897.26, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962897.26 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061703, 594908.86, 49.92) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962897.26 epoch sec; seqNo:9392; 4061699.25 north; 594900.35 east 2020-11-23T22:53:58Z- waiting for 1599962900.26, time is 1599962897.26 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962897.66 epoch sec; seqNo:9393 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.02 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962900.26, time is 1599962897.26 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1599962897657; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962900.26, time is 1599962897.26 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962897.66 epoch sec; seqNo:9393 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.02 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962900.26, time is 1599962897.66 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962897.66 epoch sec; seqNo:9393; 4061698.86 north; 594899.14 east 2020-11-23T22:53:58Z- waiting for 1599962900.26, time is 1599962897.66 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962898.06 epoch sec; seqNo:9394 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.03 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962900.26, time is 1599962897.66 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1599962898058; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962900.26, time is 1599962897.66 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962898.06 epoch sec; seqNo:9394; 4061698.86 north; 594899.14 east 2020-11-23T22:53:58Z- waiting for 1599962900.26, time is 1599962897.66 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1599962903667; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962900.26, time is 1599962897.66 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962903.67 epoch sec; seqNo:9408 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.00 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962900.26, time is 1599962903.67 2020-11-23T22:53:58Z- sync is 5.61, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962903.67 epoch sec; seqNo:9408; 4061695.77 north; 594894.29 east 2020-11-23T22:53:58Z- waiting for 1599962900.26, time is 1599962903.67 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962903.67, meas time 1599962903.67 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 15.000 at t=1599962903.67, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962903.67 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061696, 594894.29, 50.11) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962904.07 epoch sec; seqNo:9409 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.21 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962906.67, time is 1599962903.67 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962904.07 epoch sec; seqNo:9409 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.00 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962906.67, time is 1599962904.07 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962904.07 epoch sec; seqNo:9409; 4061695.39 north; 594894.29 east 2020-11-23T22:53:58Z- waiting for 1599962906.67, time is 1599962904.07 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962904.47 epoch sec; seqNo:9410 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.00 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962906.67, time is 1599962904.47 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962904.47 epoch sec; seqNo:9410; 4061695.39 north; 594894.29 east 2020-11-23T22:53:58Z- waiting for 1599962906.67, time is 1599962904.47 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962907.67 epoch sec; seqNo:9418 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.32 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962906.67, time is 1599962904.47 2020-11-23T22:53:58Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1599962907676; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962906.67, time is 1599962904.47 2020-11-23T22:53:58Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962907.68 epoch sec; seqNo:9418 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.01 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962906.67, time is 1599962907.68 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962907.67, meas time 1599962907.68 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 19.000 at t=1599962907.68, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962907.68 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061695, 594894.29, 50.23) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962910.08 epoch sec; seqNo:9424; 4061691.17 north; 594889.46 east 2020-11-23T22:53:58Z- waiting for 1599962910.68, time is 1599962907.68 2020-11-23T22:53:58Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962910.48 epoch sec; seqNo:9425 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.41 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962910.68, time is 1599962907.68 2020-11-23T22:53:58Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1599962910481; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962910.68, time is 1599962907.68 2020-11-23T22:53:58Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962912.09 epoch sec; seqNo:9429 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.02 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962910.68, time is 1599962912.09 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962910.48, meas time 1599962912.09 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 24.000 at t=1599962912.09, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962912.09 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061691, 594889.46, 50.30) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962912.09 epoch sec; seqNo:9429; 4061689.64 north; 594888.26 east 2020-11-23T22:53:58Z- waiting for 1599962915.09, time is 1599962912.09 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962913.29 epoch sec; seqNo:9432 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.49 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962915.09, time is 1599962912.09 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1599962913689; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962915.09, time is 1599962912.09 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962914.09 epoch sec; seqNo:9434 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.02 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962915.09, time is 1599962914.09 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962914.89 epoch sec; seqNo:9436; 4061687.34 north; 594885.84 east 2020-11-23T22:53:58Z- waiting for 1599962915.09, time is 1599962914.09 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962915.69 epoch sec; seqNo:9438 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.56 phi; -0.02 theta; -0.02 psi 2020-11-23T22:53:58Z- waiting for 1599962915.09, time is 1599962914.09 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1599962916091; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962915.09, time is 1599962914.09 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962916.49 epoch sec; seqNo:9440 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.02 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962915.09, time is 1599962916.49 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962915.69, meas time 1599962916.49 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 28.000 at t=1599962916.49, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962916.49 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061687, 594885.84, 50.38) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962917.29 epoch sec; seqNo:9442 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.60 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962919.49, time is 1599962916.49 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599962917692; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962919.49, time is 1599962916.49 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962918.09 epoch sec; seqNo:9444 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.02 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962919.49, time is 1599962918.09 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962918.89 epoch sec; seqNo:9446 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.64 phi; -0.01 theta; -0.02 psi 2020-11-23T22:53:58Z- waiting for 1599962919.49, time is 1599962918.09 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599962919293; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962919.49, time is 1599962918.09 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599962919694; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962919.49, time is 1599962918.09 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962919.70 epoch sec; seqNo:9448; 4061683.15 north; 594883.45 east 2020-11-23T22:53:58Z- waiting for 1599962919.49, time is 1599962918.09 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962920.49 epoch sec; seqNo:9450 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.68 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962919.49, time is 1599962918.09 2020-11-23T22:53:58Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599962920895; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962919.49, time is 1599962918.09 2020-11-23T22:53:58Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962921.29 epoch sec; seqNo:9452 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.02 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962919.49, time is 1599962921.29 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962920.49, meas time 1599962921.29 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 33.000 at t=1599962921.29, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962921.29 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061683, 594883.45, 50.39) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962923.70 epoch sec; seqNo:9458; 4061679.35 north; 594882.27 east 2020-11-23T22:53:58Z- waiting for 1599962924.29, time is 1599962921.29 2020-11-23T22:53:58Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962924.50 epoch sec; seqNo:9460 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.76 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962924.29, time is 1599962921.29 2020-11-23T22:53:58Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1599962924899; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962924.29, time is 1599962921.29 2020-11-23T22:53:58Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962924.90 epoch sec; seqNo:9461 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.02 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962924.29, time is 1599962924.90 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962924.50, meas time 1599962924.90 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 2.000 at t=1599962924.90, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962924.90 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061679, 594882.27, 50.36) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962925.70 epoch sec; seqNo:9463; 4061677.06 north; 594881.07 east 2020-11-23T22:53:58Z- waiting for 1599962927.90, time is 1599962924.90 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962926.50 epoch sec; seqNo:9465 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.79 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962927.90, time is 1599962924.90 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1599962926903; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962927.90, time is 1599962924.90 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962927.31 epoch sec; seqNo:9467 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.02 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962927.90, time is 1599962927.31 2020-11-23T22:53:58Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962928.11 epoch sec; seqNo:9469; 4061674.77 north; 594879.88 east 2020-11-23T22:53:58Z- waiting for 1599962927.90, time is 1599962927.31 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1599962928507; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962927.90, time is 1599962927.31 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962928.91 epoch sec; seqNo:9471 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.02 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962927.90, time is 1599962928.91 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962928.11, meas time 1599962928.91 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 6.000 at t=1599962928.91, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962928.91 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061675, 594879.88, 50.30) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962929.71 epoch sec; seqNo:9473; 4061673.26 north; 594879.89 east 2020-11-23T22:53:58Z- waiting for 1599962931.91, time is 1599962928.91 2020-11-23T22:53:58Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1599962930114; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962931.91, time is 1599962928.91 2020-11-23T22:53:58Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962930.52 epoch sec; seqNo:9475; 4061672.50 north; 594879.90 east 2020-11-23T22:53:58Z- waiting for 1599962931.91, time is 1599962928.91 2020-11-23T22:53:58Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1599962930915; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962931.91, time is 1599962928.91 2020-11-23T22:53:58Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962931.32 epoch sec; seqNo:9477 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.01 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962931.91, time is 1599962931.32 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962931.72 epoch sec; seqNo:9478; 4061671.35 north; 594878.69 east 2020-11-23T22:53:58Z- waiting for 1599962931.91, time is 1599962931.32 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962934.12 epoch sec; seqNo:9484 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.89 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962931.91, time is 1599962931.32 2020-11-23T22:53:58Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.15 epoch sec; seqNo:1599962934525; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962931.91, time is 1599962931.32 2020-11-23T22:53:58Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962934.93 epoch sec; seqNo:9486 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.01 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962931.91, time is 1599962934.93 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962934.12, meas time 1599962934.93 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 12.000 at t=1599962934.93, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962934.93 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061671, 594878.69, 50.15) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962935.73 epoch sec; seqNo:9488; 4061667.17 north; 594877.52 east 2020-11-23T22:53:58Z- waiting for 1599962937.93, time is 1599962934.93 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962936.13 epoch sec; seqNo:9489 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.90 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962937.93, time is 1599962934.93 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.09 epoch sec; seqNo:1599962936528; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962937.93, time is 1599962934.93 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962936.93 epoch sec; seqNo:9491 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.01 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962937.93, time is 1599962936.93 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962937.73 epoch sec; seqNo:9493; 4061664.90 north; 594877.55 east 2020-11-23T22:53:58Z- waiting for 1599962937.93, time is 1599962936.93 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962938.53 epoch sec; seqNo:9495 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.92 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962937.93, time is 1599962936.93 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.01 epoch sec; seqNo:1599962938930; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962937.93, time is 1599962936.93 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962938.93 epoch sec; seqNo:9496 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.01 , -0.01 2020-11-23T22:53:58Z- waiting for 1599962937.93, time is 1599962938.93 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962938.53, meas time 1599962938.93 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 16.000 at t=1599962938.93, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962938.93 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594877.55, 50.01) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962940.13 epoch sec; seqNo:9499 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.93 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962941.93, time is 1599962938.93 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962940.53 epoch sec; seqNo:9500 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.93 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962941.93, time is 1599962938.93 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962941.34 epoch sec; seqNo:9502 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.93 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962941.93, time is 1599962938.93 2020-11-23T22:53:58Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962941.74 epoch sec; seqNo:9503 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.93 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962941.93, time is 1599962938.93 2020-11-23T22:53:58Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962942.54 epoch sec; seqNo:9505 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.94 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962941.93, time is 1599962938.93 2020-11-23T22:53:58Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599962942.54 epoch sec; seqNo:9505; 4061659.96 north; 594876.38 east 2020-11-23T22:53:58Z- waiting for 1599962941.93, time is 1599962938.93 2020-11-23T22:53:58Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599962943.74 epoch sec; seqNo:9508 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.94 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962941.93, time is 1599962938.93 2020-11-23T22:53:58Z- sync is 4.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.88 epoch sec; seqNo:1599962944142; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962941.93, time is 1599962938.93 2020-11-23T22:53:58Z- sync is 4.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599962944.54 epoch sec; seqNo:9510 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.00 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962941.93, time is 1599962944.54 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599962943.74, meas time 1599962944.54 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 22.000 at t=1599962944.54, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599962944.54 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061660, 594876.38, 49.88) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963061.22 epoch sec; seqNo:9801; 4061536.87 north; 594847.23 east 2020-11-23T22:53:58Z- waiting for 1599962947.54, time is 1599962944.54 2020-11-23T22:53:58Z- sync is 116.68, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963061.62 epoch sec; seqNo:9802 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.83 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599962947.54, time is 1599962944.54 2020-11-23T22:53:58Z- sync is 117.08, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1599963061620; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599962947.54, time is 1599962944.54 2020-11-23T22:53:58Z- sync is 117.08, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963061.62 epoch sec; seqNo:9802 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:58Z- waiting for 1599962947.54, time is 1599963061.62 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963061.62, meas time 1599963061.62 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 3.000 at t=1599963061.62, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963061.62 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061537, 594847.23, 49.74) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963061.62 epoch sec; seqNo:9802; 4061536.49 north; 594847.23 east 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963061.62 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963062.02 epoch sec; seqNo:9803 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.83 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963061.62 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1599963062021; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963061.62 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963062.02 epoch sec; seqNo:9803 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963062.02 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963062.02 epoch sec; seqNo:9803; 4061536.12 north; 594847.24 east 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963062.02 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963062.42 epoch sec; seqNo:9804 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.83 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963062.02 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1599963062421; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963062.02 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963062.42 epoch sec; seqNo:9804 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963062.42 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963062.42 epoch sec; seqNo:9804; 4061535.72 north; 594846.02 east 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963062.42 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963062.82 epoch sec; seqNo:9805 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.83 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963062.42 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599963062821; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963062.42 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963062.82 epoch sec; seqNo:9805 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963062.82 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963062.82 epoch sec; seqNo:9805; 4061535.34 north; 594846.03 east 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963062.82 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963063.22 epoch sec; seqNo:9806 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.83 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963062.82 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599963063222; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963062.82 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963063.22 epoch sec; seqNo:9806 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963063.22 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963063.22 epoch sec; seqNo:9806; 4061534.97 north; 594846.03 east 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963063.22 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963063.62 epoch sec; seqNo:9807 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.83 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963063.22 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599963063624; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963063.22 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963063.63 epoch sec; seqNo:9807; 4061534.59 north; 594846.04 east 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963063.22 2020-11-23T22:53:58Z- sync is 0.41, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963064.02 epoch sec; seqNo:9808 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.83 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963063.22 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599963064024; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963063.22 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963066.03 epoch sec; seqNo:9813; 4061531.93 north; 594846.06 east 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963063.22 2020-11-23T22:53:58Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963066.43 epoch sec; seqNo:9814 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.83 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963063.22 2020-11-23T22:53:58Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1599963066434; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963063.22 2020-11-23T22:53:58Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963066.43 epoch sec; seqNo:9814 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963064.62, time is 1599963066.43 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963066.43, meas time 1599963066.43 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 8.000 at t=1599963066.43, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963066.43 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061532, 594846.06, 49.80) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.00 epoch sec; seqNo:1599963073645; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963069.43, time is 1599963066.43 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963073.65 epoch sec; seqNo:9832 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963069.43, time is 1599963073.65 2020-11-23T22:53:58Z- sync is 7.21, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963073.65 epoch sec; seqNo:9832; 4061524.33 north; 594843.71 east 2020-11-23T22:53:58Z- waiting for 1599963069.43, time is 1599963073.65 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963073.65, meas time 1599963073.65 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 15.000 at t=1599963073.65, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963073.65 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061524, 594843.71, 50.00) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963074.05 epoch sec; seqNo:9833 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963076.65, time is 1599963074.05 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963074.05 epoch sec; seqNo:9833; 4061523.95 north; 594843.71 east 2020-11-23T22:53:58Z- waiting for 1599963076.65, time is 1599963074.05 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963074.45 epoch sec; seqNo:9834 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963076.65, time is 1599963074.45 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963074.45 epoch sec; seqNo:9834; 4061523.56 north; 594842.50 east 2020-11-23T22:53:58Z- waiting for 1599963076.65, time is 1599963074.45 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963082.87 epoch sec; seqNo:9855 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963076.65, time is 1599963082.87 2020-11-23T22:53:58Z- sync is 8.42, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963083.27 epoch sec; seqNo:9856 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.83 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963076.65, time is 1599963082.87 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963083.27, meas time 1599963082.87 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 24.000 at t=1599963082.87, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963082.87 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061524, 594842.50, 50.00) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1599963083267; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963085.87, time is 1599963082.87 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963083.27 epoch sec; seqNo:9856 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963085.87, time is 1599963083.27 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963083.67 epoch sec; seqNo:9857 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963085.87, time is 1599963083.67 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963100.11 epoch sec; seqNo:9898 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963085.87, time is 1599963100.11 2020-11-23T22:53:58Z- sync is 16.84, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963100.11 epoch sec; seqNo:9898; 4061497.34 north; 594835.46 east 2020-11-23T22:53:58Z- waiting for 1599963085.87, time is 1599963100.11 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963100.11, meas time 1599963100.11 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 8.000 at t=1599963100.11, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963100.11 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061497, 594835.46, 50.29) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963100.50 epoch sec; seqNo:9899 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.83 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963103.11, time is 1599963100.11 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1599963100504; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963103.11, time is 1599963100.11 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963100.50 epoch sec; seqNo:9899 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963103.11, time is 1599963100.50 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963100.50 epoch sec; seqNo:9899; 4061496.96 north; 594835.47 east 2020-11-23T22:53:58Z- waiting for 1599963103.11, time is 1599963100.50 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963100.90 epoch sec; seqNo:9900 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.83 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963103.11, time is 1599963100.50 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.43 epoch sec; seqNo:1599963100905; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963103.11, time is 1599963100.50 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963100.91 epoch sec; seqNo:9900; 4061496.58 north; 594835.47 east 2020-11-23T22:53:58Z- waiting for 1599963103.11, time is 1599963100.50 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1599963101307; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963103.11, time is 1599963100.50 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963101.31 epoch sec; seqNo:9901; 4061496.20 north; 594835.48 east 2020-11-23T22:53:58Z- waiting for 1599963103.11, time is 1599963100.50 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.07 epoch sec; seqNo:1599963114122; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963103.11, time is 1599963100.50 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963114.12 epoch sec; seqNo:9933 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963103.11, time is 1599963114.12 2020-11-23T22:53:58Z- sync is 12.82, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963114.12 epoch sec; seqNo:9933; 4061482.89 north; 594830.74 east 2020-11-23T22:53:58Z- waiting for 1599963103.11, time is 1599963114.12 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963114.12, meas time 1599963114.12 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 22.000 at t=1599963114.12, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963114.12 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061483, 594830.74, 50.07) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963114.52 epoch sec; seqNo:9934 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.83 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963117.12, time is 1599963114.12 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963114.52 epoch sec; seqNo:9934 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963117.12, time is 1599963114.52 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963114.52 epoch sec; seqNo:9934; 4061482.51 north; 594830.75 east 2020-11-23T22:53:58Z- waiting for 1599963117.12, time is 1599963114.52 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963114.92 epoch sec; seqNo:9935 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.83 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963117.12, time is 1599963114.52 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963114.92 epoch sec; seqNo:9935 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963117.12, time is 1599963114.92 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963159.03 epoch sec; seqNo:10045 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.83 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963117.12, time is 1599963114.92 2020-11-23T22:53:58Z- sync is 44.11, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1599963159032; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963117.12, time is 1599963114.92 2020-11-23T22:53:58Z- sync is 44.11, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963159.03 epoch sec; seqNo:10045 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963117.12, time is 1599963159.03 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963159.03, meas time 1599963159.03 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 33.000 at t=1599963159.03, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963159.03 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061483, 594830.75, 49.92) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963159.03 epoch sec; seqNo:10045; 4061436.90 north; 594817.82 east 2020-11-23T22:53:58Z- waiting for 1599963162.03, time is 1599963159.03 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963159.43 epoch sec; seqNo:10046 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.83 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963162.03, time is 1599963159.03 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1599963159432; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963162.03, time is 1599963159.03 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963159.43 epoch sec; seqNo:10046 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963162.03, time is 1599963159.43 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963159.43 epoch sec; seqNo:10046; 4061436.52 north; 594817.83 east 2020-11-23T22:53:58Z- waiting for 1599963162.03, time is 1599963159.43 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963159.83 epoch sec; seqNo:10047 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.83 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963162.03, time is 1599963159.43 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1599963159832; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963162.03, time is 1599963159.43 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963159.83 epoch sec; seqNo:10047 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963162.03, time is 1599963159.83 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963159.83 epoch sec; seqNo:10047; 4061436.14 north; 594817.83 east 2020-11-23T22:53:58Z- waiting for 1599963162.03, time is 1599963159.83 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963160.23 epoch sec; seqNo:10048 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.83 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963162.03, time is 1599963159.83 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1599963160233; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963162.03, time is 1599963159.83 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963160.23 epoch sec; seqNo:10048 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963162.03, time is 1599963160.23 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963160.23 epoch sec; seqNo:10048; 4061435.76 north; 594817.84 east 2020-11-23T22:53:58Z- waiting for 1599963162.03, time is 1599963160.23 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963160.63 epoch sec; seqNo:10049 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.83 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963162.03, time is 1599963160.23 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.97 epoch sec; seqNo:1599963160635; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963162.03, time is 1599963160.23 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963161.04 epoch sec; seqNo:10050 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.83 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963162.03, time is 1599963160.23 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.98 epoch sec; seqNo:1599963161035; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963162.03, time is 1599963160.23 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1599963161437; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963162.03, time is 1599963160.23 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1599963189104; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963162.03, time is 1599963160.23 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963189.11 epoch sec; seqNo:10120 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.18 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963162.03, time is 1599963189.11 2020-11-23T22:53:58Z- sync is 28.07, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963189.11 epoch sec; seqNo:10120; 4061412.10 north; 594802.23 east 2020-11-23T22:53:58Z- waiting for 1599963162.03, time is 1599963189.11 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963189.11, meas time 1599963189.11 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 29.000 at t=1599963189.11, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963189.11 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061412, 594802.23, 50.25) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963189.50 epoch sec; seqNo:10121 2020-11-23T22:53:58Z- AHRS_M2 msg: -1.52 phi; 0.01 theta; 0.00 psi 2020-11-23T22:53:58Z- waiting for 1599963192.11, time is 1599963189.11 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1599963189505; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963192.11, time is 1599963189.11 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963189.51 epoch sec; seqNo:10121 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.18 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963192.11, time is 1599963189.51 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963189.51 epoch sec; seqNo:10121; 4061412.10 north; 594802.23 east 2020-11-23T22:53:58Z- waiting for 1599963192.11, time is 1599963189.51 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963189.91 epoch sec; seqNo:10122 2020-11-23T22:53:58Z- AHRS_M2 msg: -1.49 phi; 0.01 theta; 0.00 psi 2020-11-23T22:53:58Z- waiting for 1599963192.11, time is 1599963189.51 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1599963189908; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963192.11, time is 1599963189.51 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963189.91 epoch sec; seqNo:10122 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.18 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963192.11, time is 1599963189.91 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963189.91 epoch sec; seqNo:10122; 4061412.08 north; 594801.01 east 2020-11-23T22:53:58Z- waiting for 1599963192.11, time is 1599963189.91 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1599963190308; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963192.11, time is 1599963189.91 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963190.31 epoch sec; seqNo:10123 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.18 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963192.11, time is 1599963190.31 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963190.31 epoch sec; seqNo:10123; 4061412.08 north; 594801.01 east 2020-11-23T22:53:58Z- waiting for 1599963192.11, time is 1599963190.31 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1599963190711; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963192.11, time is 1599963190.31 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963190.71 epoch sec; seqNo:10124 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.18 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963192.11, time is 1599963190.71 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963190.71 epoch sec; seqNo:10124; 4061411.71 north; 594801.02 east 2020-11-23T22:53:58Z- waiting for 1599963192.11, time is 1599963190.71 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963191.11 epoch sec; seqNo:10125; 4061411.69 north; 594799.80 east 2020-11-23T22:53:58Z- waiting for 1599963192.11, time is 1599963190.71 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963215.97 epoch sec; seqNo:10187 2020-11-23T22:53:58Z- AHRS_M2 msg: 0.39 phi; -0.01 theta; -0.00 psi 2020-11-23T22:53:58Z- waiting for 1599963192.11, time is 1599963190.71 2020-11-23T22:53:58Z- sync is 25.26, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1599963215975; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963192.11, time is 1599963190.71 2020-11-23T22:53:58Z- sync is 25.26, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963215.97 epoch sec; seqNo:10187 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.06 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963192.11, time is 1599963215.97 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963215.97, meas time 1599963215.97 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 21.000 at t=1599963215.97, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963215.97 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061412, 594799.80, 49.73) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963215.97 epoch sec; seqNo:10187; 4061427.50 north; 594789.86 east 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963215.97 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963216.38 epoch sec; seqNo:10188 2020-11-23T22:53:58Z- AHRS_M2 msg: 0.41 phi; -0.01 theta; -0.00 psi 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963215.97 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1599963216376; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963215.97 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963216.38 epoch sec; seqNo:10188 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.05 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963216.38 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963216.38 epoch sec; seqNo:10188; 4061427.87 north; 594789.85 east 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963216.38 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963216.78 epoch sec; seqNo:10189 2020-11-23T22:53:58Z- AHRS_M2 msg: 0.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963216.38 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1599963216778; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963216.38 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963216.78 epoch sec; seqNo:10189 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.05 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963216.78 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963216.78 epoch sec; seqNo:10189; 4061428.25 north; 594789.85 east 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963216.78 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963217.18 epoch sec; seqNo:10190 2020-11-23T22:53:58Z- AHRS_M2 msg: 0.43 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963216.78 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1599963217179; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963216.78 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963217.18 epoch sec; seqNo:10190 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.05 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963217.18 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963217.18 epoch sec; seqNo:10190; 4061428.63 north; 594789.84 east 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963217.18 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963217.58 epoch sec; seqNo:10191 2020-11-23T22:53:58Z- AHRS_M2 msg: 0.45 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963217.18 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.71 epoch sec; seqNo:1599963217579; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963217.18 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963217.98 epoch sec; seqNo:10192 2020-11-23T22:53:58Z- AHRS_M2 msg: 0.46 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963217.18 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963218.38 epoch sec; seqNo:10193 2020-11-23T22:53:58Z- AHRS_M2 msg: 0.47 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963217.18 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963218.78 epoch sec; seqNo:10194 2020-11-23T22:53:58Z- AHRS_M2 msg: 0.48 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963217.18 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963219.18 epoch sec; seqNo:10195 2020-11-23T22:53:58Z- AHRS_M2 msg: 0.50 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963217.18 2020-11-23T22:53:58Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963219.58 epoch sec; seqNo:10196 2020-11-23T22:53:58Z- AHRS_M2 msg: 0.51 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963217.18 2020-11-23T22:53:58Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963236.82 epoch sec; seqNo:10239 2020-11-23T22:53:58Z- AHRS_M2 msg: 0.67 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963217.18 2020-11-23T22:53:58Z- sync is 19.64, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1599963236818; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963217.18 2020-11-23T22:53:58Z- sync is 19.64, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963236.82 epoch sec; seqNo:10239 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963218.97, time is 1599963236.82 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963236.82, meas time 1599963236.82 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 8.000 at t=1599963236.82, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963236.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061429, 594789.84, 49.89) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963236.82 epoch sec; seqNo:10239; 4061443.52 north; 594799.44 east 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963236.82 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963237.22 epoch sec; seqNo:10240 2020-11-23T22:53:58Z- AHRS_M2 msg: 0.67 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963236.82 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1599963237219; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963236.82 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963237.22 epoch sec; seqNo:10240 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963237.22 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963237.22 epoch sec; seqNo:10240; 4061443.91 north; 594800.66 east 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963237.22 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963237.62 epoch sec; seqNo:10241 2020-11-23T22:53:58Z- AHRS_M2 msg: 0.67 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963237.22 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1599963237622; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963237.22 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963237.62 epoch sec; seqNo:10241 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963237.62 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963237.62 epoch sec; seqNo:10241; 4061444.29 north; 594800.66 east 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963237.62 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963238.02 epoch sec; seqNo:10242 2020-11-23T22:53:58Z- AHRS_M2 msg: 0.67 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963237.62 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1599963238024; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963237.62 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963238.02 epoch sec; seqNo:10242 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963238.02 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963238.03 epoch sec; seqNo:10242; 4061444.29 north; 594800.66 east 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963238.02 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963238.42 epoch sec; seqNo:10243 2020-11-23T22:53:58Z- AHRS_M2 msg: 0.67 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963238.02 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1599963238423; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963238.02 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963238.42 epoch sec; seqNo:10243 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963238.42 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963238.42 epoch sec; seqNo:10243; 4061444.67 north; 594800.65 east 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963238.42 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963238.82 epoch sec; seqNo:10244 2020-11-23T22:53:58Z- AHRS_M2 msg: 0.67 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963238.42 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1599963238822; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963238.42 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963238.82 epoch sec; seqNo:10244; 4061445.04 north; 594800.65 east 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963238.42 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963239.22 epoch sec; seqNo:10245 2020-11-23T22:53:58Z- AHRS_M2 msg: 0.67 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963238.42 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963239.22 epoch sec; seqNo:10245; 4061445.44 north; 594801.86 east 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963238.42 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1599963250052; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963238.42 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963250.05 epoch sec; seqNo:10272 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963250.05 2020-11-23T22:53:58Z- sync is 10.83, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963250.06 epoch sec; seqNo:10272; 4061453.46 north; 594807.88 east 2020-11-23T22:53:58Z- waiting for 1599963239.82, time is 1599963250.05 2020-11-23T22:53:58Z- sync is 0.01, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963250.06, meas time 1599963250.05 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 22.000 at t=1599963250.05, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963250.05 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061453, 594807.88, 50.27) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1599963250454; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963253.05, time is 1599963250.05 2020-11-23T22:53:58Z- sync is 0.01, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963250.45 epoch sec; seqNo:10273 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963253.05, time is 1599963250.45 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963250.46 epoch sec; seqNo:10273; 4061453.84 north; 594807.87 east 2020-11-23T22:53:58Z- waiting for 1599963253.05, time is 1599963250.45 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963250.86 epoch sec; seqNo:10274 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963253.05, time is 1599963250.86 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963250.86 epoch sec; seqNo:10274; 4061454.22 north; 594807.87 east 2020-11-23T22:53:58Z- waiting for 1599963253.05, time is 1599963250.86 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963251.26 epoch sec; seqNo:10275 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963253.05, time is 1599963251.26 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963251.66 epoch sec; seqNo:10276 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.07 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963253.05, time is 1599963251.66 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963258.08 epoch sec; seqNo:10292 2020-11-23T22:53:58Z- AHRS_M2 msg: 0.19 phi; -0.02 theta; -0.02 psi 2020-11-23T22:53:58Z- waiting for 1599963253.05, time is 1599963251.66 2020-11-23T22:53:58Z- sync is 6.42, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1599963258078; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963253.05, time is 1599963251.66 2020-11-23T22:53:58Z- sync is 6.42, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963258.08 epoch sec; seqNo:10292 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.06 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963253.05, time is 1599963258.08 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963258.08, meas time 1599963258.08 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 30.000 at t=1599963258.08, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963258.08 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061454, 594807.87, 50.40) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963258.08 epoch sec; seqNo:10292; 4061460.31 north; 594810.24 east 2020-11-23T22:53:58Z- waiting for 1599963261.08, time is 1599963258.08 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963258.48 epoch sec; seqNo:10293 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.06 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963261.08, time is 1599963258.48 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963258.88 epoch sec; seqNo:10294 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.06 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963261.08, time is 1599963258.88 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963264.09 epoch sec; seqNo:10307; 4061465.99 north; 594810.18 east 2020-11-23T22:53:58Z- waiting for 1599963261.08, time is 1599963258.88 2020-11-23T22:53:58Z- sync is 5.21, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963264.48 epoch sec; seqNo:10308 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.01 phi; -0.00 theta; -0.02 psi 2020-11-23T22:53:58Z- waiting for 1599963261.08, time is 1599963258.88 2020-11-23T22:53:58Z- sync is 5.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1599963264486; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963261.08, time is 1599963258.88 2020-11-23T22:53:58Z- sync is 5.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963264.49 epoch sec; seqNo:10308 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.05 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963261.08, time is 1599963264.49 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963264.48, meas time 1599963264.49 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 2.000 at t=1599963264.49, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963264.49 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061466, 594810.18, 50.40) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963264.49 epoch sec; seqNo:10308; 4061466.37 north; 594810.18 east 2020-11-23T22:53:58Z- waiting for 1599963267.49, time is 1599963264.49 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963264.89 epoch sec; seqNo:10309 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.02 phi; -0.00 theta; -0.02 psi 2020-11-23T22:53:58Z- waiting for 1599963267.49, time is 1599963264.49 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1599963264886; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963267.49, time is 1599963264.49 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1599963267698; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963267.49, time is 1599963264.49 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963267.70 epoch sec; seqNo:10316 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.04 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963267.49, time is 1599963267.70 2020-11-23T22:53:58Z- sync is 2.82, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963267.70 epoch sec; seqNo:10316; 4061469.02 north; 594810.15 east 2020-11-23T22:53:58Z- waiting for 1599963267.49, time is 1599963267.70 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963267.70, meas time 1599963267.70 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 5.000 at t=1599963267.70, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963267.70 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061469, 594810.15, 50.37) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1599963268096; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963270.70, time is 1599963267.70 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963268.10 epoch sec; seqNo:10317; 4061469.40 north; 594810.14 east 2020-11-23T22:53:58Z- waiting for 1599963270.70, time is 1599963267.70 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963270.90 epoch sec; seqNo:10324 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.18 phi; 0.01 theta; -0.02 psi 2020-11-23T22:53:58Z- waiting for 1599963270.70, time is 1599963267.70 2020-11-23T22:53:58Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963271.31 epoch sec; seqNo:10325 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.02 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963270.70, time is 1599963271.31 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963270.90, meas time 1599963271.31 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 9.000 at t=1599963271.31, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963271.31 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061469, 594810.14, 50.36) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963272.11 epoch sec; seqNo:10327; 4061473.19 north; 594810.10 east 2020-11-23T22:53:58Z- waiting for 1599963274.31, time is 1599963271.31 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963272.91 epoch sec; seqNo:10329 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; -0.02 psi 2020-11-23T22:53:58Z- waiting for 1599963274.31, time is 1599963271.31 2020-11-23T22:53:58Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963273.32 epoch sec; seqNo:10330 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.02 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963274.31, time is 1599963273.32 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963274.52 epoch sec; seqNo:10333 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.25 phi; 0.01 theta; -0.02 psi 2020-11-23T22:53:58Z- waiting for 1599963274.31, time is 1599963273.32 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1599963274916; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963274.31, time is 1599963273.32 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963275.32 epoch sec; seqNo:10335 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.01 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963274.31, time is 1599963275.32 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963274.52, meas time 1599963275.32 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 13.000 at t=1599963275.32, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963275.32 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061473, 594810.10, 50.23) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963277.73 epoch sec; seqNo:10341; 4061478.10 north; 594808.83 east 2020-11-23T22:53:58Z- waiting for 1599963278.32, time is 1599963275.32 2020-11-23T22:53:58Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963278.13 epoch sec; seqNo:10342 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.31 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963278.32, time is 1599963275.32 2020-11-23T22:53:58Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1599963278929; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963278.32, time is 1599963275.32 2020-11-23T22:53:58Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963278.93 epoch sec; seqNo:10344 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.00 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963278.32, time is 1599963278.93 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963278.13, meas time 1599963278.93 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 16.000 at t=1599963278.93, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963278.93 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061478, 594808.83, 50.11) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963279.73 epoch sec; seqNo:10346; 4061479.98 north; 594807.58 east 2020-11-23T22:53:58Z- waiting for 1599963281.93, time is 1599963278.93 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963280.53 epoch sec; seqNo:10348 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.35 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963281.93, time is 1599963278.93 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.05 epoch sec; seqNo:1599963280932; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963281.93, time is 1599963278.93 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963281.33 epoch sec; seqNo:10350 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.00 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963281.93, time is 1599963281.33 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963281.74 epoch sec; seqNo:10351; 4061481.87 north; 594807.56 east 2020-11-23T22:53:58Z- waiting for 1599963281.93, time is 1599963281.33 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963282.53 epoch sec; seqNo:10353 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.37 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963281.93, time is 1599963281.33 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1599963282935; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963281.93, time is 1599963281.33 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963283.34 epoch sec; seqNo:10355 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.01 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963281.93, time is 1599963283.34 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963282.53, meas time 1599963283.34 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 21.000 at t=1599963283.34, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963283.34 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061482, 594807.56, 49.99) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963283.74 epoch sec; seqNo:10356; 4061483.38 north; 594806.33 east 2020-11-23T22:53:58Z- waiting for 1599963286.34, time is 1599963283.34 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963284.94 epoch sec; seqNo:10359 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.39 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963286.34, time is 1599963283.34 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1599963285341; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963286.34, time is 1599963283.34 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963285.74 epoch sec; seqNo:10361 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.40 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963286.34, time is 1599963283.34 2020-11-23T22:53:58Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1599963286141; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963286.34, time is 1599963283.34 2020-11-23T22:53:58Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1599963286544; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963286.34, time is 1599963283.34 2020-11-23T22:53:58Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.88 epoch sec; seqNo:1599963286946; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963286.34, time is 1599963283.34 2020-11-23T22:53:58Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963287.35 epoch sec; seqNo:10365 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.02 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963286.34, time is 1599963287.35 2020-11-23T22:53:58Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963285.74, meas time 1599963287.35 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 25.000 at t=1599963287.35, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963287.35 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061483, 594806.33, 49.88) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963288.15 epoch sec; seqNo:10367; 4061487.15 north; 594805.06 east 2020-11-23T22:53:58Z- waiting for 1599963290.35, time is 1599963287.35 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963290.15 epoch sec; seqNo:10372 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.43 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963290.35, time is 1599963287.35 2020-11-23T22:53:58Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1599963290558; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963290.35, time is 1599963287.35 2020-11-23T22:53:58Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963290.96 epoch sec; seqNo:10374 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.02 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963290.35, time is 1599963290.96 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963290.15, meas time 1599963290.96 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 28.000 at t=1599963290.96, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963290.96 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061487, 594805.06, 49.80) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963291.76 epoch sec; seqNo:10376; 4061490.17 north; 594803.81 east 2020-11-23T22:53:58Z- waiting for 1599963293.96, time is 1599963290.96 2020-11-23T22:53:58Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963292.56 epoch sec; seqNo:10378 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.43 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963293.96, time is 1599963290.96 2020-11-23T22:53:58Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599963292967; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963293.96, time is 1599963290.96 2020-11-23T22:53:58Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963292.97 epoch sec; seqNo:10379 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963293.96, time is 1599963292.97 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963293.77 epoch sec; seqNo:10381; 4061492.05 north; 594802.57 east 2020-11-23T22:53:58Z- waiting for 1599963293.96, time is 1599963292.97 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1599963294573; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963293.96, time is 1599963292.97 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963294.57 epoch sec; seqNo:10383 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963293.96, time is 1599963294.57 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963293.77, meas time 1599963294.57 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 32.000 at t=1599963294.57, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963294.57 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061492, 594802.57, 49.72) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963294.97 epoch sec; seqNo:10384; 4061492.81 north; 594802.56 east 2020-11-23T22:53:58Z- waiting for 1599963297.57, time is 1599963294.57 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.71 epoch sec; seqNo:1599963295774; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963297.57, time is 1599963294.57 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963296.17 epoch sec; seqNo:10387 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963297.57, time is 1599963296.17 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963296.58 epoch sec; seqNo:10388; 4061494.31 north; 594801.32 east 2020-11-23T22:53:58Z- waiting for 1599963297.57, time is 1599963296.17 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963297.38 epoch sec; seqNo:10390; 4061495.07 north; 594801.31 east 2020-11-23T22:53:58Z- waiting for 1599963297.57, time is 1599963296.17 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963298.18 epoch sec; seqNo:10392 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.44 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963297.57, time is 1599963296.17 2020-11-23T22:53:58Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599963298577; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963297.57, time is 1599963296.17 2020-11-23T22:53:58Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963298.98 epoch sec; seqNo:10394 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963297.57, time is 1599963298.98 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963298.18, meas time 1599963298.98 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 2.000 at t=1599963298.98, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963298.98 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061495, 594801.31, 49.67) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963300.98 epoch sec; seqNo:10399; 4061498.07 north; 594798.84 east 2020-11-23T22:53:58Z- waiting for 1599963301.98, time is 1599963298.98 2020-11-23T22:53:58Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963301.79 epoch sec; seqNo:10401 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.44 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963301.98, time is 1599963298.98 2020-11-23T22:53:58Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.63 epoch sec; seqNo:1599963302188; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963301.98, time is 1599963298.98 2020-11-23T22:53:58Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963302.59 epoch sec; seqNo:10403 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963301.98, time is 1599963302.59 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963301.79, meas time 1599963302.59 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 6.000 at t=1599963302.59, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963302.59 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061498, 594798.84, 49.63) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963311.41 epoch sec; seqNo:10425; 4061506.74 north; 594795.08 east 2020-11-23T22:53:58Z- waiting for 1599963305.59, time is 1599963302.59 2020-11-23T22:53:58Z- sync is 8.82, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963311.81 epoch sec; seqNo:10426 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.43 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963305.59, time is 1599963302.59 2020-11-23T22:53:58Z- sync is 9.22, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.60 epoch sec; seqNo:1599963311810; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963305.59, time is 1599963302.59 2020-11-23T22:53:58Z- sync is 9.22, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1599963315818; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963305.59, time is 1599963302.59 2020-11-23T22:53:58Z- sync is 9.22, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963315.82 epoch sec; seqNo:10436 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963305.59, time is 1599963315.82 2020-11-23T22:53:58Z- sync is 4.01, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963315.82 epoch sec; seqNo:10436; 4061510.12 north; 594792.60 east 2020-11-23T22:53:58Z- waiting for 1599963305.59, time is 1599963315.82 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963315.82, meas time 1599963315.82 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 19.000 at t=1599963315.82, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963315.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061510, 594792.60, 49.65) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963316.22 epoch sec; seqNo:10437 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.41 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963318.82, time is 1599963315.82 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963320.23 epoch sec; seqNo:10447 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963318.82, time is 1599963320.23 2020-11-23T22:53:58Z- sync is 4.01, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963320.23 epoch sec; seqNo:10447; 4061513.90 north; 594791.34 east 2020-11-23T22:53:58Z- waiting for 1599963318.82, time is 1599963320.23 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963320.23, meas time 1599963320.23 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 24.000 at t=1599963320.23, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963320.23 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061514, 594791.34, 49.65) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963320.63 epoch sec; seqNo:10448 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.40 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963323.23, time is 1599963320.23 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599963320630; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963323.23, time is 1599963320.23 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963321.03 epoch sec; seqNo:10449 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.40 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963323.23, time is 1599963320.23 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963326.24 epoch sec; seqNo:10462 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.39 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963323.23, time is 1599963320.23 2020-11-23T22:53:58Z- sync is 6.01, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963326.64 epoch sec; seqNo:10463 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.39 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963323.23, time is 1599963320.23 2020-11-23T22:53:58Z- sync is 6.41, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963327.04 epoch sec; seqNo:10464 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.39 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963323.23, time is 1599963320.23 2020-11-23T22:53:58Z- sync is 6.81, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963327.44 epoch sec; seqNo:10465 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.39 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963323.23, time is 1599963320.23 2020-11-23T22:53:58Z- sync is 7.21, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1599963327445; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963323.23, time is 1599963320.23 2020-11-23T22:53:58Z- sync is 7.21, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963327.44 epoch sec; seqNo:10465 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963323.23, time is 1599963327.44 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963327.44, meas time 1599963327.44 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 31.000 at t=1599963327.44, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963327.44 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061514, 594791.34, 49.99) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963327.85 epoch sec; seqNo:10466 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.39 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963330.44, time is 1599963327.44 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963335.07 epoch sec; seqNo:10484 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963330.44, time is 1599963335.07 2020-11-23T22:53:58Z- sync is 7.22, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963335.07 epoch sec; seqNo:10484; 4061526.33 north; 594785.10 east 2020-11-23T22:53:58Z- waiting for 1599963330.44, time is 1599963335.07 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963335.07, meas time 1599963335.07 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 5.000 at t=1599963335.07, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963335.07 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061526, 594785.10, 49.99) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963335.46 epoch sec; seqNo:10485 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.39 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963338.07, time is 1599963335.07 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1599963335466; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963338.07, time is 1599963335.07 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963335.47 epoch sec; seqNo:10485; 4061526.71 north; 594785.10 east 2020-11-23T22:53:58Z- waiting for 1599963338.07, time is 1599963335.07 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963345.48 epoch sec; seqNo:10510 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.37 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963338.07, time is 1599963335.07 2020-11-23T22:53:58Z- sync is 10.41, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599963345483; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963338.07, time is 1599963335.07 2020-11-23T22:53:58Z- sync is 10.41, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963345.48 epoch sec; seqNo:10510 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963338.07, time is 1599963345.48 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963345.48, meas time 1599963345.48 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 15.000 at t=1599963345.48, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963345.48 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061527, 594785.10, 50.39) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963345.48 epoch sec; seqNo:10510; 4061535.39 north; 594781.34 east 2020-11-23T22:53:58Z- waiting for 1599963348.48, time is 1599963345.48 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963345.88 epoch sec; seqNo:10511 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.37 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963348.48, time is 1599963345.48 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599963345882; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963348.48, time is 1599963345.48 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963345.88 epoch sec; seqNo:10511 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963348.48, time is 1599963345.88 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963345.88 epoch sec; seqNo:10511; 4061535.77 north; 594781.34 east 2020-11-23T22:53:58Z- waiting for 1599963348.48, time is 1599963345.88 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963346.28 epoch sec; seqNo:10512 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.37 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963348.48, time is 1599963345.88 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599963346282; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963348.48, time is 1599963345.88 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963357.12 epoch sec; seqNo:10539 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.35 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963348.48, time is 1599963345.88 2020-11-23T22:53:58Z- sync is 11.24, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1599963357120; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963348.48, time is 1599963345.88 2020-11-23T22:53:58Z- sync is 11.24, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963357.12 epoch sec; seqNo:10539 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963348.48, time is 1599963357.12 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963357.12, meas time 1599963357.12 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 27.000 at t=1599963357.12, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963357.12 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061536, 594781.34, 50.25) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963357.12 epoch sec; seqNo:10539; 4061545.18 north; 594776.35 east 2020-11-23T22:53:58Z- waiting for 1599963360.12, time is 1599963357.12 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963357.52 epoch sec; seqNo:10540 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.35 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963360.12, time is 1599963357.12 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1599963357520; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963360.12, time is 1599963357.12 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963357.52 epoch sec; seqNo:10540 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963360.12, time is 1599963357.52 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963357.52 epoch sec; seqNo:10540; 4061545.56 north; 594776.35 east 2020-11-23T22:53:58Z- waiting for 1599963360.12, time is 1599963357.52 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963357.92 epoch sec; seqNo:10541; 4061545.94 north; 594776.34 east 2020-11-23T22:53:58Z- waiting for 1599963360.12, time is 1599963357.52 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963358.33 epoch sec; seqNo:10542; 4061546.32 north; 594776.34 east 2020-11-23T22:53:58Z- waiting for 1599963360.12, time is 1599963357.52 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963369.95 epoch sec; seqNo:10571; 4061556.51 north; 594772.56 east 2020-11-23T22:53:58Z- waiting for 1599963360.12, time is 1599963357.52 2020-11-23T22:53:58Z- sync is 12.43, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963370.35 epoch sec; seqNo:10572 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.35 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963360.12, time is 1599963357.52 2020-11-23T22:53:58Z- sync is 12.83, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1599963370347; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963360.12, time is 1599963357.52 2020-11-23T22:53:58Z- sync is 12.83, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963370.35 epoch sec; seqNo:10572 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963360.12, time is 1599963370.35 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963370.35, meas time 1599963370.35 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 6.000 at t=1599963370.35, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963370.35 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061557, 594772.56, 49.92) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963370.35 epoch sec; seqNo:10572; 4061556.89 north; 594772.56 east 2020-11-23T22:53:58Z- waiting for 1599963373.35, time is 1599963370.35 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1599963370748; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963373.35, time is 1599963370.35 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963370.75 epoch sec; seqNo:10573 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963373.35, time is 1599963370.75 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963371.15 epoch sec; seqNo:10574 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963373.35, time is 1599963371.15 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963371.55 epoch sec; seqNo:10575 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963373.35, time is 1599963371.55 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963371.95 epoch sec; seqNo:10576 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963373.35, time is 1599963371.95 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963386.80 epoch sec; seqNo:10613; 4061570.84 north; 594766.30 east 2020-11-23T22:53:58Z- waiting for 1599963373.35, time is 1599963371.95 2020-11-23T22:53:58Z- sync is 14.85, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963387.19 epoch sec; seqNo:10614 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.34 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963373.35, time is 1599963371.95 2020-11-23T22:53:58Z- sync is 15.24, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1599963387194; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963373.35, time is 1599963371.95 2020-11-23T22:53:58Z- sync is 15.24, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963387.19 epoch sec; seqNo:10614 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963373.35, time is 1599963387.19 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963387.19, meas time 1599963387.19 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 23.000 at t=1599963387.19, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963387.19 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061571, 594766.30, 49.72) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963387.20 epoch sec; seqNo:10614; 4061571.21 north; 594766.30 east 2020-11-23T22:53:58Z- waiting for 1599963390.19, time is 1599963387.19 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963387.60 epoch sec; seqNo:10615 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.34 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963390.19, time is 1599963387.19 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1599963387595; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963390.19, time is 1599963387.19 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963387.60 epoch sec; seqNo:10615 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963390.19, time is 1599963387.60 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963387.60 epoch sec; seqNo:10615; 4061571.59 north; 594766.29 east 2020-11-23T22:53:58Z- waiting for 1599963390.19, time is 1599963387.60 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1599963387998; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963390.19, time is 1599963387.60 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963388.00 epoch sec; seqNo:10616 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.04 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963390.19, time is 1599963388.00 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963388.40 epoch sec; seqNo:10617 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.04 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963390.19, time is 1599963388.40 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963407.24 epoch sec; seqNo:10664 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.32 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963390.19, time is 1599963388.40 2020-11-23T22:53:58Z- sync is 18.84, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599963407245; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963390.19, time is 1599963388.40 2020-11-23T22:53:58Z- sync is 18.84, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963407.25 epoch sec; seqNo:10664 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963390.19, time is 1599963407.25 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963407.24, meas time 1599963407.25 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 9.000 at t=1599963407.25, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963407.25 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061572, 594766.29, 49.76) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963407.25 epoch sec; seqNo:10664; 4061588.94 north; 594758.78 east 2020-11-23T22:53:58Z- waiting for 1599963410.25, time is 1599963407.25 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963407.64 epoch sec; seqNo:10665 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.32 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963410.25, time is 1599963407.25 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599963407645; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963410.25, time is 1599963407.25 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963407.64 epoch sec; seqNo:10665 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963410.25, time is 1599963407.64 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963407.65 epoch sec; seqNo:10665; 4061588.94 north; 594758.78 east 2020-11-23T22:53:58Z- waiting for 1599963410.25, time is 1599963407.64 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963408.05 epoch sec; seqNo:10666 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.32 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963410.25, time is 1599963407.64 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963408.05 epoch sec; seqNo:10666 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963410.25, time is 1599963408.05 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963408.05 epoch sec; seqNo:10666; 4061589.32 north; 594758.77 east 2020-11-23T22:53:58Z- waiting for 1599963410.25, time is 1599963408.05 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963430.92 epoch sec; seqNo:10723 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.32 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963410.25, time is 1599963408.05 2020-11-23T22:53:58Z- sync is 22.87, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1599963430920; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963410.25, time is 1599963408.05 2020-11-23T22:53:58Z- sync is 22.87, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963430.92 epoch sec; seqNo:10723 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963410.25, time is 1599963430.92 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963430.92, meas time 1599963430.92 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 32.000 at t=1599963430.92, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963430.92 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061589, 594758.77, 50.41) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963430.92 epoch sec; seqNo:10723; 4061609.32 north; 594751.23 east 2020-11-23T22:53:58Z- waiting for 1599963433.92, time is 1599963430.92 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963431.32 epoch sec; seqNo:10724 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.32 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963433.92, time is 1599963430.92 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1599963431320; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963433.92, time is 1599963430.92 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963431.32 epoch sec; seqNo:10724 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963433.92, time is 1599963431.32 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963431.32 epoch sec; seqNo:10724; 4061609.69 north; 594751.23 east 2020-11-23T22:53:58Z- waiting for 1599963433.92, time is 1599963431.32 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963431.72 epoch sec; seqNo:10725 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.32 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963433.92, time is 1599963431.32 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1599963431721; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963433.92, time is 1599963431.32 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963431.72 epoch sec; seqNo:10725 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963433.92, time is 1599963431.72 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963431.72 epoch sec; seqNo:10725; 4061610.07 north; 594751.22 east 2020-11-23T22:53:58Z- waiting for 1599963433.92, time is 1599963431.72 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963432.12 epoch sec; seqNo:10726 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.32 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963433.92, time is 1599963431.72 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.43 epoch sec; seqNo:1599963432121; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963433.92, time is 1599963431.72 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963432.12 epoch sec; seqNo:10726 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963433.92, time is 1599963432.12 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963432.12 epoch sec; seqNo:10726; 4061610.45 north; 594751.22 east 2020-11-23T22:53:58Z- waiting for 1599963433.92, time is 1599963432.12 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963432.52 epoch sec; seqNo:10727 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.32 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963433.92, time is 1599963432.12 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1599963432521; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963433.92, time is 1599963432.12 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1599963432924; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963433.92, time is 1599963432.12 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1599963433324; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963433.92, time is 1599963432.12 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963456.17 epoch sec; seqNo:10786; 4061631.59 north; 594743.66 east 2020-11-23T22:53:58Z- waiting for 1599963433.92, time is 1599963432.12 2020-11-23T22:53:58Z- sync is 24.05, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963456.57 epoch sec; seqNo:10787 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.32 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963433.92, time is 1599963432.12 2020-11-23T22:53:58Z- sync is 24.45, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.07 epoch sec; seqNo:1599963456572; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963433.92, time is 1599963432.12 2020-11-23T22:53:58Z- sync is 24.45, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963456.57 epoch sec; seqNo:10787 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963433.92, time is 1599963456.57 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963456.57, meas time 1599963456.57 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 24.000 at t=1599963456.57, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963456.57 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061632, 594743.66, 50.07) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963456.58 epoch sec; seqNo:10787; 4061631.95 north; 594742.44 east 2020-11-23T22:53:58Z- waiting for 1599963459.57, time is 1599963456.57 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963456.97 epoch sec; seqNo:10788 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.32 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963459.57, time is 1599963456.57 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.06 epoch sec; seqNo:1599963456976; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963459.57, time is 1599963456.57 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963456.98 epoch sec; seqNo:10788 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963459.57, time is 1599963456.98 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963456.98 epoch sec; seqNo:10788; 4061631.95 north; 594742.44 east 2020-11-23T22:53:58Z- waiting for 1599963459.57, time is 1599963456.98 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963457.38 epoch sec; seqNo:10789 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.32 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963459.57, time is 1599963456.98 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.05 epoch sec; seqNo:1599963457377; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963459.57, time is 1599963456.98 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963457.38 epoch sec; seqNo:10789 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963459.57, time is 1599963457.38 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963457.38 epoch sec; seqNo:10789; 4061632.33 north; 594742.43 east 2020-11-23T22:53:58Z- waiting for 1599963459.57, time is 1599963457.38 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1599963457777; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963459.57, time is 1599963457.38 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963457.78 epoch sec; seqNo:10790 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963459.57, time is 1599963457.78 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963457.78 epoch sec; seqNo:10790; 4061632.71 north; 594742.43 east 2020-11-23T22:53:58Z- waiting for 1599963459.57, time is 1599963457.78 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963458.18 epoch sec; seqNo:10791; 4061633.09 north; 594742.42 east 2020-11-23T22:53:58Z- waiting for 1599963459.57, time is 1599963457.78 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963475.35 epoch sec; seqNo:10832 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.29 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963459.57, time is 1599963457.78 2020-11-23T22:53:58Z- sync is 17.57, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599963475348; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963459.57, time is 1599963457.78 2020-11-23T22:53:58Z- sync is 17.57, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963475.35 epoch sec; seqNo:10832 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963459.57, time is 1599963475.35 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963475.35, meas time 1599963475.35 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 9.000 at t=1599963475.35, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963475.35 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061633, 594742.42, 49.69) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963475.35 epoch sec; seqNo:10832; 4061648.19 north; 594737.37 east 2020-11-23T22:53:58Z- waiting for 1599963478.35, time is 1599963475.35 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963475.75 epoch sec; seqNo:10833 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.29 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963478.35, time is 1599963475.35 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599963475749; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963478.35, time is 1599963475.35 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963475.75 epoch sec; seqNo:10833 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963478.35, time is 1599963475.75 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963475.75 epoch sec; seqNo:10833; 4061648.57 north; 594737.37 east 2020-11-23T22:53:58Z- waiting for 1599963478.35, time is 1599963475.75 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599963476149; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963478.35, time is 1599963475.75 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963476.15 epoch sec; seqNo:10834 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963478.35, time is 1599963476.15 2020-11-23T22:53:58Z- sync is 0.39, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963476.15 epoch sec; seqNo:10834; 4061648.95 north; 594737.37 east 2020-11-23T22:53:58Z- waiting for 1599963478.35, time is 1599963476.15 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599963476549; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963478.35, time is 1599963476.15 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.06 epoch sec; seqNo:1599963503033; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963478.35, time is 1599963476.15 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963503.03 epoch sec; seqNo:10901 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963478.35, time is 1599963503.03 2020-11-23T22:53:58Z- sync is 26.88, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963503.03 epoch sec; seqNo:10901; 4061672.72 north; 594728.56 east 2020-11-23T22:53:58Z- waiting for 1599963478.35, time is 1599963503.03 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963503.03, meas time 1599963503.03 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 3.000 at t=1599963503.03, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963503.03 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061673, 594728.56, 50.06) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963503.43 epoch sec; seqNo:10902 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.29 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963506.03, time is 1599963503.03 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.07 epoch sec; seqNo:1599963503433; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963506.03, time is 1599963503.03 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963503.43 epoch sec; seqNo:10902 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963506.03, time is 1599963503.43 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963503.43 epoch sec; seqNo:10902; 4061673.10 north; 594728.56 east 2020-11-23T22:53:58Z- waiting for 1599963506.03, time is 1599963503.43 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963503.83 epoch sec; seqNo:10903 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.29 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963506.03, time is 1599963503.43 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.08 epoch sec; seqNo:1599963503835; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963506.03, time is 1599963503.43 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963503.84 epoch sec; seqNo:10903 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963506.03, time is 1599963503.84 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963503.84 epoch sec; seqNo:10903; 4061673.10 north; 594728.56 east 2020-11-23T22:53:58Z- waiting for 1599963506.03, time is 1599963503.84 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963504.24 epoch sec; seqNo:10904 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.29 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963506.03, time is 1599963503.84 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.09 epoch sec; seqNo:1599963504236; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963506.03, time is 1599963503.84 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963504.24 epoch sec; seqNo:10904 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963506.03, time is 1599963504.24 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963504.64 epoch sec; seqNo:10905 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.29 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963506.03, time is 1599963504.24 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963505.04 epoch sec; seqNo:10906 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.29 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963506.03, time is 1599963504.24 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963505.44 epoch sec; seqNo:10907 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.29 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963506.03, time is 1599963504.24 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963505.84 epoch sec; seqNo:10908 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.29 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963506.03, time is 1599963504.24 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963506.24 epoch sec; seqNo:10909 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.29 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963506.03, time is 1599963504.24 2020-11-23T22:53:58Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963506.64 epoch sec; seqNo:10910 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.29 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963506.03, time is 1599963504.24 2020-11-23T22:53:58Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963507.04 epoch sec; seqNo:10911 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.29 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963506.03, time is 1599963504.24 2020-11-23T22:53:58Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963521.48 epoch sec; seqNo:10947 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963506.03, time is 1599963521.48 2020-11-23T22:53:58Z- sync is 14.44, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963521.48 epoch sec; seqNo:10947; 4061688.94 north; 594722.28 east 2020-11-23T22:53:58Z- waiting for 1599963506.03, time is 1599963521.48 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963521.48, meas time 1599963521.48 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 21.000 at t=1599963521.48, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963521.48 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061689, 594722.28, 50.09) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963521.88 epoch sec; seqNo:10948 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963524.48, time is 1599963521.48 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1599963521877; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963524.48, time is 1599963521.48 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963521.88 epoch sec; seqNo:10948 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963524.48, time is 1599963521.88 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963521.88 epoch sec; seqNo:10948; 4061688.94 north; 594722.28 east 2020-11-23T22:53:58Z- waiting for 1599963524.48, time is 1599963521.88 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963522.28 epoch sec; seqNo:10949 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963524.48, time is 1599963521.88 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1599963522281; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963524.48, time is 1599963521.88 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963522.28 epoch sec; seqNo:10949 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963524.48, time is 1599963522.28 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963522.29 epoch sec; seqNo:10949; 4061689.32 north; 594722.27 east 2020-11-23T22:53:58Z- waiting for 1599963524.48, time is 1599963522.28 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963522.68 epoch sec; seqNo:10950 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963524.48, time is 1599963522.28 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1599963522682; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963524.48, time is 1599963522.28 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963522.69 epoch sec; seqNo:10950; 4061689.70 north; 594722.27 east 2020-11-23T22:53:58Z- waiting for 1599963524.48, time is 1599963522.28 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963523.08 epoch sec; seqNo:10951 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963524.48, time is 1599963522.28 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1599963523083; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963524.48, time is 1599963522.28 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963523.09 epoch sec; seqNo:10951; 4061690.08 north; 594722.27 east 2020-11-23T22:53:58Z- waiting for 1599963524.48, time is 1599963522.28 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963523.48 epoch sec; seqNo:10952 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963524.48, time is 1599963522.28 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1599963523483; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963524.48, time is 1599963522.28 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963523.49 epoch sec; seqNo:10952; 4061690.46 north; 594722.26 east 2020-11-23T22:53:58Z- waiting for 1599963524.48, time is 1599963522.28 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963523.89 epoch sec; seqNo:10953; 4061690.84 north; 594722.26 east 2020-11-23T22:53:58Z- waiting for 1599963524.48, time is 1599963522.28 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963532.30 epoch sec; seqNo:10974 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963524.48, time is 1599963522.28 2020-11-23T22:53:58Z- sync is 10.02, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.02 epoch sec; seqNo:1599963532303; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963524.48, time is 1599963522.28 2020-11-23T22:53:58Z- sync is 10.02, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963532.30 epoch sec; seqNo:10974 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963524.48, time is 1599963532.30 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963532.30, meas time 1599963532.30 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 32.000 at t=1599963532.30, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963532.30 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061691, 594722.26, 50.02) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963532.30 epoch sec; seqNo:10974; 4061698.39 north; 594719.73 east 2020-11-23T22:53:58Z- waiting for 1599963535.30, time is 1599963532.30 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.01 epoch sec; seqNo:1599963532704; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963535.30, time is 1599963532.30 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963532.71 epoch sec; seqNo:10975 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963535.30, time is 1599963532.71 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963532.71 epoch sec; seqNo:10975; 4061698.77 north; 594719.73 east 2020-11-23T22:53:58Z- waiting for 1599963535.30, time is 1599963532.71 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963533.11 epoch sec; seqNo:10976 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963535.30, time is 1599963533.11 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963533.51 epoch sec; seqNo:10977 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963535.30, time is 1599963533.51 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963533.91 epoch sec; seqNo:10978 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963535.30, time is 1599963533.91 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963539.92 epoch sec; seqNo:10993 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963535.30, time is 1599963539.92 2020-11-23T22:53:58Z- sync is 7.21, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963539.92 epoch sec; seqNo:10993; 4061704.80 north; 594717.22 east 2020-11-23T22:53:58Z- waiting for 1599963535.30, time is 1599963539.92 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963539.92, meas time 1599963539.92 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 5.000 at t=1599963539.92, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963539.92 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061705, 594717.22, 50.01) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963540.32 epoch sec; seqNo:10994 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963542.92, time is 1599963539.92 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1599963540319; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963542.92, time is 1599963539.92 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963540.32 epoch sec; seqNo:10994 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963542.92, time is 1599963540.32 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963540.32 epoch sec; seqNo:10994; 4061705.18 north; 594717.22 east 2020-11-23T22:53:58Z- waiting for 1599963542.92, time is 1599963540.32 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1599963540719; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963542.92, time is 1599963540.32 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963545.14 epoch sec; seqNo:11006 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963542.92, time is 1599963540.32 2020-11-23T22:53:58Z- sync is 4.82, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599963545140; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963542.92, time is 1599963540.32 2020-11-23T22:53:58Z- sync is 4.82, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963545.14 epoch sec; seqNo:11006 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963542.92, time is 1599963545.14 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963545.14, meas time 1599963545.14 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 11.000 at t=1599963545.14, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963545.14 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061705, 594717.22, 49.82) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963545.54 epoch sec; seqNo:11007 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963548.14, time is 1599963545.54 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963545.94 epoch sec; seqNo:11008 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963548.14, time is 1599963545.94 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963547.95 epoch sec; seqNo:11013; 4061711.97 north; 594714.70 east 2020-11-23T22:53:58Z- waiting for 1599963548.14, time is 1599963545.94 2020-11-23T22:53:58Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963548.35 epoch sec; seqNo:11014 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963548.14, time is 1599963545.94 2020-11-23T22:53:58Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599963549959; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963548.14, time is 1599963545.94 2020-11-23T22:53:58Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963549.96 epoch sec; seqNo:11018 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963548.14, time is 1599963549.96 2020-11-23T22:53:58Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963548.35, meas time 1599963549.96 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 15.000 at t=1599963549.96, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963549.96 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061712, 594714.70, 49.78) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963550.76 epoch sec; seqNo:11020; 4061714.61 north; 594713.45 east 2020-11-23T22:53:58Z- waiting for 1599963552.96, time is 1599963549.96 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963551.16 epoch sec; seqNo:11021 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963552.96, time is 1599963549.96 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963551.96 epoch sec; seqNo:11023 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963552.96, time is 1599963551.96 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963552.77 epoch sec; seqNo:11025; 4061716.12 north; 594713.43 east 2020-11-23T22:53:58Z- waiting for 1599963552.96, time is 1599963551.96 2020-11-23T22:53:58Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963553.57 epoch sec; seqNo:11027 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963552.96, time is 1599963551.96 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599963553969; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963552.96, time is 1599963551.96 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963554.37 epoch sec; seqNo:11029 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963552.96, time is 1599963554.37 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963553.57, meas time 1599963554.37 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 20.000 at t=1599963554.37, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963554.37 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061716, 594713.43, 49.77) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963556.78 epoch sec; seqNo:11035; 4061719.90 north; 594712.17 east 2020-11-23T22:53:58Z- waiting for 1599963557.37, time is 1599963554.37 2020-11-23T22:53:58Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963557.17 epoch sec; seqNo:11036 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963557.37, time is 1599963554.37 2020-11-23T22:53:58Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599963557575; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963557.37, time is 1599963554.37 2020-11-23T22:53:58Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963557.98 epoch sec; seqNo:11038 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963557.37, time is 1599963557.98 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963557.17, meas time 1599963557.98 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 23.000 at t=1599963557.98, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963557.98 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061720, 594712.17, 49.76) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963558.78 epoch sec; seqNo:11040; 4061721.40 north; 594710.94 east 2020-11-23T22:53:58Z- waiting for 1599963560.98, time is 1599963557.98 2020-11-23T22:53:58Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963559.58 epoch sec; seqNo:11042 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963560.98, time is 1599963557.98 2020-11-23T22:53:58Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599963559583; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963560.98, time is 1599963557.98 2020-11-23T22:53:58Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963559.58 epoch sec; seqNo:11042 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963560.98, time is 1599963559.58 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963560.39 epoch sec; seqNo:11044; 4061722.92 north; 594710.92 east 2020-11-23T22:53:58Z- waiting for 1599963560.98, time is 1599963559.58 2020-11-23T22:53:58Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963561.18 epoch sec; seqNo:11046 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963560.98, time is 1599963559.58 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599963561587; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963560.98, time is 1599963559.58 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963561.99 epoch sec; seqNo:11048 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963560.98, time is 1599963561.99 2020-11-23T22:53:58Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963561.18, meas time 1599963561.99 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 27.000 at t=1599963561.99, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963561.99 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061723, 594710.92, 49.77) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963562.79 epoch sec; seqNo:11050; 4061725.18 north; 594709.67 east 2020-11-23T22:53:58Z- waiting for 1599963564.99, time is 1599963561.99 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963563.59 epoch sec; seqNo:11052 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963564.99, time is 1599963561.99 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599963563995; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963564.99, time is 1599963561.99 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599963564395; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963564.99, time is 1599963561.99 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599963564795; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963564.99, time is 1599963561.99 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963565.20 epoch sec; seqNo:11056; 4061727.07 north; 594709.65 east 2020-11-23T22:53:58Z- waiting for 1599963564.99, time is 1599963561.99 2020-11-23T22:53:58Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963565.60 epoch sec; seqNo:11057 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963564.99, time is 1599963561.99 2020-11-23T22:53:58Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1599963566399; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963564.99, time is 1599963561.99 2020-11-23T22:53:58Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963566.40 epoch sec; seqNo:11059 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963564.99, time is 1599963566.40 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963565.60, meas time 1599963566.40 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 32.000 at t=1599963566.40, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963566.40 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061727, 594709.65, 49.79) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963568.81 epoch sec; seqNo:11065; 4061730.47 north; 594708.39 east 2020-11-23T22:53:58Z- waiting for 1599963569.40, time is 1599963566.40 2020-11-23T22:53:58Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963569.61 epoch sec; seqNo:11067 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963569.40, time is 1599963566.40 2020-11-23T22:53:58Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1599963570013; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963569.40, time is 1599963566.40 2020-11-23T22:53:58Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963570.41 epoch sec; seqNo:11069 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963569.40, time is 1599963570.41 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963569.61, meas time 1599963570.41 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 2.000 at t=1599963570.41, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963570.41 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061730, 594708.39, 49.81) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963570.81 epoch sec; seqNo:11070; 4061731.97 north; 594707.16 east 2020-11-23T22:53:58Z- waiting for 1599963573.41, time is 1599963570.41 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963571.62 epoch sec; seqNo:11072 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963573.41, time is 1599963570.41 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599963572020; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963573.41, time is 1599963570.41 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963572.02 epoch sec; seqNo:11073 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963573.41, time is 1599963572.02 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963572.83 epoch sec; seqNo:11075; 4061733.86 north; 594707.14 east 2020-11-23T22:53:58Z- waiting for 1599963573.41, time is 1599963572.02 2020-11-23T22:53:58Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1599963573626; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963573.41, time is 1599963572.02 2020-11-23T22:53:58Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963573.63 epoch sec; seqNo:11077 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963573.41, time is 1599963573.63 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963572.83, meas time 1599963573.63 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 5.000 at t=1599963573.63, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963573.63 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061734, 594707.14, 49.83) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963574.43 epoch sec; seqNo:11079; 4061735.36 north; 594705.90 east 2020-11-23T22:53:58Z- waiting for 1599963576.63, time is 1599963573.63 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963574.83 epoch sec; seqNo:11080; 4061735.74 north; 594705.89 east 2020-11-23T22:53:58Z- waiting for 1599963576.63, time is 1599963573.63 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963575.63 epoch sec; seqNo:11082 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963576.63, time is 1599963573.63 2020-11-23T22:53:58Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.86 epoch sec; seqNo:1599963576431; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963576.63, time is 1599963573.63 2020-11-23T22:53:58Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963576.43 epoch sec; seqNo:11084 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963576.63, time is 1599963576.43 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963578.85 epoch sec; seqNo:11090; 4061739.14 north; 594704.64 east 2020-11-23T22:53:58Z- waiting for 1599963576.63, time is 1599963576.43 2020-11-23T22:53:58Z- sync is 2.42, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963579.24 epoch sec; seqNo:11091 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963576.63, time is 1599963576.43 2020-11-23T22:53:58Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1599963580049; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963576.63, time is 1599963576.43 2020-11-23T22:53:58Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963580.05 epoch sec; seqNo:11093 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963576.63, time is 1599963580.05 2020-11-23T22:53:58Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963579.24, meas time 1599963580.05 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 12.000 at t=1599963580.05, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963580.05 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061739, 594704.64, 49.90) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963580.85 epoch sec; seqNo:11095; 4061741.03 north; 594704.62 east 2020-11-23T22:53:58Z- waiting for 1599963583.05, time is 1599963580.05 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1599963581651; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963583.05, time is 1599963580.05 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963582.05 epoch sec; seqNo:11098 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963583.05, time is 1599963582.05 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963582.86 epoch sec; seqNo:11100; 4061742.54 north; 594703.38 east 2020-11-23T22:53:58Z- waiting for 1599963583.05, time is 1599963582.05 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1599963583661; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963583.05, time is 1599963582.05 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1599963584062; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963583.05, time is 1599963582.05 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963584.46 epoch sec; seqNo:11104 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963583.05, time is 1599963584.46 2020-11-23T22:53:58Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963582.86, meas time 1599963584.46 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 16.000 at t=1599963584.46, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963584.46 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061743, 594703.38, 49.94) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963584.87 epoch sec; seqNo:11105; 4061744.43 north; 594703.36 east 2020-11-23T22:53:58Z- waiting for 1599963587.46, time is 1599963584.46 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599963662685; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963587.46, time is 1599963584.46 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963662.68 epoch sec; seqNo:11299 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963587.46, time is 1599963662.68 2020-11-23T22:53:58Z- sync is 77.82, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963662.68 epoch sec; seqNo:11299; 4061812.75 north; 594679.41 east 2020-11-23T22:53:58Z- waiting for 1599963587.46, time is 1599963662.68 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963662.68, meas time 1599963662.68 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 26.000 at t=1599963662.68, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963662.68 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061813, 594679.41, 49.69) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963663.09 epoch sec; seqNo:11300 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.28 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963662.68 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599963663086; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963662.68 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963663.09 epoch sec; seqNo:11300 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963663.09 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963663.09 epoch sec; seqNo:11300; 4061813.12 north; 594679.41 east 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963663.09 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963663.49 epoch sec; seqNo:11301 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.28 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963663.09 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599963663487; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963663.09 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963663.49 epoch sec; seqNo:11301 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963663.49 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963663.49 epoch sec; seqNo:11301; 4061813.50 north; 594679.41 east 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963663.49 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963663.89 epoch sec; seqNo:11302 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.28 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963663.49 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599963663891; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963663.49 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963663.89 epoch sec; seqNo:11302 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963663.89 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963664.29 epoch sec; seqNo:11303 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.28 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963663.89 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963664.29 epoch sec; seqNo:11303 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963664.29 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963664.69 epoch sec; seqNo:11304 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.28 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963664.29 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963665.10 epoch sec; seqNo:11305 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.28 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963664.29 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963665.49 epoch sec; seqNo:11306 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.28 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963664.29 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963665.89 epoch sec; seqNo:11307 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.28 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963664.29 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963666.30 epoch sec; seqNo:11308 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.28 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963664.29 2020-11-23T22:53:58Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963666.70 epoch sec; seqNo:11309 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.28 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963664.29 2020-11-23T22:53:58Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963667.10 epoch sec; seqNo:11310 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.28 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963664.29 2020-11-23T22:53:58Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963686.76 epoch sec; seqNo:11359 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963664.29 2020-11-23T22:53:58Z- sync is 22.46, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1599963686755; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963664.29 2020-11-23T22:53:58Z- sync is 22.46, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963686.76 epoch sec; seqNo:11359 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963665.68, time is 1599963686.76 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963686.76, meas time 1599963686.76 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 16.000 at t=1599963686.76, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963686.76 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061814, 594679.41, 49.99) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963686.76 epoch sec; seqNo:11359; 4061833.88 north; 594671.86 east 2020-11-23T22:53:58Z- waiting for 1599963689.76, time is 1599963686.76 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963687.16 epoch sec; seqNo:11360 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963689.76, time is 1599963686.76 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.00 epoch sec; seqNo:1599963687158; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963689.76, time is 1599963686.76 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963687.16 epoch sec; seqNo:11360 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963689.76, time is 1599963687.16 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963687.16 epoch sec; seqNo:11360; 4061834.26 north; 594671.85 east 2020-11-23T22:53:58Z- waiting for 1599963689.76, time is 1599963687.16 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963687.56 epoch sec; seqNo:11361 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963689.76, time is 1599963687.16 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.01 epoch sec; seqNo:1599963687557; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963689.76, time is 1599963687.16 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963687.56 epoch sec; seqNo:11361; 4061834.64 north; 594671.85 east 2020-11-23T22:53:58Z- waiting for 1599963689.76, time is 1599963687.16 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963687.96 epoch sec; seqNo:11362 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963689.76, time is 1599963687.16 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1599963687958; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963689.76, time is 1599963687.16 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963687.96 epoch sec; seqNo:11362; 4061835.02 north; 594671.84 east 2020-11-23T22:53:58Z- waiting for 1599963689.76, time is 1599963687.16 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963688.36 epoch sec; seqNo:11363 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963689.76, time is 1599963687.16 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1599963688359; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963689.76, time is 1599963687.16 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963688.36 epoch sec; seqNo:11363; 4061835.40 north; 594671.84 east 2020-11-23T22:53:58Z- waiting for 1599963689.76, time is 1599963687.16 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963688.76 epoch sec; seqNo:11364; 4061835.77 north; 594671.84 east 2020-11-23T22:53:58Z- waiting for 1599963689.76, time is 1599963687.16 2020-11-23T22:53:58Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963689.16 epoch sec; seqNo:11365; 4061836.14 north; 594670.61 east 2020-11-23T22:53:58Z- waiting for 1599963689.76, time is 1599963687.16 2020-11-23T22:53:58Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963689.56 epoch sec; seqNo:11366; 4061836.52 north; 594670.61 east 2020-11-23T22:53:58Z- waiting for 1599963689.76, time is 1599963687.16 2020-11-23T22:53:58Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.09 epoch sec; seqNo:1599963689962; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963689.76, time is 1599963687.16 2020-11-23T22:53:58Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963689.97 epoch sec; seqNo:11367 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963689.76, time is 1599963689.97 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963689.56, meas time 1599963689.97 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 19.000 at t=1599963689.97, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963689.97 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061837, 594670.61, 50.09) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963690.37 epoch sec; seqNo:11368 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963692.97, time is 1599963690.37 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963709.22 epoch sec; seqNo:11415; 4061853.50 north; 594664.32 east 2020-11-23T22:53:58Z- waiting for 1599963692.97, time is 1599963690.37 2020-11-23T22:53:58Z- sync is 18.86, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963709.62 epoch sec; seqNo:11416 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963692.97, time is 1599963690.37 2020-11-23T22:53:58Z- sync is 19.25, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1599963709620; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963692.97, time is 1599963690.37 2020-11-23T22:53:58Z- sync is 19.25, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963709.62 epoch sec; seqNo:11416 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963692.97, time is 1599963709.62 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963709.62, meas time 1599963709.62 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 5.000 at t=1599963709.62, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963709.62 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061853, 594664.32, 50.44) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963709.62 epoch sec; seqNo:11416; 4061853.88 north; 594664.31 east 2020-11-23T22:53:58Z- waiting for 1599963712.62, time is 1599963709.62 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963710.02 epoch sec; seqNo:11417 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963712.62, time is 1599963709.62 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.43 epoch sec; seqNo:1599963710021; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963712.62, time is 1599963709.62 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963710.02 epoch sec; seqNo:11417 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963712.62, time is 1599963710.02 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.43 epoch sec; seqNo:1599963710421; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963712.62, time is 1599963710.02 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963710.42 epoch sec; seqNo:11418 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963712.62, time is 1599963710.42 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963710.82 epoch sec; seqNo:11419 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963712.62, time is 1599963710.82 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963711.22 epoch sec; seqNo:11420 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963712.62, time is 1599963711.22 2020-11-23T22:53:58Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963721.25 epoch sec; seqNo:11445; 4061864.07 north; 594660.54 east 2020-11-23T22:53:58Z- waiting for 1599963712.62, time is 1599963711.22 2020-11-23T22:53:58Z- sync is 10.03, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963721.65 epoch sec; seqNo:11446 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.30 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963712.62, time is 1599963711.22 2020-11-23T22:53:58Z- sync is 10.43, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1599963721649; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963712.62, time is 1599963711.22 2020-11-23T22:53:58Z- sync is 10.43, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963721.65 epoch sec; seqNo:11446 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963712.62, time is 1599963721.65 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963721.65, meas time 1599963721.65 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 17.000 at t=1599963721.65, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963721.65 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061864, 594660.54, 50.20) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963721.65 epoch sec; seqNo:11446; 4061864.44 north; 594660.54 east 2020-11-23T22:53:58Z- waiting for 1599963724.65, time is 1599963721.65 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963722.05 epoch sec; seqNo:11447 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963724.65, time is 1599963722.05 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963722.45 epoch sec; seqNo:11448 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963724.65, time is 1599963722.45 2020-11-23T22:53:58Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963758.95 epoch sec; seqNo:11539 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.28 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963724.65, time is 1599963722.45 2020-11-23T22:53:58Z- sync is 36.50, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963759.35 epoch sec; seqNo:11540 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963724.65, time is 1599963759.35 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963758.95, meas time 1599963759.35 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 21.000 at t=1599963759.35, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963759.35 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061864, 594660.54, 50.20) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963759.35 epoch sec; seqNo:11540; 4061897.68 north; 594650.40 east 2020-11-23T22:53:58Z- waiting for 1599963762.35, time is 1599963759.35 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963759.75 epoch sec; seqNo:11541 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.28 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963762.35, time is 1599963759.35 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1599963760150; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963762.35, time is 1599963759.35 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963760.15 epoch sec; seqNo:11542 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963762.35, time is 1599963760.15 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963764.56 epoch sec; seqNo:11553; 4061902.19 north; 594647.91 east 2020-11-23T22:53:58Z- waiting for 1599963762.35, time is 1599963760.15 2020-11-23T22:53:58Z- sync is 4.41, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963764.96 epoch sec; seqNo:11554 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.29 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963762.35, time is 1599963760.15 2020-11-23T22:53:58Z- sync is 4.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599963764959; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963762.35, time is 1599963760.15 2020-11-23T22:53:58Z- sync is 4.81, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963768.97 epoch sec; seqNo:11564 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.02 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963762.35, time is 1599963768.97 2020-11-23T22:53:58Z- sync is 4.01, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963774.58 epoch sec; seqNo:11578 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.64 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963762.35, time is 1599963768.97 2020-11-23T22:53:58Z- sync is 5.62, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1599963774583; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963762.35, time is 1599963768.97 2020-11-23T22:53:58Z- sync is 5.62, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963774.58 epoch sec; seqNo:11578 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.06 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963762.35, time is 1599963774.58 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963774.58, meas time 1599963774.58 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 2.000 at t=1599963774.58, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963774.58 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061902, 594647.91, 50.04) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963774.59 epoch sec; seqNo:11578; 4061910.88 north; 594645.38 east 2020-11-23T22:53:58Z- waiting for 1599963777.58, time is 1599963774.58 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963774.98 epoch sec; seqNo:11579 2020-11-23T22:53:58Z- AHRS_M2 msg: -0.68 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963777.58, time is 1599963774.58 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963774.99 epoch sec; seqNo:11579; 4061911.25 north; 594644.15 east 2020-11-23T22:53:58Z- waiting for 1599963777.58, time is 1599963774.58 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963783.80 epoch sec; seqNo:11601 2020-11-23T22:53:58Z- AHRS_M2 msg: -1.36 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963777.58, time is 1599963774.58 2020-11-23T22:53:58Z- sync is 9.22, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1599963783804; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963777.58, time is 1599963774.58 2020-11-23T22:53:58Z- sync is 9.22, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963783.81 epoch sec; seqNo:11601 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.04 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963777.58, time is 1599963783.81 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963783.80, meas time 1599963783.81 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 11.000 at t=1599963783.81, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963783.81 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061911, 594644.15, 50.31) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963783.81 epoch sec; seqNo:11601; 4061915.35 north; 594638.00 east 2020-11-23T22:53:58Z- waiting for 1599963786.81, time is 1599963783.81 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1599963784204; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963786.81, time is 1599963783.81 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1599963784604; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963786.81, time is 1599963783.81 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1599963785005; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963786.81, time is 1599963783.81 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963794.22 epoch sec; seqNo:11627; 4061913.72 north; 594628.26 east 2020-11-23T22:53:58Z- waiting for 1599963786.81, time is 1599963783.81 2020-11-23T22:53:58Z- sync is 10.42, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963794.62 epoch sec; seqNo:11628 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.19 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963786.81, time is 1599963783.81 2020-11-23T22:53:58Z- sync is 10.82, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.43 epoch sec; seqNo:1599963794624; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963786.81, time is 1599963783.81 2020-11-23T22:53:58Z- sync is 10.82, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963794.62 epoch sec; seqNo:11628 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.06 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963786.81, time is 1599963794.62 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963794.62, meas time 1599963794.62 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 22.000 at t=1599963794.62, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963794.62 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061914, 594628.26, 50.43) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963794.62 epoch sec; seqNo:11628; 4061913.34 north; 594628.26 east 2020-11-23T22:53:58Z- waiting for 1599963797.62, time is 1599963794.62 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963795.03 epoch sec; seqNo:11629 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.22 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963797.62, time is 1599963794.62 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.43 epoch sec; seqNo:1599963795027; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963797.62, time is 1599963794.62 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963795.03 epoch sec; seqNo:11629 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.06 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963797.62, time is 1599963795.03 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1599963807461; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963797.62, time is 1599963795.03 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963807.46 epoch sec; seqNo:11660 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.05 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963797.62, time is 1599963807.46 2020-11-23T22:53:58Z- sync is 12.43, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963807.46 epoch sec; seqNo:11660; 4061902.66 north; 594621.06 east 2020-11-23T22:53:58Z- waiting for 1599963797.62, time is 1599963807.46 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963807.46, meas time 1599963807.46 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 1.000 at t=1599963807.46, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963807.46 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061903, 594621.06, 50.29) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963807.86 epoch sec; seqNo:11661 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.92 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963810.46, time is 1599963807.46 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1599963807862; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963810.46, time is 1599963807.46 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963807.86 epoch sec; seqNo:11661 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.05 , -0.01 2020-11-23T22:53:58Z- waiting for 1599963810.46, time is 1599963807.86 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963807.87 epoch sec; seqNo:11661; 4061902.28 north; 594621.06 east 2020-11-23T22:53:58Z- waiting for 1599963810.46, time is 1599963807.86 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963808.27 epoch sec; seqNo:11662; 4061901.90 north; 594621.07 east 2020-11-23T22:53:58Z- waiting for 1599963810.46, time is 1599963807.86 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963823.51 epoch sec; seqNo:11700 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.79 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963810.46, time is 1599963807.86 2020-11-23T22:53:58Z- sync is 15.64, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1599963823507; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963810.46, time is 1599963807.86 2020-11-23T22:53:58Z- sync is 15.64, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963823.51 epoch sec; seqNo:11700 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963810.46, time is 1599963823.51 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963823.51, meas time 1599963823.51 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 17.000 at t=1599963823.51, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963823.51 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061902, 594621.07, 49.81) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963823.51 epoch sec; seqNo:11700; 4061885.57 north; 594617.59 east 2020-11-23T22:53:58Z- waiting for 1599963826.51, time is 1599963823.51 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963823.91 epoch sec; seqNo:11701 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.77 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963826.51, time is 1599963823.51 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1599963823907; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963826.51, time is 1599963823.51 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963823.91 epoch sec; seqNo:11701 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963826.51, time is 1599963823.91 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963823.91 epoch sec; seqNo:11701; 4061885.19 north; 594617.59 east 2020-11-23T22:53:58Z- waiting for 1599963826.51, time is 1599963823.91 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599963824305; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963826.51, time is 1599963823.91 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963824.31 epoch sec; seqNo:11702 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.07 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963826.51, time is 1599963824.31 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963824.31 epoch sec; seqNo:11702; 4061884.81 north; 594617.59 east 2020-11-23T22:53:58Z- waiting for 1599963826.51, time is 1599963824.31 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599963824706; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963826.51, time is 1599963824.31 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963824.71 epoch sec; seqNo:11703; 4061884.43 north; 594617.60 east 2020-11-23T22:53:58Z- waiting for 1599963826.51, time is 1599963824.31 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963841.55 epoch sec; seqNo:11745; 4061869.55 north; 594608.00 east 2020-11-23T22:53:58Z- waiting for 1599963826.51, time is 1599963824.31 2020-11-23T22:53:58Z- sync is 17.24, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963841.95 epoch sec; seqNo:11746 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.21 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963826.51, time is 1599963824.31 2020-11-23T22:53:58Z- sync is 17.64, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.50 epoch sec; seqNo:1599963841947; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963826.51, time is 1599963824.31 2020-11-23T22:53:58Z- sync is 17.64, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963841.95 epoch sec; seqNo:11746 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.11 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963826.51, time is 1599963841.95 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- LcmTrn::updateTrn() >>>> pose time 1599963841.95, meas time 1599963841.95 <<<< 2020-11-23T22:53:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 1.000 at t=1599963841.95, ping # 0. 2020-11-23T22:53:58Z- TerrainNav::Measurement type 1 from time = 1599963841.95 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:58Z- TerrainNav::motionUpdate() - currEstimate = (4061870, 594608.00, 49.50) 2020-11-23T22:53:58Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963841.95 epoch sec; seqNo:11746; 4061869.55 north; 594608.00 east 2020-11-23T22:53:58Z- waiting for 1599963844.95, time is 1599963841.95 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- AHRS_M2 msg: 1599963842.35 epoch sec; seqNo:11747 2020-11-23T22:53:58Z- AHRS_M2 msg: -2.20 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:58Z- waiting for 1599963844.95, time is 1599963841.95 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.50 epoch sec; seqNo:1599963842347; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963844.95, time is 1599963841.95 2020-11-23T22:53:58Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963842.35 epoch sec; seqNo:11747 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.11 , -0.02 2020-11-23T22:53:58Z- waiting for 1599963844.95, time is 1599963842.35 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963842.35 epoch sec; seqNo:11747; 4061869.16 north; 594606.78 east 2020-11-23T22:53:58Z- waiting for 1599963844.95, time is 1599963842.35 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDepth()-Depth_Keller msg: 49.50 epoch sec; seqNo:1599963842747; depth 0.00 2020-11-23T22:53:58Z- waiting for 1599963844.95, time is 1599963842.35 2020-11-23T22:53:58Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: 1599963842.75 epoch sec; seqNo:11748 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.10 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963844.95, time is 1599963842.75 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963842.75 epoch sec; seqNo:11748; 4061868.78 north; 594606.79 east 2020-11-23T22:53:59Z- waiting for 1599963844.95, time is 1599963842.75 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.51 epoch sec; seqNo:1599963843149; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963844.95, time is 1599963842.75 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963843.15 epoch sec; seqNo:11749 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.10 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963844.95, time is 1599963843.15 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963861.20 epoch sec; seqNo:11794 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.09 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963844.95, time is 1599963861.20 2020-11-23T22:53:59Z- sync is 18.45, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963861.20 epoch sec; seqNo:11794; 4061858.75 north; 594591.03 east 2020-11-23T22:53:59Z- waiting for 1599963844.95, time is 1599963861.20 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599963861.20, meas time 1599963861.20 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 21.000 at t=1599963861.20, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599963861.20 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061859, 594591.03, 49.51) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963861.60 epoch sec; seqNo:11795 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.91 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963864.20, time is 1599963861.20 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.02 epoch sec; seqNo:1599963861600; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963864.20, time is 1599963861.20 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963861.60 epoch sec; seqNo:11795 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.09 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963864.20, time is 1599963861.60 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963861.60 epoch sec; seqNo:11795; 4061858.36 north; 594589.82 east 2020-11-23T22:53:59Z- waiting for 1599963864.20, time is 1599963861.60 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963862.00 epoch sec; seqNo:11796 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.91 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963864.20, time is 1599963861.60 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1599963861999; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963864.20, time is 1599963861.60 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963862.00 epoch sec; seqNo:11796 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963864.20, time is 1599963862.00 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963862.40 epoch sec; seqNo:11797 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.91 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963864.20, time is 1599963862.00 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.05 epoch sec; seqNo:1599963862400; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963864.20, time is 1599963862.00 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963862.40 epoch sec; seqNo:11797 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963864.20, time is 1599963862.40 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963862.80 epoch sec; seqNo:11798 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.91 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963864.20, time is 1599963862.40 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963863.20 epoch sec; seqNo:11799 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.91 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963864.20, time is 1599963862.40 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963863.60 epoch sec; seqNo:11800 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.90 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963864.20, time is 1599963862.40 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963864.00 epoch sec; seqNo:11801 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.90 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963864.20, time is 1599963862.40 2020-11-23T22:53:59Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963864.40 epoch sec; seqNo:11802 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.90 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963864.20, time is 1599963862.40 2020-11-23T22:53:59Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963864.80 epoch sec; seqNo:11803 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.90 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963864.20, time is 1599963862.40 2020-11-23T22:53:59Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963865.20 epoch sec; seqNo:11804 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.90 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963864.20, time is 1599963862.40 2020-11-23T22:53:59Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963865.60 epoch sec; seqNo:11805 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.89 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963864.20, time is 1599963862.40 2020-11-23T22:53:59Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963866.01 epoch sec; seqNo:11806 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.89 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963864.20, time is 1599963862.40 2020-11-23T22:53:59Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1599963873231; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963864.20, time is 1599963862.40 2020-11-23T22:53:59Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963873.23 epoch sec; seqNo:11824 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599963864.20, time is 1599963873.23 2020-11-23T22:53:59Z- sync is 7.23, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963873.23 epoch sec; seqNo:11824; 4061853.69 north; 594578.88 east 2020-11-23T22:53:59Z- waiting for 1599963864.20, time is 1599963873.23 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599963873.23, meas time 1599963873.23 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 33.000 at t=1599963873.23, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599963873.23 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061854, 594578.88, 50.34) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963873.63 epoch sec; seqNo:11825 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.88 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963876.23, time is 1599963873.23 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1599963873632; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963876.23, time is 1599963873.23 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963873.63 epoch sec; seqNo:11825; 4061853.69 north; 594578.88 east 2020-11-23T22:53:59Z- waiting for 1599963876.23, time is 1599963873.23 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963874.03 epoch sec; seqNo:11826 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.88 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963876.23, time is 1599963873.23 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1599963874032; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963876.23, time is 1599963873.23 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963874.03 epoch sec; seqNo:11826; 4061853.31 north; 594578.89 east 2020-11-23T22:53:59Z- waiting for 1599963876.23, time is 1599963873.23 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1599963874431; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963876.23, time is 1599963873.23 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963874.43 epoch sec; seqNo:11827; 4061853.30 north; 594577.67 east 2020-11-23T22:53:59Z- waiting for 1599963876.23, time is 1599963873.23 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963874.83 epoch sec; seqNo:11828 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599963876.23, time is 1599963874.83 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963874.83 epoch sec; seqNo:11828; 4061853.30 north; 594577.67 east 2020-11-23T22:53:59Z- waiting for 1599963876.23, time is 1599963874.83 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963875.23 epoch sec; seqNo:11829 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.88 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963876.23, time is 1599963874.83 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963875.23 epoch sec; seqNo:11829; 4061852.92 north; 594577.67 east 2020-11-23T22:53:59Z- waiting for 1599963876.23, time is 1599963874.83 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963875.63 epoch sec; seqNo:11830; 4061852.91 north; 594576.45 east 2020-11-23T22:53:59Z- waiting for 1599963876.23, time is 1599963874.83 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963880.85 epoch sec; seqNo:11843 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599963876.23, time is 1599963880.85 2020-11-23T22:53:59Z- sync is 5.21, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963880.85 epoch sec; seqNo:11843; 4061850.96 north; 594571.59 east 2020-11-23T22:53:59Z- waiting for 1599963876.23, time is 1599963880.85 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599963880.85, meas time 1599963880.85 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 6.000 at t=1599963880.85, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599963880.85 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061851, 594571.59, 50.35) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963881.24 epoch sec; seqNo:11844 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.89 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963883.85, time is 1599963880.85 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1599963881246; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963883.85, time is 1599963880.85 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1599963881648; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963883.85, time is 1599963880.85 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963886.06 epoch sec; seqNo:11856; 4061848.63 north; 594566.74 east 2020-11-23T22:53:59Z- waiting for 1599963883.85, time is 1599963880.85 2020-11-23T22:53:59Z- sync is 5.22, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1599963886460; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963883.85, time is 1599963880.85 2020-11-23T22:53:59Z- sync is 5.22, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963886.46 epoch sec; seqNo:11857 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , -0.01 2020-11-23T22:53:59Z- waiting for 1599963883.85, time is 1599963886.46 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599963886.06, meas time 1599963886.46 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 12.000 at t=1599963886.46, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599963886.46 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061849, 594566.74, 50.32) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963886.86 epoch sec; seqNo:11858 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , -0.01 2020-11-23T22:53:59Z- waiting for 1599963889.46, time is 1599963886.86 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963887.26 epoch sec; seqNo:11859 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , -0.01 2020-11-23T22:53:59Z- waiting for 1599963889.46, time is 1599963887.26 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963887.66 epoch sec; seqNo:11860 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , -0.01 2020-11-23T22:53:59Z- waiting for 1599963889.46, time is 1599963887.66 2020-11-23T22:53:59Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963890.07 epoch sec; seqNo:11866 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.91 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963889.46, time is 1599963887.66 2020-11-23T22:53:59Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1599963890071; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963889.46, time is 1599963887.66 2020-11-23T22:53:59Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963890.07 epoch sec; seqNo:11866 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , -0.01 2020-11-23T22:53:59Z- waiting for 1599963889.46, time is 1599963890.07 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599963890.07, meas time 1599963890.07 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 16.000 at t=1599963890.07, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599963890.07 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061849, 594566.74, 50.24) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963892.88 epoch sec; seqNo:11873 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , -0.01 2020-11-23T22:53:59Z- waiting for 1599963893.07, time is 1599963892.88 2020-11-23T22:53:59Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963892.88 epoch sec; seqNo:11873; 4061845.91 north; 594560.66 east 2020-11-23T22:53:59Z- waiting for 1599963893.07, time is 1599963892.88 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963893.68 epoch sec; seqNo:11875 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963893.07, time is 1599963893.68 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599963892.88, meas time 1599963893.68 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 19.000 at t=1599963893.68, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599963893.68 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061846, 594560.66, 50.24) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963894.88 epoch sec; seqNo:11878 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.93 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963896.68, time is 1599963893.68 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963895.28 epoch sec; seqNo:11879 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963896.68, time is 1599963895.28 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963897.29 epoch sec; seqNo:11884; 4061843.96 north; 594555.80 east 2020-11-23T22:53:59Z- waiting for 1599963896.68, time is 1599963895.28 2020-11-23T22:53:59Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963898.09 epoch sec; seqNo:11886 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.94 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963896.68, time is 1599963895.28 2020-11-23T22:53:59Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.02 epoch sec; seqNo:1599963898488; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963896.68, time is 1599963895.28 2020-11-23T22:53:59Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963898.89 epoch sec; seqNo:11888 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963896.68, time is 1599963898.89 2020-11-23T22:53:59Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599963898.09, meas time 1599963898.89 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 24.000 at t=1599963898.89, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599963898.89 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061844, 594555.80, 50.02) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963899.69 epoch sec; seqNo:11890; 4061842.81 north; 594554.59 east 2020-11-23T22:53:59Z- waiting for 1599963901.89, time is 1599963898.89 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963900.50 epoch sec; seqNo:11892 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.94 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963901.89, time is 1599963898.89 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.97 epoch sec; seqNo:1599963900900; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963901.89, time is 1599963898.89 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963901.30 epoch sec; seqNo:11894 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963901.89, time is 1599963901.30 2020-11-23T22:53:59Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963902.10 epoch sec; seqNo:11896 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.94 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963901.89, time is 1599963901.30 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1599963902899; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963901.89, time is 1599963901.30 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963902.90 epoch sec; seqNo:11898 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963901.89, time is 1599963902.90 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599963902.10, meas time 1599963902.90 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 28.000 at t=1599963902.90, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599963902.90 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061843, 594554.59, 49.93) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963904.90 epoch sec; seqNo:11903; 4061840.49 north; 594549.74 east 2020-11-23T22:53:59Z- waiting for 1599963905.90, time is 1599963902.90 2020-11-23T22:53:59Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963905.30 epoch sec; seqNo:11904 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.94 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963905.90, time is 1599963902.90 2020-11-23T22:53:59Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963905.71 epoch sec; seqNo:11905; 4061840.09 north; 594548.52 east 2020-11-23T22:53:59Z- waiting for 1599963905.90, time is 1599963902.90 2020-11-23T22:53:59Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963906.51 epoch sec; seqNo:11907 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.94 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963905.90, time is 1599963902.90 2020-11-23T22:53:59Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1599963906907; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963905.90, time is 1599963902.90 2020-11-23T22:53:59Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963907.31 epoch sec; seqNo:11909 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963905.90, time is 1599963907.31 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599963906.51, meas time 1599963907.31 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 33.000 at t=1599963907.31, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599963907.31 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061840, 594548.52, 49.87) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963909.31 epoch sec; seqNo:11914; 4061838.54 north; 594544.88 east 2020-11-23T22:53:59Z- waiting for 1599963910.31, time is 1599963907.31 2020-11-23T22:53:59Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1599963909711; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963910.31, time is 1599963907.31 2020-11-23T22:53:59Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599963910112; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963910.31, time is 1599963907.31 2020-11-23T22:53:59Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599963910512; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963910.31, time is 1599963907.31 2020-11-23T22:53:59Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963910.92 epoch sec; seqNo:11918; 4061837.77 north; 594543.67 east 2020-11-23T22:53:59Z- waiting for 1599963910.31, time is 1599963907.31 2020-11-23T22:53:59Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963911.32 epoch sec; seqNo:11919 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.94 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963910.31, time is 1599963907.31 2020-11-23T22:53:59Z- sync is 4.01, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1599963912116; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963910.31, time is 1599963907.31 2020-11-23T22:53:59Z- sync is 4.01, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963912.12 epoch sec; seqNo:11921 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963910.31, time is 1599963912.12 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599963911.32, meas time 1599963912.12 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 4.000 at t=1599963912.12, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599963912.12 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061838, 594543.67, 49.80) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963914.52 epoch sec; seqNo:11927; 4061836.21 north; 594540.02 east 2020-11-23T22:53:59Z- waiting for 1599963915.12, time is 1599963912.12 2020-11-23T22:53:59Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963914.92 epoch sec; seqNo:11928 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.94 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963915.12, time is 1599963912.12 2020-11-23T22:53:59Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599963915726; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963915.12, time is 1599963912.12 2020-11-23T22:53:59Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963915.73 epoch sec; seqNo:11930 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963915.12, time is 1599963915.73 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599963914.92, meas time 1599963915.73 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 7.000 at t=1599963915.73, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599963915.73 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061836, 594540.02, 49.77) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599963916929; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963918.73, time is 1599963915.73 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963917.33 epoch sec; seqNo:11934 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963918.73, time is 1599963917.33 2020-11-23T22:53:59Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963917.73 epoch sec; seqNo:11935; 4061835.05 north; 594537.59 east 2020-11-23T22:53:59Z- waiting for 1599963918.73, time is 1599963917.33 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963920.14 epoch sec; seqNo:11941 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.95 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963918.73, time is 1599963917.33 2020-11-23T22:53:59Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599963920138; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963918.73, time is 1599963917.33 2020-11-23T22:53:59Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963920.54 epoch sec; seqNo:11942 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963918.73, time is 1599963920.54 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599963920.14, meas time 1599963920.54 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 12.000 at t=1599963920.54, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599963920.54 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061835, 594537.59, 49.75) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963921.34 epoch sec; seqNo:11944; 4061833.11 north; 594533.95 east 2020-11-23T22:53:59Z- waiting for 1599963923.54, time is 1599963920.54 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963921.74 epoch sec; seqNo:11945; 4061833.11 north; 594533.95 east 2020-11-23T22:53:59Z- waiting for 1599963923.54, time is 1599963920.54 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963922.54 epoch sec; seqNo:11947 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.96 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963923.54, time is 1599963920.54 2020-11-23T22:53:59Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1599963922941; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963923.54, time is 1599963920.54 2020-11-23T22:53:59Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963923.34 epoch sec; seqNo:11949 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963923.54, time is 1599963923.34 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963925.74 epoch sec; seqNo:11955; 4061831.18 north; 594530.31 east 2020-11-23T22:53:59Z- waiting for 1599963923.54, time is 1599963923.34 2020-11-23T22:53:59Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963926.55 epoch sec; seqNo:11957 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.98 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963923.54, time is 1599963923.34 2020-11-23T22:53:59Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1599963926946; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963923.54, time is 1599963923.34 2020-11-23T22:53:59Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963927.35 epoch sec; seqNo:11959 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963923.54, time is 1599963927.35 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599963926.55, meas time 1599963927.35 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 19.000 at t=1599963927.35, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599963927.35 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061831, 594530.31, 49.74) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963928.15 epoch sec; seqNo:11961; 4061830.02 north; 594527.89 east 2020-11-23T22:53:59Z- waiting for 1599963930.35, time is 1599963927.35 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1599963928950; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963930.35, time is 1599963927.35 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963929.35 epoch sec; seqNo:11964 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963930.35, time is 1599963929.35 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963929.75 epoch sec; seqNo:11965; 4061829.24 north; 594526.67 east 2020-11-23T22:53:59Z- waiting for 1599963930.35, time is 1599963929.35 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599963930955; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963930.35, time is 1599963929.35 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963930.96 epoch sec; seqNo:11968; 4061828.85 north; 594525.46 east 2020-11-23T22:53:59Z- waiting for 1599963930.35, time is 1599963929.35 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963931.76 epoch sec; seqNo:11970; 4061828.46 north; 594524.24 east 2020-11-23T22:53:59Z- waiting for 1599963930.35, time is 1599963929.35 2020-11-23T22:53:59Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963932.16 epoch sec; seqNo:11971 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.98 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963930.35, time is 1599963929.35 2020-11-23T22:53:59Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599963932957; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963930.35, time is 1599963929.35 2020-11-23T22:53:59Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963933.36 epoch sec; seqNo:11974 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963930.35, time is 1599963933.36 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599963932.16, meas time 1599963933.36 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 25.000 at t=1599963933.36, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599963933.36 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061828, 594524.24, 49.76) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963935.77 epoch sec; seqNo:11980; 4061826.53 north; 594520.60 east 2020-11-23T22:53:59Z- waiting for 1599963936.36, time is 1599963933.36 2020-11-23T22:53:59Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963936.56 epoch sec; seqNo:11982 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.98 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963936.36, time is 1599963933.36 2020-11-23T22:53:59Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599963936963; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963936.36, time is 1599963933.36 2020-11-23T22:53:59Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963937.37 epoch sec; seqNo:11984 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963936.36, time is 1599963937.37 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599963936.56, meas time 1599963937.37 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 29.000 at t=1599963937.37, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599963937.37 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061827, 594520.60, 49.77) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963938.16 epoch sec; seqNo:11986; 4061825.36 north; 594518.17 east 2020-11-23T22:53:59Z- waiting for 1599963940.37, time is 1599963937.37 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1599963938964; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963940.37, time is 1599963937.37 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963939.37 epoch sec; seqNo:11989 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963940.37, time is 1599963939.37 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963985.09 epoch sec; seqNo:12103; 4061802.16 north; 594475.71 east 2020-11-23T22:53:59Z- waiting for 1599963940.37, time is 1599963939.37 2020-11-23T22:53:59Z- sync is 45.72, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963985.49 epoch sec; seqNo:12104 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.00 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963940.37, time is 1599963939.37 2020-11-23T22:53:59Z- sync is 46.12, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1599963985490; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963940.37, time is 1599963939.37 2020-11-23T22:53:59Z- sync is 46.12, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963985.49 epoch sec; seqNo:12104 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963940.37, time is 1599963985.49 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599963985.49, meas time 1599963985.49 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 9.000 at t=1599963985.49, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599963985.49 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061802, 594475.71, 50.35) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963985.49 epoch sec; seqNo:12104; 4061802.15 north; 594474.49 east 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963985.49 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963985.89 epoch sec; seqNo:12105 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.00 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963985.49 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1599963985891; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963985.49 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963985.89 epoch sec; seqNo:12105 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963985.89 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599963985.89 epoch sec; seqNo:12105; 4061801.77 north; 594474.50 east 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963985.89 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963986.29 epoch sec; seqNo:12106 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.00 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963985.89 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1599963986292; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963985.89 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963986.29 epoch sec; seqNo:12106 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963986.29 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963986.69 epoch sec; seqNo:12107 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.00 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963986.29 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1599963986694; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963986.29 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963986.69 epoch sec; seqNo:12107 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963986.69 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963987.09 epoch sec; seqNo:12108 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.00 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963986.69 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1599963987094; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963986.69 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963987.09 epoch sec; seqNo:12108 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963987.09 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963987.49 epoch sec; seqNo:12109 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.00 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963987.09 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599963987.49 epoch sec; seqNo:12109 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963987.49 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963987.90 epoch sec; seqNo:12110 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.00 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963987.49 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963988.30 epoch sec; seqNo:12111 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.00 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963987.49 2020-11-23T22:53:59Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963988.70 epoch sec; seqNo:12112 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.00 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963987.49 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963989.10 epoch sec; seqNo:12113 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.00 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963987.49 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963989.50 epoch sec; seqNo:12114 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.00 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963987.49 2020-11-23T22:53:59Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599963989.90 epoch sec; seqNo:12115 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.00 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963987.49 2020-11-23T22:53:59Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.06 epoch sec; seqNo:1599964015566; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599963987.49 2020-11-23T22:53:59Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964015.57 epoch sec; seqNo:12179 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599964015.57 2020-11-23T22:53:59Z- sync is 25.66, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964015.57 epoch sec; seqNo:12179; 4061787.08 north; 594447.81 east 2020-11-23T22:53:59Z- waiting for 1599963988.49, time is 1599964015.57 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964015.57, meas time 1599964015.57 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 5.000 at t=1599964015.57, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964015.57 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061787, 594447.81, 50.06) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964015.97 epoch sec; seqNo:12180 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.00 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964018.57, time is 1599964015.57 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1599964015968; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964018.57, time is 1599964015.57 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964015.97 epoch sec; seqNo:12180 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964018.57, time is 1599964015.97 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964015.97 epoch sec; seqNo:12180; 4061786.70 north; 594447.81 east 2020-11-23T22:53:59Z- waiting for 1599964018.57, time is 1599964015.97 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964016.37 epoch sec; seqNo:12181 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.00 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964018.57, time is 1599964015.97 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1599964016371; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964018.57, time is 1599964015.97 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964016.37 epoch sec; seqNo:12181 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964018.57, time is 1599964016.37 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964016.37 epoch sec; seqNo:12181; 4061786.30 north; 594446.60 east 2020-11-23T22:53:59Z- waiting for 1599964018.57, time is 1599964016.37 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964016.77 epoch sec; seqNo:12182 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.00 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964018.57, time is 1599964016.37 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.02 epoch sec; seqNo:1599964016773; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964018.57, time is 1599964016.37 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964016.77 epoch sec; seqNo:12182; 4061786.30 north; 594446.60 east 2020-11-23T22:53:59Z- waiting for 1599964018.57, time is 1599964016.37 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964017.17 epoch sec; seqNo:12183 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.00 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964018.57, time is 1599964016.37 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.01 epoch sec; seqNo:1599964017174; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964018.57, time is 1599964016.37 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964017.17 epoch sec; seqNo:12183; 4061785.93 north; 594446.60 east 2020-11-23T22:53:59Z- waiting for 1599964018.57, time is 1599964016.37 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.00 epoch sec; seqNo:1599964017574; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964018.57, time is 1599964016.37 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964017.58 epoch sec; seqNo:12184; 4061785.91 north; 594445.38 east 2020-11-23T22:53:59Z- waiting for 1599964018.57, time is 1599964016.37 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964017.97 epoch sec; seqNo:12185; 4061785.53 north; 594445.39 east 2020-11-23T22:53:59Z- waiting for 1599964018.57, time is 1599964016.37 2020-11-23T22:53:59Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964018.38 epoch sec; seqNo:12186; 4061785.53 north; 594445.39 east 2020-11-23T22:53:59Z- waiting for 1599964018.57, time is 1599964016.37 2020-11-23T22:53:59Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964018.78 epoch sec; seqNo:12187; 4061785.14 north; 594444.17 east 2020-11-23T22:53:59Z- waiting for 1599964018.57, time is 1599964016.37 2020-11-23T22:53:59Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964042.84 epoch sec; seqNo:12247 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964018.57, time is 1599964042.84 2020-11-23T22:53:59Z- sync is 24.06, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964042.84 epoch sec; seqNo:12247; 4061772.78 north; 594422.34 east 2020-11-23T22:53:59Z- waiting for 1599964018.57, time is 1599964042.84 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964042.84, meas time 1599964042.84 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 32.000 at t=1599964042.84, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964042.84 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061773, 594422.34, 50.00) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964043.24 epoch sec; seqNo:12248 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.03 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964045.84, time is 1599964042.84 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.63 epoch sec; seqNo:1599964043240; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964045.84, time is 1599964042.84 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964043.24 epoch sec; seqNo:12248 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964045.84, time is 1599964043.24 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964043.24 epoch sec; seqNo:12248; 4061772.78 north; 594422.34 east 2020-11-23T22:53:59Z- waiting for 1599964045.84, time is 1599964043.24 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964043.64 epoch sec; seqNo:12249 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.03 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964045.84, time is 1599964043.24 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.63 epoch sec; seqNo:1599964043640; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964045.84, time is 1599964043.24 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964043.64 epoch sec; seqNo:12249 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964045.84, time is 1599964043.64 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964044.04 epoch sec; seqNo:12250 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.03 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964045.84, time is 1599964043.64 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964044.04 epoch sec; seqNo:12250 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964045.84, time is 1599964044.04 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964044.44 epoch sec; seqNo:12251 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964045.84, time is 1599964044.44 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964044.84 epoch sec; seqNo:12252 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964045.84, time is 1599964044.84 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964045.24 epoch sec; seqNo:12253 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964045.84, time is 1599964045.24 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964045.64 epoch sec; seqNo:12254 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964045.84, time is 1599964045.64 2020-11-23T22:53:59Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964070.90 epoch sec; seqNo:12317 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.02 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964045.84, time is 1599964045.64 2020-11-23T22:53:59Z- sync is 25.26, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.16 epoch sec; seqNo:1599964070903; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964045.84, time is 1599964045.64 2020-11-23T22:53:59Z- sync is 25.26, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964070.90 epoch sec; seqNo:12317 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964045.84, time is 1599964070.90 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964070.90, meas time 1599964070.90 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 26.000 at t=1599964070.90, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964070.90 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061773, 594422.34, 50.16) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964070.91 epoch sec; seqNo:12317; 4061758.11 north; 594398.09 east 2020-11-23T22:53:59Z- waiting for 1599964073.90, time is 1599964070.90 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964071.31 epoch sec; seqNo:12318 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.02 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964073.90, time is 1599964070.90 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.18 epoch sec; seqNo:1599964071307; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964073.90, time is 1599964070.90 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964071.31 epoch sec; seqNo:12318 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964073.90, time is 1599964071.31 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964071.31 epoch sec; seqNo:12318; 4061758.10 north; 594396.87 east 2020-11-23T22:53:59Z- waiting for 1599964073.90, time is 1599964071.31 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964071.71 epoch sec; seqNo:12319 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.02 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964073.90, time is 1599964071.31 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.19 epoch sec; seqNo:1599964071710; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964073.90, time is 1599964071.31 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964071.71 epoch sec; seqNo:12319 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964073.90, time is 1599964071.71 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964071.71 epoch sec; seqNo:12319; 4061757.72 north; 594396.87 east 2020-11-23T22:53:59Z- waiting for 1599964073.90, time is 1599964071.71 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964072.11 epoch sec; seqNo:12320 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.02 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964073.90, time is 1599964071.71 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1599964072109; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964073.90, time is 1599964071.71 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964072.11 epoch sec; seqNo:12320 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964073.90, time is 1599964072.11 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964072.12 epoch sec; seqNo:12320; 4061757.72 north; 594396.87 east 2020-11-23T22:53:59Z- waiting for 1599964073.90, time is 1599964072.11 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964072.51 epoch sec; seqNo:12321 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.02 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964073.90, time is 1599964072.11 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1599964072512; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964073.90, time is 1599964072.11 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964072.52 epoch sec; seqNo:12321; 4061757.33 north; 594395.66 east 2020-11-23T22:53:59Z- waiting for 1599964073.90, time is 1599964072.11 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1599964072913; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964073.90, time is 1599964072.11 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1599964073314; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964073.90, time is 1599964072.11 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964098.58 epoch sec; seqNo:12386 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964073.90, time is 1599964098.58 2020-11-23T22:53:59Z- sync is 26.07, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964098.58 epoch sec; seqNo:12386; 4061743.81 north; 594372.62 east 2020-11-23T22:53:59Z- waiting for 1599964073.90, time is 1599964098.58 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964098.58, meas time 1599964098.58 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 20.000 at t=1599964098.58, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964098.58 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061744, 594372.62, 50.24) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964098.98 epoch sec; seqNo:12387 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.02 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964101.58, time is 1599964098.58 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.19 epoch sec; seqNo:1599964098981; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964101.58, time is 1599964098.58 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964098.98 epoch sec; seqNo:12387 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964101.58, time is 1599964098.98 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964098.98 epoch sec; seqNo:12387; 4061743.43 north; 594372.62 east 2020-11-23T22:53:59Z- waiting for 1599964101.58, time is 1599964098.98 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964099.38 epoch sec; seqNo:12388 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.02 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964101.58, time is 1599964098.98 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.18 epoch sec; seqNo:1599964099383; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964101.58, time is 1599964098.98 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964099.38 epoch sec; seqNo:12388 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964101.58, time is 1599964099.38 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964099.38 epoch sec; seqNo:12388; 4061743.42 north; 594371.40 east 2020-11-23T22:53:59Z- waiting for 1599964101.58, time is 1599964099.38 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964099.79 epoch sec; seqNo:12389 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.02 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964101.58, time is 1599964099.38 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.17 epoch sec; seqNo:1599964099785; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964101.58, time is 1599964099.38 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964099.79 epoch sec; seqNo:12389 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964101.58, time is 1599964099.79 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964099.79 epoch sec; seqNo:12389; 4061743.04 north; 594371.41 east 2020-11-23T22:53:59Z- waiting for 1599964101.58, time is 1599964099.79 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964100.19 epoch sec; seqNo:12390 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.02 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964101.58, time is 1599964099.79 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.15 epoch sec; seqNo:1599964100187; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964101.58, time is 1599964099.79 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964100.19 epoch sec; seqNo:12390 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964101.58, time is 1599964100.19 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964100.19 epoch sec; seqNo:12390; 4061743.04 north; 594371.41 east 2020-11-23T22:53:59Z- waiting for 1599964101.58, time is 1599964100.19 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.14 epoch sec; seqNo:1599964100588; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964101.58, time is 1599964100.19 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964125.87 epoch sec; seqNo:12454 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964101.58, time is 1599964125.87 2020-11-23T22:53:59Z- sync is 25.68, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964125.87 epoch sec; seqNo:12454; 4061729.52 north; 594348.37 east 2020-11-23T22:53:59Z- waiting for 1599964101.58, time is 1599964125.87 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964125.87, meas time 1599964125.87 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 13.000 at t=1599964125.87, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964125.87 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061730, 594348.37, 50.14) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964126.28 epoch sec; seqNo:12455 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.02 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964128.87, time is 1599964125.87 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599964126275; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964128.87, time is 1599964125.87 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964126.28 epoch sec; seqNo:12455 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964128.87, time is 1599964126.28 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964126.28 epoch sec; seqNo:12455; 4061729.51 north; 594347.15 east 2020-11-23T22:53:59Z- waiting for 1599964128.87, time is 1599964126.28 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964126.68 epoch sec; seqNo:12456 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.02 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964128.87, time is 1599964126.28 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599964126676; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964128.87, time is 1599964126.28 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964126.68 epoch sec; seqNo:12456 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964128.87, time is 1599964126.68 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964126.68 epoch sec; seqNo:12456; 4061729.13 north; 594347.15 east 2020-11-23T22:53:59Z- waiting for 1599964128.87, time is 1599964126.68 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599964127076; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964128.87, time is 1599964126.68 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964127.08 epoch sec; seqNo:12457 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964128.87, time is 1599964127.08 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964127.08 epoch sec; seqNo:12457; 4061728.75 north; 594347.15 east 2020-11-23T22:53:59Z- waiting for 1599964128.87, time is 1599964127.08 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1599964127476; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964128.87, time is 1599964127.08 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964127.48 epoch sec; seqNo:12458; 4061728.75 north; 594347.15 east 2020-11-23T22:53:59Z- waiting for 1599964128.87, time is 1599964127.08 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1599964127879; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964128.87, time is 1599964127.08 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964127.88 epoch sec; seqNo:12459; 4061728.36 north; 594345.94 east 2020-11-23T22:53:59Z- waiting for 1599964128.87, time is 1599964127.08 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964128.28 epoch sec; seqNo:12460; 4061728.36 north; 594345.94 east 2020-11-23T22:53:59Z- waiting for 1599964128.87, time is 1599964127.08 2020-11-23T22:53:59Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964153.57 epoch sec; seqNo:12523 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964128.87, time is 1599964153.57 2020-11-23T22:53:59Z- sync is 25.29, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964153.57 epoch sec; seqNo:12523; 4061715.22 north; 594322.89 east 2020-11-23T22:53:59Z- waiting for 1599964128.87, time is 1599964153.57 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964153.57, meas time 1599964153.57 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 7.000 at t=1599964153.57, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964153.57 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061715, 594322.89, 49.66) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964153.97 epoch sec; seqNo:12524 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.02 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964153.57 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.09 epoch sec; seqNo:1599964153967; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964153.57 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964153.97 epoch sec; seqNo:12524 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964153.97 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964153.97 epoch sec; seqNo:12524; 4061714.85 north; 594322.90 east 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964153.97 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964154.37 epoch sec; seqNo:12525 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.02 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964153.97 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.10 epoch sec; seqNo:1599964154370; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964153.97 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964154.37 epoch sec; seqNo:12525 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964154.37 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964154.37 epoch sec; seqNo:12525; 4061714.85 north; 594322.90 east 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964154.37 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964154.77 epoch sec; seqNo:12526 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964154.37 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.12 epoch sec; seqNo:1599964154770; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964154.37 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964154.77 epoch sec; seqNo:12526 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964154.77 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964155.17 epoch sec; seqNo:12527 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964154.77 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.13 epoch sec; seqNo:1599964155171; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964154.77 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964155.17 epoch sec; seqNo:12527 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964155.17 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964155.57 epoch sec; seqNo:12528 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964155.17 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.14 epoch sec; seqNo:1599964155574; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964155.17 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964155.57 epoch sec; seqNo:12528 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964155.57 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964155.97 epoch sec; seqNo:12529 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964155.57 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.15 epoch sec; seqNo:1599964155974; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964155.57 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964155.97 epoch sec; seqNo:12529 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964155.97 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964156.38 epoch sec; seqNo:12530 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964155.97 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964156.78 epoch sec; seqNo:12531 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964155.97 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964157.18 epoch sec; seqNo:12532 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.01 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964155.97 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964157.58 epoch sec; seqNo:12533 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.02 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964155.97 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964157.98 epoch sec; seqNo:12534 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.02 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964155.97 2020-11-23T22:53:59Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964158.39 epoch sec; seqNo:12535 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.02 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964155.97 2020-11-23T22:53:59Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964172.43 epoch sec; seqNo:12570; 4061705.19 north; 594305.92 east 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964155.97 2020-11-23T22:53:59Z- sync is 16.45, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964172.83 epoch sec; seqNo:12571 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.04 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964155.97 2020-11-23T22:53:59Z- sync is 16.86, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1599964172830; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964155.97 2020-11-23T22:53:59Z- sync is 16.86, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964172.83 epoch sec; seqNo:12571 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964156.57, time is 1599964172.83 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964172.83, meas time 1599964172.83 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 26.000 at t=1599964172.83, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964172.83 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061705, 594305.92, 50.40) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964172.83 epoch sec; seqNo:12571; 4061705.19 north; 594305.92 east 2020-11-23T22:53:59Z- waiting for 1599964175.83, time is 1599964172.83 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964173.23 epoch sec; seqNo:12572 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.04 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964175.83, time is 1599964172.83 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599964173230; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964175.83, time is 1599964172.83 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964173.23 epoch sec; seqNo:12572 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964175.83, time is 1599964173.23 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964173.23 epoch sec; seqNo:12572; 4061704.81 north; 594305.92 east 2020-11-23T22:53:59Z- waiting for 1599964175.83, time is 1599964173.23 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964173.63 epoch sec; seqNo:12573 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.04 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964175.83, time is 1599964173.23 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599964173633; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964175.83, time is 1599964173.23 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964173.63 epoch sec; seqNo:12573 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964175.83, time is 1599964173.63 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964173.63 epoch sec; seqNo:12573; 4061704.42 north; 594304.71 east 2020-11-23T22:53:59Z- waiting for 1599964175.83, time is 1599964173.63 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964174.03 epoch sec; seqNo:12574 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.04 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964175.83, time is 1599964173.63 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599964174034; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964175.83, time is 1599964173.63 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964174.03 epoch sec; seqNo:12574; 4061704.42 north; 594304.71 east 2020-11-23T22:53:59Z- waiting for 1599964175.83, time is 1599964173.63 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1599964174436; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964175.83, time is 1599964173.63 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964174.44 epoch sec; seqNo:12575; 4061704.04 north; 594304.71 east 2020-11-23T22:53:59Z- waiting for 1599964175.83, time is 1599964173.63 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964174.84 epoch sec; seqNo:12576; 4061704.02 north; 594303.49 east 2020-11-23T22:53:59Z- waiting for 1599964175.83, time is 1599964173.63 2020-11-23T22:53:59Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964175.24 epoch sec; seqNo:12577; 4061703.64 north; 594303.49 east 2020-11-23T22:53:59Z- waiting for 1599964175.83, time is 1599964173.63 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964175.64 epoch sec; seqNo:12578; 4061703.64 north; 594303.49 east 2020-11-23T22:53:59Z- waiting for 1599964175.83, time is 1599964173.63 2020-11-23T22:53:59Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964184.07 epoch sec; seqNo:12599 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.04 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964175.83, time is 1599964173.63 2020-11-23T22:53:59Z- sync is 10.43, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.18 epoch sec; seqNo:1599964184066; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964175.83, time is 1599964173.63 2020-11-23T22:53:59Z- sync is 10.43, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964184.07 epoch sec; seqNo:12599 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964175.83, time is 1599964184.07 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964184.07, meas time 1599964184.07 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 4.000 at t=1599964184.07, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964184.07 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061704, 594303.49, 50.18) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964184.07 epoch sec; seqNo:12599; 4061699.02 north; 594296.22 east 2020-11-23T22:53:59Z- waiting for 1599964187.07, time is 1599964184.07 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964184.47 epoch sec; seqNo:12600 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.04 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964187.07, time is 1599964184.07 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.16 epoch sec; seqNo:1599964184466; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964187.07, time is 1599964184.07 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964184.47 epoch sec; seqNo:12600 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964187.07, time is 1599964184.47 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964184.87 epoch sec; seqNo:12601 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.04 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964187.07, time is 1599964184.47 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964184.87 epoch sec; seqNo:12601 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964187.07, time is 1599964184.87 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964185.27 epoch sec; seqNo:12602 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964187.07, time is 1599964185.27 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964185.67 epoch sec; seqNo:12603 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964187.07, time is 1599964185.67 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964186.07 epoch sec; seqNo:12604 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964187.07, time is 1599964186.07 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964186.47 epoch sec; seqNo:12605 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964187.07, time is 1599964186.47 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964190.89 epoch sec; seqNo:12616; 4061695.16 north; 594290.16 east 2020-11-23T22:53:59Z- waiting for 1599964187.07, time is 1599964186.47 2020-11-23T22:53:59Z- sync is 4.41, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964191.29 epoch sec; seqNo:12617 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.04 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964187.07, time is 1599964186.47 2020-11-23T22:53:59Z- sync is 4.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.98 epoch sec; seqNo:1599964191288; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964187.07, time is 1599964186.47 2020-11-23T22:53:59Z- sync is 4.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964191.29 epoch sec; seqNo:12617 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964187.07, time is 1599964191.29 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964191.29, meas time 1599964191.29 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 11.000 at t=1599964191.29, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964191.29 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061695, 594290.16, 49.98) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964191.69 epoch sec; seqNo:12618 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.04 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964194.29, time is 1599964191.29 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.97 epoch sec; seqNo:1599964191690; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964194.29, time is 1599964191.29 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964195.30 epoch sec; seqNo:12627; 4061692.83 north; 594285.31 east 2020-11-23T22:53:59Z- waiting for 1599964194.29, time is 1599964191.29 2020-11-23T22:53:59Z- sync is 4.01, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964195.70 epoch sec; seqNo:12628 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.04 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964194.29, time is 1599964191.29 2020-11-23T22:53:59Z- sync is 4.41, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.88 epoch sec; seqNo:1599964195701; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964194.29, time is 1599964191.29 2020-11-23T22:53:59Z- sync is 4.41, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964195.70 epoch sec; seqNo:12628 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964194.29, time is 1599964195.70 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964195.70, meas time 1599964195.70 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 15.000 at t=1599964195.70, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964195.70 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061693, 594285.31, 49.88) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964196.10 epoch sec; seqNo:12629 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964198.70, time is 1599964196.10 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964198.11 epoch sec; seqNo:12634 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964198.70, time is 1599964198.11 2020-11-23T22:53:59Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964198.11 epoch sec; seqNo:12634; 4061691.29 north; 594282.88 east 2020-11-23T22:53:59Z- waiting for 1599964198.70, time is 1599964198.11 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964198.51 epoch sec; seqNo:12635 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.04 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964198.70, time is 1599964198.11 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1599964198513; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964198.70, time is 1599964198.11 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964200.12 epoch sec; seqNo:12639 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.04 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964198.70, time is 1599964198.11 2020-11-23T22:53:59Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964200.12 epoch sec; seqNo:12639; 4061690.14 north; 594281.67 east 2020-11-23T22:53:59Z- waiting for 1599964198.70, time is 1599964198.11 2020-11-23T22:53:59Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1599964201324; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964198.70, time is 1599964198.11 2020-11-23T22:53:59Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964201.33 epoch sec; seqNo:12642; 4061689.75 north; 594280.46 east 2020-11-23T22:53:59Z- waiting for 1599964198.70, time is 1599964198.11 2020-11-23T22:53:59Z- sync is 3.22, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599964202529; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964198.70, time is 1599964198.11 2020-11-23T22:53:59Z- sync is 3.22, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599964202933; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964198.70, time is 1599964198.11 2020-11-23T22:53:59Z- sync is 3.22, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964202.93 epoch sec; seqNo:12646 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964198.70, time is 1599964202.93 2020-11-23T22:53:59Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964201.33, meas time 1599964202.93 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 22.000 at t=1599964202.93, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964202.93 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061690, 594280.46, 49.77) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964203.34 epoch sec; seqNo:12647; 4061688.59 north; 594278.03 east 2020-11-23T22:53:59Z- waiting for 1599964205.93, time is 1599964202.93 2020-11-23T22:53:59Z- sync is 0.41, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964205.74 epoch sec; seqNo:12653 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.03 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964205.93, time is 1599964202.93 2020-11-23T22:53:59Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1599964206146; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964205.93, time is 1599964202.93 2020-11-23T22:53:59Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964206.55 epoch sec; seqNo:12655 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964205.93, time is 1599964206.55 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964205.74, meas time 1599964206.55 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 26.000 at t=1599964206.55, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964206.55 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061689, 594278.03, 49.73) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964207.35 epoch sec; seqNo:12657; 4061686.27 north; 594274.39 east 2020-11-23T22:53:59Z- waiting for 1599964209.55, time is 1599964206.55 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964208.15 epoch sec; seqNo:12659 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.02 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964209.55, time is 1599964206.55 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1599964208153; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964209.55, time is 1599964206.55 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964208.55 epoch sec; seqNo:12660 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964209.55, time is 1599964208.55 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964208.95 epoch sec; seqNo:12661; 4061685.50 north; 594273.18 east 2020-11-23T22:53:59Z- waiting for 1599964209.55, time is 1599964208.55 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964209.75 epoch sec; seqNo:12663 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.01 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964209.55, time is 1599964208.55 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599964210157; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964209.55, time is 1599964208.55 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964210.56 epoch sec; seqNo:12665 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964209.55, time is 1599964210.56 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964209.75, meas time 1599964210.56 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 30.000 at t=1599964210.56, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964210.56 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061686, 594273.18, 49.70) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964211.36 epoch sec; seqNo:12667; 4061684.34 north; 594270.75 east 2020-11-23T22:53:59Z- waiting for 1599964213.56, time is 1599964210.56 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964212.16 epoch sec; seqNo:12669 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.01 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964213.56, time is 1599964210.56 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599964212565; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964213.56, time is 1599964210.56 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964212.97 epoch sec; seqNo:12671 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964213.56, time is 1599964212.97 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964213.77 epoch sec; seqNo:12673; 4061683.19 north; 594269.55 east 2020-11-23T22:53:59Z- waiting for 1599964213.56, time is 1599964212.97 2020-11-23T22:53:59Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599964214170; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964213.56, time is 1599964212.97 2020-11-23T22:53:59Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964214.57 epoch sec; seqNo:12675 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964213.56, time is 1599964214.57 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964213.77, meas time 1599964214.57 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1599964214.57, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964214.57 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061683, 594269.55, 49.68) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964215.38 epoch sec; seqNo:12677; 4061682.40 north; 594267.11 east 2020-11-23T22:53:59Z- waiting for 1599964217.57, time is 1599964214.57 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964217.38 epoch sec; seqNo:12682 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.01 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964217.57, time is 1599964214.57 2020-11-23T22:53:59Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599964217779; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964217.57, time is 1599964214.57 2020-11-23T22:53:59Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964218.18 epoch sec; seqNo:12684 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964217.57, time is 1599964218.18 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964217.38, meas time 1599964218.18 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 4.000 at t=1599964218.18, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964218.18 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061682, 594267.11, 49.67) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964218.59 epoch sec; seqNo:12685; 4061680.48 north; 594264.69 east 2020-11-23T22:53:59Z- waiting for 1599964221.18, time is 1599964218.18 2020-11-23T22:53:59Z- sync is 0.41, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964219.38 epoch sec; seqNo:12687 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.01 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964221.18, time is 1599964218.18 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599964219785; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964221.18, time is 1599964218.18 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964220.19 epoch sec; seqNo:12689 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964221.18, time is 1599964220.19 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964220.99 epoch sec; seqNo:12691; 4061679.32 north; 594262.27 east 2020-11-23T22:53:59Z- waiting for 1599964221.18, time is 1599964220.19 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599964221391; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964221.18, time is 1599964220.19 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964221.79 epoch sec; seqNo:12693 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964221.18, time is 1599964221.79 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964220.99, meas time 1599964221.79 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 7.000 at t=1599964221.79, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964221.79 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061679, 594262.27, 49.67) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964222.59 epoch sec; seqNo:12695; 4061678.55 north; 594261.05 east 2020-11-23T22:53:59Z- waiting for 1599964224.79, time is 1599964221.79 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599964223397; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964224.79, time is 1599964221.79 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964223.40 epoch sec; seqNo:12697; 4061678.16 north; 594259.84 east 2020-11-23T22:53:59Z- waiting for 1599964224.79, time is 1599964221.79 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599964224197; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964224.79, time is 1599964221.79 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964224.20 epoch sec; seqNo:12699; 4061677.78 north; 594259.84 east 2020-11-23T22:53:59Z- waiting for 1599964224.79, time is 1599964221.79 2020-11-23T22:53:59Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964224.60 epoch sec; seqNo:12700; 4061677.40 north; 594259.85 east 2020-11-23T22:53:59Z- waiting for 1599964224.79, time is 1599964221.79 2020-11-23T22:53:59Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964225.40 epoch sec; seqNo:12702 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964224.79, time is 1599964225.40 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964224.60, meas time 1599964225.40 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 11.000 at t=1599964225.40, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964225.40 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061677, 594259.85, 49.68) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964225.80 epoch sec; seqNo:12703; 4061677.01 north; 594258.63 east 2020-11-23T22:53:59Z- waiting for 1599964228.40, time is 1599964225.40 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964228.20 epoch sec; seqNo:12709 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.01 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964228.40, time is 1599964225.40 2020-11-23T22:53:59Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1599964228204; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964228.40, time is 1599964225.40 2020-11-23T22:53:59Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964228.61 epoch sec; seqNo:12710 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964228.40, time is 1599964228.61 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964228.20, meas time 1599964228.61 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 14.000 at t=1599964228.61, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964228.61 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061677, 594258.63, 49.73) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964229.41 epoch sec; seqNo:12712; 4061675.07 north; 594254.99 east 2020-11-23T22:53:59Z- waiting for 1599964231.61, time is 1599964228.61 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964230.21 epoch sec; seqNo:12714 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964231.61, time is 1599964228.61 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1599964231015; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964231.61, time is 1599964228.61 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964231.42 epoch sec; seqNo:12717 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.03 2020-11-23T22:53:59Z- waiting for 1599964231.61, time is 1599964231.42 2020-11-23T22:53:59Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964232.22 epoch sec; seqNo:12719; 4061673.53 north; 594252.57 east 2020-11-23T22:53:59Z- waiting for 1599964231.61, time is 1599964231.42 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964233.02 epoch sec; seqNo:12721 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964231.61, time is 1599964231.42 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964361.78 epoch sec; seqNo:13042 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.10 , 0.03 2020-11-23T22:53:59Z- waiting for 1599964231.61, time is 1599964361.78 2020-11-23T22:53:59Z- sync is 128.76, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964361.79 epoch sec; seqNo:13042; 4061602.98 north; 594142.28 east 2020-11-23T22:53:59Z- waiting for 1599964231.61, time is 1599964361.78 2020-11-23T22:53:59Z- sync is 0.01, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964361.79, meas time 1599964361.78 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 11.000 at t=1599964361.78, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964361.78 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061603, 594142.28, 49.79) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964362.18 epoch sec; seqNo:13043 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.08 phi; 0.34 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964361.78 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 15.76 epoch sec; seqNo:1599964362180; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964361.78 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964362.18 epoch sec; seqNo:13043 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.10 , 0.03 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964362.18 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964362.18 epoch sec; seqNo:13043; 4061602.98 north; 594142.28 east 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964362.18 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964362.58 epoch sec; seqNo:13044 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.08 phi; 0.34 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964362.18 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 15.62 epoch sec; seqNo:1599964362580; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964362.18 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964362.58 epoch sec; seqNo:13044 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.10 , 0.03 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964362.58 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964362.98 epoch sec; seqNo:13045 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.08 phi; 0.34 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964362.58 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 15.49 epoch sec; seqNo:1599964362981; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964362.58 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964362.98 epoch sec; seqNo:13045 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.10 , 0.03 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964362.98 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964363.38 epoch sec; seqNo:13046 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.08 phi; 0.34 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964362.98 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 15.36 epoch sec; seqNo:1599964363383; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964362.98 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964363.38 epoch sec; seqNo:13046 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.10 , 0.03 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964363.38 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964363.78 epoch sec; seqNo:13047 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.08 phi; 0.34 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964363.38 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 15.22 epoch sec; seqNo:1599964363785; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964363.38 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964363.79 epoch sec; seqNo:13047 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.10 , 0.03 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964363.79 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964364.18 epoch sec; seqNo:13048 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.08 phi; 0.34 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964363.79 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 15.09 epoch sec; seqNo:1599964364184; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964363.79 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964364.58 epoch sec; seqNo:13049 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.08 phi; 0.34 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964363.79 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964364.99 epoch sec; seqNo:13050 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.08 phi; 0.34 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964363.79 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964365.39 epoch sec; seqNo:13051 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.08 phi; 0.34 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964363.79 2020-11-23T22:53:59Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964365.79 epoch sec; seqNo:13052 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.08 phi; 0.34 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964363.79 2020-11-23T22:53:59Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964366.19 epoch sec; seqNo:13053 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.08 phi; 0.34 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964363.79 2020-11-23T22:53:59Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964369.00 epoch sec; seqNo:13060 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.10 , 0.03 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964369.00 2020-11-23T22:53:59Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964369.00 epoch sec; seqNo:13060; 4061598.75 north; 594136.22 east 2020-11-23T22:53:59Z- waiting for 1599964364.78, time is 1599964369.00 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964369.00, meas time 1599964369.00 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964369.00, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964369.00 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061599, 594136.22, 15.09) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964369.40 epoch sec; seqNo:13061 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.08 phi; 0.34 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964372.00, time is 1599964369.00 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 13.37 epoch sec; seqNo:1599964369405; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964372.00, time is 1599964369.00 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964369.41 epoch sec; seqNo:13061; 4061598.75 north; 594136.22 east 2020-11-23T22:53:59Z- waiting for 1599964372.00, time is 1599964369.00 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964369.81 epoch sec; seqNo:13062 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.08 phi; 0.34 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964372.00, time is 1599964369.00 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 13.24 epoch sec; seqNo:1599964369806; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964372.00, time is 1599964369.00 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964369.81 epoch sec; seqNo:13062; 4061598.37 north; 594136.23 east 2020-11-23T22:53:59Z- waiting for 1599964372.00, time is 1599964369.00 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964395.89 epoch sec; seqNo:13127 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , -0.20 , 0.04 2020-11-23T22:53:59Z- waiting for 1599964372.00, time is 1599964395.89 2020-11-23T22:53:59Z- sync is 26.09, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964395.89 epoch sec; seqNo:13127; 4061582.59 north; 594114.43 east 2020-11-23T22:53:59Z- waiting for 1599964372.00, time is 1599964395.89 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964395.89, meas time 1599964395.89 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964395.89, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964395.89 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061583, 594114.43, 13.24) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964396.29 epoch sec; seqNo:13128 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.09 phi; 0.33 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964398.89, time is 1599964395.89 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 4.75 epoch sec; seqNo:1599964396292; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964398.89, time is 1599964395.89 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964396.29 epoch sec; seqNo:13128 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , -0.20 , 0.04 2020-11-23T22:53:59Z- waiting for 1599964398.89, time is 1599964396.29 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964396.30 epoch sec; seqNo:13128; 4061582.58 north; 594113.21 east 2020-11-23T22:53:59Z- waiting for 1599964398.89, time is 1599964396.29 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964396.69 epoch sec; seqNo:13129 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.09 phi; 0.33 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964398.89, time is 1599964396.29 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 4.63 epoch sec; seqNo:1599964396693; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964398.89, time is 1599964396.29 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964396.69 epoch sec; seqNo:13129 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , -0.20 , 0.04 2020-11-23T22:53:59Z- waiting for 1599964398.89, time is 1599964396.69 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964396.70 epoch sec; seqNo:13129; 4061582.20 north; 594113.21 east 2020-11-23T22:53:59Z- waiting for 1599964398.89, time is 1599964396.69 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964397.09 epoch sec; seqNo:13130 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.09 phi; 0.33 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964398.89, time is 1599964396.69 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 4.50 epoch sec; seqNo:1599964397094; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964398.89, time is 1599964396.69 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964397.10 epoch sec; seqNo:13130 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , -0.21 , 0.04 2020-11-23T22:53:59Z- waiting for 1599964398.89, time is 1599964397.10 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964397.10 epoch sec; seqNo:13130; 4061581.82 north; 594113.22 east 2020-11-23T22:53:59Z- waiting for 1599964398.89, time is 1599964397.10 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964397.49 epoch sec; seqNo:13131 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , -0.21 , 0.04 2020-11-23T22:53:59Z- waiting for 1599964398.89, time is 1599964397.49 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964397.50 epoch sec; seqNo:13131; 4061581.82 north; 594113.22 east 2020-11-23T22:53:59Z- waiting for 1599964398.89, time is 1599964397.49 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964397.89 epoch sec; seqNo:13132 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , -0.21 , 0.04 2020-11-23T22:53:59Z- waiting for 1599964398.89, time is 1599964397.89 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964397.90 epoch sec; seqNo:13132; 4061581.43 north; 594112.00 east 2020-11-23T22:53:59Z- waiting for 1599964398.89, time is 1599964397.89 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964398.30 epoch sec; seqNo:13133 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , -0.21 , 0.04 2020-11-23T22:53:59Z- waiting for 1599964398.89, time is 1599964398.30 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964402.70 epoch sec; seqNo:13144 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , -0.22 , 0.04 2020-11-23T22:53:59Z- waiting for 1599964398.89, time is 1599964402.70 2020-11-23T22:53:59Z- sync is 4.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964403.10 epoch sec; seqNo:13145 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; 0.33 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964398.89, time is 1599964402.70 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964403.10, meas time 1599964402.70 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964402.70, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964402.70 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061581, 594112.00, 4.50) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 2.62 epoch sec; seqNo:1599964403099; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964405.70, time is 1599964402.70 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964403.50 epoch sec; seqNo:13146 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; 0.33 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964405.70, time is 1599964402.70 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 2.49 epoch sec; seqNo:1599964403503; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964405.70, time is 1599964402.70 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964403.51 epoch sec; seqNo:13146; 4061578.74 north; 594108.37 east 2020-11-23T22:53:59Z- waiting for 1599964405.70, time is 1599964402.70 2020-11-23T22:53:59Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964431.19 epoch sec; seqNo:13215; 4061547.59 north; 594101.39 east 2020-11-23T22:53:59Z- waiting for 1599964405.70, time is 1599964402.70 2020-11-23T22:53:59Z- sync is 28.49, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964431.59 epoch sec; seqNo:13216 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; 0.02 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964405.70, time is 1599964402.70 2020-11-23T22:53:59Z- sync is 28.89, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964431588; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964405.70, time is 1599964402.70 2020-11-23T22:53:59Z- sync is 28.89, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964431.59 epoch sec; seqNo:13216 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.49 , -0.26 , -0.00 2020-11-23T22:53:59Z- waiting for 1599964405.70, time is 1599964431.59 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964431.59, meas time 1599964431.59 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964431.59, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964431.59 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061548, 594101.39, -0.00) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964431.59 epoch sec; seqNo:13216; 4061547.59 north; 594101.39 east 2020-11-23T22:53:59Z- waiting for 1599964434.59, time is 1599964431.59 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964431.99 epoch sec; seqNo:13217 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; 0.01 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964434.59, time is 1599964431.59 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964431991; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964434.59, time is 1599964431.59 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964431.99 epoch sec; seqNo:13217 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.48 , -0.26 , -0.00 2020-11-23T22:53:59Z- waiting for 1599964434.59, time is 1599964431.99 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964431.99 epoch sec; seqNo:13217; 4061547.59 north; 594101.39 east 2020-11-23T22:53:59Z- waiting for 1599964434.59, time is 1599964431.99 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964432.39 epoch sec; seqNo:13218 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; 0.01 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964434.59, time is 1599964431.99 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964432394; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964434.59, time is 1599964431.99 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964432.39 epoch sec; seqNo:13218 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.48 , -0.26 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964434.59, time is 1599964432.39 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964432.39 epoch sec; seqNo:13218; 4061547.59 north; 594101.39 east 2020-11-23T22:53:59Z- waiting for 1599964434.59, time is 1599964432.39 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964432.79 epoch sec; seqNo:13219 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; 0.01 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964434.59, time is 1599964432.39 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964432795; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964434.59, time is 1599964432.39 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964432.80 epoch sec; seqNo:13219 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.48 , -0.26 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964434.59, time is 1599964432.80 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964433196; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964434.59, time is 1599964432.80 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964433.20 epoch sec; seqNo:13220 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.48 , -0.26 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964434.59, time is 1599964433.20 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964433597; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964434.59, time is 1599964433.20 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964460083; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964434.59, time is 1599964433.20 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964460.08 epoch sec; seqNo:13287 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.35 , -0.25 , -0.03 2020-11-23T22:53:59Z- waiting for 1599964434.59, time is 1599964460.08 2020-11-23T22:53:59Z- sync is 27.29, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964460.08 epoch sec; seqNo:13287; 4061547.59 north; 594101.39 east 2020-11-23T22:53:59Z- waiting for 1599964434.59, time is 1599964460.08 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964460.08, meas time 1599964460.08 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964460.08, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964460.08 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061548, 594101.39, -0.00) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964460.48 epoch sec; seqNo:13288 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; -0.04 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964463.08, time is 1599964460.08 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964460486; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964463.08, time is 1599964460.08 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964460.49 epoch sec; seqNo:13288 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.35 , -0.25 , -0.03 2020-11-23T22:53:59Z- waiting for 1599964463.08, time is 1599964460.49 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964460.49 epoch sec; seqNo:13288; 4061547.59 north; 594101.39 east 2020-11-23T22:53:59Z- waiting for 1599964463.08, time is 1599964460.49 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964460.89 epoch sec; seqNo:13289 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; -0.04 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964463.08, time is 1599964460.49 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964460887; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964463.08, time is 1599964460.49 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964460.89 epoch sec; seqNo:13289 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.35 , -0.25 , -0.03 2020-11-23T22:53:59Z- waiting for 1599964463.08, time is 1599964460.89 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964460.89 epoch sec; seqNo:13289; 4061547.59 north; 594101.39 east 2020-11-23T22:53:59Z- waiting for 1599964463.08, time is 1599964460.89 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964461.29 epoch sec; seqNo:13290 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; -0.04 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964463.08, time is 1599964460.89 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964461288; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964463.08, time is 1599964460.89 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964461.29 epoch sec; seqNo:13290 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.35 , -0.25 , -0.03 2020-11-23T22:53:59Z- waiting for 1599964463.08, time is 1599964461.29 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964461.29 epoch sec; seqNo:13290; 4061547.59 north; 594101.39 east 2020-11-23T22:53:59Z- waiting for 1599964463.08, time is 1599964461.29 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964461.69 epoch sec; seqNo:13291 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964463.08, time is 1599964461.29 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964461688; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964463.08, time is 1599964461.29 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964461.69 epoch sec; seqNo:13291 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.35 , -0.25 , -0.03 2020-11-23T22:53:59Z- waiting for 1599964463.08, time is 1599964461.69 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964461.69 epoch sec; seqNo:13291; 4061547.59 north; 594101.39 east 2020-11-23T22:53:59Z- waiting for 1599964463.08, time is 1599964461.69 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964487.37 epoch sec; seqNo:13355 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964463.08, time is 1599964461.69 2020-11-23T22:53:59Z- sync is 25.68, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964487366; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964463.08, time is 1599964461.69 2020-11-23T22:53:59Z- sync is 25.68, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964487.37 epoch sec; seqNo:13355 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.29 , -0.25 , -0.03 2020-11-23T22:53:59Z- waiting for 1599964463.08, time is 1599964487.37 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964487.37, meas time 1599964487.37 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964487.37, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964487.37 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061548, 594101.39, -0.00) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964487.37 epoch sec; seqNo:13355; 4061547.59 north; 594101.39 east 2020-11-23T22:53:59Z- waiting for 1599964490.37, time is 1599964487.37 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964487.77 epoch sec; seqNo:13356 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964490.37, time is 1599964487.37 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964487769; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964490.37, time is 1599964487.37 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964487.77 epoch sec; seqNo:13356 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.29 , -0.25 , -0.03 2020-11-23T22:53:59Z- waiting for 1599964490.37, time is 1599964487.77 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964487.77 epoch sec; seqNo:13356; 4061547.59 north; 594101.39 east 2020-11-23T22:53:59Z- waiting for 1599964490.37, time is 1599964487.77 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964488171; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964490.37, time is 1599964487.77 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964488.17 epoch sec; seqNo:13357 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.29 , -0.25 , -0.03 2020-11-23T22:53:59Z- waiting for 1599964490.37, time is 1599964488.17 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964488.17 epoch sec; seqNo:13357; 4061547.59 north; 594101.39 east 2020-11-23T22:53:59Z- waiting for 1599964490.37, time is 1599964488.17 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964488573; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964490.37, time is 1599964488.17 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964488.57 epoch sec; seqNo:13358 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.29 , -0.25 , -0.03 2020-11-23T22:53:59Z- waiting for 1599964490.37, time is 1599964488.57 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964488.57 epoch sec; seqNo:13358; 4061547.59 north; 594101.39 east 2020-11-23T22:53:59Z- waiting for 1599964490.37, time is 1599964488.57 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964488976; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964490.37, time is 1599964488.57 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964488.98 epoch sec; seqNo:13359; 4061547.59 north; 594101.39 east 2020-11-23T22:53:59Z- waiting for 1599964490.37, time is 1599964488.57 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964489.38 epoch sec; seqNo:13360; 4061547.59 north; 594101.39 east 2020-11-23T22:53:59Z- waiting for 1599964490.37, time is 1599964488.57 2020-11-23T22:53:59Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964489.78 epoch sec; seqNo:13361; 4061547.59 north; 594101.39 east 2020-11-23T22:53:59Z- waiting for 1599964490.37, time is 1599964488.57 2020-11-23T22:53:59Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964507.04 epoch sec; seqNo:13404; 4061547.59 north; 594101.39 east 2020-11-23T22:53:59Z- waiting for 1599964490.37, time is 1599964488.57 2020-11-23T22:53:59Z- sync is 18.46, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964507.44 epoch sec; seqNo:13405 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964490.37, time is 1599964488.57 2020-11-23T22:53:59Z- sync is 18.86, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964507439; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964490.37, time is 1599964488.57 2020-11-23T22:53:59Z- sync is 18.86, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964507.44 epoch sec; seqNo:13405 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.26 , -0.25 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964490.37, time is 1599964507.44 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964507.44, meas time 1599964507.44 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964507.44, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964507.44 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061548, 594101.39, -0.00) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964507.44 epoch sec; seqNo:13405; 4061547.59 north; 594101.39 east 2020-11-23T22:53:59Z- waiting for 1599964510.44, time is 1599964507.44 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964507.84 epoch sec; seqNo:13406 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964510.44, time is 1599964507.44 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964507841; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964510.44, time is 1599964507.44 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964507.84 epoch sec; seqNo:13406 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.26 , -0.25 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964510.44, time is 1599964507.84 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964507.84 epoch sec; seqNo:13406; 4061547.59 north; 594101.39 east 2020-11-23T22:53:59Z- waiting for 1599964510.44, time is 1599964507.84 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964508.24 epoch sec; seqNo:13407 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964510.44, time is 1599964507.84 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964508242; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964510.44, time is 1599964507.84 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964508.24 epoch sec; seqNo:13407 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.26 , -0.25 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964510.44, time is 1599964508.24 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964508.24 epoch sec; seqNo:13407; 4061547.59 north; 594101.39 east 2020-11-23T22:53:59Z- waiting for 1599964510.44, time is 1599964508.24 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964508.64 epoch sec; seqNo:13408 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964510.44, time is 1599964508.24 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964526.32 epoch sec; seqNo:13452; 4061547.59 north; 594101.39 east 2020-11-23T22:53:59Z- waiting for 1599964510.44, time is 1599964508.24 2020-11-23T22:53:59Z- sync is 18.08, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964526.72 epoch sec; seqNo:13453 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964510.44, time is 1599964508.24 2020-11-23T22:53:59Z- sync is 18.47, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964526717; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964510.44, time is 1599964508.24 2020-11-23T22:53:59Z- sync is 18.47, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964526.72 epoch sec; seqNo:13453 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.24 , -0.25 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964510.44, time is 1599964526.72 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964526.72, meas time 1599964526.72 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964526.72, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964526.72 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061548, 594101.39, -0.00) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964527.12 epoch sec; seqNo:13454 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964529.72, time is 1599964526.72 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964527119; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964529.72, time is 1599964526.72 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964527.12 epoch sec; seqNo:13454 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.24 , -0.25 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964529.72, time is 1599964527.12 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964527.52 epoch sec; seqNo:13455 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964529.72, time is 1599964527.12 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964527522; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964529.72, time is 1599964527.12 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964527.52 epoch sec; seqNo:13455 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.24 , -0.25 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964529.72, time is 1599964527.52 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964527.92 epoch sec; seqNo:13456 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964529.72, time is 1599964527.52 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599964527921; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964529.72, time is 1599964527.52 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964527.92 epoch sec; seqNo:13456 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.24 , -0.25 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964529.72, time is 1599964527.92 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964528.32 epoch sec; seqNo:13457 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964529.72, time is 1599964527.92 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964528.32 epoch sec; seqNo:13457 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.24 , -0.25 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964529.72, time is 1599964528.32 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964528.72 epoch sec; seqNo:13458 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964529.72, time is 1599964528.32 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964529.12 epoch sec; seqNo:13459 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964529.72, time is 1599964528.32 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964529.52 epoch sec; seqNo:13460 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964529.72, time is 1599964528.32 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964529.92 epoch sec; seqNo:13461 2020-11-23T22:53:59Z- AHRS_M2 msg: -2.10 phi; -0.05 theta; -0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964529.72, time is 1599964528.32 2020-11-23T22:53:59Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 0.01 epoch sec; seqNo:1599964549997; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964529.72, time is 1599964528.32 2020-11-23T22:53:59Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964550.00 epoch sec; seqNo:13511 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.32 , -0.05 2020-11-23T22:53:59Z- waiting for 1599964529.72, time is 1599964550.00 2020-11-23T22:53:59Z- sync is 20.07, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964550.00 epoch sec; seqNo:13511; 4061493.89 north; 594076.35 east 2020-11-23T22:53:59Z- waiting for 1599964529.72, time is 1599964550.00 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964550.00, meas time 1599964550.00 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964550.00, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964550.00 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061494, 594076.35, 0.01) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964550.40 epoch sec; seqNo:13512 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.96 phi; -0.07 theta; 0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964550.00 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 0.02 epoch sec; seqNo:1599964550399; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964550.00 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964550.40 epoch sec; seqNo:13512 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.33 , -0.05 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964550.40 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964550.40 epoch sec; seqNo:13512; 4061493.89 north; 594076.35 east 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964550.40 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964550.80 epoch sec; seqNo:13513 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.93 phi; -0.07 theta; 0.03 psi 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964550.40 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 0.02 epoch sec; seqNo:1599964550799; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964550.40 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964550.80 epoch sec; seqNo:13513 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.34 , -0.04 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964550.80 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964550.80 epoch sec; seqNo:13513; 4061493.51 north; 594076.35 east 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964550.80 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964551.20 epoch sec; seqNo:13514 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.90 phi; -0.08 theta; 0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964550.80 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 0.03 epoch sec; seqNo:1599964551201; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964550.80 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964551.20 epoch sec; seqNo:13514 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.35 , -0.04 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964551.20 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964551.20 epoch sec; seqNo:13514; 4061493.50 north; 594075.13 east 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964551.20 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964551.60 epoch sec; seqNo:13515 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.87 phi; -0.08 theta; 0.04 psi 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964551.20 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 0.04 epoch sec; seqNo:1599964551603; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964551.20 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964551.60 epoch sec; seqNo:13515 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.36 , -0.04 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964551.60 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964551.60 epoch sec; seqNo:13515; 4061493.50 north; 594075.13 east 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964551.60 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964552.00 epoch sec; seqNo:13516 2020-11-23T22:53:59Z- AHRS_M2 msg: -1.84 phi; -0.08 theta; 0.03 psi 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964551.60 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964552.00 epoch sec; seqNo:13516 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.36 , -0.04 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964552.00 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964552.00 epoch sec; seqNo:13516; 4061493.12 north; 594075.14 east 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964552.00 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964552.40 epoch sec; seqNo:13517 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.36 , -0.05 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964552.40 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964552.40 epoch sec; seqNo:13517; 4061493.12 north; 594075.14 east 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964552.40 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964552.81 epoch sec; seqNo:13518 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.37 , -0.05 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964552.81 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964552.81 epoch sec; seqNo:13518; 4061493.11 north; 594073.92 east 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964552.81 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 0.70 epoch sec; seqNo:1599964564455; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964552.81 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964564.46 epoch sec; seqNo:13547 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.29 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964564.46 2020-11-23T22:53:59Z- sync is 11.65, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964564.46 epoch sec; seqNo:13547; 4061495.64 north; 594062.90 east 2020-11-23T22:53:59Z- waiting for 1599964553.00, time is 1599964564.46 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964564.46, meas time 1599964564.46 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964564.46, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964564.46 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061496, 594062.90, 0.70) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964564.86 epoch sec; seqNo:13548 2020-11-23T22:53:59Z- AHRS_M2 msg: -0.86 phi; -0.14 theta; 0.00 psi 2020-11-23T22:53:59Z- waiting for 1599964567.46, time is 1599964564.46 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 0.74 epoch sec; seqNo:1599964564856; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964567.46, time is 1599964564.46 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964564.86 epoch sec; seqNo:13548; 4061496.02 north; 594062.90 east 2020-11-23T22:53:59Z- waiting for 1599964567.46, time is 1599964564.46 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964565.26 epoch sec; seqNo:13549 2020-11-23T22:53:59Z- AHRS_M2 msg: -0.83 phi; -0.14 theta; 0.00 psi 2020-11-23T22:53:59Z- waiting for 1599964567.46, time is 1599964564.46 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 0.77 epoch sec; seqNo:1599964565256; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964567.46, time is 1599964564.46 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964565.26 epoch sec; seqNo:13549; 4061496.02 north; 594062.90 east 2020-11-23T22:53:59Z- waiting for 1599964567.46, time is 1599964564.46 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964565.66 epoch sec; seqNo:13550 2020-11-23T22:53:59Z- AHRS_M2 msg: -0.80 phi; -0.14 theta; 0.00 psi 2020-11-23T22:53:59Z- waiting for 1599964567.46, time is 1599964564.46 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 0.80 epoch sec; seqNo:1599964565657; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964567.46, time is 1599964564.46 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964566.06 epoch sec; seqNo:13551 2020-11-23T22:53:59Z- AHRS_M2 msg: -0.77 phi; -0.15 theta; 0.00 psi 2020-11-23T22:53:59Z- waiting for 1599964567.46, time is 1599964564.46 2020-11-23T22:53:59Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 2.00 epoch sec; seqNo:1599964576075; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964567.46, time is 1599964564.46 2020-11-23T22:53:59Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964576.08 epoch sec; seqNo:13576 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , -0.08 , 0.01 2020-11-23T22:53:59Z- waiting for 1599964567.46, time is 1599964576.08 2020-11-23T22:53:59Z- sync is 10.02, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964576.08 epoch sec; seqNo:13576; 4061505.44 north; 594057.92 east 2020-11-23T22:53:59Z- waiting for 1599964567.46, time is 1599964576.08 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964576.08, meas time 1599964576.08 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964576.08, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964576.08 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061505, 594057.92, 2.00) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964576.47 epoch sec; seqNo:13577 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.03 phi; -0.19 theta; 0.00 psi 2020-11-23T22:53:59Z- waiting for 1599964579.08, time is 1599964576.08 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 2.05 epoch sec; seqNo:1599964576475; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964579.08, time is 1599964576.08 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964576.48 epoch sec; seqNo:13577 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , -0.07 , 0.01 2020-11-23T22:53:59Z- waiting for 1599964579.08, time is 1599964576.48 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964576.48 epoch sec; seqNo:13577; 4061505.81 north; 594057.91 east 2020-11-23T22:53:59Z- waiting for 1599964579.08, time is 1599964576.48 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964576.88 epoch sec; seqNo:13578 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.07 phi; -0.19 theta; 0.00 psi 2020-11-23T22:53:59Z- waiting for 1599964579.08, time is 1599964576.48 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 2.11 epoch sec; seqNo:1599964576876; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964579.08, time is 1599964576.48 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964576.88 epoch sec; seqNo:13578 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , -0.07 , 0.01 2020-11-23T22:53:59Z- waiting for 1599964579.08, time is 1599964576.88 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964576.88 epoch sec; seqNo:13578; 4061506.19 north; 594057.91 east 2020-11-23T22:53:59Z- waiting for 1599964579.08, time is 1599964576.88 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 2.16 epoch sec; seqNo:1599964577278; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964579.08, time is 1599964576.88 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964577.28 epoch sec; seqNo:13579 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , -0.06 , 0.01 2020-11-23T22:53:59Z- waiting for 1599964579.08, time is 1599964577.28 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 2.22 epoch sec; seqNo:1599964577680; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964579.08, time is 1599964577.28 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964577.68 epoch sec; seqNo:13580 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , -0.05 , 0.01 2020-11-23T22:53:59Z- waiting for 1599964579.08, time is 1599964577.68 2020-11-23T22:53:59Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 3.03 epoch sec; seqNo:1599964583290; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964579.08, time is 1599964577.68 2020-11-23T22:53:59Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964583.29 epoch sec; seqNo:13594 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , 0.04 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964579.08, time is 1599964583.29 2020-11-23T22:53:59Z- sync is 6.41, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964583.29 epoch sec; seqNo:13594; 4061512.28 north; 594060.28 east 2020-11-23T22:53:59Z- waiting for 1599964579.08, time is 1599964583.29 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964583.29, meas time 1599964583.29 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964583.29, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964583.29 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061512, 594060.28, 3.03) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964583.69 epoch sec; seqNo:13595 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.59 phi; -0.19 theta; 0.00 psi 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964583.29 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 3.09 epoch sec; seqNo:1599964583693; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964583.29 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964583.69 epoch sec; seqNo:13595 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , 0.04 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964583.69 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964583.69 epoch sec; seqNo:13595; 4061512.66 north; 594060.28 east 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964583.69 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964584.10 epoch sec; seqNo:13596 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.63 phi; -0.19 theta; 0.00 psi 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964583.69 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 3.15 epoch sec; seqNo:1599964584098; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964583.69 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964584.10 epoch sec; seqNo:13596 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , 0.05 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964584.10 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964584.10 epoch sec; seqNo:13596; 4061513.05 north; 594061.49 east 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964584.10 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964584.50 epoch sec; seqNo:13597 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.66 phi; -0.19 theta; 0.00 psi 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964584.10 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 3.21 epoch sec; seqNo:1599964584496; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964584.10 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964584.50 epoch sec; seqNo:13597 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , 0.06 , -0.00 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964584.50 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964584.50 epoch sec; seqNo:13597; 4061513.43 north; 594061.49 east 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964584.50 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964584.90 epoch sec; seqNo:13598 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.69 phi; -0.19 theta; 0.00 psi 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964584.50 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 3.26 epoch sec; seqNo:1599964584899; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964584.50 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964584.90 epoch sec; seqNo:13598 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , 0.06 , -0.00 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964584.90 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964584.90 epoch sec; seqNo:13598; 4061513.43 north; 594061.49 east 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964584.90 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964585.30 epoch sec; seqNo:13599 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.72 phi; -0.19 theta; 0.00 psi 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964584.90 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 3.32 epoch sec; seqNo:1599964585301; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964584.90 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964585.30 epoch sec; seqNo:13599 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , 0.06 , -0.00 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964585.30 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964585.70 epoch sec; seqNo:13600 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.75 phi; -0.19 theta; 0.00 psi 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964585.30 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964586.11 epoch sec; seqNo:13601; 4061514.58 north; 594062.70 east 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964585.30 2020-11-23T22:53:59Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 3.55 epoch sec; seqNo:1599964586909; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964585.30 2020-11-23T22:53:59Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964587.71 epoch sec; seqNo:13605 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , 0.09 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964586.29, time is 1599964587.71 2020-11-23T22:53:59Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964586.11, meas time 1599964587.71 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964587.71, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964587.71 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061515, 594062.70, 3.55) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964588.91 epoch sec; seqNo:13608; 4061516.11 north; 594063.90 east 2020-11-23T22:53:59Z- waiting for 1599964590.71, time is 1599964587.71 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 3.94 epoch sec; seqNo:1599964589716; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964590.71, time is 1599964587.71 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964590.12 epoch sec; seqNo:13611 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , 0.11 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964590.71, time is 1599964590.12 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 4.14 epoch sec; seqNo:1599964591316; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964590.71, time is 1599964590.12 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964591.32 epoch sec; seqNo:13614; 4061517.27 north; 594066.33 east 2020-11-23T22:53:59Z- waiting for 1599964590.71, time is 1599964590.12 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964591.72 epoch sec; seqNo:13615; 4061517.27 north; 594066.33 east 2020-11-23T22:53:59Z- waiting for 1599964590.71, time is 1599964590.12 2020-11-23T22:53:59Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964592.12 epoch sec; seqNo:13616; 4061517.67 north; 594067.54 east 2020-11-23T22:53:59Z- waiting for 1599964590.71, time is 1599964590.12 2020-11-23T22:53:59Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964592.52 epoch sec; seqNo:13617; 4061517.67 north; 594067.54 east 2020-11-23T22:53:59Z- waiting for 1599964590.71, time is 1599964590.12 2020-11-23T22:53:59Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964592.92 epoch sec; seqNo:13618; 4061517.67 north; 594067.54 east 2020-11-23T22:53:59Z- waiting for 1599964590.71, time is 1599964590.12 2020-11-23T22:53:59Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964593.32 epoch sec; seqNo:13619 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.31 phi; -0.16 theta; -0.00 psi 2020-11-23T22:53:59Z- waiting for 1599964590.71, time is 1599964590.12 2020-11-23T22:53:59Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 4.44 epoch sec; seqNo:1599964593719; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964590.71, time is 1599964590.12 2020-11-23T22:53:59Z- sync is 3.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964594.12 epoch sec; seqNo:13621 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.14 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964590.71, time is 1599964594.12 2020-11-23T22:53:59Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964593.32, meas time 1599964594.12 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964594.12, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964594.12 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061518, 594067.54, 4.44) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964596.53 epoch sec; seqNo:13627; 4061518.46 north; 594071.20 east 2020-11-23T22:53:59Z- waiting for 1599964597.12, time is 1599964594.12 2020-11-23T22:53:59Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964596.93 epoch sec; seqNo:13628 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.48 phi; -0.14 theta; -0.00 psi 2020-11-23T22:53:59Z- waiting for 1599964597.12, time is 1599964594.12 2020-11-23T22:53:59Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 4.90 epoch sec; seqNo:1599964597733; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964597.12, time is 1599964594.12 2020-11-23T22:53:59Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964597.73 epoch sec; seqNo:13630 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.16 , -0.03 2020-11-23T22:53:59Z- waiting for 1599964597.12, time is 1599964597.73 2020-11-23T22:53:59Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964596.93, meas time 1599964597.73 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964597.73, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964597.73 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061518, 594071.20, 4.90) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964598.54 epoch sec; seqNo:13632; 4061518.49 north; 594073.64 east 2020-11-23T22:53:59Z- waiting for 1599964600.73, time is 1599964597.73 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964599.34 epoch sec; seqNo:13634 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.56 phi; -0.13 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964600.73, time is 1599964597.73 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 5.11 epoch sec; seqNo:1599964599738; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964600.73, time is 1599964597.73 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964600.14 epoch sec; seqNo:13636 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.17 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964600.73, time is 1599964600.14 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964600.54 epoch sec; seqNo:13637; 4061518.50 north; 594074.86 east 2020-11-23T22:53:59Z- waiting for 1599964600.73, time is 1599964600.14 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964600.94 epoch sec; seqNo:13638 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.60 phi; -0.12 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964600.73, time is 1599964600.14 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964601.35 epoch sec; seqNo:13639; 4061518.52 north; 594076.08 east 2020-11-23T22:53:59Z- waiting for 1599964600.73, time is 1599964600.14 2020-11-23T22:53:59Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964602.15 epoch sec; seqNo:13641 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.63 phi; -0.11 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964600.73, time is 1599964600.14 2020-11-23T22:53:59Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 5.37 epoch sec; seqNo:1599964602548; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964600.73, time is 1599964600.14 2020-11-23T22:53:59Z- sync is 2.01, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964602.95 epoch sec; seqNo:13643 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.18 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964600.73, time is 1599964602.95 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964602.15, meas time 1599964602.95 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964602.95, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964602.95 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061519, 594076.08, 5.37) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964605.76 epoch sec; seqNo:13650 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.68 phi; -0.09 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964605.95, time is 1599964602.95 2020-11-23T22:53:59Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 5.65 epoch sec; seqNo:1599964606161; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964605.95, time is 1599964602.95 2020-11-23T22:53:59Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964606.56 epoch sec; seqNo:13652 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , 0.18 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964605.95, time is 1599964606.56 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964605.76, meas time 1599964606.56 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964606.56, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964606.56 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061519, 594076.08, 5.65) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964607.76 epoch sec; seqNo:13655 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.70 phi; -0.08 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964609.56, time is 1599964606.56 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 5.78 epoch sec; seqNo:1599964608162; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964609.56, time is 1599964606.56 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964608.56 epoch sec; seqNo:13657 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.19 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964609.56, time is 1599964608.56 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964609.76 epoch sec; seqNo:13660 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.72 phi; -0.07 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964609.56, time is 1599964608.56 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964670.35 epoch sec; seqNo:13811 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.07 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964609.56, time is 1599964670.35 2020-11-23T22:53:59Z- sync is 60.59, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964670.35 epoch sec; seqNo:13811; 4061528.25 north; 594134.56 east 2020-11-23T22:53:59Z- waiting for 1599964609.56, time is 1599964670.35 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964670.35, meas time 1599964670.35 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964670.35, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964670.35 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061528, 594134.56, 5.78) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964670.75 epoch sec; seqNo:13812 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.44 phi; -0.10 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964670.35 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 8.83 epoch sec; seqNo:1599964670747; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964670.35 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964670.75 epoch sec; seqNo:13812 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.07 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964670.75 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964670.75 epoch sec; seqNo:13812; 4061528.25 north; 594134.56 east 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964670.75 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964671.15 epoch sec; seqNo:13813 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.44 phi; -0.10 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964670.75 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 8.86 epoch sec; seqNo:1599964671148; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964670.75 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964671.15 epoch sec; seqNo:13813 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.07 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964671.15 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964671.15 epoch sec; seqNo:13813; 4061528.63 north; 594134.55 east 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964671.15 2020-11-23T22:53:59Z- sync is 0.01, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964671.55 epoch sec; seqNo:13814 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.43 phi; -0.10 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964671.15 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 8.90 epoch sec; seqNo:1599964671551; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964671.15 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964671.55 epoch sec; seqNo:13814 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.07 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964671.55 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964671.55 epoch sec; seqNo:13814; 4061529.01 north; 594134.55 east 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964671.55 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964671.95 epoch sec; seqNo:13815 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.43 phi; -0.10 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964671.55 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 8.93 epoch sec; seqNo:1599964671950; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964671.55 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964671.95 epoch sec; seqNo:13815 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.07 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964671.95 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964672.35 epoch sec; seqNo:13816 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.43 phi; -0.11 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964671.95 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 8.97 epoch sec; seqNo:1599964672351; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964671.95 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964672.35 epoch sec; seqNo:13816 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.07 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964672.35 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964672.75 epoch sec; seqNo:13817 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.43 phi; -0.11 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964672.35 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 9.01 epoch sec; seqNo:1599964672752; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964672.35 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964672.75 epoch sec; seqNo:13817 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.06 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964672.75 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964673.15 epoch sec; seqNo:13818 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.43 phi; -0.11 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964672.75 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964673.55 epoch sec; seqNo:13819 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.42 phi; -0.11 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964672.75 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964673.95 epoch sec; seqNo:13820 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.42 phi; -0.11 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964672.75 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 10.11 epoch sec; seqNo:1599964683589; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964672.75 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964683.59 epoch sec; seqNo:13844 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.03 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964683.59 2020-11-23T22:53:59Z- sync is 9.63, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964683.59 epoch sec; seqNo:13844; 4061538.16 north; 594139.33 east 2020-11-23T22:53:59Z- waiting for 1599964673.35, time is 1599964683.59 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964683.59, meas time 1599964683.59 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964683.59, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964683.59 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061538, 594139.33, 10.11) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964683.99 epoch sec; seqNo:13845 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.42 phi; -0.12 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964686.59, time is 1599964683.59 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964683.99 epoch sec; seqNo:13845 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.03 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964686.59, time is 1599964683.99 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964683.99 epoch sec; seqNo:13845; 4061538.55 north; 594140.54 east 2020-11-23T22:53:59Z- waiting for 1599964686.59, time is 1599964683.99 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964684.39 epoch sec; seqNo:13846 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.03 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964686.59, time is 1599964684.39 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964684.39 epoch sec; seqNo:13846; 4061538.93 north; 594140.54 east 2020-11-23T22:53:59Z- waiting for 1599964686.59, time is 1599964684.39 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964684.79 epoch sec; seqNo:13847 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.03 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964686.59, time is 1599964684.79 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964684.79 epoch sec; seqNo:13847; 4061539.31 north; 594140.54 east 2020-11-23T22:53:59Z- waiting for 1599964686.59, time is 1599964684.79 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964685.19 epoch sec; seqNo:13848; 4061539.69 north; 594140.53 east 2020-11-23T22:53:59Z- waiting for 1599964686.59, time is 1599964684.79 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964714.86 epoch sec; seqNo:13922 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.54 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964686.59, time is 1599964684.79 2020-11-23T22:53:59Z- sync is 30.07, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 14.74 epoch sec; seqNo:1599964714860; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964686.59, time is 1599964684.79 2020-11-23T22:53:59Z- sync is 30.07, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964714.86 epoch sec; seqNo:13922 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.04 , 0.01 2020-11-23T22:53:59Z- waiting for 1599964686.59, time is 1599964714.86 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964714.86, meas time 1599964714.86 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964714.86, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964714.86 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061540, 594140.53, 14.74) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964714.86 epoch sec; seqNo:13922; 4061562.17 north; 594152.49 east 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964714.86 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964715.26 epoch sec; seqNo:13923 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.54 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964714.86 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 14.80 epoch sec; seqNo:1599964715261; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964714.86 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964715.26 epoch sec; seqNo:13923 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.04 , 0.01 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964715.26 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964715.26 epoch sec; seqNo:13923; 4061562.56 north; 594153.71 east 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964715.26 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964715.66 epoch sec; seqNo:13924 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.54 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964715.26 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 14.86 epoch sec; seqNo:1599964715662; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964715.26 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964715.66 epoch sec; seqNo:13924 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.04 , 0.01 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964715.66 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964715.66 epoch sec; seqNo:13924; 4061562.56 north; 594153.71 east 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964715.66 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964716.06 epoch sec; seqNo:13925 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.55 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964715.66 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 14.92 epoch sec; seqNo:1599964716064; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964715.66 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964716.06 epoch sec; seqNo:13925 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.04 , 0.01 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964716.06 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964716.07 epoch sec; seqNo:13925; 4061562.94 north; 594153.70 east 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964716.06 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964716.46 epoch sec; seqNo:13926 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.55 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964716.06 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 14.99 epoch sec; seqNo:1599964716463; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964716.06 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964716.46 epoch sec; seqNo:13926 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.04 , 0.01 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964716.46 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964716.47 epoch sec; seqNo:13926; 4061563.32 north; 594153.70 east 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964716.46 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964716.87 epoch sec; seqNo:13927 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.55 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964716.46 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 15.05 epoch sec; seqNo:1599964716866; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964716.46 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 15.11 epoch sec; seqNo:1599964717269; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964716.46 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 15.18 epoch sec; seqNo:1599964717668; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964716.46 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 18.91 epoch sec; seqNo:1599964741344; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964716.46 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964741.35 epoch sec; seqNo:13988 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.05 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964741.35 2020-11-23T22:53:59Z- sync is 24.48, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964741.35 epoch sec; seqNo:13988; 4061580.90 north; 594166.93 east 2020-11-23T22:53:59Z- waiting for 1599964717.86, time is 1599964741.35 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964741.35, meas time 1599964741.35 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964741.35, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964741.35 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061581, 594166.93, 18.91) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964741.74 epoch sec; seqNo:13989 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.60 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964741.35 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 18.98 epoch sec; seqNo:1599964741745; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964741.35 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964741.75 epoch sec; seqNo:13989 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.05 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964741.75 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964741.75 epoch sec; seqNo:13989; 4061581.27 north; 594166.93 east 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964741.75 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964742.15 epoch sec; seqNo:13990 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.60 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964741.75 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 19.05 epoch sec; seqNo:1599964742146; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964741.75 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964742.15 epoch sec; seqNo:13990 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.05 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964742.15 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964742.15 epoch sec; seqNo:13990; 4061581.65 north; 594166.92 east 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964742.15 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964742.55 epoch sec; seqNo:13991 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.60 phi; -0.20 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964742.15 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 19.12 epoch sec; seqNo:1599964742550; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964742.15 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964742.55 epoch sec; seqNo:13991 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.05 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964742.55 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964742.55 epoch sec; seqNo:13991; 4061581.65 north; 594166.92 east 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964742.55 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964742.95 epoch sec; seqNo:13992 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.60 phi; -0.20 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964742.55 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 19.19 epoch sec; seqNo:1599964742953; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964742.55 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964742.95 epoch sec; seqNo:13992 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.05 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964742.95 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964742.95 epoch sec; seqNo:13992; 4061582.03 north; 594166.92 east 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964742.95 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964743.35 epoch sec; seqNo:13993 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.60 phi; -0.20 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964742.95 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 19.26 epoch sec; seqNo:1599964743354; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964742.95 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964743.35 epoch sec; seqNo:13993 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.05 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964743.35 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964743.36 epoch sec; seqNo:13993; 4061582.42 north; 594168.13 east 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964743.35 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964743.76 epoch sec; seqNo:13994 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.60 phi; -0.20 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964743.35 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 24.66 epoch sec; seqNo:1599964770664; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964743.35 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964770.66 epoch sec; seqNo:14061 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.06 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964770.66 2020-11-23T22:53:59Z- sync is 26.91, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964770.66 epoch sec; seqNo:14061; 4061601.15 north; 594182.57 east 2020-11-23T22:53:59Z- waiting for 1599964744.35, time is 1599964770.66 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964770.66, meas time 1599964770.66 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964770.66, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964770.66 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061601, 594182.57, 24.66) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964771.06 epoch sec; seqNo:14062 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.62 phi; -0.24 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964773.66, time is 1599964770.66 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 24.75 epoch sec; seqNo:1599964771064; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964773.66, time is 1599964770.66 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964771.06 epoch sec; seqNo:14062 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.06 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964773.66, time is 1599964771.06 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964771.07 epoch sec; seqNo:14062; 4061601.53 north; 594182.57 east 2020-11-23T22:53:59Z- waiting for 1599964773.66, time is 1599964771.06 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964771.46 epoch sec; seqNo:14063 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.62 phi; -0.24 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964773.66, time is 1599964771.06 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 24.84 epoch sec; seqNo:1599964771466; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964773.66, time is 1599964771.06 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964771.47 epoch sec; seqNo:14063 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.06 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964773.66, time is 1599964771.47 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964771.47 epoch sec; seqNo:14063; 4061601.91 north; 594182.57 east 2020-11-23T22:53:59Z- waiting for 1599964773.66, time is 1599964771.47 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964771.87 epoch sec; seqNo:14064 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.62 phi; -0.24 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964773.66, time is 1599964771.47 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 24.92 epoch sec; seqNo:1599964771871; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964773.66, time is 1599964771.47 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964771.87 epoch sec; seqNo:14064 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.06 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964773.66, time is 1599964771.87 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964771.87 epoch sec; seqNo:14064; 4061602.29 north; 594182.56 east 2020-11-23T22:53:59Z- waiting for 1599964773.66, time is 1599964771.87 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 25.01 epoch sec; seqNo:1599964772272; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964773.66, time is 1599964771.87 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964772.27 epoch sec; seqNo:14065; 4061602.30 north; 594183.78 east 2020-11-23T22:53:59Z- waiting for 1599964773.66, time is 1599964771.87 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964772.67 epoch sec; seqNo:14066; 4061602.68 north; 594183.78 east 2020-11-23T22:53:59Z- waiting for 1599964773.66, time is 1599964771.87 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964773.07 epoch sec; seqNo:14067; 4061603.06 north; 594183.77 east 2020-11-23T22:53:59Z- waiting for 1599964773.66, time is 1599964771.87 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964773.48 epoch sec; seqNo:14068; 4061603.44 north; 594183.77 east 2020-11-23T22:53:59Z- waiting for 1599964773.66, time is 1599964771.87 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964798.74 epoch sec; seqNo:14131 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.63 phi; -0.21 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964773.66, time is 1599964771.87 2020-11-23T22:53:59Z- sync is 26.87, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 30.66 epoch sec; seqNo:1599964798739; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964773.66, time is 1599964771.87 2020-11-23T22:53:59Z- sync is 26.87, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964798.74 epoch sec; seqNo:14131 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.06 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964773.66, time is 1599964798.74 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964798.74, meas time 1599964798.74 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964798.74, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964798.74 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061603, 594183.77, 30.66) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964798.74 epoch sec; seqNo:14131; 4061620.64 north; 594198.23 east 2020-11-23T22:53:59Z- waiting for 1599964801.74, time is 1599964798.74 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964799.14 epoch sec; seqNo:14132 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.64 phi; -0.21 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964801.74, time is 1599964798.74 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 30.74 epoch sec; seqNo:1599964799139; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964801.74, time is 1599964798.74 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964799.14 epoch sec; seqNo:14132 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.06 , 0.00 2020-11-23T22:53:59Z- waiting for 1599964801.74, time is 1599964799.14 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964799.14 epoch sec; seqNo:14132; 4061621.02 north; 594198.22 east 2020-11-23T22:53:59Z- waiting for 1599964801.74, time is 1599964799.14 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964799.54 epoch sec; seqNo:14133 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.64 phi; -0.21 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964801.74, time is 1599964799.14 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 30.82 epoch sec; seqNo:1599964799540; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964801.74, time is 1599964799.14 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964799.54 epoch sec; seqNo:14133 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.06 , -0.00 2020-11-23T22:53:59Z- waiting for 1599964801.74, time is 1599964799.54 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964799.54 epoch sec; seqNo:14133; 4061621.40 north; 594198.22 east 2020-11-23T22:53:59Z- waiting for 1599964801.74, time is 1599964799.54 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964799.94 epoch sec; seqNo:14134 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.64 phi; -0.21 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964801.74, time is 1599964799.54 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 30.89 epoch sec; seqNo:1599964799940; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964801.74, time is 1599964799.54 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964799.94 epoch sec; seqNo:14134 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.06 , -0.00 2020-11-23T22:53:59Z- waiting for 1599964801.74, time is 1599964799.94 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964800.34 epoch sec; seqNo:14135 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.64 phi; -0.21 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964801.74, time is 1599964799.94 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964800.34 epoch sec; seqNo:14135 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.06 , -0.00 2020-11-23T22:53:59Z- waiting for 1599964801.74, time is 1599964800.34 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964820.00 epoch sec; seqNo:14184 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.65 phi; -0.19 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964801.74, time is 1599964800.34 2020-11-23T22:53:59Z- sync is 19.66, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 34.47 epoch sec; seqNo:1599964820002; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964801.74, time is 1599964800.34 2020-11-23T22:53:59Z- sync is 19.66, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964820.00 epoch sec; seqNo:14184 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.06 , -0.00 2020-11-23T22:53:59Z- waiting for 1599964801.74, time is 1599964820.00 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964820.00, meas time 1599964820.00 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964820.00, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964820.00 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061621, 594198.22, 34.47) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964820.00 epoch sec; seqNo:14184; 4061635.55 north; 594210.27 east 2020-11-23T22:53:59Z- waiting for 1599964823.00, time is 1599964820.00 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964820.40 epoch sec; seqNo:14185 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.65 phi; -0.18 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964823.00, time is 1599964820.00 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 34.53 epoch sec; seqNo:1599964820402; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964823.00, time is 1599964820.00 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964820.40 epoch sec; seqNo:14185 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.06 , -0.00 2020-11-23T22:53:59Z- waiting for 1599964823.00, time is 1599964820.40 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964820.40 epoch sec; seqNo:14185; 4061635.57 north; 594211.49 east 2020-11-23T22:53:59Z- waiting for 1599964823.00, time is 1599964820.40 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964820.80 epoch sec; seqNo:14186 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.65 phi; -0.18 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964823.00, time is 1599964820.40 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 34.60 epoch sec; seqNo:1599964820803; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964823.00, time is 1599964820.40 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964820.80 epoch sec; seqNo:14186 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.06 , -0.00 2020-11-23T22:53:59Z- waiting for 1599964823.00, time is 1599964820.80 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964820.80 epoch sec; seqNo:14186; 4061635.95 north; 594211.48 east 2020-11-23T22:53:59Z- waiting for 1599964823.00, time is 1599964820.80 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964821.20 epoch sec; seqNo:14187 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.65 phi; -0.18 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964823.00, time is 1599964820.80 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 34.66 epoch sec; seqNo:1599964821203; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964823.00, time is 1599964820.80 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964821.20 epoch sec; seqNo:14187 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.06 , -0.00 2020-11-23T22:53:59Z- waiting for 1599964823.00, time is 1599964821.20 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964821.60 epoch sec; seqNo:14188 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.65 phi; -0.18 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964823.00, time is 1599964821.20 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 34.73 epoch sec; seqNo:1599964821605; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964823.00, time is 1599964821.20 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964821.61 epoch sec; seqNo:14188 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.06 , -0.00 2020-11-23T22:53:59Z- waiting for 1599964823.00, time is 1599964821.61 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964822.01 epoch sec; seqNo:14189 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.65 phi; -0.18 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964823.00, time is 1599964821.61 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 34.80 epoch sec; seqNo:1599964822007; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964823.00, time is 1599964821.61 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964822.01 epoch sec; seqNo:14189 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.06 , -0.00 2020-11-23T22:53:59Z- waiting for 1599964823.00, time is 1599964822.01 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964822.41 epoch sec; seqNo:14190 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.65 phi; -0.18 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964823.00, time is 1599964822.01 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 38.39 epoch sec; seqNo:1599964845286; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964823.00, time is 1599964822.01 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964845.29 epoch sec; seqNo:14247 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.05 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964823.00, time is 1599964845.29 2020-11-23T22:53:59Z- sync is 22.88, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964845.29 epoch sec; seqNo:14247; 4061653.16 north; 594225.94 east 2020-11-23T22:53:59Z- waiting for 1599964823.00, time is 1599964845.29 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964845.29, meas time 1599964845.29 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964845.29, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964845.29 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061653, 594225.94, 38.39) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964845.69 epoch sec; seqNo:14248 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.68 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964845.29 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 38.45 epoch sec; seqNo:1599964845687; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964845.29 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964845.69 epoch sec; seqNo:14248 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.05 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964845.69 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964845.69 epoch sec; seqNo:14248; 4061653.16 north; 594225.94 east 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964845.69 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964846.09 epoch sec; seqNo:14249 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.68 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964845.69 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 38.50 epoch sec; seqNo:1599964846087; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964845.69 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964846.09 epoch sec; seqNo:14249 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.05 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964846.09 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964846.09 epoch sec; seqNo:14249; 4061653.53 north; 594225.93 east 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964846.09 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964846.49 epoch sec; seqNo:14250 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.68 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964846.09 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 38.56 epoch sec; seqNo:1599964846490; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964846.09 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964846.49 epoch sec; seqNo:14250 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.05 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964846.49 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964846.49 epoch sec; seqNo:14250; 4061653.93 north; 594227.15 east 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964846.49 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964846.89 epoch sec; seqNo:14251 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.68 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964846.49 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964846.89 epoch sec; seqNo:14251 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.05 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964846.89 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964846.89 epoch sec; seqNo:14251; 4061653.93 north; 594227.15 east 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964846.89 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964847.29 epoch sec; seqNo:14252 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.68 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964846.89 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964847.29 epoch sec; seqNo:14252 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.05 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964847.29 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964847.29 epoch sec; seqNo:14252; 4061654.31 north; 594227.15 east 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964847.29 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964847.69 epoch sec; seqNo:14253 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.68 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964847.29 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964847.69 epoch sec; seqNo:14253 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.05 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964847.69 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964847.69 epoch sec; seqNo:14253; 4061654.68 north; 594227.14 east 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964847.69 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964848.09 epoch sec; seqNo:14254 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.68 phi; -0.17 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964847.69 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964848.10 epoch sec; seqNo:14254; 4061655.06 north; 594227.14 east 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964847.69 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 40.62 epoch sec; seqNo:1599964860936; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964847.69 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964860.94 epoch sec; seqNo:14286 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.01 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964860.94 2020-11-23T22:53:59Z- sync is 12.84, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964860.94 epoch sec; seqNo:14286; 4061663.49 north; 594235.59 east 2020-11-23T22:53:59Z- waiting for 1599964848.29, time is 1599964860.94 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964860.94, meas time 1599964860.94 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964860.94, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964860.94 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061663, 594235.59, 40.62) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964861.34 epoch sec; seqNo:14287 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.81 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964863.94, time is 1599964860.94 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 40.67 epoch sec; seqNo:1599964861338; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964863.94, time is 1599964860.94 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964861.34 epoch sec; seqNo:14287 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.00 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964863.94, time is 1599964861.34 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964861.34 epoch sec; seqNo:14287; 4061663.87 north; 594235.59 east 2020-11-23T22:53:59Z- waiting for 1599964863.94, time is 1599964861.34 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964861.74 epoch sec; seqNo:14288 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.84 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964863.94, time is 1599964861.34 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 40.73 epoch sec; seqNo:1599964861739; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964863.94, time is 1599964861.34 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964861.74 epoch sec; seqNo:14288 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.01 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964863.94, time is 1599964861.74 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964861.74 epoch sec; seqNo:14288; 4061664.26 north; 594236.80 east 2020-11-23T22:53:59Z- waiting for 1599964863.94, time is 1599964861.74 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964862.14 epoch sec; seqNo:14289 2020-11-23T22:53:59Z- AHRS_M2 msg: 0.87 phi; -0.16 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964863.94, time is 1599964861.74 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 40.78 epoch sec; seqNo:1599964862140; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964863.94, time is 1599964861.74 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964862.14 epoch sec; seqNo:14289 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.02 , -0.01 2020-11-23T22:53:59Z- waiting for 1599964863.94, time is 1599964862.14 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964862.14 epoch sec; seqNo:14289; 4061664.26 north; 594236.80 east 2020-11-23T22:53:59Z- waiting for 1599964863.94, time is 1599964862.14 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 40.84 epoch sec; seqNo:1599964862540; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964863.94, time is 1599964862.14 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 40.89 epoch sec; seqNo:1599964862941; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964863.94, time is 1599964862.14 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 40.94 epoch sec; seqNo:1599964863345; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964863.94, time is 1599964862.14 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964870.57 epoch sec; seqNo:14310; 4061667.37 north; 594244.09 east 2020-11-23T22:53:59Z- waiting for 1599964863.94, time is 1599964862.14 2020-11-23T22:53:59Z- sync is 8.43, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964870.97 epoch sec; seqNo:14311 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.44 phi; -0.15 theta; -0.00 psi 2020-11-23T22:53:59Z- waiting for 1599964863.94, time is 1599964862.14 2020-11-23T22:53:59Z- sync is 8.83, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 41.93 epoch sec; seqNo:1599964870971; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964863.94, time is 1599964862.14 2020-11-23T22:53:59Z- sync is 8.83, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964870.97 epoch sec; seqNo:14311 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.01 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964863.94, time is 1599964870.97 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964870.97, meas time 1599964870.97 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964870.97, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964870.97 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594244.09, 41.93) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964870.97 epoch sec; seqNo:14311; 4061667.75 north; 594244.09 east 2020-11-23T22:53:59Z- waiting for 1599964873.97, time is 1599964870.97 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964871.37 epoch sec; seqNo:14312 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.45 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964873.97, time is 1599964870.97 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 41.98 epoch sec; seqNo:1599964871372; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964873.97, time is 1599964870.97 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964871.37 epoch sec; seqNo:14312 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.01 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964873.97, time is 1599964871.37 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964871.37 epoch sec; seqNo:14312; 4061667.75 north; 594244.09 east 2020-11-23T22:53:59Z- waiting for 1599964873.97, time is 1599964871.37 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964871.78 epoch sec; seqNo:14313 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.47 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964873.97, time is 1599964871.37 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 42.03 epoch sec; seqNo:1599964871775; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964873.97, time is 1599964871.37 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964871.78 epoch sec; seqNo:14313 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.01 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964873.97, time is 1599964871.78 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964876.19 epoch sec; seqNo:14324 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.60 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964873.97, time is 1599964871.78 2020-11-23T22:53:59Z- sync is 4.42, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 42.59 epoch sec; seqNo:1599964876193; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964873.97, time is 1599964871.78 2020-11-23T22:53:59Z- sync is 4.42, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964876.19 epoch sec; seqNo:14324 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.04 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964873.97, time is 1599964876.19 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964876.19, meas time 1599964876.19 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964876.19, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964876.19 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061668, 594244.09, 42.59) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964876.19 epoch sec; seqNo:14324; 4061667.81 north; 594248.97 east 2020-11-23T22:53:59Z- waiting for 1599964879.19, time is 1599964876.19 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964876.59 epoch sec; seqNo:14325 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.61 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964879.19, time is 1599964876.19 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 42.64 epoch sec; seqNo:1599964876594; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964879.19, time is 1599964876.19 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964876.60 epoch sec; seqNo:14325 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.04 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964879.19, time is 1599964876.60 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964880.20 epoch sec; seqNo:14334 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.66 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964879.19, time is 1599964876.60 2020-11-23T22:53:59Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964880.20 epoch sec; seqNo:14334; 4061667.47 north; 594252.63 east 2020-11-23T22:53:59Z- waiting for 1599964879.19, time is 1599964876.60 2020-11-23T22:53:59Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964882.62 epoch sec; seqNo:14340; 4061667.12 north; 594255.08 east 2020-11-23T22:53:59Z- waiting for 1599964879.19, time is 1599964876.60 2020-11-23T22:53:59Z- sync is 6.02, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964883.01 epoch sec; seqNo:14341 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.67 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964879.19, time is 1599964876.60 2020-11-23T22:53:59Z- sync is 6.42, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 43.44 epoch sec; seqNo:1599964883012; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964879.19, time is 1599964876.60 2020-11-23T22:53:59Z- sync is 6.42, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964883.01 epoch sec; seqNo:14341 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964879.19, time is 1599964883.01 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964883.01, meas time 1599964883.01 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964883.01, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964883.01 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594255.08, 43.44) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964884.22 epoch sec; seqNo:14344 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964886.01, time is 1599964884.22 2020-11-23T22:53:59Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 43.65 epoch sec; seqNo:1599964884617; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964886.01, time is 1599964884.22 2020-11-23T22:53:59Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964885.02 epoch sec; seqNo:14346; 4061666.76 north; 594257.52 east 2020-11-23T22:53:59Z- waiting for 1599964886.01, time is 1599964884.22 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964886.22 epoch sec; seqNo:14349 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.67 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964886.01, time is 1599964884.22 2020-11-23T22:53:59Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 43.90 epoch sec; seqNo:1599964886623; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964886.01, time is 1599964884.22 2020-11-23T22:53:59Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964887.02 epoch sec; seqNo:14351 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964886.01, time is 1599964887.02 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964886.22, meas time 1599964887.02 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964887.02, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964887.02 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594257.52, 43.90) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964887.82 epoch sec; seqNo:14353; 4061666.03 north; 594259.97 east 2020-11-23T22:53:59Z- waiting for 1599964890.02, time is 1599964887.02 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 44.10 epoch sec; seqNo:1599964888224; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964890.02, time is 1599964887.02 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964888.62 epoch sec; seqNo:14355; 4061666.05 north; 594261.19 east 2020-11-23T22:53:59Z- waiting for 1599964890.02, time is 1599964887.02 2020-11-23T22:53:59Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964889.03 epoch sec; seqNo:14356; 4061666.05 north; 594261.19 east 2020-11-23T22:53:59Z- waiting for 1599964890.02, time is 1599964887.02 2020-11-23T22:53:59Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964889.43 epoch sec; seqNo:14357; 4061665.68 north; 594262.42 east 2020-11-23T22:53:59Z- waiting for 1599964890.02, time is 1599964887.02 2020-11-23T22:53:59Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964889.83 epoch sec; seqNo:14358; 4061665.68 north; 594262.42 east 2020-11-23T22:53:59Z- waiting for 1599964890.02, time is 1599964887.02 2020-11-23T22:53:59Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964890.63 epoch sec; seqNo:14360 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.64 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964890.02, time is 1599964887.02 2020-11-23T22:53:59Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 44.45 epoch sec; seqNo:1599964891030; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964890.02, time is 1599964887.02 2020-11-23T22:53:59Z- sync is 3.61, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964891.43 epoch sec; seqNo:14362 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.09 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964890.02, time is 1599964891.43 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964890.63, meas time 1599964891.43 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964891.43, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964891.43 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594262.42, 44.45) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964893.43 epoch sec; seqNo:14367; 4061665.34 north; 594266.08 east 2020-11-23T22:53:59Z- waiting for 1599964894.43, time is 1599964891.43 2020-11-23T22:53:59Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964894.23 epoch sec; seqNo:14369 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.61 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964894.43, time is 1599964891.43 2020-11-23T22:53:59Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 44.91 epoch sec; seqNo:1599964894635; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964894.43, time is 1599964891.43 2020-11-23T22:53:59Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964895.04 epoch sec; seqNo:14371 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.10 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964894.43, time is 1599964895.04 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964894.23, meas time 1599964895.04 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599964895.04, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964895.04 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594266.08, 44.91) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964895.84 epoch sec; seqNo:14373 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.59 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964898.04, time is 1599964895.04 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964895.84 epoch sec; seqNo:14373; 4061664.99 north; 594268.53 east 2020-11-23T22:53:59Z- waiting for 1599964898.04, time is 1599964895.04 2020-11-23T22:53:59Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 45.16 epoch sec; seqNo:1599964896640; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964898.04, time is 1599964895.04 2020-11-23T22:53:59Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964897.04 epoch sec; seqNo:14376 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.10 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964898.04, time is 1599964897.04 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964897.85 epoch sec; seqNo:14378; 4061664.64 north; 594270.97 east 2020-11-23T22:53:59Z- waiting for 1599964898.04, time is 1599964897.04 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964898.25 epoch sec; seqNo:14379 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.57 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964898.04, time is 1599964897.04 2020-11-23T22:53:59Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 45.46 epoch sec; seqNo:1599964899048; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964898.04, time is 1599964897.04 2020-11-23T22:53:59Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964899.05 epoch sec; seqNo:14381 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.10 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964898.04, time is 1599964899.05 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964898.25, meas time 1599964899.05 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 5.000 at t=1599964899.05, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964899.05 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594270.97, 45.46) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964900.25 epoch sec; seqNo:14384 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.55 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964902.05, time is 1599964899.05 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964900.25 epoch sec; seqNo:14384 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.10 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964902.05, time is 1599964900.25 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964901.45 epoch sec; seqNo:14387 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.53 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964902.05, time is 1599964900.25 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 45.82 epoch sec; seqNo:1599964901853; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964902.05, time is 1599964900.25 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964902.25 epoch sec; seqNo:14389 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.10 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964902.05, time is 1599964902.25 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964901.45, meas time 1599964902.25 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 8.000 at t=1599964902.25, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964902.25 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594270.97, 45.82) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964904.66 epoch sec; seqNo:14395; 4061664.33 north; 594277.08 east 2020-11-23T22:53:59Z- waiting for 1599964905.25, time is 1599964902.25 2020-11-23T22:53:59Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964905.06 epoch sec; seqNo:14396 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.50 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964905.25, time is 1599964902.25 2020-11-23T22:53:59Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 46.33 epoch sec; seqNo:1599964905865; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964905.25, time is 1599964902.25 2020-11-23T22:53:59Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964905.87 epoch sec; seqNo:14398 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.10 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964905.25, time is 1599964905.87 2020-11-23T22:53:59Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964905.06, meas time 1599964905.87 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 11.000 at t=1599964905.87, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964905.87 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594277.08, 46.33) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964906.68 epoch sec; seqNo:14400; 4061664.35 north; 594279.52 east 2020-11-23T22:53:59Z- waiting for 1599964908.87, time is 1599964905.87 2020-11-23T22:53:59Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964907.47 epoch sec; seqNo:14402 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.47 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964908.87, time is 1599964905.87 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 46.58 epoch sec; seqNo:1599964907878; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964908.87, time is 1599964905.87 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964908.28 epoch sec; seqNo:14404 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.10 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964908.87, time is 1599964908.28 2020-11-23T22:53:59Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964908.68 epoch sec; seqNo:14405; 4061664.37 north; 594280.74 east 2020-11-23T22:53:59Z- waiting for 1599964908.87, time is 1599964908.28 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964909.08 epoch sec; seqNo:14406 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.45 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964908.87, time is 1599964908.28 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 46.84 epoch sec; seqNo:1599964909885; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964908.87, time is 1599964908.28 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964909.88 epoch sec; seqNo:14408 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.10 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964908.87, time is 1599964909.88 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964909.08, meas time 1599964909.88 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 15.000 at t=1599964909.88, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964909.88 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594280.74, 46.84) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964911.09 epoch sec; seqNo:14411 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.43 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964912.88, time is 1599964909.88 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 47.04 epoch sec; seqNo:1599964911489; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964912.88, time is 1599964909.88 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964911.89 epoch sec; seqNo:14413 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.10 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964912.88, time is 1599964911.89 2020-11-23T22:53:59Z- sync is 0.81, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964912.69 epoch sec; seqNo:14415 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.42 phi; -0.15 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964912.88, time is 1599964911.89 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 47.25 epoch sec; seqNo:1599964913093; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964912.88, time is 1599964911.89 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964913.50 epoch sec; seqNo:14417 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.10 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964912.88, time is 1599964913.50 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964912.69, meas time 1599964913.50 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 19.000 at t=1599964913.50, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964913.50 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594280.74, 47.25) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964974.89 epoch sec; seqNo:14570 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964916.50, time is 1599964913.50 2020-11-23T22:53:59Z- sync is 61.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.19 epoch sec; seqNo:1599964974893; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964916.50, time is 1599964913.50 2020-11-23T22:53:59Z- sync is 61.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964974.89 epoch sec; seqNo:14570 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964916.50, time is 1599964974.89 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964974.89, meas time 1599964974.89 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 12.000 at t=1599964974.89, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964974.89 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594280.74, 50.19) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964974.90 epoch sec; seqNo:14570; 4061672.66 north; 594345.33 east 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964974.89 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964975.29 epoch sec; seqNo:14571 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964974.89 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.18 epoch sec; seqNo:1599964975293; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964974.89 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964975.29 epoch sec; seqNo:14571 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964975.29 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964975.30 epoch sec; seqNo:14571; 4061672.67 north; 594346.55 east 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964975.29 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964975.69 epoch sec; seqNo:14572 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964975.29 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.17 epoch sec; seqNo:1599964975693; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964975.29 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964975.69 epoch sec; seqNo:14572 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964975.69 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964975.69 epoch sec; seqNo:14572; 4061672.67 north; 594346.55 east 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964975.69 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964976.09 epoch sec; seqNo:14573 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964975.69 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.16 epoch sec; seqNo:1599964976094; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964975.69 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964976.09 epoch sec; seqNo:14573 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964976.09 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964976.10 epoch sec; seqNo:14573; 4061672.67 north; 594346.55 east 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964976.09 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964976.49 epoch sec; seqNo:14574 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964976.09 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964976.50 epoch sec; seqNo:14574 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964976.50 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964976.50 epoch sec; seqNo:14574; 4061673.05 north; 594346.55 east 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964976.50 2020-11-23T22:53:59Z- sync is 0.01, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964976.89 epoch sec; seqNo:14575 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964976.50 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964976.90 epoch sec; seqNo:14575 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964976.90 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964976.90 epoch sec; seqNo:14575; 4061673.06 north; 594347.77 east 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964976.90 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964977.29 epoch sec; seqNo:14576 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964976.90 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964977.30 epoch sec; seqNo:14576 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964977.30 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964977.30 epoch sec; seqNo:14576; 4061673.06 north; 594347.77 east 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964977.30 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.12 epoch sec; seqNo:1599964979298; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964977.30 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964979.30 epoch sec; seqNo:14581 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964979.30 2020-11-23T22:53:59Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964979.30 epoch sec; seqNo:14581; 4061673.09 north; 594350.21 east 2020-11-23T22:53:59Z- waiting for 1599964977.89, time is 1599964979.30 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964979.30, meas time 1599964979.30 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 17.000 at t=1599964979.30, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964979.30 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061673, 594350.21, 50.12) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964979.70 epoch sec; seqNo:14582 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964982.30, time is 1599964979.30 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964979.70 epoch sec; seqNo:14582; 4061673.09 north; 594350.21 east 2020-11-23T22:53:59Z- waiting for 1599964982.30, time is 1599964979.30 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964999.35 epoch sec; seqNo:14631 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599964982.30, time is 1599964979.30 2020-11-23T22:53:59Z- sync is 20.05, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.00 epoch sec; seqNo:1599964999350; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599964982.30, time is 1599964979.30 2020-11-23T22:53:59Z- sync is 20.05, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964999.35 epoch sec; seqNo:14631 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599964982.30, time is 1599964999.35 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599964999.35, meas time 1599964999.35 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 3.000 at t=1599964999.35, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599964999.35 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061673, 594350.21, 50.00) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964999.35 epoch sec; seqNo:14631; 4061675.58 north; 594369.71 east 2020-11-23T22:53:59Z- waiting for 1599965002.35, time is 1599964999.35 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599964999.75 epoch sec; seqNo:14632 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965002.35, time is 1599964999.35 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.00 epoch sec; seqNo:1599964999752; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965002.35, time is 1599964999.35 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599964999.75 epoch sec; seqNo:14632 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965002.35, time is 1599964999.75 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599964999.75 epoch sec; seqNo:14632; 4061675.58 north; 594369.71 east 2020-11-23T22:53:59Z- waiting for 1599965002.35, time is 1599964999.75 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965000.15 epoch sec; seqNo:14633 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965002.35, time is 1599964999.75 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.00 epoch sec; seqNo:1599965000153; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965002.35, time is 1599964999.75 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965000.15 epoch sec; seqNo:14633 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965002.35, time is 1599965000.15 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965041.45 epoch sec; seqNo:14736 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965002.35, time is 1599965000.15 2020-11-23T22:53:59Z- sync is 41.30, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1599965041451; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965002.35, time is 1599965000.15 2020-11-23T22:53:59Z- sync is 41.30, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965041.45 epoch sec; seqNo:14736 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965002.35, time is 1599965041.45 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965041.45, meas time 1599965041.45 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 11.000 at t=1599965041.45, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965041.45 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594369.71, 50.32) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965041.45 epoch sec; seqNo:14736; 4061680.58 north; 594411.15 east 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965041.45 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965041.85 epoch sec; seqNo:14737 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965041.45 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1599965041852; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965041.45 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965041.85 epoch sec; seqNo:14737 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965041.85 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965041.85 epoch sec; seqNo:14737; 4061680.58 north; 594411.15 east 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965041.85 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965042.25 epoch sec; seqNo:14738 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965041.85 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1599965042253; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965041.85 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965042.25 epoch sec; seqNo:14738 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965042.25 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965042.26 epoch sec; seqNo:14738; 4061680.58 north; 594411.15 east 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965042.25 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965042.65 epoch sec; seqNo:14739 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965042.25 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1599965042655; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965042.25 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965042.66 epoch sec; seqNo:14739 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965042.66 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965042.66 epoch sec; seqNo:14739; 4061680.59 north; 594412.37 east 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965042.66 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965043.06 epoch sec; seqNo:14740 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965042.66 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1599965043056; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965042.66 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965043.06 epoch sec; seqNo:14740 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965043.06 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965043.06 epoch sec; seqNo:14740; 4061680.59 north; 594412.37 east 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965043.06 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1599965043455; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965043.06 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1599965043855; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965043.06 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1599965044256; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965043.06 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965071.51 epoch sec; seqNo:14811 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965043.06 2020-11-23T22:53:59Z- sync is 28.45, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1599965071511; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965043.06 2020-11-23T22:53:59Z- sync is 28.45, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965071.51 epoch sec; seqNo:14811 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965044.45, time is 1599965071.51 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965071.51, meas time 1599965071.51 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 7.000 at t=1599965071.51, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965071.51 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061681, 594412.37, 49.81) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965071.51 epoch sec; seqNo:14811; 4061683.93 north; 594440.40 east 2020-11-23T22:53:59Z- waiting for 1599965074.51, time is 1599965071.51 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965071.91 epoch sec; seqNo:14812 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965074.51, time is 1599965071.51 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1599965071909; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965074.51, time is 1599965071.51 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965071.91 epoch sec; seqNo:14812 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965074.51, time is 1599965071.91 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965071.91 epoch sec; seqNo:14812; 4061684.31 north; 594440.40 east 2020-11-23T22:53:59Z- waiting for 1599965074.51, time is 1599965071.91 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965072.31 epoch sec; seqNo:14813 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965074.51, time is 1599965071.91 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1599965072309; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965074.51, time is 1599965071.91 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965072.31 epoch sec; seqNo:14813 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965074.51, time is 1599965072.31 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965072.31 epoch sec; seqNo:14813; 4061684.31 north; 594440.40 east 2020-11-23T22:53:59Z- waiting for 1599965074.51, time is 1599965072.31 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965072.71 epoch sec; seqNo:14814 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965074.51, time is 1599965072.31 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1599965072710; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965074.51, time is 1599965072.31 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965072.71 epoch sec; seqNo:14814 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965074.51, time is 1599965072.71 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965072.71 epoch sec; seqNo:14814; 4061684.33 north; 594441.62 east 2020-11-23T22:53:59Z- waiting for 1599965074.51, time is 1599965072.71 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1599965073111; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965074.51, time is 1599965072.71 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965073.11 epoch sec; seqNo:14815; 4061684.33 north; 594441.62 east 2020-11-23T22:53:59Z- waiting for 1599965074.51, time is 1599965072.71 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965073.51 epoch sec; seqNo:14816; 4061684.33 north; 594441.62 east 2020-11-23T22:53:59Z- waiting for 1599965074.51, time is 1599965072.71 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965073.91 epoch sec; seqNo:14817; 4061684.34 north; 594442.84 east 2020-11-23T22:53:59Z- waiting for 1599965074.51, time is 1599965072.71 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965074.32 epoch sec; seqNo:14818; 4061684.34 north; 594442.84 east 2020-11-23T22:53:59Z- waiting for 1599965074.51, time is 1599965072.71 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599965099573; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965074.51, time is 1599965072.71 2020-11-23T22:53:59Z- sync is 1.61, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965099.57 epoch sec; seqNo:14881 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965074.51, time is 1599965099.57 2020-11-23T22:53:59Z- sync is 25.26, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965099.57 epoch sec; seqNo:14881; 4061686.88 north; 594467.22 east 2020-11-23T22:53:59Z- waiting for 1599965074.51, time is 1599965099.57 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965099.57, meas time 1599965099.57 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 1.000 at t=1599965099.57, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965099.57 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061687, 594467.22, 49.77) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965099.97 epoch sec; seqNo:14882 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.41 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965102.57, time is 1599965099.57 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599965099973; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965102.57, time is 1599965099.57 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965099.97 epoch sec; seqNo:14882 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965102.57, time is 1599965099.97 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965099.97 epoch sec; seqNo:14882; 4061686.90 north; 594468.44 east 2020-11-23T22:53:59Z- waiting for 1599965102.57, time is 1599965099.97 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965100.37 epoch sec; seqNo:14883 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.41 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965102.57, time is 1599965099.97 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599965100374; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965102.57, time is 1599965099.97 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965100.37 epoch sec; seqNo:14883 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965102.57, time is 1599965100.37 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965100.37 epoch sec; seqNo:14883; 4061686.90 north; 594468.44 east 2020-11-23T22:53:59Z- waiting for 1599965102.57, time is 1599965100.37 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965100.78 epoch sec; seqNo:14884 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.41 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965102.57, time is 1599965100.37 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599965100775; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965102.57, time is 1599965100.37 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965100.78 epoch sec; seqNo:14884 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965102.57, time is 1599965100.78 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965101.18 epoch sec; seqNo:14885 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.41 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965102.57, time is 1599965100.78 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965101.18 epoch sec; seqNo:14885 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965102.57, time is 1599965101.18 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965101.58 epoch sec; seqNo:14886 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.41 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965102.57, time is 1599965101.18 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965128.05 epoch sec; seqNo:14952 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.40 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965102.57, time is 1599965101.18 2020-11-23T22:53:59Z- sync is 26.87, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.08 epoch sec; seqNo:1599965128050; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965102.57, time is 1599965101.18 2020-11-23T22:53:59Z- sync is 26.87, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965128.05 epoch sec; seqNo:14952 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965102.57, time is 1599965128.05 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965128.05, meas time 1599965128.05 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 30.000 at t=1599965128.05, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965128.05 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061687, 594468.44, 50.08) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965128.06 epoch sec; seqNo:14952; 4061689.84 north; 594495.26 east 2020-11-23T22:53:59Z- waiting for 1599965131.05, time is 1599965128.05 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965128.45 epoch sec; seqNo:14953 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.40 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965131.05, time is 1599965128.05 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.09 epoch sec; seqNo:1599965128452; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965131.05, time is 1599965128.05 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965128.45 epoch sec; seqNo:14953 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965131.05, time is 1599965128.45 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965128.46 epoch sec; seqNo:14953; 4061689.84 north; 594495.26 east 2020-11-23T22:53:59Z- waiting for 1599965131.05, time is 1599965128.45 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965128.85 epoch sec; seqNo:14954 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.40 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965131.05, time is 1599965128.45 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.10 epoch sec; seqNo:1599965128854; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965131.05, time is 1599965128.45 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965128.86 epoch sec; seqNo:14954 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965131.05, time is 1599965128.86 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965128.86 epoch sec; seqNo:14954; 4061689.86 north; 594496.48 east 2020-11-23T22:53:59Z- waiting for 1599965131.05, time is 1599965128.86 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965129.26 epoch sec; seqNo:14955 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.40 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965131.05, time is 1599965128.86 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.10 epoch sec; seqNo:1599965129257; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965131.05, time is 1599965128.86 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965129.26 epoch sec; seqNo:14955 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965131.05, time is 1599965129.26 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965129.66 epoch sec; seqNo:14956 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.40 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965131.05, time is 1599965129.26 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1599965129658; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965131.05, time is 1599965129.26 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965129.66 epoch sec; seqNo:14956 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965131.05, time is 1599965129.66 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965130.06 epoch sec; seqNo:14957 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.40 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965131.05, time is 1599965129.66 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1599965130058; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965131.05, time is 1599965129.66 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965130.06 epoch sec; seqNo:14957 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965131.05, time is 1599965130.06 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965147.69 epoch sec; seqNo:15001 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965131.05, time is 1599965147.69 2020-11-23T22:53:59Z- sync is 17.63, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965147.69 epoch sec; seqNo:15001; 4061691.95 north; 594514.76 east 2020-11-23T22:53:59Z- waiting for 1599965131.05, time is 1599965147.69 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965147.69, meas time 1599965147.69 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 15.000 at t=1599965147.69, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965147.69 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061692, 594514.76, 50.11) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965148.09 epoch sec; seqNo:15002 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965147.69 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1599965148086; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965147.69 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965148.09 epoch sec; seqNo:15002 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965148.09 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965148.09 epoch sec; seqNo:15002; 4061691.95 north; 594514.76 east 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965148.09 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965148.49 epoch sec; seqNo:15003 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965148.09 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1599965148488; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965148.09 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965148.49 epoch sec; seqNo:15003 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965148.49 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965148.49 epoch sec; seqNo:15003; 4061691.97 north; 594515.98 east 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965148.49 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965148.89 epoch sec; seqNo:15004 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965148.49 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1599965148888; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965148.49 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965148.89 epoch sec; seqNo:15004 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965148.89 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965148.89 epoch sec; seqNo:15004; 4061692.35 north; 594515.98 east 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965148.89 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965149.29 epoch sec; seqNo:15005 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.03 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965148.89 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1599965149290; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965148.89 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965149.29 epoch sec; seqNo:15005 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965149.29 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965149.29 epoch sec; seqNo:15005; 4061692.35 north; 594515.98 east 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965149.29 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965149.69 epoch sec; seqNo:15006 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965149.29 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965149.69 epoch sec; seqNo:15006 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965149.69 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965149.69 epoch sec; seqNo:15006; 4061692.35 north; 594515.98 east 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965149.69 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965150.09 epoch sec; seqNo:15007 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965149.69 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965150.09 epoch sec; seqNo:15007 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965150.09 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965150.10 epoch sec; seqNo:15007; 4061692.36 north; 594517.20 east 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965150.09 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1599965160124; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965150.09 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965160.13 epoch sec; seqNo:15032 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965160.13 2020-11-23T22:53:59Z- sync is 10.03, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965160.13 epoch sec; seqNo:15032; 4061693.60 north; 594526.95 east 2020-11-23T22:53:59Z- waiting for 1599965150.69, time is 1599965160.13 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965160.13, meas time 1599965160.13 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 28.000 at t=1599965160.13, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965160.13 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061694, 594526.95, 50.42) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965160.53 epoch sec; seqNo:15033 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965163.13, time is 1599965160.13 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1599965160525; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965163.13, time is 1599965160.13 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965160.53 epoch sec; seqNo:15033 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965163.13, time is 1599965160.53 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965160.53 epoch sec; seqNo:15033; 4061693.60 north; 594526.95 east 2020-11-23T22:53:59Z- waiting for 1599965163.13, time is 1599965160.53 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965160.93 epoch sec; seqNo:15034 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965163.13, time is 1599965160.53 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965160.93 epoch sec; seqNo:15034; 4061693.60 north; 594526.95 east 2020-11-23T22:53:59Z- waiting for 1599965163.13, time is 1599965160.53 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965161.33 epoch sec; seqNo:15035 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.38 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965163.13, time is 1599965160.53 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965167.75 epoch sec; seqNo:15051; 4061694.44 north; 594534.26 east 2020-11-23T22:53:59Z- waiting for 1599965163.13, time is 1599965160.53 2020-11-23T22:53:59Z- sync is 7.23, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965168.15 epoch sec; seqNo:15052 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.39 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965163.13, time is 1599965160.53 2020-11-23T22:53:59Z- sync is 7.62, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1599965168152; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965163.13, time is 1599965160.53 2020-11-23T22:53:59Z- sync is 7.62, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965168.15 epoch sec; seqNo:15052 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965163.13, time is 1599965168.15 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965168.15, meas time 1599965168.15 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 2.000 at t=1599965168.15, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965168.15 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061694, 594534.26, 50.25) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965168.55 epoch sec; seqNo:15053 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.39 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965171.15, time is 1599965168.15 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1599965168553; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965171.15, time is 1599965168.15 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965168.55 epoch sec; seqNo:15053 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965171.15, time is 1599965168.55 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.10 epoch sec; seqNo:1599965172963; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965171.15, time is 1599965168.55 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965172.96 epoch sec; seqNo:15064 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965171.15, time is 1599965172.96 2020-11-23T22:53:59Z- sync is 4.41, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965172.96 epoch sec; seqNo:15064; 4061695.25 north; 594539.14 east 2020-11-23T22:53:59Z- waiting for 1599965171.15, time is 1599965172.96 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965172.96, meas time 1599965172.96 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 6.000 at t=1599965172.96, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965172.96 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061695, 594539.14, 50.10) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965173.36 epoch sec; seqNo:15065 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.40 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965175.96, time is 1599965172.96 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.09 epoch sec; seqNo:1599965173363; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965175.96, time is 1599965172.96 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965173.37 epoch sec; seqNo:15065; 4061695.25 north; 594539.14 east 2020-11-23T22:53:59Z- waiting for 1599965175.96, time is 1599965172.96 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965173.76 epoch sec; seqNo:15066 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.40 phi; 0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965175.96, time is 1599965172.96 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965176.17 epoch sec; seqNo:15072 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.41 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965175.96, time is 1599965172.96 2020-11-23T22:53:59Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.00 epoch sec; seqNo:1599965176175; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965175.96, time is 1599965172.96 2020-11-23T22:53:59Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965176.18 epoch sec; seqNo:15072 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965175.96, time is 1599965176.18 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965176.17, meas time 1599965176.18 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 10.000 at t=1599965176.18, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965176.18 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061695, 594539.14, 50.00) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965176.18 epoch sec; seqNo:15072; 4061695.29 north; 594542.80 east 2020-11-23T22:53:59Z- waiting for 1599965179.18, time is 1599965176.18 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965177.78 epoch sec; seqNo:15076 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965179.18, time is 1599965177.78 2020-11-23T22:53:59Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965177.78 epoch sec; seqNo:15076; 4061695.69 north; 594544.01 east 2020-11-23T22:53:59Z- waiting for 1599965179.18, time is 1599965177.78 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1599965178977; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965179.18, time is 1599965177.78 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965179.38 epoch sec; seqNo:15080 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.41 phi; 0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965179.18, time is 1599965177.78 2020-11-23T22:53:59Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965179.78 epoch sec; seqNo:15081 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965179.18, time is 1599965179.78 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965179.38, meas time 1599965179.78 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 13.000 at t=1599965179.78, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965179.78 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061696, 594544.01, 49.93) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965180.58 epoch sec; seqNo:15083; 4061696.09 north; 594546.45 east 2020-11-23T22:53:59Z- waiting for 1599965182.78, time is 1599965179.78 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1599965181388; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965182.78, time is 1599965179.78 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.86 epoch sec; seqNo:1599965181793; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965182.78, time is 1599965179.78 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1599965182194; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965182.78, time is 1599965179.78 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965182.60 epoch sec; seqNo:15088 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.41 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965182.78, time is 1599965179.78 2020-11-23T22:53:59Z- sync is 2.82, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1599965182997; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965182.78, time is 1599965179.78 2020-11-23T22:53:59Z- sync is 2.82, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965183.40 epoch sec; seqNo:15090 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965182.78, time is 1599965183.40 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965182.60, meas time 1599965183.40 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 17.000 at t=1599965183.40, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965183.40 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061696, 594546.45, 49.84) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965185.81 epoch sec; seqNo:15096; 4061696.53 north; 594551.33 east 2020-11-23T22:53:59Z- waiting for 1599965186.40, time is 1599965183.40 2020-11-23T22:53:59Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965186.21 epoch sec; seqNo:15097 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.41 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965186.40, time is 1599965183.40 2020-11-23T22:53:59Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599965186609; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965186.40, time is 1599965183.40 2020-11-23T22:53:59Z- sync is 2.81, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965187.41 epoch sec; seqNo:15100 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965186.40, time is 1599965187.41 2020-11-23T22:53:59Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965186.21, meas time 1599965187.41 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 21.000 at t=1599965187.41, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965187.41 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061697, 594551.33, 49.77) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965187.82 epoch sec; seqNo:15101; 4061696.55 north; 594553.77 east 2020-11-23T22:53:59Z- waiting for 1599965190.41, time is 1599965187.41 2020-11-23T22:53:59Z- sync is 0.41, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965188.62 epoch sec; seqNo:15103 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.41 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965190.41, time is 1599965187.41 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1599965189022; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965190.41, time is 1599965187.41 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965189.42 epoch sec; seqNo:15105 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965190.41, time is 1599965189.42 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965189.83 epoch sec; seqNo:15106; 4061696.96 north; 594556.21 east 2020-11-23T22:53:59Z- waiting for 1599965190.41, time is 1599965189.42 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965190.22 epoch sec; seqNo:15107 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.41 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965190.41, time is 1599965189.42 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.71 epoch sec; seqNo:1599965191028; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965190.41, time is 1599965189.42 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965191.43 epoch sec; seqNo:15110 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965190.41, time is 1599965191.43 2020-11-23T22:53:59Z- sync is 1.21, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965190.22, meas time 1599965191.43 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 25.000 at t=1599965191.43, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965191.43 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061697, 594556.21, 49.71) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965191.84 epoch sec; seqNo:15111; 4061696.97 north; 594557.43 east 2020-11-23T22:53:59Z- waiting for 1599965194.43, time is 1599965191.43 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599965192633; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965194.43, time is 1599965191.43 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965193.03 epoch sec; seqNo:15114; 4061696.99 north; 594558.65 east 2020-11-23T22:53:59Z- waiting for 1599965194.43, time is 1599965191.43 2020-11-23T22:53:59Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965193.43 epoch sec; seqNo:15115; 4061697.38 north; 594559.86 east 2020-11-23T22:53:59Z- waiting for 1599965194.43, time is 1599965191.43 2020-11-23T22:53:59Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965193.83 epoch sec; seqNo:15116; 4061697.38 north; 594559.86 east 2020-11-23T22:53:59Z- waiting for 1599965194.43, time is 1599965191.43 2020-11-23T22:53:59Z- sync is 2.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965194.23 epoch sec; seqNo:15117; 4061697.38 north; 594559.86 east 2020-11-23T22:53:59Z- waiting for 1599965194.43, time is 1599965191.43 2020-11-23T22:53:59Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599965194634; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965194.43, time is 1599965191.43 2020-11-23T22:53:59Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965195.04 epoch sec; seqNo:15119 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965194.43, time is 1599965195.04 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965194.23, meas time 1599965195.04 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 29.000 at t=1599965195.04, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965195.04 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061697, 594559.86, 49.67) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965195.84 epoch sec; seqNo:15121; 4061697.40 north; 594562.30 east 2020-11-23T22:53:59Z- waiting for 1599965198.04, time is 1599965195.04 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965198.24 epoch sec; seqNo:15127 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.41 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965198.04, time is 1599965195.04 2020-11-23T22:53:59Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.64 epoch sec; seqNo:1599965198645; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965198.04, time is 1599965195.04 2020-11-23T22:53:59Z- sync is 3.21, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965199.05 epoch sec; seqNo:15129 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965198.04, time is 1599965199.05 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965198.24, meas time 1599965199.05 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 33.000 at t=1599965199.05, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965199.05 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061697, 594562.30, 49.64) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965199.45 epoch sec; seqNo:15130; 4061697.81 north; 594564.74 east 2020-11-23T22:53:59Z- waiting for 1599965202.05, time is 1599965199.05 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965200.25 epoch sec; seqNo:15132 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.41 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965202.05, time is 1599965199.05 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.63 epoch sec; seqNo:1599965200647; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965202.05, time is 1599965199.05 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965201.05 epoch sec; seqNo:15134 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965202.05, time is 1599965201.05 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965201.45 epoch sec; seqNo:15135; 4061697.84 north; 594567.18 east 2020-11-23T22:53:59Z- waiting for 1599965202.05, time is 1599965201.05 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965202.25 epoch sec; seqNo:15137 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.41 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965202.05, time is 1599965201.05 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.62 epoch sec; seqNo:1599965202650; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965202.05, time is 1599965201.05 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965203.05 epoch sec; seqNo:15139 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965202.05, time is 1599965203.05 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965202.25, meas time 1599965203.05 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 3.000 at t=1599965203.05, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965203.05 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061698, 594567.18, 49.62) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965203.85 epoch sec; seqNo:15141 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.41 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965206.05, time is 1599965203.05 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965204.26 epoch sec; seqNo:15142 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965206.05, time is 1599965204.26 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965205.46 epoch sec; seqNo:15145 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.41 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965206.05, time is 1599965204.26 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965205.86 epoch sec; seqNo:15146 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.41 phi; -0.02 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965206.05, time is 1599965204.26 2020-11-23T22:53:59Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.62 epoch sec; seqNo:1599965206261; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965206.05, time is 1599965204.26 2020-11-23T22:53:59Z- sync is 1.60, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965206.66 epoch sec; seqNo:15148 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965206.05, time is 1599965206.66 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965205.86, meas time 1599965206.66 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 6.000 at t=1599965206.66, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965206.66 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061698, 594567.18, 49.62) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965209.07 epoch sec; seqNo:15154; 4061698.68 north; 594574.49 east 2020-11-23T22:53:59Z- waiting for 1599965209.66, time is 1599965206.66 2020-11-23T22:53:59Z- sync is 2.41, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965209.47 epoch sec; seqNo:15155 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.41 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965209.66, time is 1599965206.66 2020-11-23T22:53:59Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1599965210269; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965209.66, time is 1599965206.66 2020-11-23T22:53:59Z- sync is 2.80, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965210.27 epoch sec; seqNo:15157 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965209.66, time is 1599965210.27 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965209.47, meas time 1599965210.27 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 10.000 at t=1599965210.27, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965210.27 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061699, 594574.49, 49.66) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965211.47 epoch sec; seqNo:15160; 4061699.08 north; 594576.93 east 2020-11-23T22:53:59Z- waiting for 1599965213.27, time is 1599965210.27 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965212.27 epoch sec; seqNo:15162 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.41 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965213.27, time is 1599965210.27 2020-11-23T22:53:59Z- sync is 2.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965272.01 epoch sec; seqNo:15311 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.40 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965213.27, time is 1599965210.27 2020-11-23T22:53:59Z- sync is 61.74, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599965272009; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965213.27, time is 1599965210.27 2020-11-23T22:53:59Z- sync is 61.74, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965272.01 epoch sec; seqNo:15311 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965213.27, time is 1599965272.01 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965272.01, meas time 1599965272.01 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 4.000 at t=1599965272.01, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965272.01 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061699, 594576.93, 49.78) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965272.01 epoch sec; seqNo:15311; 4061705.80 north; 594636.66 east 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965272.01 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965272.41 epoch sec; seqNo:15312 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.40 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965272.01 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599965272409; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965272.01 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965272.41 epoch sec; seqNo:15312 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965272.41 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965272.41 epoch sec; seqNo:15312; 4061705.80 north; 594636.66 east 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965272.41 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965272.81 epoch sec; seqNo:15313 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.40 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965272.41 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599965272812; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965272.41 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965272.81 epoch sec; seqNo:15313 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965272.81 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965272.81 epoch sec; seqNo:15313; 4061705.80 north; 594636.66 east 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965272.81 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965273.21 epoch sec; seqNo:15314 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.40 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965272.81 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599965273214; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965272.81 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965273.21 epoch sec; seqNo:15314 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965273.21 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965273.21 epoch sec; seqNo:15314; 4061705.82 north; 594637.88 east 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965273.21 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965273.62 epoch sec; seqNo:15315 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.40 phi; -0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965273.21 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599965273616; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965273.21 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965273.62 epoch sec; seqNo:15315 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965273.62 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965273.62 epoch sec; seqNo:15315; 4061705.82 north; 594637.88 east 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965273.62 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965274.02 epoch sec; seqNo:15316 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.40 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965273.62 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599965274017; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965273.62 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965274.02 epoch sec; seqNo:15316 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965274.02 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599965274418; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965274.02 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965274.42 epoch sec; seqNo:15317 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965274.42 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965274.82 epoch sec; seqNo:15318 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965274.82 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965295.27 epoch sec; seqNo:15369 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.42 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965274.82 2020-11-23T22:53:59Z- sync is 20.45, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599965295269; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965274.82 2020-11-23T22:53:59Z- sync is 20.45, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965295.27 epoch sec; seqNo:15369 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965275.01, time is 1599965295.27 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965295.27, meas time 1599965295.27 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 27.000 at t=1599965295.27, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965295.27 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061706, 594637.88, 49.69) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965295.27 epoch sec; seqNo:15369; 4061707.94 north; 594658.60 east 2020-11-23T22:53:59Z- waiting for 1599965298.27, time is 1599965295.27 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965295.67 epoch sec; seqNo:15370 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.42 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965298.27, time is 1599965295.27 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599965295672; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965298.27, time is 1599965295.27 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965295.67 epoch sec; seqNo:15370 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965298.27, time is 1599965295.67 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965295.67 epoch sec; seqNo:15370; 4061707.95 north; 594659.82 east 2020-11-23T22:53:59Z- waiting for 1599965298.27, time is 1599965295.67 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965296.07 epoch sec; seqNo:15371 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.42 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965298.27, time is 1599965295.67 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599965296074; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965298.27, time is 1599965295.67 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965296.07 epoch sec; seqNo:15371 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965298.27, time is 1599965296.07 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965296.08 epoch sec; seqNo:15371; 4061707.95 north; 594659.82 east 2020-11-23T22:53:59Z- waiting for 1599965298.27, time is 1599965296.07 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965296.47 epoch sec; seqNo:15372 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.42 phi; -0.04 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965298.27, time is 1599965296.07 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965296.47 epoch sec; seqNo:15372 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965298.27, time is 1599965296.47 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965296.47 epoch sec; seqNo:15372; 4061707.95 north; 594659.82 east 2020-11-23T22:53:59Z- waiting for 1599965298.27, time is 1599965296.47 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965325.35 epoch sec; seqNo:15444 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965298.27, time is 1599965325.35 2020-11-23T22:53:59Z- sync is 28.87, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965325.35 epoch sec; seqNo:15444; 4061710.93 north; 594689.08 east 2020-11-23T22:53:59Z- waiting for 1599965298.27, time is 1599965325.35 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965325.35, meas time 1599965325.35 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 23.000 at t=1599965325.35, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965325.35 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061711, 594689.08, 49.70) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965325.75 epoch sec; seqNo:15445 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.39 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965325.35 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1599965325749; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965325.35 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965325.75 epoch sec; seqNo:15445 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965325.75 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965325.75 epoch sec; seqNo:15445; 4061710.93 north; 594689.08 east 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965325.75 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965326.15 epoch sec; seqNo:15446 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.39 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965325.75 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1599965326149; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965325.75 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965326.15 epoch sec; seqNo:15446 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965326.15 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965326.15 epoch sec; seqNo:15446; 4061711.31 north; 594689.08 east 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965326.15 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965326.55 epoch sec; seqNo:15447 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.39 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965326.15 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1599965326552; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965326.15 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965326.55 epoch sec; seqNo:15447 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965326.55 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965326.55 epoch sec; seqNo:15447; 4061711.31 north; 594689.08 east 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965326.55 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965326.95 epoch sec; seqNo:15448 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.39 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965326.55 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1599965326954; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965326.55 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965326.95 epoch sec; seqNo:15448 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965326.95 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965326.95 epoch sec; seqNo:15448; 4061711.32 north; 594690.30 east 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965326.95 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965327.36 epoch sec; seqNo:15449 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.39 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965326.95 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1599965327357; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965326.95 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965327.76 epoch sec; seqNo:15450 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.39 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965326.95 2020-11-23T22:53:59Z- sync is 0.80, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965328.16 epoch sec; seqNo:15451 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.39 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965326.95 2020-11-23T22:53:59Z- sync is 1.20, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965353.03 epoch sec; seqNo:15513; 4061714.26 north; 594715.90 east 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965326.95 2020-11-23T22:53:59Z- sync is 26.07, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965353.43 epoch sec; seqNo:15514 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.39 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965326.95 2020-11-23T22:53:59Z- sync is 26.47, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1599965353427; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965326.95 2020-11-23T22:53:59Z- sync is 26.47, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965353.43 epoch sec; seqNo:15514 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965328.35, time is 1599965353.43 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965353.43, meas time 1599965353.43 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 17.000 at t=1599965353.43, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965353.43 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061714, 594715.90, 49.85) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965353.43 epoch sec; seqNo:15514; 4061714.26 north; 594715.90 east 2020-11-23T22:53:59Z- waiting for 1599965356.43, time is 1599965353.43 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965353.83 epoch sec; seqNo:15515 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.39 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965356.43, time is 1599965353.43 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1599965353831; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965356.43, time is 1599965353.43 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965353.83 epoch sec; seqNo:15515 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965356.43, time is 1599965353.83 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965353.83 epoch sec; seqNo:15515; 4061714.26 north; 594715.90 east 2020-11-23T22:53:59Z- waiting for 1599965356.43, time is 1599965353.83 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965354.23 epoch sec; seqNo:15516 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.39 phi; 0.00 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965356.43, time is 1599965353.83 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1599965354231; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965356.43, time is 1599965353.83 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965354.23 epoch sec; seqNo:15516 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965356.43, time is 1599965354.23 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965354.23 epoch sec; seqNo:15516; 4061714.27 north; 594717.12 east 2020-11-23T22:53:59Z- waiting for 1599965356.43, time is 1599965354.23 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1599965354633; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965356.43, time is 1599965354.23 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965354.63 epoch sec; seqNo:15517 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965356.43, time is 1599965354.63 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1599965355035; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965356.43, time is 1599965354.63 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599965355438; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965356.43, time is 1599965354.63 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965364.27 epoch sec; seqNo:15541 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965356.43, time is 1599965354.63 2020-11-23T22:53:59Z- sync is 9.63, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.71 epoch sec; seqNo:1599965364265; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965356.43, time is 1599965354.63 2020-11-23T22:53:59Z- sync is 9.63, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965364.27 epoch sec; seqNo:15541 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965356.43, time is 1599965364.27 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965364.27, meas time 1599965364.27 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 28.000 at t=1599965364.27, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965364.27 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061714, 594717.12, 49.71) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965364.27 epoch sec; seqNo:15541; 4061715.52 north; 594726.87 east 2020-11-23T22:53:59Z- waiting for 1599965367.27, time is 1599965364.27 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965364.66 epoch sec; seqNo:15542 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965367.27, time is 1599965364.27 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 49.71 epoch sec; seqNo:1599965364666; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965367.27, time is 1599965364.27 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965364.67 epoch sec; seqNo:15542 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965367.27, time is 1599965364.67 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965364.67 epoch sec; seqNo:15542; 4061715.52 north; 594726.87 east 2020-11-23T22:53:59Z- waiting for 1599965367.27, time is 1599965364.67 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965393.54 epoch sec; seqNo:15614 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.42 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965367.27, time is 1599965364.67 2020-11-23T22:53:59Z- sync is 28.88, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.01 epoch sec; seqNo:1599965393545; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965367.27, time is 1599965364.67 2020-11-23T22:53:59Z- sync is 28.88, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965393.55 epoch sec; seqNo:15614 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:53:59Z- waiting for 1599965367.27, time is 1599965393.55 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- LcmTrn::updateTrn() >>>> pose time 1599965393.54, meas time 1599965393.55 <<<< 2020-11-23T22:53:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 23.000 at t=1599965393.55, ping # 0. 2020-11-23T22:53:59Z- TerrainNav::Measurement type 1 from time = 1599965393.55 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:53:59Z- TerrainNav::motionUpdate() - currEstimate = (4061716, 594726.87, 50.01) 2020-11-23T22:53:59Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:53:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:53:59Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:53:59Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965393.55 epoch sec; seqNo:15614; 4061718.10 north; 594754.91 east 2020-11-23T22:53:59Z- waiting for 1599965396.55, time is 1599965393.55 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965393.94 epoch sec; seqNo:15615 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.42 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965396.55, time is 1599965393.55 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1599965393945; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965396.55, time is 1599965393.55 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965393.95 epoch sec; seqNo:15615 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965396.55, time is 1599965393.95 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965393.95 epoch sec; seqNo:15615; 4061718.11 north; 594756.13 east 2020-11-23T22:53:59Z- waiting for 1599965396.55, time is 1599965393.95 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- AHRS_M2 msg: 1599965394.34 epoch sec; seqNo:15616 2020-11-23T22:53:59Z- AHRS_M2 msg: 1.42 phi; -0.05 theta; -0.01 psi 2020-11-23T22:53:59Z- waiting for 1599965396.55, time is 1599965393.95 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1599965394345; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965396.55, time is 1599965393.95 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965394.35 epoch sec; seqNo:15616 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965396.55, time is 1599965394.35 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965394.35 epoch sec; seqNo:15616; 4061718.49 north; 594756.12 east 2020-11-23T22:53:59Z- waiting for 1599965396.55, time is 1599965394.35 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.05 epoch sec; seqNo:1599965394748; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965396.55, time is 1599965394.35 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: 1599965394.75 epoch sec; seqNo:15617 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:53:59Z- waiting for 1599965396.55, time is 1599965394.75 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965394.75 epoch sec; seqNo:15617; 4061718.49 north; 594756.12 east 2020-11-23T22:53:59Z- waiting for 1599965396.55, time is 1599965394.75 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleDepth()-Depth_Keller msg: 50.06 epoch sec; seqNo:1599965395148; depth 0.00 2020-11-23T22:53:59Z- waiting for 1599965396.55, time is 1599965394.75 2020-11-23T22:53:59Z- sync is 0.00, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965395.15 epoch sec; seqNo:15618; 4061718.50 north; 594757.35 east 2020-11-23T22:53:59Z- waiting for 1599965396.55, time is 1599965394.75 2020-11-23T22:53:59Z- sync is 0.40, coherence is 2.00 2020-11-23T22:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965395.55 epoch sec; seqNo:15619; 4061718.50 north; 594757.35 east 2020-11-23T22:54:00Z- waiting for 1599965396.55, time is 1599965394.75 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965395.95 epoch sec; seqNo:15620; 4061718.50 north; 594757.35 east 2020-11-23T22:54:00Z- waiting for 1599965396.55, time is 1599965394.75 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965396.35 epoch sec; seqNo:15621; 4061718.52 north; 594758.57 east 2020-11-23T22:54:00Z- waiting for 1599965396.55, time is 1599965394.75 2020-11-23T22:54:00Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965402.76 epoch sec; seqNo:15637 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965396.55, time is 1599965402.76 2020-11-23T22:54:00Z- sync is 6.41, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965402.77 epoch sec; seqNo:15637; 4061718.96 north; 594764.66 east 2020-11-23T22:54:00Z- waiting for 1599965396.55, time is 1599965402.76 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965402.77, meas time 1599965402.76 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 32.000 at t=1599965402.76, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965402.76 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061719, 594764.66, 50.06) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965403.17 epoch sec; seqNo:15638 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.39 phi; -0.04 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965405.76, time is 1599965402.76 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1599965403166; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965405.76, time is 1599965402.76 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965403.17 epoch sec; seqNo:15638 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965405.76, time is 1599965403.17 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965403.57 epoch sec; seqNo:15639 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.39 phi; -0.04 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965405.76, time is 1599965403.17 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1599965403567; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965405.76, time is 1599965403.17 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965403.57 epoch sec; seqNo:15639 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965405.76, time is 1599965403.57 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965403.97 epoch sec; seqNo:15640 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.39 phi; -0.04 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965405.76, time is 1599965403.57 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965404.37 epoch sec; seqNo:15641 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.39 phi; -0.04 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965405.76, time is 1599965403.57 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965425.63 epoch sec; seqNo:15694; 4061721.86 north; 594786.60 east 2020-11-23T22:54:00Z- waiting for 1599965405.76, time is 1599965403.57 2020-11-23T22:54:00Z- sync is 22.07, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965426.03 epoch sec; seqNo:15695 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.39 phi; 0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965405.76, time is 1599965403.57 2020-11-23T22:54:00Z- sync is 22.47, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1599965426034; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965405.76, time is 1599965403.57 2020-11-23T22:54:00Z- sync is 22.47, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965426.04 epoch sec; seqNo:15695 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965405.76, time is 1599965426.04 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965426.03, meas time 1599965426.04 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 22.000 at t=1599965426.04, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965426.04 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061722, 594786.60, 50.21) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965426.04 epoch sec; seqNo:15695; 4061721.86 north; 594786.60 east 2020-11-23T22:54:00Z- waiting for 1599965429.04, time is 1599965426.04 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965426.44 epoch sec; seqNo:15696 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.39 phi; 0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965429.04, time is 1599965426.04 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1599965426437; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965429.04, time is 1599965426.04 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965426.44 epoch sec; seqNo:15696 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965429.04, time is 1599965426.44 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965426.44 epoch sec; seqNo:15696; 4061721.87 north; 594787.82 east 2020-11-23T22:54:00Z- waiting for 1599965429.04, time is 1599965426.44 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965426.84 epoch sec; seqNo:15697 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.39 phi; 0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965429.04, time is 1599965426.44 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.18 epoch sec; seqNo:1599965426838; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965429.04, time is 1599965426.44 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965426.84 epoch sec; seqNo:15697 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965429.04, time is 1599965426.84 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965426.84 epoch sec; seqNo:15697; 4061721.87 north; 594787.82 east 2020-11-23T22:54:00Z- waiting for 1599965429.04, time is 1599965426.84 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965427.24 epoch sec; seqNo:15698 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.39 phi; 0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965429.04, time is 1599965426.84 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.17 epoch sec; seqNo:1599965427239; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965429.04, time is 1599965426.84 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965427.24 epoch sec; seqNo:15698 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965429.04, time is 1599965427.24 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965427.24 epoch sec; seqNo:15698; 4061721.87 north; 594787.82 east 2020-11-23T22:54:00Z- waiting for 1599965429.04, time is 1599965427.24 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965427.64 epoch sec; seqNo:15699 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.39 phi; 0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965429.04, time is 1599965427.24 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.16 epoch sec; seqNo:1599965427640; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965429.04, time is 1599965427.24 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965427.64 epoch sec; seqNo:15699 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965429.04, time is 1599965427.64 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965427.64 epoch sec; seqNo:15699; 4061721.89 north; 594789.04 east 2020-11-23T22:54:00Z- waiting for 1599965429.04, time is 1599965427.64 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965428.04 epoch sec; seqNo:15700 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.39 phi; 0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965429.04, time is 1599965427.64 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965428.44 epoch sec; seqNo:15701 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.39 phi; 0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965429.04, time is 1599965427.64 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965440.47 epoch sec; seqNo:15731 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.39 phi; 0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965429.04, time is 1599965427.64 2020-11-23T22:54:00Z- sync is 12.83, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1599965440470; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965429.04, time is 1599965427.64 2020-11-23T22:54:00Z- sync is 12.83, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965440.47 epoch sec; seqNo:15731 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965429.04, time is 1599965440.47 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965440.47, meas time 1599965440.47 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 2.000 at t=1599965440.47, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965440.47 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061722, 594789.04, 49.85) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965440.47 epoch sec; seqNo:15731; 4061723.54 north; 594801.23 east 2020-11-23T22:54:00Z- waiting for 1599965443.47, time is 1599965440.47 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965440.87 epoch sec; seqNo:15732 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.39 phi; -0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965443.47, time is 1599965440.47 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1599965440871; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965443.47, time is 1599965440.47 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965440.87 epoch sec; seqNo:15732 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965443.47, time is 1599965440.87 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965440.87 epoch sec; seqNo:15732; 4061723.54 north; 594801.23 east 2020-11-23T22:54:00Z- waiting for 1599965443.47, time is 1599965440.87 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965441.27 epoch sec; seqNo:15733 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.39 phi; -0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965443.47, time is 1599965440.87 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1599965441271; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965443.47, time is 1599965440.87 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965441.27 epoch sec; seqNo:15733 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965443.47, time is 1599965441.27 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1599965441673; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965443.47, time is 1599965441.27 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965441.67 epoch sec; seqNo:15734 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965443.47, time is 1599965441.67 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599965442073; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965443.47, time is 1599965441.67 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965442.07 epoch sec; seqNo:15735 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965443.47, time is 1599965442.07 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1599965449698; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965443.47, time is 1599965442.07 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965449.70 epoch sec; seqNo:15754 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.06 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965443.47, time is 1599965449.70 2020-11-23T22:54:00Z- sync is 8.43, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965449.70 epoch sec; seqNo:15754; 4061724.77 north; 594809.76 east 2020-11-23T22:54:00Z- waiting for 1599965443.47, time is 1599965449.70 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965449.70, meas time 1599965449.70 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 11.000 at t=1599965449.70, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965449.70 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061725, 594809.76, 49.73) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965450.10 epoch sec; seqNo:15755 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.41 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965452.70, time is 1599965449.70 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965450.10 epoch sec; seqNo:15755 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.06 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965452.70, time is 1599965450.10 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965450.10 epoch sec; seqNo:15755; 4061724.78 north; 594810.98 east 2020-11-23T22:54:00Z- waiting for 1599965452.70, time is 1599965450.10 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965450.50 epoch sec; seqNo:15756 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.41 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965452.70, time is 1599965450.10 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965450.50 epoch sec; seqNo:15756 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.06 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965452.70, time is 1599965450.50 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965450.50 epoch sec; seqNo:15756; 4061724.78 north; 594810.98 east 2020-11-23T22:54:00Z- waiting for 1599965452.70, time is 1599965450.50 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965455.31 epoch sec; seqNo:15768 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965452.70, time is 1599965450.50 2020-11-23T22:54:00Z- sync is 4.81, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599965455309; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965452.70, time is 1599965450.50 2020-11-23T22:54:00Z- sync is 4.81, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965455.31 epoch sec; seqNo:15768 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965452.70, time is 1599965455.31 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965455.31, meas time 1599965455.31 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 17.000 at t=1599965455.31, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965455.31 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061725, 594810.98, 49.69) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965455.31 epoch sec; seqNo:15768; 4061725.21 north; 594815.85 east 2020-11-23T22:54:00Z- waiting for 1599965458.31, time is 1599965455.31 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965455.71 epoch sec; seqNo:15769 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965458.31, time is 1599965455.31 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965455.71 epoch sec; seqNo:15769 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965458.31, time is 1599965455.71 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965455.72 epoch sec; seqNo:15769; 4061725.21 north; 594815.85 east 2020-11-23T22:54:00Z- waiting for 1599965458.31, time is 1599965455.71 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965458.92 epoch sec; seqNo:15777 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965458.31, time is 1599965455.71 2020-11-23T22:54:00Z- sync is 3.21, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599965458921; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965458.31, time is 1599965455.71 2020-11-23T22:54:00Z- sync is 3.21, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965458.92 epoch sec; seqNo:15777 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965458.31, time is 1599965458.92 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965458.92, meas time 1599965458.92 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 20.000 at t=1599965458.92, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965458.92 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061725, 594815.85, 49.67) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965458.92 epoch sec; seqNo:15777; 4061725.63 north; 594819.51 east 2020-11-23T22:54:00Z- waiting for 1599965461.92, time is 1599965458.92 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599965460928; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965461.92, time is 1599965458.92 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965460.93 epoch sec; seqNo:15782 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965461.92, time is 1599965460.93 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965460.93 epoch sec; seqNo:15782; 4061725.65 north; 594820.73 east 2020-11-23T22:54:00Z- waiting for 1599965461.92, time is 1599965460.93 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965462.94 epoch sec; seqNo:15787 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.42 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965461.92, time is 1599965460.93 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599965462938; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965461.92, time is 1599965460.93 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965463.74 epoch sec; seqNo:15789 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.42 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965461.92, time is 1599965460.93 2020-11-23T22:54:00Z- sync is 2.81, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965464.54 epoch sec; seqNo:15791 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.42 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965461.92, time is 1599965460.93 2020-11-23T22:54:00Z- sync is 3.61, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965464.55 epoch sec; seqNo:15791; 4061726.07 north; 594824.39 east 2020-11-23T22:54:00Z- waiting for 1599965461.92, time is 1599965460.93 2020-11-23T22:54:00Z- sync is 3.62, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965465.34 epoch sec; seqNo:15793 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.42 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965461.92, time is 1599965460.93 2020-11-23T22:54:00Z- sync is 4.41, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599965465743; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965461.92, time is 1599965460.93 2020-11-23T22:54:00Z- sync is 4.41, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965466.14 epoch sec; seqNo:15795 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965461.92, time is 1599965466.14 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965465.34, meas time 1599965466.14 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 28.000 at t=1599965466.14, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965466.14 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061726, 594824.39, 49.67) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965468.55 epoch sec; seqNo:15801; 4061726.50 north; 594829.26 east 2020-11-23T22:54:00Z- waiting for 1599965469.14, time is 1599965466.14 2020-11-23T22:54:00Z- sync is 2.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965468.95 epoch sec; seqNo:15802 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.42 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965469.14, time is 1599965466.14 2020-11-23T22:54:00Z- sync is 2.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599965469349; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965469.14, time is 1599965466.14 2020-11-23T22:54:00Z- sync is 2.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965469.75 epoch sec; seqNo:15804 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965469.14, time is 1599965469.75 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965468.95, meas time 1599965469.75 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 31.000 at t=1599965469.75, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965469.75 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061727, 594829.26, 49.70) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965470.55 epoch sec; seqNo:15806; 4061726.51 north; 594830.48 east 2020-11-23T22:54:00Z- waiting for 1599965472.75, time is 1599965469.75 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965470.95 epoch sec; seqNo:15807 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.42 phi; -0.04 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965472.75, time is 1599965469.75 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1599965471756; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965472.75, time is 1599965469.75 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965471.76 epoch sec; seqNo:15809 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965472.75, time is 1599965471.76 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965472.56 epoch sec; seqNo:15811; 4061726.92 north; 594832.92 east 2020-11-23T22:54:00Z- waiting for 1599965472.75, time is 1599965471.76 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599965473361; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965472.75, time is 1599965471.76 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965473.36 epoch sec; seqNo:15813 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965472.75, time is 1599965473.36 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965472.56, meas time 1599965473.36 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 1.000 at t=1599965473.36, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965473.36 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061727, 594832.92, 49.77) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1599965474566; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965476.36, time is 1599965473.36 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599965474968; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965476.36, time is 1599965473.36 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965475.37 epoch sec; seqNo:15818 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.42 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965476.36, time is 1599965473.36 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1599965475770; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965476.36, time is 1599965473.36 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965476.17 epoch sec; seqNo:15820 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965476.36, time is 1599965476.17 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965478.58 epoch sec; seqNo:15826; 4061727.37 north; 594839.02 east 2020-11-23T22:54:00Z- waiting for 1599965476.36, time is 1599965476.17 2020-11-23T22:54:00Z- sync is 2.41, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965478.98 epoch sec; seqNo:15827 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.42 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965476.36, time is 1599965476.17 2020-11-23T22:54:00Z- sync is 2.81, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.96 epoch sec; seqNo:1599965479378; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965476.36, time is 1599965476.17 2020-11-23T22:54:00Z- sync is 2.81, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965479.78 epoch sec; seqNo:15829 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965476.36, time is 1599965479.78 2020-11-23T22:54:00Z- sync is 0.81, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965478.98, meas time 1599965479.78 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 7.000 at t=1599965479.78, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965479.78 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061727, 594839.02, 49.96) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965480.18 epoch sec; seqNo:15830; 4061727.38 north; 594840.24 east 2020-11-23T22:54:00Z- waiting for 1599965482.78, time is 1599965479.78 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965480.98 epoch sec; seqNo:15832 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.42 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965482.78, time is 1599965479.78 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.02 epoch sec; seqNo:1599965481384; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965482.78, time is 1599965479.78 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965481.79 epoch sec; seqNo:15834 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965482.78, time is 1599965481.79 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965484.19 epoch sec; seqNo:15840; 4061727.80 north; 594843.90 east 2020-11-23T22:54:00Z- waiting for 1599965482.78, time is 1599965481.79 2020-11-23T22:54:00Z- sync is 2.41, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965484.59 epoch sec; seqNo:15841 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.42 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965482.78, time is 1599965481.79 2020-11-23T22:54:00Z- sync is 2.81, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.14 epoch sec; seqNo:1599965485397; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965482.78, time is 1599965481.79 2020-11-23T22:54:00Z- sync is 2.81, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965485.40 epoch sec; seqNo:15843 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965482.78, time is 1599965485.40 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965484.59, meas time 1599965485.40 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 13.000 at t=1599965485.40, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965485.40 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061728, 594843.90, 50.14) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965486.20 epoch sec; seqNo:15845; 4061728.20 north; 594846.33 east 2020-11-23T22:54:00Z- waiting for 1599965488.40, time is 1599965485.40 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965487.00 epoch sec; seqNo:15847 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.42 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965488.40, time is 1599965485.40 2020-11-23T22:54:00Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1599965487402; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965488.40, time is 1599965485.40 2020-11-23T22:54:00Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965487.80 epoch sec; seqNo:15849 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965488.40, time is 1599965487.80 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965488.61 epoch sec; seqNo:15851; 4061728.23 north; 594848.77 east 2020-11-23T22:54:00Z- waiting for 1599965488.40, time is 1599965487.80 2020-11-23T22:54:00Z- sync is 0.81, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1599965489007; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965488.40, time is 1599965487.80 2020-11-23T22:54:00Z- sync is 0.81, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965489.41 epoch sec; seqNo:15853 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965488.40, time is 1599965489.41 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965488.61, meas time 1599965489.41 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 17.000 at t=1599965489.41, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965489.41 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061728, 594848.77, 50.25) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965489.81 epoch sec; seqNo:15854; 4061728.25 north; 594849.99 east 2020-11-23T22:54:00Z- waiting for 1599965492.41, time is 1599965489.41 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1599965490608; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965492.41, time is 1599965489.41 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965491.01 epoch sec; seqNo:15857; 4061728.64 north; 594851.21 east 2020-11-23T22:54:00Z- waiting for 1599965492.41, time is 1599965489.41 2020-11-23T22:54:00Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965491.41 epoch sec; seqNo:15858; 4061728.64 north; 594851.21 east 2020-11-23T22:54:00Z- waiting for 1599965492.41, time is 1599965489.41 2020-11-23T22:54:00Z- sync is 2.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965549.56 epoch sec; seqNo:16003 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.42 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965492.41, time is 1599965489.41 2020-11-23T22:54:00Z- sync is 60.15, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1599965549565; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965492.41, time is 1599965489.41 2020-11-23T22:54:00Z- sync is 60.15, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965549.57 epoch sec; seqNo:16003 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965492.41, time is 1599965549.57 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965549.56, meas time 1599965549.57 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 9.000 at t=1599965549.57, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965549.57 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061729, 594851.21, 49.65) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965549.57 epoch sec; seqNo:16003; 4061734.96 north; 594908.50 east 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965549.57 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965549.96 epoch sec; seqNo:16004 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.42 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965549.57 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1599965549965; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965549.57 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965549.96 epoch sec; seqNo:16004 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965549.96 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965549.96 epoch sec; seqNo:16004; 4061734.96 north; 594908.50 east 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965549.96 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965550.36 epoch sec; seqNo:16005 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.42 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965549.96 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1599965550365; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965549.96 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965550.37 epoch sec; seqNo:16005 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965550.37 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965550.37 epoch sec; seqNo:16005; 4061734.96 north; 594908.50 east 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965550.37 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965550.77 epoch sec; seqNo:16006 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.42 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965550.37 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1599965550766; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965550.37 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965550.77 epoch sec; seqNo:16006 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965550.77 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965550.77 epoch sec; seqNo:16006; 4061735.35 north; 594909.72 east 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965550.77 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965551.16 epoch sec; seqNo:16007 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.42 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965550.77 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1599965551165; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965550.77 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965551.17 epoch sec; seqNo:16007 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965551.17 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965551.17 epoch sec; seqNo:16007; 4061735.35 north; 594909.72 east 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965551.17 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965551.57 epoch sec; seqNo:16008 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.42 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965551.17 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965551.57 epoch sec; seqNo:16008 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965551.57 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965551.57 epoch sec; seqNo:16008; 4061735.35 north; 594909.72 east 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965551.57 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965551.96 epoch sec; seqNo:16009 2020-11-23T22:54:00Z- AHRS_M2 msg: 1.42 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965551.57 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965580.03 epoch sec; seqNo:16079 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.13 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965580.03 2020-11-23T22:54:00Z- sync is 28.06, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965580.03 epoch sec; seqNo:16079; 4061718.49 north; 594926.99 east 2020-11-23T22:54:00Z- waiting for 1599965552.57, time is 1599965580.03 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965580.03, meas time 1599965580.03 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 6.000 at t=1599965580.03, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965580.03 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061718, 594926.99, 49.65) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965580.43 epoch sec; seqNo:16080 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.76 phi; -0.04 theta; 0.00 psi 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965580.03 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1599965580428; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965580.03 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965580.43 epoch sec; seqNo:16080 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.13 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965580.43 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965580.43 epoch sec; seqNo:16080; 4061718.11 north; 594927.00 east 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965580.43 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965580.83 epoch sec; seqNo:16081 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.73 phi; -0.04 theta; 0.00 psi 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965580.43 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1599965580830; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965580.43 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965580.83 epoch sec; seqNo:16081 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.13 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965580.83 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965580.83 epoch sec; seqNo:16081; 4061717.73 north; 594927.00 east 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965580.83 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965581.23 epoch sec; seqNo:16082 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.70 phi; -0.04 theta; 0.00 psi 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965580.83 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1599965581232; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965580.83 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965581.23 epoch sec; seqNo:16082 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.14 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965581.23 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965581.23 epoch sec; seqNo:16082; 4061717.35 north; 594927.00 east 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965581.23 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965581.63 epoch sec; seqNo:16083 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.67 phi; -0.04 theta; 0.00 psi 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965581.23 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1599965581631; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965581.23 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965581.63 epoch sec; seqNo:16083 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.14 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965581.63 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965581.63 epoch sec; seqNo:16083; 4061716.97 north; 594927.01 east 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965581.63 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965582.03 epoch sec; seqNo:16084 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.64 phi; -0.04 theta; 0.00 psi 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965581.63 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1599965582032; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965581.63 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965582.03 epoch sec; seqNo:16084 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.14 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965582.03 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965582.43 epoch sec; seqNo:16085 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.61 phi; -0.03 theta; 0.00 psi 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965582.03 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1599965582432; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965582.03 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965582.83 epoch sec; seqNo:16086 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.58 phi; -0.03 theta; 0.00 psi 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965582.03 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965608.11 epoch sec; seqNo:16149 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.90 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965582.03 2020-11-23T22:54:00Z- sync is 26.08, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.06 epoch sec; seqNo:1599965608111; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965582.03 2020-11-23T22:54:00Z- sync is 26.08, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965608.11 epoch sec; seqNo:16149 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.05 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965583.03, time is 1599965608.11 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965608.11, meas time 1599965608.11 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1599965608.11, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965608.11 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061717, 594927.01, 50.06) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965608.11 epoch sec; seqNo:16149; 4061701.96 north; 594905.21 east 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965608.11 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965608.51 epoch sec; seqNo:16150 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.91 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965608.11 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.05 epoch sec; seqNo:1599965608512; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965608.11 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965608.51 epoch sec; seqNo:16150 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.05 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965608.51 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965608.52 epoch sec; seqNo:16150; 4061701.56 north; 594903.99 east 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965608.51 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965608.91 epoch sec; seqNo:16151 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.92 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965608.51 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1599965608913; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965608.51 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965608.91 epoch sec; seqNo:16151 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.04 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965608.91 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965608.92 epoch sec; seqNo:16151; 4061701.56 north; 594903.99 east 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965608.91 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965609.32 epoch sec; seqNo:16152 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.92 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965608.91 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1599965609316; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965608.91 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965609.32 epoch sec; seqNo:16152 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.04 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965609.32 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965609.32 epoch sec; seqNo:16152; 4061701.18 north; 594903.99 east 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965609.32 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965609.72 epoch sec; seqNo:16153 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.93 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965609.32 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.02 epoch sec; seqNo:1599965609718; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965609.32 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965609.72 epoch sec; seqNo:16153 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.04 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965609.72 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965609.72 epoch sec; seqNo:16153; 4061701.18 north; 594903.99 east 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965609.72 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965610.12 epoch sec; seqNo:16154 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.04 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965610.12 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965610.12 epoch sec; seqNo:16154; 4061701.17 north; 594902.77 east 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965610.12 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965610.52 epoch sec; seqNo:16155 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965610.52 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965610.52 epoch sec; seqNo:16155; 4061700.79 north; 594902.78 east 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965610.52 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965610.92 epoch sec; seqNo:16156 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.96 phi; 0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965610.52 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965610.92 epoch sec; seqNo:16156 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965610.92 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1599965632985; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965610.92 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965632.98 epoch sec; seqNo:16211 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.02 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965632.98 2020-11-23T22:54:00Z- sync is 22.06, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965632.99 epoch sec; seqNo:16211; 4061685.81 north; 594884.64 east 2020-11-23T22:54:00Z- waiting for 1599965611.11, time is 1599965632.98 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965632.99, meas time 1599965632.98 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 24.000 at t=1599965632.98, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965632.98 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061686, 594884.64, 49.80) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965633.38 epoch sec; seqNo:16212 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.61 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965635.98, time is 1599965632.98 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1599965633385; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965635.98, time is 1599965632.98 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965633.38 epoch sec; seqNo:16212 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.02 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965635.98, time is 1599965633.38 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965633.39 epoch sec; seqNo:16212; 4061685.44 north; 594884.64 east 2020-11-23T22:54:00Z- waiting for 1599965635.98, time is 1599965633.38 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965633.78 epoch sec; seqNo:16213 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.62 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965635.98, time is 1599965633.38 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1599965633785; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965635.98, time is 1599965633.38 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965633.79 epoch sec; seqNo:16213; 4061685.06 north; 594884.64 east 2020-11-23T22:54:00Z- waiting for 1599965635.98, time is 1599965633.38 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965634.18 epoch sec; seqNo:16214 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.63 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965635.98, time is 1599965633.38 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1599965634186; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965635.98, time is 1599965633.38 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965634.59 epoch sec; seqNo:16215 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.63 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965635.98, time is 1599965633.38 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965634.99 epoch sec; seqNo:16216 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.64 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965635.98, time is 1599965633.38 2020-11-23T22:54:00Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965661.87 epoch sec; seqNo:16283; 4061656.93 north; 594876.41 east 2020-11-23T22:54:00Z- waiting for 1599965635.98, time is 1599965633.38 2020-11-23T22:54:00Z- sync is 28.48, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965662.26 epoch sec; seqNo:16284 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.95 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965635.98, time is 1599965633.38 2020-11-23T22:54:00Z- sync is 28.88, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1599965662264; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965635.98, time is 1599965633.38 2020-11-23T22:54:00Z- sync is 28.88, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965662.27 epoch sec; seqNo:16284 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.00 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965635.98, time is 1599965662.27 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965662.26, meas time 1599965662.27 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 20.000 at t=1599965662.27, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965662.27 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061657, 594876.41, 50.11) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965662.27 epoch sec; seqNo:16284; 4061656.53 north; 594875.20 east 2020-11-23T22:54:00Z- waiting for 1599965665.27, time is 1599965662.27 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965662.66 epoch sec; seqNo:16285 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.95 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965665.27, time is 1599965662.27 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.12 epoch sec; seqNo:1599965662664; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965665.27, time is 1599965662.27 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965662.66 epoch sec; seqNo:16285 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.00 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965665.27, time is 1599965662.66 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965662.66 epoch sec; seqNo:16285; 4061656.16 north; 594875.20 east 2020-11-23T22:54:00Z- waiting for 1599965665.27, time is 1599965662.66 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965663.06 epoch sec; seqNo:16286 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.95 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965665.27, time is 1599965662.66 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.12 epoch sec; seqNo:1599965663065; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965665.27, time is 1599965662.66 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965663.07 epoch sec; seqNo:16286 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.00 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965665.27, time is 1599965663.07 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965663.07 epoch sec; seqNo:16286; 4061655.40 north; 594875.21 east 2020-11-23T22:54:00Z- waiting for 1599965665.27, time is 1599965663.07 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.13 epoch sec; seqNo:1599965663466; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965665.27, time is 1599965663.07 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965663.47 epoch sec; seqNo:16287 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.00 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965665.27, time is 1599965663.47 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.14 epoch sec; seqNo:1599965663866; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965665.27, time is 1599965663.47 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965663.87 epoch sec; seqNo:16288 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.00 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965665.27, time is 1599965663.87 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.14 epoch sec; seqNo:1599965664267; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965665.27, time is 1599965663.87 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965716.37 epoch sec; seqNo:16419; 4061599.95 north; 594863.62 east 2020-11-23T22:54:00Z- waiting for 1599965665.27, time is 1599965663.87 2020-11-23T22:54:00Z- sync is 52.51, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965716.77 epoch sec; seqNo:16420 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.88 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965665.27, time is 1599965663.87 2020-11-23T22:54:00Z- sync is 52.91, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599965716773; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965665.27, time is 1599965663.87 2020-11-23T22:54:00Z- sync is 52.91, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965716.77 epoch sec; seqNo:16420 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.02 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965665.27, time is 1599965716.77 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965716.77, meas time 1599965716.77 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 6.000 at t=1599965716.77, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965716.77 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061600, 594863.62, 49.75) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965716.77 epoch sec; seqNo:16420; 4061599.57 north; 594863.62 east 2020-11-23T22:54:00Z- waiting for 1599965719.77, time is 1599965716.77 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965717.17 epoch sec; seqNo:16421 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.87 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965719.77, time is 1599965716.77 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599965717173; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965719.77, time is 1599965716.77 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965717.17 epoch sec; seqNo:16421 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.02 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965719.77, time is 1599965717.17 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965717.17 epoch sec; seqNo:16421; 4061599.19 north; 594863.63 east 2020-11-23T22:54:00Z- waiting for 1599965719.77, time is 1599965717.17 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965717.57 epoch sec; seqNo:16422 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.87 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965719.77, time is 1599965717.17 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599965717575; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965719.77, time is 1599965717.17 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965717.58 epoch sec; seqNo:16422 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.02 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965719.77, time is 1599965717.58 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965717.58 epoch sec; seqNo:16422; 4061598.81 north; 594863.63 east 2020-11-23T22:54:00Z- waiting for 1599965719.77, time is 1599965717.58 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599965717976; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965719.77, time is 1599965717.58 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965717.98 epoch sec; seqNo:16423 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.02 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965719.77, time is 1599965717.98 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965717.98 epoch sec; seqNo:16423; 4061598.44 north; 594863.64 east 2020-11-23T22:54:00Z- waiting for 1599965719.77, time is 1599965717.98 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599965718377; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965719.77, time is 1599965717.98 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965741.64 epoch sec; seqNo:16482 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965719.77, time is 1599965741.64 2020-11-23T22:54:00Z- sync is 23.66, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965741.64 epoch sec; seqNo:16482; 4061573.73 north; 594856.59 east 2020-11-23T22:54:00Z- waiting for 1599965719.77, time is 1599965741.64 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965741.64, meas time 1599965741.64 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 31.000 at t=1599965741.64, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965741.64 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061574, 594856.59, 49.76) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965742.04 epoch sec; seqNo:16483 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.86 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965741.64 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1599965742042; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965741.64 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965742.04 epoch sec; seqNo:16483 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965742.04 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965742.04 epoch sec; seqNo:16483; 4061573.35 north; 594856.59 east 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965742.04 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965742.44 epoch sec; seqNo:16484 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.86 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965742.04 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1599965742444; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965742.04 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965742.44 epoch sec; seqNo:16484 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965742.44 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965742.45 epoch sec; seqNo:16484; 4061572.97 north; 594856.59 east 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965742.44 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965742.84 epoch sec; seqNo:16485 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.86 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965742.44 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1599965742845; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965742.44 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965742.85 epoch sec; seqNo:16485 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965742.85 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965742.85 epoch sec; seqNo:16485; 4061572.59 north; 594856.60 east 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965742.85 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965743.24 epoch sec; seqNo:16486 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.86 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965742.85 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1599965743245; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965742.85 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965743.25 epoch sec; seqNo:16486 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965743.25 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965743.25 epoch sec; seqNo:16486; 4061572.21 north; 594856.60 east 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965743.25 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965743.64 epoch sec; seqNo:16487 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.86 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965743.25 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965743.65 epoch sec; seqNo:16487 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965743.65 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965743.65 epoch sec; seqNo:16487; 4061571.84 north; 594856.61 east 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965743.65 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965744.05 epoch sec; seqNo:16488 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.86 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965743.65 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965744.05 epoch sec; seqNo:16488; 4061571.46 north; 594856.61 east 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965743.65 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965744.85 epoch sec; seqNo:16490 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.86 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965743.65 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.96 epoch sec; seqNo:1599965744847; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965743.65 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965746.05 epoch sec; seqNo:16493 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965744.64, time is 1599965746.05 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965744.85, meas time 1599965746.05 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 2.000 at t=1599965746.05, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965746.05 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061571, 594856.61, 49.96) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965769.32 epoch sec; seqNo:16551 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.02 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965749.05, time is 1599965769.32 2020-11-23T22:54:00Z- sync is 24.47, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965769.32 epoch sec; seqNo:16551; 4061545.24 north; 594849.58 east 2020-11-23T22:54:00Z- waiting for 1599965749.05, time is 1599965769.32 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965769.32, meas time 1599965769.32 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 25.000 at t=1599965769.32, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965769.32 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061545, 594849.58, 49.96) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965769.72 epoch sec; seqNo:16552 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.84 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965772.32, time is 1599965769.32 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1599965769721; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965772.32, time is 1599965769.32 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965769.72 epoch sec; seqNo:16552 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.02 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965772.32, time is 1599965769.72 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965769.72 epoch sec; seqNo:16552; 4061544.86 north; 594849.58 east 2020-11-23T22:54:00Z- waiting for 1599965772.32, time is 1599965769.72 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965770.12 epoch sec; seqNo:16553 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.84 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965772.32, time is 1599965769.72 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1599965770124; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965772.32, time is 1599965769.72 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965770.12 epoch sec; seqNo:16553 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.02 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965772.32, time is 1599965770.12 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965770.12 epoch sec; seqNo:16553; 4061544.48 north; 594849.59 east 2020-11-23T22:54:00Z- waiting for 1599965772.32, time is 1599965770.12 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965770.53 epoch sec; seqNo:16554 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.84 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965772.32, time is 1599965770.12 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1599965770526; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965772.32, time is 1599965770.12 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965770.53 epoch sec; seqNo:16554 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.02 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965772.32, time is 1599965770.53 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965770.53 epoch sec; seqNo:16554; 4061544.10 north; 594849.59 east 2020-11-23T22:54:00Z- waiting for 1599965772.32, time is 1599965770.53 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965770.93 epoch sec; seqNo:16555 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.83 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965772.32, time is 1599965770.53 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1599965770928; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965772.32, time is 1599965770.53 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965770.93 epoch sec; seqNo:16555 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.02 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965772.32, time is 1599965770.93 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965771.33 epoch sec; seqNo:16556 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.83 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965772.32, time is 1599965770.93 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1599965771331; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965772.32, time is 1599965770.93 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965771.73 epoch sec; seqNo:16557 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.83 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965772.32, time is 1599965770.93 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1599965771731; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965772.32, time is 1599965770.93 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965772.13 epoch sec; seqNo:16558 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.83 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965772.32, time is 1599965770.93 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965788.16 epoch sec; seqNo:16598 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965772.32, time is 1599965788.16 2020-11-23T22:54:00Z- sync is 16.03, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965788.16 epoch sec; seqNo:16598; 4061526.23 north; 594843.69 east 2020-11-23T22:54:00Z- waiting for 1599965772.32, time is 1599965788.16 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965788.16, meas time 1599965788.16 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 10.000 at t=1599965788.16, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965788.16 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061526, 594843.69, 50.34) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965788.56 epoch sec; seqNo:16599 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.83 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965788.16 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1599965788559; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965788.16 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965788.56 epoch sec; seqNo:16599 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965788.56 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965788.56 epoch sec; seqNo:16599; 4061525.85 north; 594843.69 east 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965788.56 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965788.96 epoch sec; seqNo:16600 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.83 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965788.56 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1599965788959; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965788.56 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965788.96 epoch sec; seqNo:16600 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965788.96 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965788.96 epoch sec; seqNo:16600; 4061525.47 north; 594843.70 east 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965788.96 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965789.36 epoch sec; seqNo:16601 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.84 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965788.96 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1599965789360; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965788.96 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965789.36 epoch sec; seqNo:16601 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965789.36 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965789.36 epoch sec; seqNo:16601; 4061525.09 north; 594843.70 east 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965789.36 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965789.76 epoch sec; seqNo:16602 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.84 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965789.36 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1599965789760; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965789.36 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965789.76 epoch sec; seqNo:16602 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965789.76 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965789.76 epoch sec; seqNo:16602; 4061524.33 north; 594843.71 east 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965789.76 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965790.16 epoch sec; seqNo:16603 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.84 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965789.76 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965790.16 epoch sec; seqNo:16603 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965790.16 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965790.16 epoch sec; seqNo:16603; 4061523.95 north; 594843.71 east 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965790.16 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965790.56 epoch sec; seqNo:16604 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965790.56 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965790.57 epoch sec; seqNo:16604; 4061523.56 north; 594842.50 east 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965790.56 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965801.39 epoch sec; seqNo:16631 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.84 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965790.56 2020-11-23T22:54:00Z- sync is 10.83, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1599965801390; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965790.56 2020-11-23T22:54:00Z- sync is 10.83, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965801.39 epoch sec; seqNo:16631 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965791.16, time is 1599965801.39 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965801.39, meas time 1599965801.39 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 23.000 at t=1599965801.39, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965801.39 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061524, 594842.50, 50.03) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965801.39 epoch sec; seqNo:16631; 4061512.55 north; 594840.18 east 2020-11-23T22:54:00Z- waiting for 1599965804.39, time is 1599965801.39 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965801.79 epoch sec; seqNo:16632 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.84 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965804.39, time is 1599965801.39 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.02 epoch sec; seqNo:1599965801791; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965804.39, time is 1599965801.39 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965801.79 epoch sec; seqNo:16632 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965804.39, time is 1599965801.79 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965801.79 epoch sec; seqNo:16632; 4061512.17 north; 594840.18 east 2020-11-23T22:54:00Z- waiting for 1599965804.39, time is 1599965801.79 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965802.19 epoch sec; seqNo:16633 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.84 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965804.39, time is 1599965801.79 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.01 epoch sec; seqNo:1599965802191; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965804.39, time is 1599965801.79 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965802.20 epoch sec; seqNo:16633; 4061511.79 north; 594840.19 east 2020-11-23T22:54:00Z- waiting for 1599965804.39, time is 1599965801.79 2020-11-23T22:54:00Z- sync is 0.41, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965802.59 epoch sec; seqNo:16634 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.84 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965804.39, time is 1599965801.79 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1599965802592; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965804.39, time is 1599965801.79 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965802.99 epoch sec; seqNo:16635 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.84 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965804.39, time is 1599965801.79 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965808.21 epoch sec; seqNo:16648; 4061505.70 north; 594837.81 east 2020-11-23T22:54:00Z- waiting for 1599965804.39, time is 1599965801.79 2020-11-23T22:54:00Z- sync is 6.42, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965808.61 epoch sec; seqNo:16649 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.84 phi; 0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965804.39, time is 1599965801.79 2020-11-23T22:54:00Z- sync is 6.82, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.86 epoch sec; seqNo:1599965808608; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965804.39, time is 1599965801.79 2020-11-23T22:54:00Z- sync is 6.82, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965808.61 epoch sec; seqNo:16649 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965804.39, time is 1599965808.61 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965808.61, meas time 1599965808.61 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 30.000 at t=1599965808.61, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965808.61 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061506, 594837.81, 49.86) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965808.61 epoch sec; seqNo:16649; 4061505.32 north; 594837.82 east 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965808.61 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965809.01 epoch sec; seqNo:16650 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.84 phi; 0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965808.61 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1599965809007; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965808.61 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965809.01 epoch sec; seqNo:16650 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965809.01 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965809.01 epoch sec; seqNo:16650; 4061504.94 north; 594837.82 east 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965809.01 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965809.41 epoch sec; seqNo:16651 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.84 phi; 0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965809.01 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1599965809408; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965809.01 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965809.41 epoch sec; seqNo:16651 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965809.41 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965809.41 epoch sec; seqNo:16651; 4061504.56 north; 594837.82 east 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965809.41 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965809.81 epoch sec; seqNo:16652 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.84 phi; 0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965809.41 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1599965809808; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965809.41 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965809.81 epoch sec; seqNo:16652 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965809.81 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965809.81 epoch sec; seqNo:16652; 4061503.81 north; 594837.83 east 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965809.81 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1599965810209; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965809.81 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965810.21 epoch sec; seqNo:16653 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965810.21 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599965810609; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965810.21 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965810.61 epoch sec; seqNo:16654 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965810.61 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1599965811010; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965810.61 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965812.21 epoch sec; seqNo:16658; 4061501.52 north; 594836.64 east 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965810.61 2020-11-23T22:54:00Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965812.61 epoch sec; seqNo:16659 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.84 phi; -0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965810.61 2020-11-23T22:54:00Z- sync is 2.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599965813413; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965810.61 2020-11-23T22:54:00Z- sync is 2.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965814.62 epoch sec; seqNo:16664 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965814.62 2020-11-23T22:54:00Z- sync is 2.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965815.42 epoch sec; seqNo:16666; 4061498.10 north; 594835.45 east 2020-11-23T22:54:00Z- waiting for 1599965811.61, time is 1599965814.62 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965815.42, meas time 1599965814.62 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 2.000 at t=1599965814.62, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965814.62 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061498, 594835.45, 49.77) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965817.02 epoch sec; seqNo:16670 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.84 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965817.62, time is 1599965814.62 2020-11-23T22:54:00Z- sync is 2.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1599965817020; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965817.62, time is 1599965814.62 2020-11-23T22:54:00Z- sync is 2.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965818.23 epoch sec; seqNo:16673 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965817.62, time is 1599965818.23 2020-11-23T22:54:00Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965817.02, meas time 1599965818.23 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 6.000 at t=1599965818.23, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965818.23 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061498, 594835.45, 49.73) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599965821836; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965821.23, time is 1599965818.23 2020-11-23T22:54:00Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965821.84 epoch sec; seqNo:16682 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965821.23, time is 1599965821.84 2020-11-23T22:54:00Z- sync is 4.82, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965821.84 epoch sec; seqNo:16682; 4061491.64 north; 594834.31 east 2020-11-23T22:54:00Z- waiting for 1599965821.23, time is 1599965821.84 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965821.84, meas time 1599965821.84 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 9.000 at t=1599965821.84, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965821.84 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061492, 594834.31, 49.68) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965827.05 epoch sec; seqNo:16695 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965824.84, time is 1599965827.05 2020-11-23T22:54:00Z- sync is 5.22, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965827.05 epoch sec; seqNo:16695; 4061486.31 north; 594831.92 east 2020-11-23T22:54:00Z- waiting for 1599965824.84, time is 1599965827.05 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965827.05, meas time 1599965827.05 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 15.000 at t=1599965827.05, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965827.05 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061486, 594831.92, 49.68) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1599965827454; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965830.05, time is 1599965827.05 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965827.45 epoch sec; seqNo:16696; 4061485.93 north; 594831.93 east 2020-11-23T22:54:00Z- waiting for 1599965830.05, time is 1599965827.05 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1599965830258; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965830.05, time is 1599965827.05 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965830.26 epoch sec; seqNo:16703 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965830.05, time is 1599965830.26 2020-11-23T22:54:00Z- sync is 2.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965830.66 epoch sec; seqNo:16704 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.84 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965830.05, time is 1599965830.26 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965830.66, meas time 1599965830.26 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 18.000 at t=1599965830.26, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965830.26 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061486, 594831.93, 49.65) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1599965840281; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965833.26, time is 1599965830.26 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965840.28 epoch sec; seqNo:16728 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.03 2020-11-23T22:54:00Z- waiting for 1599965833.26, time is 1599965840.28 2020-11-23T22:54:00Z- sync is 9.62, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965840.28 epoch sec; seqNo:16728; 4061472.63 north; 594828.41 east 2020-11-23T22:54:00Z- waiting for 1599965833.26, time is 1599965840.28 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965840.28, meas time 1599965840.28 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 28.000 at t=1599965840.28, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965840.28 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061473, 594828.41, 49.72) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965840.68 epoch sec; seqNo:16729 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.84 phi; -0.04 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965843.28, time is 1599965840.28 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1599965840683; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965843.28, time is 1599965840.28 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965840.68 epoch sec; seqNo:16729 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.03 2020-11-23T22:54:00Z- waiting for 1599965843.28, time is 1599965840.68 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965840.68 epoch sec; seqNo:16729; 4061472.25 north; 594828.42 east 2020-11-23T22:54:00Z- waiting for 1599965843.28, time is 1599965840.68 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965841.09 epoch sec; seqNo:16730 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.84 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965843.28, time is 1599965840.68 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965841.09 epoch sec; seqNo:16730; 4061471.87 north; 594828.42 east 2020-11-23T22:54:00Z- waiting for 1599965843.28, time is 1599965840.68 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1599965849503; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965843.28, time is 1599965840.68 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965849.50 epoch sec; seqNo:16751 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965843.28, time is 1599965849.50 2020-11-23T22:54:00Z- sync is 8.42, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965849.50 epoch sec; seqNo:16751; 4061463.51 north; 594826.07 east 2020-11-23T22:54:00Z- waiting for 1599965843.28, time is 1599965849.50 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965849.50, meas time 1599965849.50 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 3.000 at t=1599965849.50, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965849.50 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061464, 594826.07, 49.99) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965849.90 epoch sec; seqNo:16752 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.83 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965852.50, time is 1599965849.50 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965849.90 epoch sec; seqNo:16752 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965852.50, time is 1599965849.90 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965849.91 epoch sec; seqNo:16752; 4061463.12 north; 594824.86 east 2020-11-23T22:54:00Z- waiting for 1599965852.50, time is 1599965849.90 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965850.31 epoch sec; seqNo:16753 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.83 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965852.50, time is 1599965849.90 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965850.71 epoch sec; seqNo:16754 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.83 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965852.50, time is 1599965849.90 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965865.54 epoch sec; seqNo:16791 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.82 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965852.50, time is 1599965849.90 2020-11-23T22:54:00Z- sync is 15.63, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1599965865536; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965852.50, time is 1599965849.90 2020-11-23T22:54:00Z- sync is 15.63, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965865.54 epoch sec; seqNo:16791 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.02 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965852.50, time is 1599965865.54 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965865.54, meas time 1599965865.54 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 19.000 at t=1599965865.54, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965865.54 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061463, 594824.86, 50.40) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965865.54 epoch sec; seqNo:16791; 4061447.15 north; 594820.15 east 2020-11-23T22:54:00Z- waiting for 1599965868.54, time is 1599965865.54 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965865.94 epoch sec; seqNo:16792 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.82 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965868.54, time is 1599965865.54 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1599965865937; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965868.54, time is 1599965865.54 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965865.94 epoch sec; seqNo:16792 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.02 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965868.54, time is 1599965865.94 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965865.94 epoch sec; seqNo:16792; 4061446.40 north; 594820.16 east 2020-11-23T22:54:00Z- waiting for 1599965868.54, time is 1599965865.94 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965866.34 epoch sec; seqNo:16793 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.82 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965868.54, time is 1599965865.94 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1599965866339; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965868.54, time is 1599965865.94 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965866.34 epoch sec; seqNo:16793 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.02 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965868.54, time is 1599965866.34 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965866.34 epoch sec; seqNo:16793; 4061446.02 north; 594820.16 east 2020-11-23T22:54:00Z- waiting for 1599965868.54, time is 1599965866.34 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965866.74 epoch sec; seqNo:16794 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.02 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965868.54, time is 1599965866.74 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965889.20 epoch sec; seqNo:16850; 4061422.83 north; 594813.10 east 2020-11-23T22:54:00Z- waiting for 1599965868.54, time is 1599965866.74 2020-11-23T22:54:00Z- sync is 22.46, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965889.60 epoch sec; seqNo:16851 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.75 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965868.54, time is 1599965866.74 2020-11-23T22:54:00Z- sync is 22.86, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1599965889603; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965868.54, time is 1599965866.74 2020-11-23T22:54:00Z- sync is 22.86, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965889.60 epoch sec; seqNo:16851 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965868.54, time is 1599965889.60 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965889.60, meas time 1599965889.60 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 9.000 at t=1599965889.60, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965889.60 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061423, 594813.10, 49.99) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965889.60 epoch sec; seqNo:16851; 4061422.45 north; 594813.10 east 2020-11-23T22:54:00Z- waiting for 1599965892.60, time is 1599965889.60 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965890.00 epoch sec; seqNo:16852 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.72 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965892.60, time is 1599965889.60 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.98 epoch sec; seqNo:1599965890004; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965892.60, time is 1599965889.60 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965890.01 epoch sec; seqNo:16852 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.08 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965892.60, time is 1599965890.01 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965890.01 epoch sec; seqNo:16852; 4061422.07 north; 594813.11 east 2020-11-23T22:54:00Z- waiting for 1599965892.60, time is 1599965890.01 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965890.40 epoch sec; seqNo:16853 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.70 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965892.60, time is 1599965890.01 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.97 epoch sec; seqNo:1599965890404; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965892.60, time is 1599965890.01 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965890.40 epoch sec; seqNo:16853 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.09 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965892.60, time is 1599965890.40 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965890.81 epoch sec; seqNo:16854 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.67 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965892.60, time is 1599965890.40 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.96 epoch sec; seqNo:1599965890805; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965892.60, time is 1599965890.40 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965891.20 epoch sec; seqNo:16855 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.63 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965892.60, time is 1599965890.40 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965891.61 epoch sec; seqNo:16856 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.60 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965892.60, time is 1599965890.40 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965896.02 epoch sec; seqNo:16867; 4061416.73 north; 594809.50 east 2020-11-23T22:54:00Z- waiting for 1599965892.60, time is 1599965890.40 2020-11-23T22:54:00Z- sync is 5.61, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965896.42 epoch sec; seqNo:16868 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.22 phi; 0.00 theta; 0.00 psi 2020-11-23T22:54:00Z- waiting for 1599965892.60, time is 1599965890.40 2020-11-23T22:54:00Z- sync is 6.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1599965896418; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965892.60, time is 1599965890.40 2020-11-23T22:54:00Z- sync is 6.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965896.42 epoch sec; seqNo:16868 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.16 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965892.60, time is 1599965896.42 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965896.42, meas time 1599965896.42 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 16.000 at t=1599965896.42, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965896.42 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061417, 594809.50, 49.83) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965896.42 epoch sec; seqNo:16868; 4061416.35 north; 594809.51 east 2020-11-23T22:54:00Z- waiting for 1599965899.42, time is 1599965896.42 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965896.82 epoch sec; seqNo:16869 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.19 phi; 0.00 theta; 0.00 psi 2020-11-23T22:54:00Z- waiting for 1599965899.42, time is 1599965896.42 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599965896819; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965899.42, time is 1599965896.42 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965896.82 epoch sec; seqNo:16869 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.17 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965899.42, time is 1599965896.82 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599965903650; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965899.42, time is 1599965896.82 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965903.65 epoch sec; seqNo:16886 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.18 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965899.42, time is 1599965903.65 2020-11-23T22:54:00Z- sync is 6.83, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965903.65 epoch sec; seqNo:16886; 4061412.87 north; 594803.44 east 2020-11-23T22:54:00Z- waiting for 1599965899.42, time is 1599965903.65 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965903.65, meas time 1599965903.65 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 23.000 at t=1599965903.65, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965903.65 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061413, 594803.44, 49.70) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965904.05 epoch sec; seqNo:16887 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.64 phi; -0.00 theta; 0.00 psi 2020-11-23T22:54:00Z- waiting for 1599965906.65, time is 1599965903.65 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1599965904050; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965906.65, time is 1599965903.65 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965904.05 epoch sec; seqNo:16887 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.18 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965906.65, time is 1599965904.05 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965904.05 epoch sec; seqNo:16887; 4061412.49 north; 594803.45 east 2020-11-23T22:54:00Z- waiting for 1599965906.65, time is 1599965904.05 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.63 epoch sec; seqNo:1599965915681; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965906.65, time is 1599965904.05 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965915.68 epoch sec; seqNo:16916 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.17 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965906.65, time is 1599965915.68 2020-11-23T22:54:00Z- sync is 11.63, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965915.68 epoch sec; seqNo:16916; 4061414.64 north; 594792.44 east 2020-11-23T22:54:00Z- waiting for 1599965906.65, time is 1599965915.68 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965915.68, meas time 1599965915.68 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 1.000 at t=1599965915.68, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965915.68 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061415, 594792.44, 49.63) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965916.08 epoch sec; seqNo:16917 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.71 phi; -0.03 theta; 0.00 psi 2020-11-23T22:54:00Z- waiting for 1599965918.68, time is 1599965915.68 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965916.08 epoch sec; seqNo:16917 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.16 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965918.68, time is 1599965916.08 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965918.09 epoch sec; seqNo:16922; 4061416.14 north; 594791.20 east 2020-11-23T22:54:00Z- waiting for 1599965918.68, time is 1599965916.08 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965918.49 epoch sec; seqNo:16923 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.53 phi; -0.04 theta; 0.00 psi 2020-11-23T22:54:00Z- waiting for 1599965918.68, time is 1599965916.08 2020-11-23T22:54:00Z- sync is 2.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965918.49 epoch sec; seqNo:16923 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.15 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965918.68, time is 1599965918.49 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965922.50 epoch sec; seqNo:16933 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.13 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965918.68, time is 1599965922.50 2020-11-23T22:54:00Z- sync is 4.01, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965922.50 epoch sec; seqNo:16933; 4061419.53 north; 594788.72 east 2020-11-23T22:54:00Z- waiting for 1599965918.68, time is 1599965922.50 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965922.50, meas time 1599965922.50 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 8.000 at t=1599965922.50, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965922.50 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061420, 594788.72, 49.63) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965922.90 epoch sec; seqNo:16934 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 0.00 psi 2020-11-23T22:54:00Z- waiting for 1599965925.50, time is 1599965922.50 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599965922899; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965925.50, time is 1599965922.50 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965930.91 epoch sec; seqNo:16954 2020-11-23T22:54:00Z- AHRS_M2 msg: 0.34 phi; -0.04 theta; -0.00 psi 2020-11-23T22:54:00Z- waiting for 1599965925.50, time is 1599965922.50 2020-11-23T22:54:00Z- sync is 8.41, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.98 epoch sec; seqNo:1599965930909; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965925.50, time is 1599965922.50 2020-11-23T22:54:00Z- sync is 8.41, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965930.91 epoch sec; seqNo:16954; 4061426.72 north; 594788.65 east 2020-11-23T22:54:00Z- waiting for 1599965925.50, time is 1599965922.50 2020-11-23T22:54:00Z- sync is 8.41, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965931.31 epoch sec; seqNo:16955 2020-11-23T22:54:00Z- AHRS_M2 msg: 0.36 phi; -0.04 theta; -0.00 psi 2020-11-23T22:54:00Z- waiting for 1599965925.50, time is 1599965922.50 2020-11-23T22:54:00Z- sync is 8.81, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1599965931312; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965925.50, time is 1599965922.50 2020-11-23T22:54:00Z- sync is 8.81, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965931.31 epoch sec; seqNo:16955; 4061427.10 north; 594788.64 east 2020-11-23T22:54:00Z- waiting for 1599965925.50, time is 1599965922.50 2020-11-23T22:54:00Z- sync is 8.81, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965931.71 epoch sec; seqNo:16956 2020-11-23T22:54:00Z- AHRS_M2 msg: 0.38 phi; -0.04 theta; -0.00 psi 2020-11-23T22:54:00Z- waiting for 1599965925.50, time is 1599965922.50 2020-11-23T22:54:00Z- sync is 9.21, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965931.71 epoch sec; seqNo:16956; 4061427.48 north; 594788.64 east 2020-11-23T22:54:00Z- waiting for 1599965925.50, time is 1599965922.50 2020-11-23T22:54:00Z- sync is 9.22, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965939.73 epoch sec; seqNo:16976 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.01 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965925.50, time is 1599965939.73 2020-11-23T22:54:00Z- sync is 8.02, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965939.73 epoch sec; seqNo:16976; 4061433.96 north; 594792.23 east 2020-11-23T22:54:00Z- waiting for 1599965925.50, time is 1599965939.73 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965939.73, meas time 1599965939.73 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 25.000 at t=1599965939.73, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965939.73 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061434, 594792.23, 49.99) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965940.13 epoch sec; seqNo:16977 2020-11-23T22:54:00Z- AHRS_M2 msg: 0.59 phi; -0.04 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965942.73, time is 1599965939.73 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1599965940131; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965942.73, time is 1599965939.73 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965940.53 epoch sec; seqNo:16978 2020-11-23T22:54:00Z- AHRS_M2 msg: 0.60 phi; -0.04 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965942.73, time is 1599965939.73 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965949.36 epoch sec; seqNo:17000 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.03 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965942.73, time is 1599965949.36 2020-11-23T22:54:00Z- sync is 8.83, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965949.36 epoch sec; seqNo:17000; 4061441.22 north; 594797.03 east 2020-11-23T22:54:00Z- waiting for 1599965942.73, time is 1599965949.36 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965949.36, meas time 1599965949.36 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 1.000 at t=1599965949.36, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965949.36 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061441, 594797.03, 50.21) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965949.76 epoch sec; seqNo:17001 2020-11-23T22:54:00Z- AHRS_M2 msg: 0.66 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965952.36, time is 1599965949.36 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1599965949757; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965952.36, time is 1599965949.36 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965949.76 epoch sec; seqNo:17001 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.03 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965952.36, time is 1599965949.76 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965949.76 epoch sec; seqNo:17001; 4061441.61 north; 594798.24 east 2020-11-23T22:54:00Z- waiting for 1599965952.36, time is 1599965949.76 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965950.16 epoch sec; seqNo:17002 2020-11-23T22:54:00Z- AHRS_M2 msg: 0.67 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965952.36, time is 1599965949.76 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1599965950158; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965952.36, time is 1599965949.76 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1599965958175; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965952.36, time is 1599965949.76 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965958.18 epoch sec; seqNo:17022 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.05 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965952.36, time is 1599965958.18 2020-11-23T22:54:00Z- sync is 8.02, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965958.18 epoch sec; seqNo:17022; 4061447.72 north; 594803.06 east 2020-11-23T22:54:00Z- waiting for 1599965952.36, time is 1599965958.18 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965958.18, meas time 1599965958.18 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 10.000 at t=1599965958.18, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965958.18 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061448, 594803.06, 50.31) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1599965958578; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965961.18, time is 1599965958.18 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965958.58 epoch sec; seqNo:17023 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.06 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965961.18, time is 1599965958.58 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965958.58 epoch sec; seqNo:17023; 4061448.10 north; 594803.05 east 2020-11-23T22:54:00Z- waiting for 1599965961.18, time is 1599965958.58 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1599965958977; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965961.18, time is 1599965958.58 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965958.98 epoch sec; seqNo:17024 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.06 , -0.01 2020-11-23T22:54:00Z- waiting for 1599965961.18, time is 1599965958.98 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1599965959378; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965961.18, time is 1599965958.98 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965977.03 epoch sec; seqNo:17069 2020-11-23T22:54:00Z- AHRS_M2 msg: 0.09 phi; -0.01 theta; -0.02 psi 2020-11-23T22:54:00Z- waiting for 1599965961.18, time is 1599965958.98 2020-11-23T22:54:00Z- sync is 18.05, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1599965977026; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965961.18, time is 1599965958.98 2020-11-23T22:54:00Z- sync is 18.05, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965977.03 epoch sec; seqNo:17069 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.06 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965961.18, time is 1599965977.03 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965977.03, meas time 1599965977.03 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 29.000 at t=1599965977.03, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965977.03 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061448, 594803.05, 49.91) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965977.03 epoch sec; seqNo:17069; 4061463.34 north; 594810.21 east 2020-11-23T22:54:00Z- waiting for 1599965980.03, time is 1599965977.03 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965977.43 epoch sec; seqNo:17070 2020-11-23T22:54:00Z- AHRS_M2 msg: 0.07 phi; -0.01 theta; -0.02 psi 2020-11-23T22:54:00Z- waiting for 1599965980.03, time is 1599965977.03 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1599965977429; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965980.03, time is 1599965977.03 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965977.43 epoch sec; seqNo:17070 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.05 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965980.03, time is 1599965977.43 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965977.43 epoch sec; seqNo:17070; 4061463.72 north; 594810.20 east 2020-11-23T22:54:00Z- waiting for 1599965980.03, time is 1599965977.43 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1599965977831; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965980.03, time is 1599965977.43 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965977.83 epoch sec; seqNo:17071 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.05 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965980.03, time is 1599965977.83 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965978.23 epoch sec; seqNo:17072 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.05 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965980.03, time is 1599965978.23 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965989.46 epoch sec; seqNo:17100; 4061474.70 north; 594810.08 east 2020-11-23T22:54:00Z- waiting for 1599965980.03, time is 1599965978.23 2020-11-23T22:54:00Z- sync is 11.23, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965989.86 epoch sec; seqNo:17101 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.24 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965980.03, time is 1599965978.23 2020-11-23T22:54:00Z- sync is 11.63, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1599965989860; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965980.03, time is 1599965978.23 2020-11-23T22:54:00Z- sync is 11.63, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965989.86 epoch sec; seqNo:17101 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.02 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965980.03, time is 1599965989.86 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965989.86, meas time 1599965989.86 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 7.000 at t=1599965989.86, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965989.86 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061475, 594810.08, 49.84) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965989.86 epoch sec; seqNo:17101; 4061475.07 north; 594808.86 east 2020-11-23T22:54:00Z- waiting for 1599965992.86, time is 1599965989.86 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1599965990261; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965992.86, time is 1599965989.86 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965990.26 epoch sec; seqNo:17102 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.02 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965992.86, time is 1599965990.26 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965990.26 epoch sec; seqNo:17102; 4061475.45 north; 594808.85 east 2020-11-23T22:54:00Z- waiting for 1599965992.86, time is 1599965990.26 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1599965990664; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965992.86, time is 1599965990.26 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965998.68 epoch sec; seqNo:17123 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.37 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599965992.86, time is 1599965990.26 2020-11-23T22:54:00Z- sync is 8.42, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1599965998680; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599965992.86, time is 1599965990.26 2020-11-23T22:54:00Z- sync is 8.42, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965998.68 epoch sec; seqNo:17123 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599965992.86, time is 1599965998.68 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599965998.68, meas time 1599965998.68 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 16.000 at t=1599965998.68, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599965998.68 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061475, 594808.85, 49.87) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965998.69 epoch sec; seqNo:17123; 4061483.00 north; 594806.33 east 2020-11-23T22:54:00Z- waiting for 1599966001.68, time is 1599965998.68 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599965999.08 epoch sec; seqNo:17124 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.37 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966001.68, time is 1599965998.68 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1599965999080; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966001.68, time is 1599965998.68 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599965999.08 epoch sec; seqNo:17124 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966001.68, time is 1599965999.08 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965999.09 epoch sec; seqNo:17124; 4061483.38 north; 594806.33 east 2020-11-23T22:54:00Z- waiting for 1599966001.68, time is 1599965999.08 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599965999.48 epoch sec; seqNo:17125; 4061483.38 north; 594806.33 east 2020-11-23T22:54:00Z- waiting for 1599966001.68, time is 1599965999.08 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966001.49 epoch sec; seqNo:17130; 4061485.27 north; 594806.30 east 2020-11-23T22:54:00Z- waiting for 1599966001.68, time is 1599965999.08 2020-11-23T22:54:00Z- sync is 2.41, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966001.89 epoch sec; seqNo:17131 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.39 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966001.68, time is 1599965999.08 2020-11-23T22:54:00Z- sync is 2.81, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966001.89 epoch sec; seqNo:17131 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966001.68, time is 1599966001.89 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966001.89, meas time 1599966001.89 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 19.000 at t=1599966001.89, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966001.89 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061485, 594806.30, 49.87) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966002.29 epoch sec; seqNo:17132 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.40 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966004.89, time is 1599966001.89 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966002.69 epoch sec; seqNo:17133 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.40 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966004.89, time is 1599966001.89 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1599966002692; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966004.89, time is 1599966001.89 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966002.69 epoch sec; seqNo:17133 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.01 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966004.89, time is 1599966002.69 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966003.10 epoch sec; seqNo:17134 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.40 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966004.89, time is 1599966002.69 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966003.50 epoch sec; seqNo:17135; 4061487.15 north; 594805.06 east 2020-11-23T22:54:00Z- waiting for 1599966004.89, time is 1599966002.69 2020-11-23T22:54:00Z- sync is 0.81, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966003.90 epoch sec; seqNo:17136 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.41 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966004.89, time is 1599966002.69 2020-11-23T22:54:00Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1599966003901; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966004.89, time is 1599966002.69 2020-11-23T22:54:00Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966003.90 epoch sec; seqNo:17136 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.02 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966004.89, time is 1599966003.90 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966003.91 epoch sec; seqNo:17136; 4061487.15 north; 594805.06 east 2020-11-23T22:54:00Z- waiting for 1599966004.89, time is 1599966003.90 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966004.30 epoch sec; seqNo:17137 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.41 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966004.89, time is 1599966003.90 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1599966004302; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966004.89, time is 1599966003.90 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966004.30 epoch sec; seqNo:17137 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.02 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966004.89, time is 1599966004.30 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966004.70 epoch sec; seqNo:17138; 4061487.91 north; 594805.06 east 2020-11-23T22:54:00Z- waiting for 1599966004.89, time is 1599966004.30 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966005.91 epoch sec; seqNo:17141 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.02 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966004.89, time is 1599966005.91 2020-11-23T22:54:00Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966004.70, meas time 1599966005.91 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 23.000 at t=1599966005.91, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966005.91 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061488, 594805.06, 49.91) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966006.71 epoch sec; seqNo:17143; 4061489.79 north; 594803.81 east 2020-11-23T22:54:00Z- waiting for 1599966008.91, time is 1599966005.91 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966007.91 epoch sec; seqNo:17146 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.43 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966008.91, time is 1599966005.91 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.96 epoch sec; seqNo:1599966008712; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966008.91, time is 1599966005.91 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966009.52 epoch sec; seqNo:17150 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.02 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966008.91, time is 1599966009.52 2020-11-23T22:54:00Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966007.91, meas time 1599966009.52 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 27.000 at t=1599966009.52, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966009.52 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061490, 594803.81, 49.96) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966012.73 epoch sec; seqNo:17158; 4061494.69 north; 594801.32 east 2020-11-23T22:54:00Z- waiting for 1599966012.52, time is 1599966009.52 2020-11-23T22:54:00Z- sync is 3.21, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966013.53 epoch sec; seqNo:17160 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.44 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966012.52, time is 1599966009.52 2020-11-23T22:54:00Z- sync is 4.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.02 epoch sec; seqNo:1599966014328; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966012.52, time is 1599966009.52 2020-11-23T22:54:00Z- sync is 4.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966014.73 epoch sec; seqNo:17163 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966012.52, time is 1599966014.73 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966013.53, meas time 1599966014.73 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 32.000 at t=1599966014.73, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966014.73 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061495, 594801.32, 50.02) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966016.34 epoch sec; seqNo:17167; 4061497.70 north; 594800.06 east 2020-11-23T22:54:00Z- waiting for 1599966017.73, time is 1599966014.73 2020-11-23T22:54:00Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966017.14 epoch sec; seqNo:17169 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.44 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966017.73, time is 1599966014.73 2020-11-23T22:54:00Z- sync is 2.41, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.07 epoch sec; seqNo:1599966018345; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966017.73, time is 1599966014.73 2020-11-23T22:54:00Z- sync is 2.41, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966018.75 epoch sec; seqNo:17173 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966017.73, time is 1599966018.75 2020-11-23T22:54:00Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966017.14, meas time 1599966018.75 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 2.000 at t=1599966018.75, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966018.75 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061498, 594800.06, 50.07) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966020.35 epoch sec; seqNo:17177 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.44 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966021.75, time is 1599966018.75 2020-11-23T22:54:00Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1599966021157; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966021.75, time is 1599966018.75 2020-11-23T22:54:00Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966021.96 epoch sec; seqNo:17181 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.44 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966021.75, time is 1599966018.75 2020-11-23T22:54:00Z- sync is 3.21, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966022.36 epoch sec; seqNo:17182 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.44 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966021.75, time is 1599966018.75 2020-11-23T22:54:00Z- sync is 3.61, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966023.16 epoch sec; seqNo:17184; 4061503.35 north; 594796.34 east 2020-11-23T22:54:00Z- waiting for 1599966021.75, time is 1599966018.75 2020-11-23T22:54:00Z- sync is 4.42, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966024.37 epoch sec; seqNo:17187 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.44 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966021.75, time is 1599966018.75 2020-11-23T22:54:00Z- sync is 5.62, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.15 epoch sec; seqNo:1599966024768; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966021.75, time is 1599966018.75 2020-11-23T22:54:00Z- sync is 5.62, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966025.97 epoch sec; seqNo:17191 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966021.75, time is 1599966025.97 2020-11-23T22:54:00Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966024.37, meas time 1599966025.97 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 9.000 at t=1599966025.97, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966025.97 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061503, 594796.34, 50.15) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966029.58 epoch sec; seqNo:17200; 4061508.62 north; 594793.84 east 2020-11-23T22:54:00Z- waiting for 1599966028.97, time is 1599966025.97 2020-11-23T22:54:00Z- sync is 3.61, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966030.38 epoch sec; seqNo:17202 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.42 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966028.97, time is 1599966025.97 2020-11-23T22:54:00Z- sync is 4.41, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.16 epoch sec; seqNo:1599966031189; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966028.97, time is 1599966025.97 2020-11-23T22:54:00Z- sync is 4.41, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966031.59 epoch sec; seqNo:17205 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966028.97, time is 1599966031.59 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966030.38, meas time 1599966031.59 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 15.000 at t=1599966031.59, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966031.59 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061509, 594793.84, 50.16) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.14 epoch sec; seqNo:1599966033193; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966034.59, time is 1599966031.59 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966033.19 epoch sec; seqNo:17209 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966034.59, time is 1599966033.19 2020-11-23T22:54:00Z- sync is 2.81, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966034.40 epoch sec; seqNo:17212; 4061512.76 north; 594791.35 east 2020-11-23T22:54:00Z- waiting for 1599966034.59, time is 1599966033.19 2020-11-23T22:54:00Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966038.01 epoch sec; seqNo:17221 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.39 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966034.59, time is 1599966033.19 2020-11-23T22:54:00Z- sync is 4.82, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1599966039214; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966034.59, time is 1599966033.19 2020-11-23T22:54:00Z- sync is 4.82, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966039.21 epoch sec; seqNo:17224 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966034.59, time is 1599966039.21 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966038.01, meas time 1599966039.21 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 23.000 at t=1599966039.21, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966039.21 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061513, 594791.35, 50.03) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966040.02 epoch sec; seqNo:17226; 4061517.28 north; 594788.86 east 2020-11-23T22:54:00Z- waiting for 1599966042.21, time is 1599966039.21 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.00 epoch sec; seqNo:1599966040815; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966042.21, time is 1599966039.21 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966041.21 epoch sec; seqNo:17229 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966042.21, time is 1599966041.21 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966042.42 epoch sec; seqNo:17232; 4061519.56 north; 594788.84 east 2020-11-23T22:54:00Z- waiting for 1599966042.21, time is 1599966041.21 2020-11-23T22:54:00Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966046.02 epoch sec; seqNo:17241 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.38 phi; -0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966042.21, time is 1599966041.21 2020-11-23T22:54:00Z- sync is 4.81, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966046.42 epoch sec; seqNo:17242 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966042.21, time is 1599966046.42 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966046.02, meas time 1599966046.42 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 30.000 at t=1599966046.42, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966046.42 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061520, 594788.84, 50.00) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966047.23 epoch sec; seqNo:17244; 4061523.70 north; 594786.35 east 2020-11-23T22:54:00Z- waiting for 1599966049.42, time is 1599966046.42 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966048.43 epoch sec; seqNo:17247 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.38 phi; -0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966049.42, time is 1599966046.42 2020-11-23T22:54:00Z- sync is 2.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966048.83 epoch sec; seqNo:17248 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966049.42, time is 1599966048.83 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966050.03 epoch sec; seqNo:17251 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966049.42, time is 1599966050.03 2020-11-23T22:54:00Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966048.43, meas time 1599966050.03 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1599966050.03, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966050.03 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061524, 594786.35, 50.00) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966051.64 epoch sec; seqNo:17255; 4061527.47 north; 594785.09 east 2020-11-23T22:54:00Z- waiting for 1599966053.03, time is 1599966050.03 2020-11-23T22:54:00Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966054.45 epoch sec; seqNo:17262 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.38 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966053.03, time is 1599966050.03 2020-11-23T22:54:00Z- sync is 4.42, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1599966055251; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966053.03, time is 1599966050.03 2020-11-23T22:54:00Z- sync is 4.42, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966055.65 epoch sec; seqNo:17265 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.38 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966053.03, time is 1599966050.03 2020-11-23T22:54:00Z- sync is 5.62, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599966056455; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966053.03, time is 1599966050.03 2020-11-23T22:54:00Z- sync is 5.62, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966056.86 epoch sec; seqNo:17268; 4061531.61 north; 594782.60 east 2020-11-23T22:54:00Z- waiting for 1599966053.03, time is 1599966050.03 2020-11-23T22:54:00Z- sync is 6.83, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966057.66 epoch sec; seqNo:17270 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.38 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966053.03, time is 1599966050.03 2020-11-23T22:54:00Z- sync is 7.62, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599966058861; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966053.03, time is 1599966050.03 2020-11-23T22:54:00Z- sync is 7.62, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966059.26 epoch sec; seqNo:17274; 4061533.87 north; 594781.36 east 2020-11-23T22:54:00Z- waiting for 1599966053.03, time is 1599966050.03 2020-11-23T22:54:00Z- sync is 9.23, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966060.06 epoch sec; seqNo:17276 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.38 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966053.03, time is 1599966050.03 2020-11-23T22:54:00Z- sync is 10.03, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966060.46 epoch sec; seqNo:17277; 4061535.01 north; 594781.34 east 2020-11-23T22:54:00Z- waiting for 1599966053.03, time is 1599966050.03 2020-11-23T22:54:00Z- sync is 10.43, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966061.26 epoch sec; seqNo:17279 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966053.03, time is 1599966061.26 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966060.46, meas time 1599966061.26 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 11.000 at t=1599966061.26, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966061.26 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061535, 594781.34, 49.77) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966062.47 epoch sec; seqNo:17282; 4061536.51 north; 594780.11 east 2020-11-23T22:54:00Z- waiting for 1599966064.26, time is 1599966061.26 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966066.07 epoch sec; seqNo:17291 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.36 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966064.26, time is 1599966061.26 2020-11-23T22:54:00Z- sync is 4.81, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1599966066476; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966064.26, time is 1599966061.26 2020-11-23T22:54:00Z- sync is 4.81, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966067.28 epoch sec; seqNo:17294 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.36 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966064.26, time is 1599966061.26 2020-11-23T22:54:00Z- sync is 6.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966068.08 epoch sec; seqNo:17296 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966064.26, time is 1599966068.08 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966067.28, meas time 1599966068.08 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 18.000 at t=1599966068.08, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966068.08 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061537, 594780.11, 49.74) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966068.48 epoch sec; seqNo:17297; 4061541.80 north; 594778.83 east 2020-11-23T22:54:00Z- waiting for 1599966071.08, time is 1599966068.08 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966072.09 epoch sec; seqNo:17306 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.35 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966071.08, time is 1599966068.08 2020-11-23T22:54:00Z- sync is 4.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599966072893; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966071.08, time is 1599966068.08 2020-11-23T22:54:00Z- sync is 4.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966073.30 epoch sec; seqNo:17309 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966071.08, time is 1599966073.30 2020-11-23T22:54:00Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966072.09, meas time 1599966073.30 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 23.000 at t=1599966073.30, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966073.30 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061542, 594778.83, 49.75) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966074.50 epoch sec; seqNo:17312; 4061546.70 north; 594776.33 east 2020-11-23T22:54:00Z- waiting for 1599966076.30, time is 1599966073.30 2020-11-23T22:54:00Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966075.30 epoch sec; seqNo:17314 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.35 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966076.30, time is 1599966073.30 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599966076108; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966076.30, time is 1599966073.30 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599966076908; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966076.30, time is 1599966073.30 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966077.31 epoch sec; seqNo:17319 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966076.30, time is 1599966077.31 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966078.12 epoch sec; seqNo:17321; 4061550.09 north; 594775.07 east 2020-11-23T22:54:00Z- waiting for 1599966076.30, time is 1599966077.31 2020-11-23T22:54:00Z- sync is 0.81, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966078.12, meas time 1599966077.31 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 27.000 at t=1599966077.31, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966077.31 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061550, 594775.07, 49.76) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1599966081718; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966080.31, time is 1599966077.31 2020-11-23T22:54:00Z- sync is 0.81, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966082.12 epoch sec; seqNo:17331 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966080.31, time is 1599966082.12 2020-11-23T22:54:00Z- sync is 4.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966082.92 epoch sec; seqNo:17333; 4061554.23 north; 594772.59 east 2020-11-23T22:54:00Z- waiting for 1599966080.31, time is 1599966082.12 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966082.92, meas time 1599966082.12 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 32.000 at t=1599966082.12, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966082.12 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061554, 594772.59, 49.79) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1599966083728; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966085.12, time is 1599966082.12 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966084.13 epoch sec; seqNo:17336 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966085.12, time is 1599966084.13 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1599966085732; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966085.12, time is 1599966084.13 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966086.13 epoch sec; seqNo:17341 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.35 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966085.12, time is 1599966084.13 2020-11-23T22:54:00Z- sync is 2.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599966086934; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966085.12, time is 1599966084.13 2020-11-23T22:54:00Z- sync is 2.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966087.34 epoch sec; seqNo:17344 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966085.12, time is 1599966087.34 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966086.13, meas time 1599966087.34 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 3.000 at t=1599966087.34, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966087.34 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061554, 594772.59, 49.82) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966090.54 epoch sec; seqNo:17352; 4061560.65 north; 594770.08 east 2020-11-23T22:54:00Z- waiting for 1599966090.34, time is 1599966087.34 2020-11-23T22:54:00Z- sync is 3.20, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966090.94 epoch sec; seqNo:17353 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.35 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966090.34, time is 1599966087.34 2020-11-23T22:54:00Z- sync is 3.60, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1599966092142; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966090.34, time is 1599966087.34 2020-11-23T22:54:00Z- sync is 3.60, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966092.55 epoch sec; seqNo:17357 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966090.34, time is 1599966092.55 2020-11-23T22:54:00Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966090.94, meas time 1599966092.55 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 8.000 at t=1599966092.55, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966092.55 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061561, 594770.08, 49.87) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966093.35 epoch sec; seqNo:17359; 4061563.29 north; 594768.83 east 2020-11-23T22:54:00Z- waiting for 1599966095.55, time is 1599966092.55 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1599966094551; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966095.55, time is 1599966092.55 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966094.95 epoch sec; seqNo:17363 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966095.55, time is 1599966094.95 2020-11-23T22:54:00Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966096.16 epoch sec; seqNo:17366 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966095.55, time is 1599966096.16 2020-11-23T22:54:00Z- sync is 2.81, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966096.56 epoch sec; seqNo:17367; 4061565.94 north; 594768.80 east 2020-11-23T22:54:00Z- waiting for 1599966095.55, time is 1599966096.16 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966096.56, meas time 1599966096.16 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 12.000 at t=1599966096.16, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966096.16 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594768.80, 49.89) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966097.76 epoch sec; seqNo:17370 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.35 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966099.16, time is 1599966096.16 2020-11-23T22:54:00Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1599966098563; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966099.16, time is 1599966096.16 2020-11-23T22:54:00Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966098.97 epoch sec; seqNo:17373 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966099.16, time is 1599966098.97 2020-11-23T22:54:00Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966102.17 epoch sec; seqNo:17381; 4061570.84 north; 594766.30 east 2020-11-23T22:54:00Z- waiting for 1599966099.16, time is 1599966098.97 2020-11-23T22:54:00Z- sync is 3.21, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1599966103376; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966099.16, time is 1599966098.97 2020-11-23T22:54:00Z- sync is 3.21, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966104.18 epoch sec; seqNo:17386 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966099.16, time is 1599966104.18 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966104.18 epoch sec; seqNo:17386; 4061572.34 north; 594765.06 east 2020-11-23T22:54:00Z- waiting for 1599966099.16, time is 1599966104.18 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966104.18, meas time 1599966104.18 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 20.000 at t=1599966104.18, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966104.18 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061572, 594765.06, 49.99) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.01 epoch sec; seqNo:1599966104983; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966107.18, time is 1599966104.18 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966105.78 epoch sec; seqNo:17390 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.34 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966107.18, time is 1599966104.18 2020-11-23T22:54:00Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1599966106587; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966107.18, time is 1599966104.18 2020-11-23T22:54:00Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966106.99 epoch sec; seqNo:17393 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.04 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966107.18, time is 1599966106.99 2020-11-23T22:54:00Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966110.20 epoch sec; seqNo:17401; 4061577.63 north; 594763.79 east 2020-11-23T22:54:00Z- waiting for 1599966107.18, time is 1599966106.99 2020-11-23T22:54:00Z- sync is 3.21, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966111.00 epoch sec; seqNo:17403 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.32 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966107.18, time is 1599966106.99 2020-11-23T22:54:00Z- sync is 4.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.10 epoch sec; seqNo:1599966111802; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966107.18, time is 1599966106.99 2020-11-23T22:54:00Z- sync is 4.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966112.61 epoch sec; seqNo:17407 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966107.18, time is 1599966112.61 2020-11-23T22:54:00Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966111.00, meas time 1599966112.61 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 28.000 at t=1599966112.61, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966112.61 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061578, 594763.79, 50.10) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966113.41 epoch sec; seqNo:17409; 4061580.65 north; 594762.53 east 2020-11-23T22:54:00Z- waiting for 1599966115.61, time is 1599966112.61 2020-11-23T22:54:00Z- sync is 0.81, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966114.21 epoch sec; seqNo:17411; 4061581.02 north; 594762.53 east 2020-11-23T22:54:00Z- waiting for 1599966115.61, time is 1599966112.61 2020-11-23T22:54:00Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966115.02 epoch sec; seqNo:17413; 4061581.77 north; 594761.30 east 2020-11-23T22:54:00Z- waiting for 1599966115.61, time is 1599966112.61 2020-11-23T22:54:00Z- sync is 2.41, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966116.22 epoch sec; seqNo:17416 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.32 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966115.61, time is 1599966112.61 2020-11-23T22:54:00Z- sync is 3.61, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966116.22 epoch sec; seqNo:17416 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966115.61, time is 1599966116.22 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966116.22, meas time 1599966116.22 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 32.000 at t=1599966116.22, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966116.22 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061582, 594761.30, 50.10) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966119.83 epoch sec; seqNo:17425 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.32 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966119.22, time is 1599966116.22 2020-11-23T22:54:00Z- sync is 3.61, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966120.22 epoch sec; seqNo:17426 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.32 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966119.22, time is 1599966116.22 2020-11-23T22:54:00Z- sync is 4.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1599966121429; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966119.22, time is 1599966116.22 2020-11-23T22:54:00Z- sync is 4.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966122.23 epoch sec; seqNo:17431 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966119.22, time is 1599966122.23 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966123.04 epoch sec; seqNo:17433 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.32 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966119.22, time is 1599966122.23 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966123.04, meas time 1599966122.23 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 4.000 at t=1599966122.23, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966122.23 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061582, 594761.30, 50.24) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966123.84 epoch sec; seqNo:17435; 4061589.70 north; 594758.77 east 2020-11-23T22:54:00Z- waiting for 1599966125.23, time is 1599966122.23 2020-11-23T22:54:00Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966125.04 epoch sec; seqNo:17438 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.32 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966125.23, time is 1599966122.23 2020-11-23T22:54:00Z- sync is 2.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1599966125037; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966125.23, time is 1599966122.23 2020-11-23T22:54:00Z- sync is 2.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966125.04 epoch sec; seqNo:17438 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966125.23, time is 1599966125.04 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966125.04 epoch sec; seqNo:17438; 4061590.45 north; 594758.76 east 2020-11-23T22:54:00Z- waiting for 1599966125.23, time is 1599966125.04 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966125.44 epoch sec; seqNo:17439 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.32 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966125.23, time is 1599966125.04 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1599966125438; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966125.23, time is 1599966125.04 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966125.44 epoch sec; seqNo:17439 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966125.23, time is 1599966125.44 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966125.44, meas time 1599966125.44 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 7.000 at t=1599966125.44, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966125.44 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061590, 594758.76, 50.30) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966180.40 epoch sec; seqNo:17576 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.30 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966128.44, time is 1599966125.44 2020-11-23T22:54:00Z- sync is 54.96, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599966180401; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966128.44, time is 1599966125.44 2020-11-23T22:54:00Z- sync is 54.96, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966180.40 epoch sec; seqNo:17576 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966128.44, time is 1599966180.40 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966180.40, meas time 1599966180.40 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 28.000 at t=1599966180.40, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966180.40 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061590, 594758.76, 49.67) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966180.40 epoch sec; seqNo:17576; 4061639.12 north; 594739.92 east 2020-11-23T22:54:00Z- waiting for 1599966183.40, time is 1599966180.40 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966180.80 epoch sec; seqNo:17577 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.30 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966183.40, time is 1599966180.40 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1599966180803; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966183.40, time is 1599966180.40 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966180.80 epoch sec; seqNo:17577 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966183.40, time is 1599966180.80 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966180.81 epoch sec; seqNo:17577; 4061639.12 north; 594739.92 east 2020-11-23T22:54:00Z- waiting for 1599966183.40, time is 1599966180.80 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966181.20 epoch sec; seqNo:17578 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.30 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966183.40, time is 1599966180.80 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1599966181204; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966183.40, time is 1599966180.80 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966181.20 epoch sec; seqNo:17578 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966183.40, time is 1599966181.20 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966181.20 epoch sec; seqNo:17578; 4061639.50 north; 594739.91 east 2020-11-23T22:54:00Z- waiting for 1599966183.40, time is 1599966181.20 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966181.61 epoch sec; seqNo:17579 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.30 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966183.40, time is 1599966181.20 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1599966181606; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966183.40, time is 1599966181.20 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966181.61 epoch sec; seqNo:17579 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966183.40, time is 1599966181.61 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966181.61 epoch sec; seqNo:17579; 4061639.88 north; 594739.91 east 2020-11-23T22:54:00Z- waiting for 1599966183.40, time is 1599966181.61 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966208.49 epoch sec; seqNo:17646; 4061663.65 north; 594731.10 east 2020-11-23T22:54:00Z- waiting for 1599966183.40, time is 1599966181.61 2020-11-23T22:54:00Z- sync is 26.88, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966208.89 epoch sec; seqNo:17647 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.29 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966183.40, time is 1599966181.61 2020-11-23T22:54:00Z- sync is 27.28, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1599966208888; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966183.40, time is 1599966181.61 2020-11-23T22:54:00Z- sync is 27.28, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966208.89 epoch sec; seqNo:17647 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966183.40, time is 1599966208.89 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966208.89, meas time 1599966208.89 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 22.000 at t=1599966208.89, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966208.89 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594731.10, 49.99) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966208.89 epoch sec; seqNo:17647; 4061664.03 north; 594731.10 east 2020-11-23T22:54:00Z- waiting for 1599966211.89, time is 1599966208.89 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966209.29 epoch sec; seqNo:17648 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.29 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966211.89, time is 1599966208.89 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.01 epoch sec; seqNo:1599966209289; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966211.89, time is 1599966208.89 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966209.29 epoch sec; seqNo:17648 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966211.89, time is 1599966209.29 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966209.29 epoch sec; seqNo:17648; 4061664.41 north; 594731.09 east 2020-11-23T22:54:00Z- waiting for 1599966211.89, time is 1599966209.29 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966209.69 epoch sec; seqNo:17649 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.29 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966211.89, time is 1599966209.29 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.02 epoch sec; seqNo:1599966209692; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966211.89, time is 1599966209.29 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966209.69 epoch sec; seqNo:17649 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966211.89, time is 1599966209.69 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966210.09 epoch sec; seqNo:17650 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.29 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966211.89, time is 1599966209.69 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966223.34 epoch sec; seqNo:17683 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966211.89, time is 1599966223.34 2020-11-23T22:54:00Z- sync is 13.24, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966223.34 epoch sec; seqNo:17683; 4061676.87 north; 594727.29 east 2020-11-23T22:54:00Z- waiting for 1599966211.89, time is 1599966223.34 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966223.34, meas time 1599966223.34 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 3.000 at t=1599966223.34, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966223.34 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061677, 594727.29, 50.02) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966223.73 epoch sec; seqNo:17684 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.30 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966226.34, time is 1599966223.34 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1599966223734; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966226.34, time is 1599966223.34 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966223.73 epoch sec; seqNo:17684 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966226.34, time is 1599966223.73 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966223.74 epoch sec; seqNo:17684; 4061676.87 north; 594727.29 east 2020-11-23T22:54:00Z- waiting for 1599966226.34, time is 1599966223.73 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966224.13 epoch sec; seqNo:17685 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.30 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966226.34, time is 1599966223.73 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1599966224135; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966226.34, time is 1599966223.73 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966224.14 epoch sec; seqNo:17685 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966226.34, time is 1599966224.14 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966224.94 epoch sec; seqNo:17687; 4061678.00 north; 594726.06 east 2020-11-23T22:54:00Z- waiting for 1599966226.34, time is 1599966224.14 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966225.34 epoch sec; seqNo:17688 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.30 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966226.34, time is 1599966224.14 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966248.61 epoch sec; seqNo:17746 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966226.34, time is 1599966248.61 2020-11-23T22:54:00Z- sync is 23.27, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966248.61 epoch sec; seqNo:17746; 4061698.77 north; 594719.73 east 2020-11-23T22:54:00Z- waiting for 1599966226.34, time is 1599966248.61 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966248.61, meas time 1599966248.61 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 28.000 at t=1599966248.61, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966248.61 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061699, 594719.73, 50.38) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966249.01 epoch sec; seqNo:17747 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.30 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966251.61, time is 1599966248.61 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.98 epoch sec; seqNo:1599966249009; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966251.61, time is 1599966248.61 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966249.01 epoch sec; seqNo:17747 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966251.61, time is 1599966249.01 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966249.01 epoch sec; seqNo:17747; 4061699.13 north; 594718.50 east 2020-11-23T22:54:00Z- waiting for 1599966251.61, time is 1599966249.01 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966249.41 epoch sec; seqNo:17748 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.30 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966251.61, time is 1599966249.01 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.97 epoch sec; seqNo:1599966249412; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966251.61, time is 1599966249.01 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966249.41 epoch sec; seqNo:17748; 4061699.51 north; 594718.50 east 2020-11-23T22:54:00Z- waiting for 1599966251.61, time is 1599966249.01 2020-11-23T22:54:00Z- sync is 0.41, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966257.03 epoch sec; seqNo:17767 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.30 phi; -0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966251.61, time is 1599966249.01 2020-11-23T22:54:00Z- sync is 8.02, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1599966257026; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966251.61, time is 1599966249.01 2020-11-23T22:54:00Z- sync is 8.02, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966257.42 epoch sec; seqNo:17768 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.30 phi; -0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966251.61, time is 1599966249.01 2020-11-23T22:54:00Z- sync is 8.42, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966261.43 epoch sec; seqNo:17778 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966251.61, time is 1599966261.43 2020-11-23T22:54:00Z- sync is 4.01, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966261.43 epoch sec; seqNo:17778; 4061710.08 north; 594714.72 east 2020-11-23T22:54:00Z- waiting for 1599966251.61, time is 1599966261.43 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966261.43, meas time 1599966261.43 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 7.000 at t=1599966261.43, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966261.43 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061710, 594714.72, 49.81) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966271.86 epoch sec; seqNo:17804 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.30 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966264.43, time is 1599966261.43 2020-11-23T22:54:00Z- sync is 10.43, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1599966271860; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966264.43, time is 1599966261.43 2020-11-23T22:54:00Z- sync is 10.43, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966271.86 epoch sec; seqNo:17804 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966264.43, time is 1599966271.86 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966271.86, meas time 1599966271.86 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 17.000 at t=1599966271.86, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966271.86 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061710, 594714.72, 49.68) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966271.86 epoch sec; seqNo:17804; 4061719.14 north; 594712.18 east 2020-11-23T22:54:00Z- waiting for 1599966274.86, time is 1599966271.86 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966272.26 epoch sec; seqNo:17805 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.30 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966274.86, time is 1599966271.86 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966272.26 epoch sec; seqNo:17805; 4061719.52 north; 594712.18 east 2020-11-23T22:54:00Z- waiting for 1599966274.86, time is 1599966271.86 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966272.66 epoch sec; seqNo:17806 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.30 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966274.86, time is 1599966271.86 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966293.12 epoch sec; seqNo:17857 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966274.86, time is 1599966293.12 2020-11-23T22:54:00Z- sync is 20.45, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966293.12 epoch sec; seqNo:17857; 4061738.00 north; 594704.65 east 2020-11-23T22:54:00Z- waiting for 1599966274.86, time is 1599966293.12 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966293.12, meas time 1599966293.12 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 5.000 at t=1599966293.12, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966293.12 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061738, 594704.65, 49.68) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966293.52 epoch sec; seqNo:17858 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.30 phi; -0.04 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966296.12, time is 1599966293.12 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599966293519; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966296.12, time is 1599966293.12 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966293.52 epoch sec; seqNo:17858 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966296.12, time is 1599966293.52 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966293.52 epoch sec; seqNo:17858; 4061738.38 north; 594704.65 east 2020-11-23T22:54:00Z- waiting for 1599966296.12, time is 1599966293.52 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599966293919; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966296.12, time is 1599966293.52 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599966294319; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966296.12, time is 1599966293.52 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1599966295923; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966296.12, time is 1599966293.52 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966303.95 epoch sec; seqNo:17884; 4061747.45 north; 594702.10 east 2020-11-23T22:54:00Z- waiting for 1599966296.12, time is 1599966293.52 2020-11-23T22:54:00Z- sync is 10.43, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966304.35 epoch sec; seqNo:17885 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966296.12, time is 1599966304.35 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966303.95, meas time 1599966304.35 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 16.000 at t=1599966304.35, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966304.35 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061747, 594702.10, 49.81) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1599966312368; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966307.35, time is 1599966304.35 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966312.37 epoch sec; seqNo:17905 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966307.35, time is 1599966312.37 2020-11-23T22:54:00Z- sync is 8.42, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966312.77 epoch sec; seqNo:17906 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.30 phi; -0.04 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966307.35, time is 1599966312.37 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966312.77, meas time 1599966312.37 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 24.000 at t=1599966312.37, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966312.37 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061747, 594702.10, 50.33) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1599966312768; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966315.37, time is 1599966312.37 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966312.77 epoch sec; seqNo:17906 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966315.37, time is 1599966312.77 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1599966313167; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966315.37, time is 1599966312.77 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966344.46 epoch sec; seqNo:17985; 4061782.92 north; 594689.51 east 2020-11-23T22:54:00Z- waiting for 1599966315.37, time is 1599966312.77 2020-11-23T22:54:00Z- sync is 31.69, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966344.86 epoch sec; seqNo:17986 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.28 phi; 0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966315.37, time is 1599966312.77 2020-11-23T22:54:00Z- sync is 32.09, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.05 epoch sec; seqNo:1599966344861; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966315.37, time is 1599966312.77 2020-11-23T22:54:00Z- sync is 32.09, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966344.86 epoch sec; seqNo:17986 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966315.37, time is 1599966344.86 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966344.86, meas time 1599966344.86 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 22.000 at t=1599966344.86, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966344.86 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061783, 594689.51, 50.05) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966344.87 epoch sec; seqNo:17986; 4061783.30 north; 594689.50 east 2020-11-23T22:54:00Z- waiting for 1599966347.86, time is 1599966344.86 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966345.26 epoch sec; seqNo:17987 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.28 phi; 0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966347.86, time is 1599966344.86 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1599966345263; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966347.86, time is 1599966344.86 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966345.27 epoch sec; seqNo:17987 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966347.86, time is 1599966345.27 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966345.27 epoch sec; seqNo:17987; 4061783.68 north; 594689.50 east 2020-11-23T22:54:00Z- waiting for 1599966347.86, time is 1599966345.27 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.02 epoch sec; seqNo:1599966345663; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966347.86, time is 1599966345.27 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966345.66 epoch sec; seqNo:17988 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966347.86, time is 1599966345.66 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966346.07 epoch sec; seqNo:17989 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966347.86, time is 1599966346.07 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966357.68 epoch sec; seqNo:18018 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.28 phi; 0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966347.86, time is 1599966346.07 2020-11-23T22:54:00Z- sync is 11.62, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1599966357686; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966347.86, time is 1599966346.07 2020-11-23T22:54:00Z- sync is 11.62, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966357.69 epoch sec; seqNo:18018 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966347.86, time is 1599966357.69 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966357.68, meas time 1599966357.69 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 1.000 at t=1599966357.69, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966357.69 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061784, 594689.50, 49.73) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966357.69 epoch sec; seqNo:18018; 4061794.63 north; 594685.72 east 2020-11-23T22:54:00Z- waiting for 1599966360.69, time is 1599966357.69 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966358.09 epoch sec; seqNo:18019 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.28 phi; 0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966360.69, time is 1599966357.69 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1599966358087; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966360.69, time is 1599966357.69 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966358.09 epoch sec; seqNo:18019 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966360.69, time is 1599966358.09 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966358.09 epoch sec; seqNo:18019; 4061795.01 north; 594685.71 east 2020-11-23T22:54:00Z- waiting for 1599966360.69, time is 1599966358.09 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.71 epoch sec; seqNo:1599966358488; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966360.69, time is 1599966358.09 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966358.49 epoch sec; seqNo:18020 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966360.69, time is 1599966358.49 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966358.49 epoch sec; seqNo:18020; 4061795.39 north; 594685.71 east 2020-11-23T22:54:00Z- waiting for 1599966360.69, time is 1599966358.49 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599966358889; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966360.69, time is 1599966358.49 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966361.30 epoch sec; seqNo:18027; 4061798.02 north; 594684.46 east 2020-11-23T22:54:00Z- waiting for 1599966360.69, time is 1599966358.49 2020-11-23T22:54:00Z- sync is 2.81, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966361.70 epoch sec; seqNo:18028; 4061798.40 north; 594684.45 east 2020-11-23T22:54:00Z- waiting for 1599966360.69, time is 1599966358.49 2020-11-23T22:54:00Z- sync is 3.21, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1599966386177; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966360.69, time is 1599966358.49 2020-11-23T22:54:00Z- sync is 3.21, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966386.18 epoch sec; seqNo:18089 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966360.69, time is 1599966386.18 2020-11-23T22:54:00Z- sync is 24.48, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966386.18 epoch sec; seqNo:18089; 4061819.54 north; 594676.90 east 2020-11-23T22:54:00Z- waiting for 1599966360.69, time is 1599966386.18 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966386.18, meas time 1599966386.18 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 30.000 at t=1599966386.18, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966386.18 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061820, 594676.90, 49.91) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966386.58 epoch sec; seqNo:18090 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.31 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966389.18, time is 1599966386.18 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1599966386579; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966389.18, time is 1599966386.18 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966386.58 epoch sec; seqNo:18090 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966389.18, time is 1599966386.58 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966386.58 epoch sec; seqNo:18090; 4061819.92 north; 594676.89 east 2020-11-23T22:54:00Z- waiting for 1599966389.18, time is 1599966386.58 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966386.98 epoch sec; seqNo:18091 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.31 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966389.18, time is 1599966386.58 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966386.98 epoch sec; seqNo:18091 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966389.18, time is 1599966386.98 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966386.98 epoch sec; seqNo:18091; 4061820.30 north; 594676.89 east 2020-11-23T22:54:00Z- waiting for 1599966389.18, time is 1599966386.98 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966387.38 epoch sec; seqNo:18092 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.31 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966389.18, time is 1599966386.98 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966387.78 epoch sec; seqNo:18093 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.31 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966389.18, time is 1599966386.98 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966387.78 epoch sec; seqNo:18093 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966389.18, time is 1599966387.78 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966388.18 epoch sec; seqNo:18094 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.31 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966389.18, time is 1599966387.78 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.97 epoch sec; seqNo:1599966388181; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966389.18, time is 1599966387.78 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966388.58 epoch sec; seqNo:18095 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.31 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966389.18, time is 1599966387.78 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966407.83 epoch sec; seqNo:18143 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966389.18, time is 1599966407.83 2020-11-23T22:54:00Z- sync is 19.25, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966407.84 epoch sec; seqNo:18143; 4061838.40 north; 594669.37 east 2020-11-23T22:54:00Z- waiting for 1599966389.18, time is 1599966407.83 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966407.84, meas time 1599966407.83 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 17.000 at t=1599966407.83, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966407.83 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061838, 594669.37, 49.97) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966408.23 epoch sec; seqNo:18144 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.30 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966410.83, time is 1599966407.83 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1599966408233; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966410.83, time is 1599966407.83 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966408.23 epoch sec; seqNo:18144 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966410.83, time is 1599966408.23 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966408.23 epoch sec; seqNo:18144; 4061838.78 north; 594669.36 east 2020-11-23T22:54:00Z- waiting for 1599966410.83, time is 1599966408.23 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966408.63 epoch sec; seqNo:18145 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.30 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966410.83, time is 1599966408.23 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1599966408633; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966410.83, time is 1599966408.23 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966408.63 epoch sec; seqNo:18145 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966410.83, time is 1599966408.63 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966408.63 epoch sec; seqNo:18145; 4061839.16 north; 594669.36 east 2020-11-23T22:54:00Z- waiting for 1599966410.83, time is 1599966408.63 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966409.03 epoch sec; seqNo:18146 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.30 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966410.83, time is 1599966408.63 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1599966409034; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966410.83, time is 1599966408.63 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966409.04 epoch sec; seqNo:18146 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966410.83, time is 1599966409.04 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966409.04 epoch sec; seqNo:18146; 4061839.54 north; 594669.35 east 2020-11-23T22:54:00Z- waiting for 1599966410.83, time is 1599966409.04 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966409.43 epoch sec; seqNo:18147 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.29 phi; -0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966410.83, time is 1599966409.04 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1599966409434; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966410.83, time is 1599966409.04 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966409.44 epoch sec; seqNo:18147; 4061839.91 north; 594669.35 east 2020-11-23T22:54:00Z- waiting for 1599966410.83, time is 1599966409.04 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966409.83 epoch sec; seqNo:18148 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.29 phi; -0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966410.83, time is 1599966409.04 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1599966409835; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966410.83, time is 1599966409.04 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1599966414648; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966410.83, time is 1599966409.04 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966414.65 epoch sec; seqNo:18160 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966410.83, time is 1599966414.65 2020-11-23T22:54:00Z- sync is 4.81, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966414.65 epoch sec; seqNo:18160; 4061844.45 north; 594668.08 east 2020-11-23T22:54:00Z- waiting for 1599966410.83, time is 1599966414.65 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966414.65, meas time 1599966414.65 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 24.000 at t=1599966414.65, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966414.65 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061844, 594668.08, 50.29) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966415.05 epoch sec; seqNo:18161 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.28 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966417.65, time is 1599966414.65 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966415.05 epoch sec; seqNo:18161 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966417.65, time is 1599966415.05 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966415.05 epoch sec; seqNo:18161; 4061844.83 north; 594668.07 east 2020-11-23T22:54:00Z- waiting for 1599966417.65, time is 1599966415.05 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966416.25 epoch sec; seqNo:18164 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.28 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966417.65, time is 1599966415.05 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.26 epoch sec; seqNo:1599966416251; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966417.65, time is 1599966415.05 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966435.49 epoch sec; seqNo:18212 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966417.65, time is 1599966435.49 2020-11-23T22:54:00Z- sync is 19.24, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966435.50 epoch sec; seqNo:18212; 4061862.94 north; 594661.77 east 2020-11-23T22:54:00Z- waiting for 1599966417.65, time is 1599966435.49 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966435.50, meas time 1599966435.49 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 11.000 at t=1599966435.49, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966435.49 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061863, 594661.77, 50.26) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966435.89 epoch sec; seqNo:18213 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.28 phi; -0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966438.49, time is 1599966435.49 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599966435895; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966438.49, time is 1599966435.49 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966435.90 epoch sec; seqNo:18213 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966438.49, time is 1599966435.90 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966435.90 epoch sec; seqNo:18213; 4061863.32 north; 594661.77 east 2020-11-23T22:54:00Z- waiting for 1599966438.49, time is 1599966435.90 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966436.29 epoch sec; seqNo:18214 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.28 phi; -0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966438.49, time is 1599966435.90 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1599966436294; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966438.49, time is 1599966435.90 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966436.29 epoch sec; seqNo:18214 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966438.49, time is 1599966436.29 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966436.30 epoch sec; seqNo:18214; 4061863.70 north; 594661.76 east 2020-11-23T22:54:00Z- waiting for 1599966438.49, time is 1599966436.29 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966436.69 epoch sec; seqNo:18215 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.28 phi; -0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966438.49, time is 1599966436.29 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1599966436694; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966438.49, time is 1599966436.29 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966436.70 epoch sec; seqNo:18215 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966438.49, time is 1599966436.70 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966436.70 epoch sec; seqNo:18215; 4061864.08 north; 594661.76 east 2020-11-23T22:54:00Z- waiting for 1599966438.49, time is 1599966436.70 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966437.10 epoch sec; seqNo:18216 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.28 phi; -0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966438.49, time is 1599966436.70 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966437.10 epoch sec; seqNo:18216 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966438.49, time is 1599966437.10 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966437.49 epoch sec; seqNo:18217 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.28 phi; -0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966438.49, time is 1599966437.10 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966453.54 epoch sec; seqNo:18257 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.28 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966438.49, time is 1599966437.10 2020-11-23T22:54:00Z- sync is 16.44, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599966453539; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966438.49, time is 1599966437.10 2020-11-23T22:54:00Z- sync is 16.44, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966453.54 epoch sec; seqNo:18257 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966438.49, time is 1599966453.54 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966453.54, meas time 1599966453.54 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 29.000 at t=1599966453.54, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966453.54 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061864, 594661.76, 49.70) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966453.54 epoch sec; seqNo:18257; 4061878.80 north; 594656.72 east 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966453.54 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966453.94 epoch sec; seqNo:18258 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.28 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966453.54 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599966453938; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966453.54 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966453.94 epoch sec; seqNo:18258 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966453.94 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966453.94 epoch sec; seqNo:18258; 4061879.18 north; 594656.71 east 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966453.94 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966454.34 epoch sec; seqNo:18259 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.28 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966453.94 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599966454339; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966453.94 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966454.34 epoch sec; seqNo:18259 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966454.34 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966454.34 epoch sec; seqNo:18259; 4061879.56 north; 594656.71 east 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966454.34 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966454.74 epoch sec; seqNo:18260 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.28 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966454.34 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599966454742; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966454.34 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966454.74 epoch sec; seqNo:18260 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966454.74 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966454.75 epoch sec; seqNo:18260; 4061879.92 north; 594655.48 east 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966454.74 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966455.14 epoch sec; seqNo:18261 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.28 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966454.74 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599966455144; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966454.74 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966455.14 epoch sec; seqNo:18261 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966455.14 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966455.15 epoch sec; seqNo:18261; 4061880.30 north; 594655.48 east 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966455.14 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966455.55 epoch sec; seqNo:18262 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.28 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966455.14 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599966455546; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966455.14 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966455.55 epoch sec; seqNo:18262 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966455.55 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966455.55 epoch sec; seqNo:18262; 4061880.68 north; 594655.47 east 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966455.55 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966455.95 epoch sec; seqNo:18263 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.28 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966455.55 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599966455947; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966455.55 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966455.95 epoch sec; seqNo:18263 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966455.95 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966455.95 epoch sec; seqNo:18263; 4061881.06 north; 594655.47 east 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966455.95 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599966456348; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966455.95 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966456.35 epoch sec; seqNo:18264; 4061881.44 north; 594655.47 east 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966455.95 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966457.15 epoch sec; seqNo:18266 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.28 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966455.95 2020-11-23T22:54:00Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.71 epoch sec; seqNo:1599966460362; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966455.95 2020-11-23T22:54:00Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966461.16 epoch sec; seqNo:18276 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.02 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966461.16 2020-11-23T22:54:00Z- sync is 4.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1599966462367; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966461.16 2020-11-23T22:54:00Z- sync is 4.01, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966463.17 epoch sec; seqNo:18281; 4061887.47 north; 594652.96 east 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966461.16 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966463.97 epoch sec; seqNo:18283 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.30 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966461.16 2020-11-23T22:54:00Z- sync is 2.81, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1599966465177; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966461.16 2020-11-23T22:54:00Z- sync is 2.81, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966465.58 epoch sec; seqNo:18287 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.02 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966456.54, time is 1599966465.58 2020-11-23T22:54:00Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966463.97, meas time 1599966465.58 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 7.000 at t=1599966465.58, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966465.58 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061887, 594652.96, 49.73) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966469.20 epoch sec; seqNo:18296; 4061892.76 north; 594651.68 east 2020-11-23T22:54:00Z- waiting for 1599966468.58, time is 1599966465.58 2020-11-23T22:54:00Z- sync is 3.62, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966470.40 epoch sec; seqNo:18299 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.31 phi; -0.04 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966468.58, time is 1599966465.58 2020-11-23T22:54:00Z- sync is 4.82, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966470.40 epoch sec; seqNo:18299 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 12.00 , 12.00 , 12.00 , 12.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966468.58, time is 1599966470.40 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966470.40, meas time 1599966470.40 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 12.000 at t=1599966470.40, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966470.40 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061893, 594651.68, 49.73) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1599966470804; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966473.40, time is 1599966470.40 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.26 epoch sec; seqNo:1599966485656; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966473.40, time is 1599966470.40 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966485.66 epoch sec; seqNo:18337 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.01 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966473.40, time is 1599966485.66 2020-11-23T22:54:00Z- sync is 15.25, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966485.66 epoch sec; seqNo:18337; 4061907.11 north; 594646.64 east 2020-11-23T22:54:00Z- waiting for 1599966473.40, time is 1599966485.66 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966485.66, meas time 1599966485.66 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 27.000 at t=1599966485.66, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966485.66 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061907, 594646.64, 50.26) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966486.06 epoch sec; seqNo:18338 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.35 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966485.66 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1599966486056; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966485.66 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966486.06 epoch sec; seqNo:18338 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.00 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966486.06 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966486.06 epoch sec; seqNo:18338; 4061907.49 north; 594646.63 east 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966486.06 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966486.46 epoch sec; seqNo:18339 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.37 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966486.06 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1599966486456; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966486.06 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966486.46 epoch sec; seqNo:18339 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.01 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966486.46 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966486.46 epoch sec; seqNo:18339; 4061907.49 north; 594646.63 east 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966486.46 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966486.86 epoch sec; seqNo:18340 2020-11-23T22:54:00Z- AHRS_M2 msg: -0.39 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966486.46 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1599966486857; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966486.46 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966486.86 epoch sec; seqNo:18340 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.02 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966486.86 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966486.86 epoch sec; seqNo:18340; 4061907.85 north; 594645.41 east 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966486.86 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1599966487257; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966486.86 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966487.26 epoch sec; seqNo:18341 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.03 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966487.26 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966487.26 epoch sec; seqNo:18341; 4061908.23 north; 594645.41 east 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966487.26 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1599966487657; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966487.26 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966487.66 epoch sec; seqNo:18342 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.04 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966487.66 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966487.66 epoch sec; seqNo:18342; 4061908.61 north; 594645.40 east 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966487.66 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1599966488058; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966487.66 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966488.06 epoch sec; seqNo:18343 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.05 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966488.06 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966488.06 epoch sec; seqNo:18343; 4061908.99 north; 594645.40 east 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966488.06 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966515.73 epoch sec; seqNo:18412 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , 0.07 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966515.73 2020-11-23T22:54:00Z- sync is 27.67, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966515.74 epoch sec; seqNo:18412; 4061909.12 north; 594623.43 east 2020-11-23T22:54:00Z- waiting for 1599966488.66, time is 1599966515.73 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966515.74, meas time 1599966515.73 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 23.000 at t=1599966515.73, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966515.73 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061909, 594623.43, 50.33) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966516.13 epoch sec; seqNo:18413 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.63 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966515.73 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1599966516133; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966515.73 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966516.13 epoch sec; seqNo:18413 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.07 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966516.13 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966516.13 epoch sec; seqNo:18413; 4061909.12 north; 594623.43 east 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966516.13 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966516.53 epoch sec; seqNo:18414 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.65 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966516.13 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1599966516531; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966516.13 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966516.53 epoch sec; seqNo:18414 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.07 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966516.53 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966516.53 epoch sec; seqNo:18414; 4061908.74 north; 594623.43 east 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966516.53 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966516.93 epoch sec; seqNo:18415 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.67 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966516.53 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1599966516931; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966516.53 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966516.93 epoch sec; seqNo:18415 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.07 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966516.93 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966516.93 epoch sec; seqNo:18415; 4061908.37 north; 594623.44 east 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966516.93 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966517.33 epoch sec; seqNo:18416 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.70 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966516.93 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1599966517332; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966516.93 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966517.33 epoch sec; seqNo:18416 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.07 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966517.33 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966517.33 epoch sec; seqNo:18416; 4061907.97 north; 594622.22 east 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966517.33 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966517.73 epoch sec; seqNo:18417 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.72 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966517.33 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1599966517733; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966517.33 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966517.73 epoch sec; seqNo:18417 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.07 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966517.73 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966517.73 epoch sec; seqNo:18417; 4061907.59 north; 594622.22 east 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966517.73 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966518.14 epoch sec; seqNo:18418 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.74 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966517.73 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1599966518137; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966517.73 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966518.14 epoch sec; seqNo:18418 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.06 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966518.14 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966518.14 epoch sec; seqNo:18418; 4061907.22 north; 594622.23 east 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966518.14 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966518.54 epoch sec; seqNo:18419 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.76 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966518.14 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1599966518540; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966518.14 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966518.54 epoch sec; seqNo:18419; 4061906.84 north; 594622.23 east 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966518.14 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966518.94 epoch sec; seqNo:18420 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.77 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966518.14 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966519.34 epoch sec; seqNo:18421 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.79 phi; 0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966518.14 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966519.74 epoch sec; seqNo:18422 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.81 phi; 0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966518.14 2020-11-23T22:54:00Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1599966534592; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966518.14 2020-11-23T22:54:00Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966534.59 epoch sec; seqNo:18459 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.04 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966534.59 2020-11-23T22:54:00Z- sync is 14.85, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966534.59 epoch sec; seqNo:18459; 4061890.13 north; 594618.76 east 2020-11-23T22:54:00Z- waiting for 1599966518.73, time is 1599966534.59 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966534.59, meas time 1599966534.59 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 8.000 at t=1599966534.59, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966534.59 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061890, 594618.76, 49.73) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966534.99 epoch sec; seqNo:18460 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.90 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966537.59, time is 1599966534.59 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966534.99 epoch sec; seqNo:18460 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.04 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966537.59, time is 1599966534.99 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966535.00 epoch sec; seqNo:18460; 4061889.75 north; 594618.76 east 2020-11-23T22:54:00Z- waiting for 1599966537.59, time is 1599966534.99 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966535.40 epoch sec; seqNo:18461 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.89 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966537.59, time is 1599966534.99 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966552.65 epoch sec; seqNo:18504 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.36 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966537.59, time is 1599966534.99 2020-11-23T22:54:00Z- sync is 17.65, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.43 epoch sec; seqNo:1599966552647; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966537.59, time is 1599966534.99 2020-11-23T22:54:00Z- sync is 17.65, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966552.65 epoch sec; seqNo:18504 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.11 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966537.59, time is 1599966552.65 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966552.65, meas time 1599966552.65 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 26.000 at t=1599966552.65, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966552.65 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061890, 594618.76, 49.43) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966552.65 epoch sec; seqNo:18504; 4061872.61 north; 594610.41 east 2020-11-23T22:54:00Z- waiting for 1599966555.65, time is 1599966552.65 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966553.05 epoch sec; seqNo:18505 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.34 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966555.65, time is 1599966552.65 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.44 epoch sec; seqNo:1599966553048; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966555.65, time is 1599966552.65 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966553.05 epoch sec; seqNo:18505 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.11 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966555.65, time is 1599966553.05 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966553.05 epoch sec; seqNo:18505; 4061872.61 north; 594610.41 east 2020-11-23T22:54:00Z- waiting for 1599966555.65, time is 1599966553.05 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966553.45 epoch sec; seqNo:18506 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.33 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966555.65, time is 1599966553.05 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.44 epoch sec; seqNo:1599966553446; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966555.65, time is 1599966553.05 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966553.45 epoch sec; seqNo:18506 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.11 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966555.65, time is 1599966553.45 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966553.45 epoch sec; seqNo:18506; 4061872.23 north; 594610.41 east 2020-11-23T22:54:00Z- waiting for 1599966555.65, time is 1599966553.45 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966553.85 epoch sec; seqNo:18507 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.32 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966555.65, time is 1599966553.45 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.44 epoch sec; seqNo:1599966553847; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966555.65, time is 1599966553.45 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966553.85 epoch sec; seqNo:18507 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.11 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966555.65, time is 1599966553.85 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966554.25 epoch sec; seqNo:18508 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.31 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966555.65, time is 1599966553.85 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966554.25 epoch sec; seqNo:18508 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.11 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966555.65, time is 1599966554.25 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966554.65 epoch sec; seqNo:18509 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.30 phi; -0.04 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966555.65, time is 1599966554.25 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966561.88 epoch sec; seqNo:18527 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.11 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966555.65, time is 1599966554.25 2020-11-23T22:54:00Z- sync is 7.63, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.62 epoch sec; seqNo:1599966561880; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966555.65, time is 1599966554.25 2020-11-23T22:54:00Z- sync is 7.63, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966561.88 epoch sec; seqNo:18527 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.10 , -0.03 2020-11-23T22:54:00Z- waiting for 1599966555.65, time is 1599966561.88 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966561.88, meas time 1599966561.88 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 1.000 at t=1599966561.88, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966561.88 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061872, 594610.41, 49.62) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966561.88 epoch sec; seqNo:18527; 4061866.10 north; 594604.38 east 2020-11-23T22:54:00Z- waiting for 1599966564.88, time is 1599966561.88 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966562.28 epoch sec; seqNo:18528 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.11 phi; -0.06 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966564.88, time is 1599966561.88 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966562.28 epoch sec; seqNo:18528; 4061865.71 north; 594603.16 east 2020-11-23T22:54:00Z- waiting for 1599966564.88, time is 1599966561.88 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966566.30 epoch sec; seqNo:18538 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.10 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966564.88, time is 1599966566.30 2020-11-23T22:54:00Z- sync is 4.02, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966566.30 epoch sec; seqNo:18538; 4061863.39 north; 594599.52 east 2020-11-23T22:54:00Z- waiting for 1599966564.88, time is 1599966566.30 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966566.30, meas time 1599966566.30 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 6.000 at t=1599966566.30, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966566.30 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061863, 594599.52, 49.62) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966566.70 epoch sec; seqNo:18539 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.02 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966569.30, time is 1599966566.30 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1599966566703; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966569.30, time is 1599966566.30 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966566.70 epoch sec; seqNo:18539 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.10 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966569.30, time is 1599966566.70 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1599966567103; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966569.30, time is 1599966566.70 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966578.73 epoch sec; seqNo:18569; 4061857.59 north; 594588.60 east 2020-11-23T22:54:00Z- waiting for 1599966569.30, time is 1599966566.70 2020-11-23T22:54:00Z- sync is 12.03, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966579.13 epoch sec; seqNo:18570 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.90 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966569.30, time is 1599966566.70 2020-11-23T22:54:00Z- sync is 12.43, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1599966579133; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966569.30, time is 1599966566.70 2020-11-23T22:54:00Z- sync is 12.43, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966579.13 epoch sec; seqNo:18570 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.08 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966569.30, time is 1599966579.13 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966579.13, meas time 1599966579.13 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 19.000 at t=1599966579.13, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966579.13 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061858, 594588.60, 50.20) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966579.14 epoch sec; seqNo:18570; 4061857.59 north; 594588.60 east 2020-11-23T22:54:00Z- waiting for 1599966582.13, time is 1599966579.13 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966579.53 epoch sec; seqNo:18571 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.90 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966582.13, time is 1599966579.13 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1599966579533; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966582.13, time is 1599966579.13 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966579.53 epoch sec; seqNo:18571 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.08 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966582.13, time is 1599966579.53 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966581.54 epoch sec; seqNo:18576 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.89 phi; -0.04 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966582.13, time is 1599966579.53 2020-11-23T22:54:00Z- sync is 2.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1599966581537; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966582.13, time is 1599966579.53 2020-11-23T22:54:00Z- sync is 2.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966581.54 epoch sec; seqNo:18576 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.08 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966582.13, time is 1599966581.54 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966581.54 epoch sec; seqNo:18576; 4061856.42 north; 594586.18 east 2020-11-23T22:54:00Z- waiting for 1599966582.13, time is 1599966581.54 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966599.18 epoch sec; seqNo:18620 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.89 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966582.13, time is 1599966581.54 2020-11-23T22:54:00Z- sync is 17.65, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966601.60 epoch sec; seqNo:18626; 4061848.63 north; 594566.74 east 2020-11-23T22:54:00Z- waiting for 1599966582.13, time is 1599966581.54 2020-11-23T22:54:00Z- sync is 20.06, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966602.00 epoch sec; seqNo:18627 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.90 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966582.13, time is 1599966581.54 2020-11-23T22:54:00Z- sync is 20.46, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1599966602000; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966582.13, time is 1599966581.54 2020-11-23T22:54:00Z- sync is 20.46, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966602.00 epoch sec; seqNo:18627 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966582.13, time is 1599966602.00 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966602.00, meas time 1599966602.00 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 8.000 at t=1599966602.00, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966602.00 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061849, 594566.74, 50.25) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966602.00 epoch sec; seqNo:18627; 4061848.25 north; 594566.74 east 2020-11-23T22:54:00Z- waiting for 1599966605.00, time is 1599966602.00 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966602.40 epoch sec; seqNo:18628 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.90 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966605.00, time is 1599966602.00 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1599966602400; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966605.00, time is 1599966602.00 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966602.40 epoch sec; seqNo:18628 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966605.00, time is 1599966602.40 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966602.40 epoch sec; seqNo:18628; 4061848.24 north; 594565.52 east 2020-11-23T22:54:00Z- waiting for 1599966605.00, time is 1599966602.40 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1599966602800; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966605.00, time is 1599966602.40 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966602.80 epoch sec; seqNo:18629 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966605.00, time is 1599966602.80 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966602.80 epoch sec; seqNo:18629; 4061847.86 north; 594565.52 east 2020-11-23T22:54:00Z- waiting for 1599966605.00, time is 1599966602.80 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1599966603200; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966605.00, time is 1599966602.80 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966603.20 epoch sec; seqNo:18630 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966605.00, time is 1599966603.20 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966603.20 epoch sec; seqNo:18630; 4061847.86 north; 594565.52 east 2020-11-23T22:54:00Z- waiting for 1599966605.00, time is 1599966603.20 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1599966603602; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966605.00, time is 1599966603.20 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1599966604003; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966605.00, time is 1599966603.20 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966624.06 epoch sec; seqNo:18682 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.94 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966605.00, time is 1599966603.20 2020-11-23T22:54:00Z- sync is 20.86, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1599966624062; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966605.00, time is 1599966603.20 2020-11-23T22:54:00Z- sync is 20.86, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966624.06 epoch sec; seqNo:18682 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966605.00, time is 1599966624.06 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966624.06, meas time 1599966624.06 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 30.000 at t=1599966624.06, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966624.06 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061848, 594565.52, 49.80) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966624.07 epoch sec; seqNo:18682; 4061838.93 north; 594546.09 east 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966624.06 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966624.46 epoch sec; seqNo:18683 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.94 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966624.06 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1599966624463; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966624.06 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966624.46 epoch sec; seqNo:18683 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966624.46 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966624.47 epoch sec; seqNo:18683; 4061838.54 north; 594544.88 east 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966624.46 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966624.86 epoch sec; seqNo:18684 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.94 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966624.46 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1599966624862; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966624.46 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966624.86 epoch sec; seqNo:18684 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 30.00 , 30.00 , 30.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966624.86 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966624.86 epoch sec; seqNo:18684; 4061838.54 north; 594544.88 east 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966624.86 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966625.26 epoch sec; seqNo:18685 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.94 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966624.86 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1599966625264; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966624.86 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966625.27 epoch sec; seqNo:18685 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966625.27 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966625.27 epoch sec; seqNo:18685; 4061838.16 north; 594544.88 east 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966625.27 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966625.67 epoch sec; seqNo:18686 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.94 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966625.27 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1599966625667; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966625.27 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966625.67 epoch sec; seqNo:18686 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966625.67 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966625.67 epoch sec; seqNo:18686; 4061838.15 north; 594543.66 east 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966625.67 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599966626067; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966625.67 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966626.07 epoch sec; seqNo:18687 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966626.07 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966626.07 epoch sec; seqNo:18687; 4061837.77 north; 594543.67 east 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966626.07 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599966626468; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966626.07 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966626.47 epoch sec; seqNo:18688 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966626.47 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966626.47 epoch sec; seqNo:18688; 4061837.77 north; 594543.67 east 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966626.47 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599966626871; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966626.47 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966626.87 epoch sec; seqNo:18689 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966626.87 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966626.87 epoch sec; seqNo:18689; 4061837.39 north; 594543.67 east 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966626.87 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966627.27 epoch sec; seqNo:18690 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966627.06, time is 1599966627.27 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966626.87, meas time 1599966627.27 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 33.000 at t=1599966627.27, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966627.27 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061837, 594543.67, 49.78) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966644.91 epoch sec; seqNo:18734 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.97 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966630.27, time is 1599966627.27 2020-11-23T22:54:00Z- sync is 17.64, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599966644913; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966630.27, time is 1599966627.27 2020-11-23T22:54:00Z- sync is 17.64, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966644.91 epoch sec; seqNo:18734 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966630.27, time is 1599966644.91 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966644.91, meas time 1599966644.91 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 16.000 at t=1599966644.91, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966644.91 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061837, 594543.67, 49.76) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966644.91 epoch sec; seqNo:18734; 4061829.24 north; 594526.67 east 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966644.91 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966645.32 epoch sec; seqNo:18735 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.97 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966644.91 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599966645316; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966644.91 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966645.32 epoch sec; seqNo:18735 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966645.32 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966645.32 epoch sec; seqNo:18735; 4061829.23 north; 594525.45 east 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966645.32 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966645.72 epoch sec; seqNo:18736 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.97 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966645.32 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1599966645720; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966645.32 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966645.72 epoch sec; seqNo:18736 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966645.72 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966645.72 epoch sec; seqNo:18736; 4061828.85 north; 594525.46 east 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966645.72 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966646.12 epoch sec; seqNo:18737 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.97 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966645.72 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599966646120; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966645.72 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966646.12 epoch sec; seqNo:18737 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966646.12 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966646.12 epoch sec; seqNo:18737; 4061828.85 north; 594525.46 east 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966646.12 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966646.52 epoch sec; seqNo:18738 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.97 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966646.12 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599966646520; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966646.12 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966646.52 epoch sec; seqNo:18738 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966646.52 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966646.52 epoch sec; seqNo:18738; 4061828.46 north; 594524.24 east 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966646.52 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966646.92 epoch sec; seqNo:18739 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.97 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966646.52 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599966646922; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966646.52 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966646.92 epoch sec; seqNo:18739; 4061828.46 north; 594524.24 east 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966646.52 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966647.32 epoch sec; seqNo:18740 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.97 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966646.52 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966647.32 epoch sec; seqNo:18740; 4061828.08 north; 594524.25 east 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966646.52 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966647.72 epoch sec; seqNo:18741 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.97 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966646.52 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966665.39 epoch sec; seqNo:18785 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.97 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966646.52 2020-11-23T22:54:00Z- sync is 18.87, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1599966665392; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966646.52 2020-11-23T22:54:00Z- sync is 18.87, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966665.39 epoch sec; seqNo:18785 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966647.91, time is 1599966665.39 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966665.39, meas time 1599966665.39 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 3.000 at t=1599966665.39, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966665.39 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061828, 594524.25, 49.93) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966665.39 epoch sec; seqNo:18785; 4061819.56 north; 594507.25 east 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966665.39 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966665.80 epoch sec; seqNo:18786 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.97 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966665.39 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1599966665795; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966665.39 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966665.80 epoch sec; seqNo:18786 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966665.80 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966665.80 epoch sec; seqNo:18786; 4061819.18 north; 594507.26 east 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966665.80 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966666.19 epoch sec; seqNo:18787 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.97 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966665.80 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1599966666196; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966665.80 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966666.20 epoch sec; seqNo:18787 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966666.20 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966666.20 epoch sec; seqNo:18787; 4061819.18 north; 594507.26 east 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966666.20 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966666.60 epoch sec; seqNo:18788 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.97 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966666.20 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1599966666599; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966666.20 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966666.60 epoch sec; seqNo:18788 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966666.60 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966666.60 epoch sec; seqNo:18788; 4061818.79 north; 594506.04 east 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966666.60 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966667.00 epoch sec; seqNo:18789 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.97 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966666.60 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1599966667002; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966666.60 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966667.00 epoch sec; seqNo:18789 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966667.00 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966667.01 epoch sec; seqNo:18789; 4061818.79 north; 594506.04 east 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966667.00 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966667.40 epoch sec; seqNo:18790 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.97 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966667.00 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966667.40 epoch sec; seqNo:18790 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966667.40 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966667.40 epoch sec; seqNo:18790; 4061818.41 north; 594506.05 east 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966667.40 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966667.80 epoch sec; seqNo:18791 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.97 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966667.40 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966667.80 epoch sec; seqNo:18791 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966667.80 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966667.80 epoch sec; seqNo:18791; 4061818.39 north; 594504.83 east 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966667.80 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966668.20 epoch sec; seqNo:18792 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.97 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966667.80 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966668.20 epoch sec; seqNo:18792 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966668.20 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966668.60 epoch sec; seqNo:18793 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.97 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966668.20 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966669.00 epoch sec; seqNo:18794 2020-11-23T22:54:00Z- AHRS_M2 msg: -1.97 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966668.20 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966683.86 epoch sec; seqNo:18831 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.00 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966668.20 2020-11-23T22:54:00Z- sync is 15.65, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.19 epoch sec; seqNo:1599966683857; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966668.20 2020-11-23T22:54:00Z- sync is 15.65, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966683.86 epoch sec; seqNo:18831 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.06 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966668.39, time is 1599966683.86 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966683.86, meas time 1599966683.86 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 21.000 at t=1599966683.86, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966683.86 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061818, 594504.83, 50.19) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966683.86 epoch sec; seqNo:18831; 4061810.66 north; 594490.27 east 2020-11-23T22:54:00Z- waiting for 1599966686.86, time is 1599966683.86 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966684.26 epoch sec; seqNo:18832 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.00 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966686.86, time is 1599966683.86 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.19 epoch sec; seqNo:1599966684256; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966686.86, time is 1599966683.86 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966684.26 epoch sec; seqNo:18832 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.06 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966686.86, time is 1599966684.26 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966684.26 epoch sec; seqNo:18832; 4061810.28 north; 594490.27 east 2020-11-23T22:54:00Z- waiting for 1599966686.86, time is 1599966684.26 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966684.66 epoch sec; seqNo:18833 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.00 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966686.86, time is 1599966684.26 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1599966684658; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966686.86, time is 1599966684.26 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966684.66 epoch sec; seqNo:18833 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966686.86, time is 1599966684.66 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966685.06 epoch sec; seqNo:18834 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.00 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966686.86, time is 1599966684.66 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1599966685060; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966686.86, time is 1599966684.66 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966685.06 epoch sec; seqNo:18834 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966686.86, time is 1599966685.06 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1599966685459; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966686.86, time is 1599966685.06 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966685.86 epoch sec; seqNo:18836 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.00 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966686.86, time is 1599966685.06 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966685.86 epoch sec; seqNo:18836; 4061809.51 north; 594489.06 east 2020-11-23T22:54:00Z- waiting for 1599966686.86, time is 1599966685.06 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966686.66 epoch sec; seqNo:18838; 4061809.11 north; 594487.84 east 2020-11-23T22:54:00Z- waiting for 1599966686.86, time is 1599966685.06 2020-11-23T22:54:00Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966687.86 epoch sec; seqNo:18841 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.00 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966686.86, time is 1599966685.06 2020-11-23T22:54:00Z- sync is 2.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1599966687862; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966686.86, time is 1599966685.06 2020-11-23T22:54:00Z- sync is 2.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966687.86 epoch sec; seqNo:18841 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966686.86, time is 1599966687.86 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966687.86, meas time 1599966687.86 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 25.000 at t=1599966687.86, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966687.86 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061809, 594487.84, 50.25) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966687.86 epoch sec; seqNo:18841; 4061808.72 north; 594486.63 east 2020-11-23T22:54:00Z- waiting for 1599966690.86, time is 1599966687.86 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966688.26 epoch sec; seqNo:18842 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.00 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966690.86, time is 1599966687.86 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966804.62 epoch sec; seqNo:19132 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966690.86, time is 1599966804.62 2020-11-23T22:54:00Z- sync is 116.36, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966804.62 epoch sec; seqNo:19132; 4061748.45 north; 594381.11 east 2020-11-23T22:54:00Z- waiting for 1599966690.86, time is 1599966804.62 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966804.62, meas time 1599966804.62 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 6.000 at t=1599966804.62, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966804.62 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061748, 594381.11, 50.25) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1599966805023; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966807.62, time is 1599966804.62 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966814.24 epoch sec; seqNo:19156 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.02 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966807.62, time is 1599966804.62 2020-11-23T22:54:00Z- sync is 9.62, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.96 epoch sec; seqNo:1599966814241; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966807.62, time is 1599966804.62 2020-11-23T22:54:00Z- sync is 9.62, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966814.24 epoch sec; seqNo:19156 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966807.62, time is 1599966814.24 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966814.24, meas time 1599966814.24 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 16.000 at t=1599966814.24, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966814.24 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061748, 594381.11, 49.96) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966814.24 epoch sec; seqNo:19156; 4061743.43 north; 594372.62 east 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966814.24 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966814.64 epoch sec; seqNo:19157 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.02 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966814.24 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1599966814642; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966814.24 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966814.64 epoch sec; seqNo:19157 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966814.64 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966814.64 epoch sec; seqNo:19157; 4061743.43 north; 594372.62 east 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966814.64 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966815.04 epoch sec; seqNo:19158 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.02 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966814.64 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1599966815043; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966814.64 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966815.04 epoch sec; seqNo:19158 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966815.04 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966815.05 epoch sec; seqNo:19158; 4061743.04 north; 594371.41 east 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966815.04 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966815.44 epoch sec; seqNo:19159 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.02 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966815.04 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1599966815443; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966815.04 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966815.44 epoch sec; seqNo:19159 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966815.44 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966815.44 epoch sec; seqNo:19159; 4061743.04 north; 594371.41 east 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966815.44 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966815.85 epoch sec; seqNo:19160 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.02 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966815.44 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1599966815845; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966815.44 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966815.85 epoch sec; seqNo:19160 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966815.85 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966815.85 epoch sec; seqNo:19160; 4061742.66 north; 594371.41 east 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966815.85 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1599966816246; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966815.85 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966816.25 epoch sec; seqNo:19161 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966816.25 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966816.25 epoch sec; seqNo:19161; 4061742.65 north; 594370.19 east 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966816.25 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1599966816646; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966816.25 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1599966817046; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966816.25 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1599966817449; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966816.25 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1599966826273; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966816.25 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966826.27 epoch sec; seqNo:19186 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966826.27 2020-11-23T22:54:00Z- sync is 10.03, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966826.28 epoch sec; seqNo:19186; 4061737.25 north; 594361.71 east 2020-11-23T22:54:00Z- waiting for 1599966817.24, time is 1599966826.27 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966826.28, meas time 1599966826.27 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 28.000 at t=1599966826.27, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966826.27 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061737, 594361.71, 49.73) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1599966826675; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966829.27, time is 1599966826.27 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966826.68 epoch sec; seqNo:19187 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966829.27, time is 1599966826.68 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966826.68 epoch sec; seqNo:19187; 4061736.87 north; 594361.71 east 2020-11-23T22:54:00Z- waiting for 1599966829.27, time is 1599966826.68 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1599966827078; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966829.27, time is 1599966826.68 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966827.08 epoch sec; seqNo:19188 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966829.27, time is 1599966827.08 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966827.08 epoch sec; seqNo:19188; 4061736.86 north; 594360.49 east 2020-11-23T22:54:00Z- waiting for 1599966829.27, time is 1599966827.08 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966827.48 epoch sec; seqNo:19189 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966829.27, time is 1599966827.48 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966827.48 epoch sec; seqNo:19189; 4061736.48 north; 594360.49 east 2020-11-23T22:54:00Z- waiting for 1599966829.27, time is 1599966827.48 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966827.88 epoch sec; seqNo:19190 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.00 , 29.00 , 29.00 , 29.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966829.27, time is 1599966827.88 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966864.38 epoch sec; seqNo:19281 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.01 phi; -0.04 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966829.27, time is 1599966827.88 2020-11-23T22:54:00Z- sync is 36.50, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1599966864380; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966829.27, time is 1599966827.88 2020-11-23T22:54:00Z- sync is 36.50, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966864.38 epoch sec; seqNo:19281 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966829.27, time is 1599966864.38 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966864.38, meas time 1599966864.38 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 32.000 at t=1599966864.38, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966864.38 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061736, 594360.49, 50.21) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966864.38 epoch sec; seqNo:19281; 4061717.55 north; 594327.75 east 2020-11-23T22:54:00Z- waiting for 1599966867.38, time is 1599966864.38 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966864.78 epoch sec; seqNo:19282 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.01 phi; -0.04 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966867.38, time is 1599966864.38 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1599966864780; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966867.38, time is 1599966864.38 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966864.78 epoch sec; seqNo:19282 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966867.38, time is 1599966864.78 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966864.78 epoch sec; seqNo:19282; 4061717.16 north; 594326.53 east 2020-11-23T22:54:00Z- waiting for 1599966867.38, time is 1599966864.78 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966865.18 epoch sec; seqNo:19283 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.01 phi; -0.04 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966867.38, time is 1599966864.78 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1599966865181; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966867.38, time is 1599966864.78 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966865.18 epoch sec; seqNo:19283 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966867.38, time is 1599966865.18 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966865.18 epoch sec; seqNo:19283; 4061717.16 north; 594326.53 east 2020-11-23T22:54:00Z- waiting for 1599966867.38, time is 1599966865.18 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966865.58 epoch sec; seqNo:19284 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.01 phi; -0.04 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966867.38, time is 1599966865.18 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966906.52 epoch sec; seqNo:19386; 4061695.15 north; 594288.94 east 2020-11-23T22:54:00Z- waiting for 1599966867.38, time is 1599966865.18 2020-11-23T22:54:00Z- sync is 41.34, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966906.92 epoch sec; seqNo:19387 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.04 phi; -0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966867.38, time is 1599966865.18 2020-11-23T22:54:00Z- sync is 41.73, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1599966906917; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966867.38, time is 1599966865.18 2020-11-23T22:54:00Z- sync is 41.73, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966906.92 epoch sec; seqNo:19387 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966867.38, time is 1599966906.92 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966906.92, meas time 1599966906.92 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 6.000 at t=1599966906.92, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966906.92 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061695, 594288.94, 49.80) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966906.92 epoch sec; seqNo:19387; 4061694.77 north; 594288.95 east 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966906.92 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966907.32 epoch sec; seqNo:19388 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.04 phi; -0.00 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966906.92 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1599966907318; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966906.92 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966907.32 epoch sec; seqNo:19388 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966907.32 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966907.32 epoch sec; seqNo:19388; 4061694.77 north; 594288.95 east 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966907.32 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966907.72 epoch sec; seqNo:19389 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.04 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966907.32 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1599966907718; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966907.32 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966907.72 epoch sec; seqNo:19389 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966907.72 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966907.72 epoch sec; seqNo:19389; 4061694.38 north; 594287.73 east 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966907.72 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966908.12 epoch sec; seqNo:19390 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.04 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966907.72 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599966908122; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966907.72 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966908.12 epoch sec; seqNo:19390 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 8.00 , 8.00 , 8.00 , 8.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966908.12 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966908.12 epoch sec; seqNo:19390; 4061694.38 north; 594287.73 east 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966908.12 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966908.52 epoch sec; seqNo:19391 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.04 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966908.12 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1599966908525; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966908.12 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966908.53 epoch sec; seqNo:19391; 4061694.00 north; 594287.73 east 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966908.12 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966908.93 epoch sec; seqNo:19392 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.04 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966908.12 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1599966908928; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966908.12 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966909.33 epoch sec; seqNo:19393 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.04 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966908.12 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966919.77 epoch sec; seqNo:19419; 4061688.21 north; 594278.03 east 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966908.12 2020-11-23T22:54:00Z- sync is 11.64, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966920.17 epoch sec; seqNo:19420 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966908.12 2020-11-23T22:54:00Z- sync is 12.04, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599966920168; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966908.12 2020-11-23T22:54:00Z- sync is 12.04, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966920.17 epoch sec; seqNo:19420 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966909.92, time is 1599966920.17 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966920.17, meas time 1599966920.17 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 20.000 at t=1599966920.17, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966920.17 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061688, 594278.03, 49.70) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966920.17 epoch sec; seqNo:19420; 4061687.82 north; 594276.82 east 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966920.17 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966920.57 epoch sec; seqNo:19421 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966920.17 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599966920571; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966920.17 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966920.57 epoch sec; seqNo:19421 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966920.57 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966920.57 epoch sec; seqNo:19421; 4061687.44 north; 594276.82 east 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966920.57 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966920.97 epoch sec; seqNo:19422 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966920.57 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599966920971; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966920.57 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966920.97 epoch sec; seqNo:19422 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966920.97 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966920.97 epoch sec; seqNo:19422; 4061687.44 north; 594276.82 east 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966920.97 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966921.37 epoch sec; seqNo:19423 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966920.97 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599966921375; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966920.97 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966921.38 epoch sec; seqNo:19423 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966921.38 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966921.38 epoch sec; seqNo:19423; 4061687.04 north; 594275.61 east 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966921.38 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966921.78 epoch sec; seqNo:19424 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966921.38 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599966921775; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966921.38 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966921.78 epoch sec; seqNo:19424 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966921.78 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966921.78 epoch sec; seqNo:19424; 4061687.04 north; 594275.61 east 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966921.78 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966922.18 epoch sec; seqNo:19425 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966921.78 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599966922177; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966921.78 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966922.18 epoch sec; seqNo:19425 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966922.18 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966922.18 epoch sec; seqNo:19425; 4061686.67 north; 594275.61 east 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966922.18 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966922.58 epoch sec; seqNo:19426 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966922.18 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599966922577; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966922.18 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966922.58 epoch sec; seqNo:19426 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966922.58 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966922.58 epoch sec; seqNo:19426; 4061686.65 north; 594274.39 east 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966922.58 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966922.98 epoch sec; seqNo:19427 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966922.58 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1599966922978; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966922.58 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966922.98 epoch sec; seqNo:19427 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966922.98 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966922.98 epoch sec; seqNo:19427; 4061686.27 north; 594274.39 east 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966922.98 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966923.38 epoch sec; seqNo:19428 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966922.98 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966923.38 epoch sec; seqNo:19428 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966923.17, time is 1599966923.38 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966923.38, meas time 1599966923.38 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 23.000 at t=1599966923.38, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966923.38 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061686, 594274.39, 49.70) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966923.38 epoch sec; seqNo:19428; 4061686.27 north; 594274.39 east 2020-11-23T22:54:00Z- waiting for 1599966926.38, time is 1599966923.38 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966923.78 epoch sec; seqNo:19429 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966926.38, time is 1599966923.38 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966923.78 epoch sec; seqNo:19429 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966926.38, time is 1599966923.78 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966924.18 epoch sec; seqNo:19430 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966926.38, time is 1599966923.78 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966924.18 epoch sec; seqNo:19430 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966926.38, time is 1599966924.18 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966924.58 epoch sec; seqNo:19431 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966926.38, time is 1599966924.18 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966924.58 epoch sec; seqNo:19431 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.00 , 24.00 , 24.00 , 24.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966926.38, time is 1599966924.58 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966924.58 epoch sec; seqNo:19431; 4061685.50 north; 594273.18 east 2020-11-23T22:54:00Z- waiting for 1599966926.38, time is 1599966924.58 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966924.98 epoch sec; seqNo:19432 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966926.38, time is 1599966924.58 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966925.38 epoch sec; seqNo:19433 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966926.38, time is 1599966924.58 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.71 epoch sec; seqNo:1599966931403; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966926.38, time is 1599966924.58 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966932.61 epoch sec; seqNo:19451 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966926.38, time is 1599966924.58 2020-11-23T22:54:00Z- sync is 8.03, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.71 epoch sec; seqNo:1599966933816; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966926.38, time is 1599966924.58 2020-11-23T22:54:00Z- sync is 8.03, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966935.42 epoch sec; seqNo:19458 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966926.38, time is 1599966935.42 2020-11-23T22:54:00Z- sync is 2.81, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966941.84 epoch sec; seqNo:19474 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966926.38, time is 1599966935.42 2020-11-23T22:54:00Z- sync is 6.42, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1599966941844; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966926.38, time is 1599966935.42 2020-11-23T22:54:00Z- sync is 6.42, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966941.85 epoch sec; seqNo:19474 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966926.38, time is 1599966941.85 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966941.84, meas time 1599966941.85 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 7.000 at t=1599966941.85, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966941.85 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061686, 594273.18, 49.83) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966941.85 epoch sec; seqNo:19474; 4061676.24 north; 594257.42 east 2020-11-23T22:54:00Z- waiting for 1599966944.85, time is 1599966941.85 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966942.24 epoch sec; seqNo:19475 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966944.85, time is 1599966941.85 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966942.25 epoch sec; seqNo:19475; 4061676.24 north; 594257.42 east 2020-11-23T22:54:00Z- waiting for 1599966944.85, time is 1599966941.85 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1599966943449; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966944.85, time is 1599966941.85 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966943.85 epoch sec; seqNo:19479 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966944.85, time is 1599966943.85 2020-11-23T22:54:00Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966945.05 epoch sec; seqNo:19482 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966944.85, time is 1599966943.85 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966945.05 epoch sec; seqNo:19482; 4061674.69 north; 594254.99 east 2020-11-23T22:54:00Z- waiting for 1599966944.85, time is 1599966943.85 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1599966945856; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966944.85, time is 1599966943.85 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966947.06 epoch sec; seqNo:19487 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966944.85, time is 1599966947.06 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966948.27 epoch sec; seqNo:19490; 4061673.14 north; 594251.35 east 2020-11-23T22:54:00Z- waiting for 1599966944.85, time is 1599966947.06 2020-11-23T22:54:00Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966948.27, meas time 1599966947.06 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 13.000 at t=1599966947.06, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966947.06 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061673, 594251.35, 49.95) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966948.66 epoch sec; seqNo:19491 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966950.06, time is 1599966947.06 2020-11-23T22:54:00Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1599966948665; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966950.06, time is 1599966947.06 2020-11-23T22:54:00Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966948.67 epoch sec; seqNo:19491 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966950.06, time is 1599966948.67 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966948.67 epoch sec; seqNo:19491; 4061672.76 north; 594251.35 east 2020-11-23T22:54:00Z- waiting for 1599966950.06, time is 1599966948.67 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.05 epoch sec; seqNo:1599966949066; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966950.06, time is 1599966948.67 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966949.07 epoch sec; seqNo:19492 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966950.06, time is 1599966949.07 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966949.07 epoch sec; seqNo:19492; 4061672.76 north; 594251.35 east 2020-11-23T22:54:00Z- waiting for 1599966950.06, time is 1599966949.07 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.07 epoch sec; seqNo:1599966949466; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966950.06, time is 1599966949.07 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966949.47 epoch sec; seqNo:19493 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 15.00 , 15.00 , 15.00 , 15.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966950.06, time is 1599966949.47 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.08 epoch sec; seqNo:1599966949867; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966950.06, time is 1599966949.47 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966949.87 epoch sec; seqNo:19494; 4061672.37 north; 594250.14 east 2020-11-23T22:54:00Z- waiting for 1599966950.06, time is 1599966949.47 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.09 epoch sec; seqNo:1599966950268; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966950.06, time is 1599966949.47 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.10 epoch sec; seqNo:1599966950668; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966950.06, time is 1599966949.47 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.19 epoch sec; seqNo:1599966953479; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966950.06, time is 1599966949.47 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966953.48 epoch sec; seqNo:19503 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966950.06, time is 1599966953.48 2020-11-23T22:54:00Z- sync is 3.61, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966953.48 epoch sec; seqNo:19503; 4061670.45 north; 594247.72 east 2020-11-23T22:54:00Z- waiting for 1599966950.06, time is 1599966953.48 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966953.48, meas time 1599966953.48 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 19.000 at t=1599966953.48, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966953.48 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061670, 594247.72, 50.19) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966953.88 epoch sec; seqNo:19504 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966953.48 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1599966953881; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966953.48 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966953.88 epoch sec; seqNo:19504 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966953.88 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966953.88 epoch sec; seqNo:19504; 4061670.05 north; 594246.50 east 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966953.88 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966954.28 epoch sec; seqNo:19505 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966953.88 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1599966954281; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966953.88 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966954.28 epoch sec; seqNo:19505 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966954.28 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966954.28 epoch sec; seqNo:19505; 4061670.05 north; 594246.50 east 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966954.28 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966954.68 epoch sec; seqNo:19506 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966954.28 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1599966954683; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966954.28 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966954.68 epoch sec; seqNo:19506 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966954.68 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966954.69 epoch sec; seqNo:19506; 4061669.67 north; 594246.51 east 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966954.68 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966955.08 epoch sec; seqNo:19507 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966954.68 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1599966955082; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966954.68 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966955.08 epoch sec; seqNo:19507 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966955.08 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966955.08 epoch sec; seqNo:19507; 4061669.66 north; 594245.29 east 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966955.08 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966955.48 epoch sec; seqNo:19508 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966955.08 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1599966955485; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966955.08 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966955.49 epoch sec; seqNo:19508 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966955.49 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966955.49 epoch sec; seqNo:19508; 4061669.28 north; 594245.29 east 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966955.49 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966955.89 epoch sec; seqNo:19509 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966955.49 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.26 epoch sec; seqNo:1599966955889; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966955.49 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966955.89 epoch sec; seqNo:19509 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966955.89 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966955.89 epoch sec; seqNo:19509; 4061669.28 north; 594245.29 east 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966955.89 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966956.29 epoch sec; seqNo:19510 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966955.89 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1599966956289; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966955.89 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966956.29 epoch sec; seqNo:19510 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966956.29 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966956.29 epoch sec; seqNo:19510; 4061668.89 north; 594244.07 east 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966956.29 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966956.69 epoch sec; seqNo:19511 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.01 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966956.29 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1599966956690; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966956.29 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966956.69 epoch sec; seqNo:19511 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966956.48, time is 1599966956.69 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966956.69, meas time 1599966956.69 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 22.000 at t=1599966956.69, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966956.69 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061669, 594244.07, 50.28) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966956.69 epoch sec; seqNo:19511; 4061668.89 north; 594244.07 east 2020-11-23T22:54:00Z- waiting for 1599966959.69, time is 1599966956.69 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966957.09 epoch sec; seqNo:19512 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.01 phi; -0.04 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966959.69, time is 1599966956.69 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1599966957091; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966959.69, time is 1599966956.69 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966957.09 epoch sec; seqNo:19512 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966959.69, time is 1599966957.09 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966957.09 epoch sec; seqNo:19512; 4061668.51 north; 594244.08 east 2020-11-23T22:54:00Z- waiting for 1599966959.69, time is 1599966957.09 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966957.49 epoch sec; seqNo:19513 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.02 2020-11-23T22:54:00Z- waiting for 1599966959.69, time is 1599966957.49 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966957.49 epoch sec; seqNo:19513; 4061668.13 north; 594244.08 east 2020-11-23T22:54:00Z- waiting for 1599966959.69, time is 1599966957.49 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966957.90 epoch sec; seqNo:19514; 4061668.12 north; 594242.86 east 2020-11-23T22:54:00Z- waiting for 1599966959.69, time is 1599966957.49 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966958.30 epoch sec; seqNo:19515 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.01 phi; -0.04 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966959.69, time is 1599966957.49 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1599966959097; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966959.69, time is 1599966957.49 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966959.50 epoch sec; seqNo:19518 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.01 phi; -0.04 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966959.69, time is 1599966957.49 2020-11-23T22:54:00Z- sync is 2.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966959.91 epoch sec; seqNo:19519; 4061666.97 north; 594241.65 east 2020-11-23T22:54:00Z- waiting for 1599966959.69, time is 1599966957.49 2020-11-23T22:54:00Z- sync is 2.42, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966961.11 epoch sec; seqNo:19522 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.01 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966959.69, time is 1599966957.49 2020-11-23T22:54:00Z- sync is 3.62, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1599966961910; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966959.69, time is 1599966957.49 2020-11-23T22:54:00Z- sync is 3.62, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966962.31 epoch sec; seqNo:19525 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966959.69, time is 1599966962.31 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966961.11, meas time 1599966962.31 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 28.000 at t=1599966962.31, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966962.31 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594241.65, 50.41) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966965.52 epoch sec; seqNo:19533; 4061664.26 north; 594236.80 east 2020-11-23T22:54:00Z- waiting for 1599966965.31, time is 1599966962.31 2020-11-23T22:54:00Z- sync is 3.21, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966967.12 epoch sec; seqNo:19537 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.01 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966965.31, time is 1599966962.31 2020-11-23T22:54:00Z- sync is 4.81, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.47 epoch sec; seqNo:1599966967926; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966965.31, time is 1599966962.31 2020-11-23T22:54:00Z- sync is 4.81, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966968.33 epoch sec; seqNo:19540 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.01 2020-11-23T22:54:00Z- waiting for 1599966965.31, time is 1599966968.33 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966967.12, meas time 1599966968.33 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1599966968.33, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966968.33 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594236.80, 50.47) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966969.53 epoch sec; seqNo:19543; 4061662.33 north; 594233.16 east 2020-11-23T22:54:00Z- waiting for 1599966971.33, time is 1599966968.33 2020-11-23T22:54:00Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966970.74 epoch sec; seqNo:19546 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.02 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966971.33, time is 1599966968.33 2020-11-23T22:54:00Z- sync is 2.41, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.46 epoch sec; seqNo:1599966971136; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966971.33, time is 1599966968.33 2020-11-23T22:54:00Z- sync is 2.41, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966971.94 epoch sec; seqNo:19549 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , 0.02 2020-11-23T22:54:00Z- waiting for 1599966971.33, time is 1599966971.94 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966970.74, meas time 1599966971.94 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 3.000 at t=1599966971.94, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966971.94 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594233.16, 50.46) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966972.74 epoch sec; seqNo:19551; 4061660.39 north; 594229.52 east 2020-11-23T22:54:00Z- waiting for 1599966974.94, time is 1599966971.94 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966973.55 epoch sec; seqNo:19553 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.02 phi; 0.09 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966974.94, time is 1599966971.94 2020-11-23T22:54:00Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1599966974748; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966974.94, time is 1599966971.94 2020-11-23T22:54:00Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966975.15 epoch sec; seqNo:19557 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , 0.04 2020-11-23T22:54:00Z- waiting for 1599966974.94, time is 1599966975.15 2020-11-23T22:54:00Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966973.55, meas time 1599966975.15 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 7.000 at t=1599966975.15, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966975.15 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061660, 594229.52, 50.29) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966975.95 epoch sec; seqNo:19559; 4061658.85 north; 594227.10 east 2020-11-23T22:54:00Z- waiting for 1599966978.15, time is 1599966975.15 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966977.15 epoch sec; seqNo:19562 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.02 phi; 0.17 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966978.15, time is 1599966975.15 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1599966978359; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966978.15, time is 1599966975.15 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966979.16 epoch sec; seqNo:19567 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , 0.04 2020-11-23T22:54:00Z- waiting for 1599966978.15, time is 1599966979.16 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.62 epoch sec; seqNo:1599966979563; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966978.15, time is 1599966979.16 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966979.56 epoch sec; seqNo:19568 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 11.00 , 11.00 , 11.00 , 11.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , 0.04 2020-11-23T22:54:00Z- waiting for 1599966978.15, time is 1599966979.56 2020-11-23T22:54:00Z- sync is 2.41, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966979.57 epoch sec; seqNo:19568; 4061656.92 north; 594223.46 east 2020-11-23T22:54:00Z- waiting for 1599966978.15, time is 1599966979.56 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966979.57, meas time 1599966979.56 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 11.000 at t=1599966979.56, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966979.56 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061657, 594223.46, 49.62) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966979.97 epoch sec; seqNo:19569 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.02 phi; 0.22 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966982.56, time is 1599966979.56 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966979.97 epoch sec; seqNo:19569; 4061656.54 north; 594223.46 east 2020-11-23T22:54:00Z- waiting for 1599966982.56, time is 1599966979.56 2020-11-23T22:54:00Z- sync is 0.41, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966980.77 epoch sec; seqNo:19571 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.02 phi; 0.24 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966982.56, time is 1599966979.56 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 49.30 epoch sec; seqNo:1599966981171; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966982.56, time is 1599966979.56 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966981.17 epoch sec; seqNo:19572 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , 0.03 2020-11-23T22:54:00Z- waiting for 1599966982.56, time is 1599966981.17 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966981.57 epoch sec; seqNo:19573; 4061655.77 north; 594222.25 east 2020-11-23T22:54:00Z- waiting for 1599966982.56, time is 1599966981.17 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966983.97 epoch sec; seqNo:19579 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; 0.28 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966982.56, time is 1599966981.17 2020-11-23T22:54:00Z- sync is 2.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 48.53 epoch sec; seqNo:1599966984372; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966982.56, time is 1599966981.17 2020-11-23T22:54:00Z- sync is 2.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966984.77 epoch sec; seqNo:19581 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 16.00 , 16.00 , 16.00 , 16.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , 0.03 2020-11-23T22:54:00Z- waiting for 1599966982.56, time is 1599966984.77 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966983.97, meas time 1599966984.77 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 16.000 at t=1599966984.77, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966984.77 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061656, 594222.25, 48.53) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966985.17 epoch sec; seqNo:19582; 4061653.83 north; 594218.61 east 2020-11-23T22:54:00Z- waiting for 1599966987.77, time is 1599966984.77 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966986.37 epoch sec; seqNo:19585 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; 0.30 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966987.77, time is 1599966984.77 2020-11-23T22:54:00Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966986.38 epoch sec; seqNo:19585 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , 0.03 2020-11-23T22:54:00Z- waiting for 1599966987.77, time is 1599966986.38 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966987.98 epoch sec; seqNo:19589; 4061652.67 north; 594216.18 east 2020-11-23T22:54:00Z- waiting for 1599966987.77, time is 1599966986.38 2020-11-23T22:54:00Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966988.38 epoch sec; seqNo:19590 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; 0.32 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966987.77, time is 1599966986.38 2020-11-23T22:54:00Z- sync is 2.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966988.38 epoch sec; seqNo:19590 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , 0.03 2020-11-23T22:54:00Z- waiting for 1599966987.77, time is 1599966988.38 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966988.38, meas time 1599966988.38 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 20.000 at t=1599966988.38, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966988.38 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061653, 594216.18, 48.53) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966988.78 epoch sec; seqNo:19591 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; 0.32 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966991.38, time is 1599966988.38 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966989.18 epoch sec; seqNo:19592 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; 0.33 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966991.38, time is 1599966988.38 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966989.18 epoch sec; seqNo:19592 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , 0.02 2020-11-23T22:54:00Z- waiting for 1599966991.38, time is 1599966989.18 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966989.18 epoch sec; seqNo:19592; 4061651.90 north; 594214.97 east 2020-11-23T22:54:00Z- waiting for 1599966991.38, time is 1599966989.18 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966989.58 epoch sec; seqNo:19593 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 21.00 , 21.00 , 21.00 , 21.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , 0.02 2020-11-23T22:54:00Z- waiting for 1599966991.38, time is 1599966989.58 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966989.98 epoch sec; seqNo:19594 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; 0.33 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966991.38, time is 1599966989.58 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966990.38 epoch sec; seqNo:19595 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; 0.33 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966991.38, time is 1599966989.58 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 46.78 epoch sec; seqNo:1599966990385; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966991.38, time is 1599966989.58 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966990.79 epoch sec; seqNo:19596 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; 0.34 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966991.38, time is 1599966989.58 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 46.65 epoch sec; seqNo:1599966990786; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966991.38, time is 1599966989.58 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966990.79 epoch sec; seqNo:19596 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , 0.02 2020-11-23T22:54:00Z- waiting for 1599966991.38, time is 1599966990.79 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966991.19 epoch sec; seqNo:19597 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; 0.34 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966991.38, time is 1599966990.79 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 46.52 epoch sec; seqNo:1599966991186; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966991.38, time is 1599966990.79 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966991.59 epoch sec; seqNo:19598 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , 0.02 2020-11-23T22:54:00Z- waiting for 1599966991.38, time is 1599966991.59 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966991.19, meas time 1599966991.59 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 23.000 at t=1599966991.59, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966991.59 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061652, 594214.97, 46.52) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966992.80 epoch sec; seqNo:19601; 4061649.98 north; 594212.55 east 2020-11-23T22:54:00Z- waiting for 1599966994.59, time is 1599966991.59 2020-11-23T22:54:00Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966993.20 epoch sec; seqNo:19602 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; 0.35 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966994.59, time is 1599966991.59 2020-11-23T22:54:00Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966993.20 epoch sec; seqNo:19602; 4061649.96 north; 594211.33 east 2020-11-23T22:54:00Z- waiting for 1599966994.59, time is 1599966991.59 2020-11-23T22:54:00Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 45.72 epoch sec; seqNo:1599966993600; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966994.59, time is 1599966991.59 2020-11-23T22:54:00Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966993.60 epoch sec; seqNo:19603 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.00 , 25.00 , 25.00 , 25.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , 0.02 2020-11-23T22:54:00Z- waiting for 1599966994.59, time is 1599966993.60 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966994.00 epoch sec; seqNo:19604 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; 0.35 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966994.59, time is 1599966993.60 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966994.00 epoch sec; seqNo:19604; 4061649.58 north; 594211.33 east 2020-11-23T22:54:00Z- waiting for 1599966994.59, time is 1599966993.60 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 45.45 epoch sec; seqNo:1599966994401; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966994.59, time is 1599966993.60 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966994.81 epoch sec; seqNo:19606 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.02 2020-11-23T22:54:00Z- waiting for 1599966994.59, time is 1599966994.81 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966994.00, meas time 1599966994.81 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 26.000 at t=1599966994.81, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966994.81 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061650, 594211.33, 45.45) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966994.81 epoch sec; seqNo:19606; 4061649.19 north; 594210.12 east 2020-11-23T22:54:00Z- waiting for 1599966997.81, time is 1599966994.81 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599966996.01 epoch sec; seqNo:19609 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; 0.36 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599966997.81, time is 1599966994.81 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 44.90 epoch sec; seqNo:1599966996007; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966997.81, time is 1599966994.81 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966996.81 epoch sec; seqNo:19611 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.02 2020-11-23T22:54:00Z- waiting for 1599966997.81, time is 1599966996.81 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966996.81 epoch sec; seqNo:19611; 4061648.04 north; 594208.91 east 2020-11-23T22:54:00Z- waiting for 1599966997.81, time is 1599966996.81 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 44.47 epoch sec; seqNo:1599966997210; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966997.81, time is 1599966996.81 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966997.61 epoch sec; seqNo:19613 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.02 2020-11-23T22:54:00Z- waiting for 1599966997.81, time is 1599966997.61 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966997.61 epoch sec; seqNo:19613; 4061647.65 north; 594207.69 east 2020-11-23T22:54:00Z- waiting for 1599966997.81, time is 1599966997.61 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 44.05 epoch sec; seqNo:1599966998413; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599966997.81, time is 1599966997.61 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966998.41 epoch sec; seqNo:19615 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.02 2020-11-23T22:54:00Z- waiting for 1599966997.81, time is 1599966998.41 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599966997.61, meas time 1599966998.41 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599966998.41, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599966998.41 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061648, 594207.69, 44.05) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966998.41 epoch sec; seqNo:19615; 4061647.27 north; 594207.70 east 2020-11-23T22:54:00Z- waiting for 1599967001.41, time is 1599966998.41 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 43.90 epoch sec; seqNo:1599966998814; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599967001.41, time is 1599966998.41 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 43.76 epoch sec; seqNo:1599966999214; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599967001.41, time is 1599966998.41 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599966999.21 epoch sec; seqNo:19617 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.02 2020-11-23T22:54:00Z- waiting for 1599967001.41, time is 1599966999.21 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599966999.21 epoch sec; seqNo:19617; 4061646.88 north; 594206.48 east 2020-11-23T22:54:00Z- waiting for 1599967001.41, time is 1599966999.21 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 43.62 epoch sec; seqNo:1599966999615; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599967001.41, time is 1599966999.21 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 43.47 epoch sec; seqNo:1599967000015; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599967001.41, time is 1599966999.21 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599967001.22 epoch sec; seqNo:19622 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; 0.37 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599967001.41, time is 1599966999.21 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 43.04 epoch sec; seqNo:1599967001220; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599967001.41, time is 1599966999.21 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599967001.62 epoch sec; seqNo:19623 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.01 2020-11-23T22:54:00Z- waiting for 1599967001.41, time is 1599967001.62 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599967001.22, meas time 1599967001.62 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967001.62, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599967001.62 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061647, 594206.48, 43.04) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967001.62 epoch sec; seqNo:19623; 4061645.73 north; 594205.27 east 2020-11-23T22:54:00Z- waiting for 1599967004.62, time is 1599967001.62 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599967002.42 epoch sec; seqNo:19625 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; 0.38 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599967004.62, time is 1599967001.62 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 42.60 epoch sec; seqNo:1599967002426; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599967004.62, time is 1599967001.62 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599967002.43 epoch sec; seqNo:19625 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.01 2020-11-23T22:54:00Z- waiting for 1599967004.62, time is 1599967002.43 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967002.43 epoch sec; seqNo:19625; 4061645.34 north; 594204.06 east 2020-11-23T22:54:00Z- waiting for 1599967004.62, time is 1599967002.43 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599967003.23 epoch sec; seqNo:19627 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; 0.38 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599967004.62, time is 1599967002.43 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 42.30 epoch sec; seqNo:1599967003227; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599967004.62, time is 1599967002.43 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599967003.63 epoch sec; seqNo:19628 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.01 2020-11-23T22:54:00Z- waiting for 1599967004.62, time is 1599967003.63 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967003.63 epoch sec; seqNo:19628; 4061644.57 north; 594202.84 east 2020-11-23T22:54:00Z- waiting for 1599967004.62, time is 1599967003.63 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599967004.43 epoch sec; seqNo:19630 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; 0.38 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599967004.62, time is 1599967003.63 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 41.85 epoch sec; seqNo:1599967004430; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599967004.62, time is 1599967003.63 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599967004.43 epoch sec; seqNo:19630 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.01 2020-11-23T22:54:00Z- waiting for 1599967004.62, time is 1599967004.43 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967004.43 epoch sec; seqNo:19630; 4061644.19 north; 594202.85 east 2020-11-23T22:54:00Z- waiting for 1599967004.62, time is 1599967004.43 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599967004.83 epoch sec; seqNo:19631 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.03 phi; 0.38 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599967004.62, time is 1599967004.43 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 41.56 epoch sec; seqNo:1599967005232; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599967004.62, time is 1599967004.43 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599967005.63 epoch sec; seqNo:19633 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.01 2020-11-23T22:54:00Z- waiting for 1599967004.62, time is 1599967005.63 2020-11-23T22:54:00Z- sync is 0.81, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599967004.83, meas time 1599967005.63 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967005.63, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599967005.63 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061644, 594202.85, 41.56) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967005.63 epoch sec; seqNo:19633; 4061643.42 north; 594201.64 east 2020-11-23T22:54:00Z- waiting for 1599967008.63, time is 1599967005.63 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599967006.04 epoch sec; seqNo:19634 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.04 phi; 0.38 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599967008.63, time is 1599967005.63 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 41.25 epoch sec; seqNo:1599967006038; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599967008.63, time is 1599967005.63 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599967006.04 epoch sec; seqNo:19634 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.01 2020-11-23T22:54:00Z- waiting for 1599967008.63, time is 1599967006.04 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967006.04 epoch sec; seqNo:19634; 4061643.42 north; 594201.64 east 2020-11-23T22:54:00Z- waiting for 1599967008.63, time is 1599967006.04 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599967006.84 epoch sec; seqNo:19636 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.04 phi; 0.38 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599967008.63, time is 1599967006.04 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 40.95 epoch sec; seqNo:1599967006839; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599967008.63, time is 1599967006.04 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599967007.24 epoch sec; seqNo:19637 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.01 2020-11-23T22:54:00Z- waiting for 1599967008.63, time is 1599967007.24 2020-11-23T22:54:00Z- sync is 0.41, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967007.25 epoch sec; seqNo:19637; 4061642.64 north; 594200.42 east 2020-11-23T22:54:00Z- waiting for 1599967008.63, time is 1599967007.24 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599967007.64 epoch sec; seqNo:19638 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.04 phi; 0.38 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599967008.63, time is 1599967007.24 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 40.65 epoch sec; seqNo:1599967007644; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599967008.63, time is 1599967007.24 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599967008.05 epoch sec; seqNo:19639 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.01 2020-11-23T22:54:00Z- waiting for 1599967008.63, time is 1599967008.05 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967008.85 epoch sec; seqNo:19641; 4061641.87 north; 594199.21 east 2020-11-23T22:54:00Z- waiting for 1599967008.63, time is 1599967008.05 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599967009.25 epoch sec; seqNo:19642 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.04 phi; 0.38 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599967008.63, time is 1599967008.05 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 40.05 epoch sec; seqNo:1599967009250; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599967008.63, time is 1599967008.05 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599967009.25 epoch sec; seqNo:19642 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.01 2020-11-23T22:54:00Z- waiting for 1599967008.63, time is 1599967009.25 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599967009.25, meas time 1599967009.25 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967009.25, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599967009.25 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061642, 594199.21, 40.05) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:00Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:00Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967009.25 epoch sec; seqNo:19642; 4061641.48 north; 594198.00 east 2020-11-23T22:54:00Z- waiting for 1599967012.25, time is 1599967009.25 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599967010.06 epoch sec; seqNo:19644 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.01 2020-11-23T22:54:00Z- waiting for 1599967012.25, time is 1599967010.06 2020-11-23T22:54:00Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967010.06 epoch sec; seqNo:19644; 4061641.10 north; 594198.00 east 2020-11-23T22:54:00Z- waiting for 1599967012.25, time is 1599967010.06 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967010.46 epoch sec; seqNo:19645; 4061641.09 north; 594196.78 east 2020-11-23T22:54:00Z- waiting for 1599967012.25, time is 1599967010.06 2020-11-23T22:54:00Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599967011.26 epoch sec; seqNo:19647 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.04 phi; 0.38 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599967012.25, time is 1599967010.06 2020-11-23T22:54:00Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 39.29 epoch sec; seqNo:1599967011261; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599967012.25, time is 1599967010.06 2020-11-23T22:54:00Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967011.26 epoch sec; seqNo:19647; 4061640.71 north; 594196.78 east 2020-11-23T22:54:00Z- waiting for 1599967012.25, time is 1599967010.06 2020-11-23T22:54:00Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599967011.66 epoch sec; seqNo:19648 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.04 phi; 0.38 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599967012.25, time is 1599967010.06 2020-11-23T22:54:00Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599967012.06 epoch sec; seqNo:19649 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.04 phi; 0.38 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599967012.25, time is 1599967010.06 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 38.99 epoch sec; seqNo:1599967012065; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599967012.25, time is 1599967010.06 2020-11-23T22:54:00Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599967012.07 epoch sec; seqNo:19649 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.01 2020-11-23T22:54:00Z- waiting for 1599967012.25, time is 1599967012.07 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967012.87 epoch sec; seqNo:19651; 4061639.94 north; 594195.57 east 2020-11-23T22:54:00Z- waiting for 1599967012.25, time is 1599967012.07 2020-11-23T22:54:00Z- sync is 0.81, coherence is 2.00 2020-11-23T22:54:00Z- AHRS_M2 msg: 1599967013.27 epoch sec; seqNo:19652 2020-11-23T22:54:00Z- AHRS_M2 msg: -2.04 phi; 0.38 theta; -0.01 psi 2020-11-23T22:54:00Z- waiting for 1599967012.25, time is 1599967012.07 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDepth()-Depth_Keller msg: 38.54 epoch sec; seqNo:1599967013270; depth 0.00 2020-11-23T22:54:00Z- waiting for 1599967012.25, time is 1599967012.07 2020-11-23T22:54:00Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: 1599967013.27 epoch sec; seqNo:19652 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.01 2020-11-23T22:54:00Z- waiting for 1599967012.25, time is 1599967013.27 2020-11-23T22:54:00Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:00Z- LcmTrn::updateTrn() >>>> pose time 1599967013.27, meas time 1599967013.27 <<<< 2020-11-23T22:54:00Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967013.27, ping # 0. 2020-11-23T22:54:00Z- TerrainNav::Measurement type 1 from time = 1599967013.27 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061640, 594195.57, 38.54) 2020-11-23T22:54:00Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967014.48 epoch sec; seqNo:19655; 4061638.79 north; 594194.36 east 2020-11-23T22:54:01Z- waiting for 1599967016.27, time is 1599967013.27 2020-11-23T22:54:01Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967014.88 epoch sec; seqNo:19656 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.04 phi; 0.37 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967016.27, time is 1599967013.27 2020-11-23T22:54:01Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 37.94 epoch sec; seqNo:1599967014879; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967016.27, time is 1599967013.27 2020-11-23T22:54:01Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967014.88 epoch sec; seqNo:19656 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967016.27, time is 1599967014.88 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967016.09 epoch sec; seqNo:19659; 4061638.02 north; 594193.15 east 2020-11-23T22:54:01Z- waiting for 1599967016.27, time is 1599967014.88 2020-11-23T22:54:01Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967016.49 epoch sec; seqNo:19660 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.04 phi; 0.37 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967016.27, time is 1599967014.88 2020-11-23T22:54:01Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 37.20 epoch sec; seqNo:1599967016884; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967016.27, time is 1599967014.88 2020-11-23T22:54:01Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967016.88 epoch sec; seqNo:19661 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967016.27, time is 1599967016.88 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967016.49, meas time 1599967016.88 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967016.88, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967016.88 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061638, 594193.15, 37.20) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967017.29 epoch sec; seqNo:19662; 4061637.63 north; 594191.94 east 2020-11-23T22:54:01Z- waiting for 1599967019.88, time is 1599967016.88 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967017.69 epoch sec; seqNo:19663 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.04 phi; 0.37 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967019.88, time is 1599967016.88 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 36.90 epoch sec; seqNo:1599967017689; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967019.88, time is 1599967016.88 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967017.69 epoch sec; seqNo:19663 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967019.88, time is 1599967017.69 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 36.75 epoch sec; seqNo:1599967018089; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967019.88, time is 1599967017.69 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967018.09 epoch sec; seqNo:19664 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967019.88, time is 1599967018.09 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967018.09 epoch sec; seqNo:19664; 4061637.23 north; 594190.72 east 2020-11-23T22:54:01Z- waiting for 1599967019.88, time is 1599967018.09 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967019.70 epoch sec; seqNo:19668; 4061636.08 north; 594189.51 east 2020-11-23T22:54:01Z- waiting for 1599967019.88, time is 1599967018.09 2020-11-23T22:54:01Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967020.10 epoch sec; seqNo:19669 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.04 phi; 0.37 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967019.88, time is 1599967018.09 2020-11-23T22:54:01Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967020.50 epoch sec; seqNo:19670 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.04 phi; 0.37 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967019.88, time is 1599967018.09 2020-11-23T22:54:01Z- sync is 2.41, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 35.86 epoch sec; seqNo:1599967020500; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967019.88, time is 1599967018.09 2020-11-23T22:54:01Z- sync is 2.41, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967020.50 epoch sec; seqNo:19670 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.09 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967019.88, time is 1599967020.50 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967020.50, meas time 1599967020.50 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967020.50, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967020.50 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061636, 594189.51, 35.86) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967020.50 epoch sec; seqNo:19670; 4061635.70 north; 594189.52 east 2020-11-23T22:54:01Z- waiting for 1599967023.50, time is 1599967020.50 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967021.30 epoch sec; seqNo:19672 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.04 phi; 0.37 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967023.50, time is 1599967020.50 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 35.57 epoch sec; seqNo:1599967021301; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967023.50, time is 1599967020.50 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967021.30 epoch sec; seqNo:19672 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.09 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967023.50, time is 1599967021.30 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967022.50 epoch sec; seqNo:19675; 4061634.92 north; 594187.08 east 2020-11-23T22:54:01Z- waiting for 1599967023.50, time is 1599967021.30 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967022.90 epoch sec; seqNo:19676 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.04 phi; 0.37 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967023.50, time is 1599967021.30 2020-11-23T22:54:01Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967022.91 epoch sec; seqNo:19676 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.09 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967023.50, time is 1599967022.91 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967023.31 epoch sec; seqNo:19677; 4061634.16 north; 594187.09 east 2020-11-23T22:54:01Z- waiting for 1599967023.50, time is 1599967022.91 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967024.11 epoch sec; seqNo:19679 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.04 phi; 0.37 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967023.50, time is 1599967022.91 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967024.11 epoch sec; seqNo:19679 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.09 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967023.50, time is 1599967024.11 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967024.11, meas time 1599967024.11 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967024.11, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967024.11 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061634, 594187.09, 35.57) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967026.12 epoch sec; seqNo:19684 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.04 phi; 0.37 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967027.11, time is 1599967024.11 2020-11-23T22:54:01Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967026.12 epoch sec; seqNo:19684 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.09 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967027.11, time is 1599967026.12 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967026.12 epoch sec; seqNo:19684; 4061633.00 north; 594184.66 east 2020-11-23T22:54:01Z- waiting for 1599967027.11, time is 1599967026.12 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967026.52 epoch sec; seqNo:19685 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.04 phi; 0.37 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967027.11, time is 1599967026.12 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967026.92 epoch sec; seqNo:19686 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.04 phi; 0.37 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967027.11, time is 1599967026.12 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967026.92 epoch sec; seqNo:19686 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.09 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967027.11, time is 1599967026.92 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967027.32 epoch sec; seqNo:19687 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.04 phi; 0.37 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967027.11, time is 1599967026.92 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967027.72 epoch sec; seqNo:19688 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.04 phi; 0.37 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967027.11, time is 1599967026.92 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 33.22 epoch sec; seqNo:1599967027721; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967027.11, time is 1599967026.92 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 33.08 epoch sec; seqNo:1599967028122; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967027.11, time is 1599967026.92 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967028.12 epoch sec; seqNo:19689 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.09 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967027.11, time is 1599967028.12 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967027.72, meas time 1599967028.12 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967028.12, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967028.12 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061633, 594184.66, 33.08) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967028.92 epoch sec; seqNo:19691 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.04 phi; 0.36 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967031.12, time is 1599967028.12 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 32.79 epoch sec; seqNo:1599967028923; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967031.12, time is 1599967028.12 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967029.33 epoch sec; seqNo:19692 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.09 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967031.12, time is 1599967029.33 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967030.13 epoch sec; seqNo:19694; 4061630.69 north; 594181.03 east 2020-11-23T22:54:01Z- waiting for 1599967031.12, time is 1599967029.33 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967030.53 epoch sec; seqNo:19695 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.04 phi; 0.36 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967031.12, time is 1599967029.33 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967030.53 epoch sec; seqNo:19695; 4061630.69 north; 594181.03 east 2020-11-23T22:54:01Z- waiting for 1599967031.12, time is 1599967029.33 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 32.06 epoch sec; seqNo:1599967030929; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967031.12, time is 1599967029.33 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967030.93 epoch sec; seqNo:19696 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.09 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967031.12, time is 1599967030.93 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967031.33 epoch sec; seqNo:19697 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.05 phi; 0.36 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967031.12, time is 1599967030.93 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967031.73 epoch sec; seqNo:19698; 4061629.91 north; 594179.82 east 2020-11-23T22:54:01Z- waiting for 1599967031.12, time is 1599967030.93 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 31.63 epoch sec; seqNo:1599967032131; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967031.12, time is 1599967030.93 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967032.13 epoch sec; seqNo:19699 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.09 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967031.12, time is 1599967032.13 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967031.73, meas time 1599967032.13 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967032.13, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967032.13 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061630, 594179.82, 31.63) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967033.74 epoch sec; seqNo:19703; 4061628.76 north; 594178.61 east 2020-11-23T22:54:01Z- waiting for 1599967035.13, time is 1599967032.13 2020-11-23T22:54:01Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967034.14 epoch sec; seqNo:19704 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.05 phi; 0.36 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967035.13, time is 1599967032.13 2020-11-23T22:54:01Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 30.77 epoch sec; seqNo:1599967034541; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967035.13, time is 1599967032.13 2020-11-23T22:54:01Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967034.54 epoch sec; seqNo:19705 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.09 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967035.13, time is 1599967034.54 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967034.54 epoch sec; seqNo:19705; 4061628.37 north; 594177.39 east 2020-11-23T22:54:01Z- waiting for 1599967035.13, time is 1599967034.54 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 30.62 epoch sec; seqNo:1599967034942; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967035.13, time is 1599967034.54 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967035.35 epoch sec; seqNo:19707 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.09 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967035.13, time is 1599967035.35 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967034.54, meas time 1599967035.35 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967035.35, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967035.35 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061628, 594177.39, 30.62) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967035.35 epoch sec; seqNo:19707; 4061627.99 north; 594177.40 east 2020-11-23T22:54:01Z- waiting for 1599967038.35, time is 1599967035.35 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 30.19 epoch sec; seqNo:1599967036148; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967038.35, time is 1599967035.35 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967036.15 epoch sec; seqNo:19709 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.09 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967038.35, time is 1599967036.15 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967037.75 epoch sec; seqNo:19713; 4061626.45 north; 594174.97 east 2020-11-23T22:54:01Z- waiting for 1599967038.35, time is 1599967036.15 2020-11-23T22:54:01Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 29.47 epoch sec; seqNo:1599967038154; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967038.35, time is 1599967036.15 2020-11-23T22:54:01Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967038.15 epoch sec; seqNo:19714 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.09 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967038.35, time is 1599967038.15 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967038.15 epoch sec; seqNo:19714; 4061626.45 north; 594174.97 east 2020-11-23T22:54:01Z- waiting for 1599967038.35, time is 1599967038.15 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 29.33 epoch sec; seqNo:1599967038555; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967038.35, time is 1599967038.15 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 29.19 epoch sec; seqNo:1599967038956; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967038.35, time is 1599967038.15 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967039.36 epoch sec; seqNo:19717 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.05 phi; 0.36 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967038.35, time is 1599967038.15 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 29.05 epoch sec; seqNo:1599967039356; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967038.35, time is 1599967038.15 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 28.90 epoch sec; seqNo:1599967039757; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967038.35, time is 1599967038.15 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967039.76 epoch sec; seqNo:19718 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.09 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967038.35, time is 1599967039.76 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967039.36, meas time 1599967039.76 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967039.76, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967039.76 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061626, 594174.97, 28.90) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967040.56 epoch sec; seqNo:19720; 4061624.91 north; 594172.55 east 2020-11-23T22:54:01Z- waiting for 1599967042.76, time is 1599967039.76 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967040.96 epoch sec; seqNo:19721 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.05 phi; 0.36 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967042.76, time is 1599967039.76 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 28.48 epoch sec; seqNo:1599967040960; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967042.76, time is 1599967039.76 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967040.96 epoch sec; seqNo:19721 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.09 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967042.76, time is 1599967040.96 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967042.57 epoch sec; seqNo:19725; 4061624.14 north; 594171.34 east 2020-11-23T22:54:01Z- waiting for 1599967042.76, time is 1599967040.96 2020-11-23T22:54:01Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967044.17 epoch sec; seqNo:19729 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.05 phi; 0.36 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967042.76, time is 1599967040.96 2020-11-23T22:54:01Z- sync is 3.21, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 26.92 epoch sec; seqNo:1599967045380; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967042.76, time is 1599967040.96 2020-11-23T22:54:01Z- sync is 3.21, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967045.78 epoch sec; seqNo:19733 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.09 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967042.76, time is 1599967045.78 2020-11-23T22:54:01Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967044.17, meas time 1599967045.78 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967045.78, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967045.78 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061624, 594171.34, 26.92) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967046.98 epoch sec; seqNo:19736; 4061621.45 north; 594167.70 east 2020-11-23T22:54:01Z- waiting for 1599967048.78, time is 1599967045.78 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967048.18 epoch sec; seqNo:19739 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.05 phi; 0.35 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967048.78, time is 1599967045.78 2020-11-23T22:54:01Z- sync is 2.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 25.66 epoch sec; seqNo:1599967048985; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967048.78, time is 1599967045.78 2020-11-23T22:54:01Z- sync is 2.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967050.19 epoch sec; seqNo:19744 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.09 , 0.02 2020-11-23T22:54:01Z- waiting for 1599967048.78, time is 1599967050.19 2020-11-23T22:54:01Z- sync is 2.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967051.40 epoch sec; seqNo:19747; 4061619.13 north; 594164.07 east 2020-11-23T22:54:01Z- waiting for 1599967048.78, time is 1599967050.19 2020-11-23T22:54:01Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967051.40, meas time 1599967050.19 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967050.19, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967050.19 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061619, 594164.07, 25.66) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967053.00 epoch sec; seqNo:19751 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.05 phi; 0.35 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967053.19, time is 1599967050.19 2020-11-23T22:54:01Z- sync is 2.81, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 23.88 epoch sec; seqNo:1599967054202; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967053.19, time is 1599967050.19 2020-11-23T22:54:01Z- sync is 2.81, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967055.00 epoch sec; seqNo:19756 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.09 , 0.02 2020-11-23T22:54:01Z- waiting for 1599967053.19, time is 1599967055.00 2020-11-23T22:54:01Z- sync is 2.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967059.82 epoch sec; seqNo:19768; 4061614.51 north; 594156.80 east 2020-11-23T22:54:01Z- waiting for 1599967053.19, time is 1599967055.00 2020-11-23T22:54:01Z- sync is 4.81, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967061.02 epoch sec; seqNo:19771 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.06 phi; 0.34 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967053.19, time is 1599967055.00 2020-11-23T22:54:01Z- sync is 6.01, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 21.05 epoch sec; seqNo:1599967062619; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967053.19, time is 1599967055.00 2020-11-23T22:54:01Z- sync is 6.01, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967063.42 epoch sec; seqNo:19777 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.10 , 0.02 2020-11-23T22:54:01Z- waiting for 1599967053.19, time is 1599967063.42 2020-11-23T22:54:01Z- sync is 2.41, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967065.02 epoch sec; seqNo:19781; 4061611.42 north; 594151.95 east 2020-11-23T22:54:01Z- waiting for 1599967053.19, time is 1599967063.42 2020-11-23T22:54:01Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967065.02, meas time 1599967063.42 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967063.42, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967063.42 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061611, 594151.95, 21.05) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967065.82 epoch sec; seqNo:19783 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.06 phi; 0.33 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967066.42, time is 1599967063.42 2020-11-23T22:54:01Z- sync is 2.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 19.60 epoch sec; seqNo:1599967067030; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967066.42, time is 1599967063.42 2020-11-23T22:54:01Z- sync is 2.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967067.83 epoch sec; seqNo:19788 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.10 , 0.02 2020-11-23T22:54:01Z- waiting for 1599967066.42, time is 1599967067.83 2020-11-23T22:54:01Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967069.44 epoch sec; seqNo:19792; 4061609.11 north; 594148.31 east 2020-11-23T22:54:01Z- waiting for 1599967066.42, time is 1599967067.83 2020-11-23T22:54:01Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967069.44, meas time 1599967067.83 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967067.83, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967067.83 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061609, 594148.31, 19.60) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967070.24 epoch sec; seqNo:19794 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.06 phi; 0.33 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967070.83, time is 1599967067.83 2020-11-23T22:54:01Z- sync is 2.41, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 18.30 epoch sec; seqNo:1599967071045; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967070.83, time is 1599967067.83 2020-11-23T22:54:01Z- sync is 2.41, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967071.85 epoch sec; seqNo:19798 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.10 , 0.03 2020-11-23T22:54:01Z- waiting for 1599967070.83, time is 1599967071.85 2020-11-23T22:54:01Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967070.24, meas time 1599967071.85 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967071.85, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967071.85 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061609, 594148.31, 18.30) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967072.65 epoch sec; seqNo:19800; 4061607.19 north; 594145.89 east 2020-11-23T22:54:01Z- waiting for 1599967074.85, time is 1599967071.85 2020-11-23T22:54:01Z- sync is 0.81, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967073.85 epoch sec; seqNo:19803 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.06 phi; 0.34 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967074.85, time is 1599967071.85 2020-11-23T22:54:01Z- sync is 2.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 17.12 epoch sec; seqNo:1599967074655; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967074.85, time is 1599967071.85 2020-11-23T22:54:01Z- sync is 2.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967075.06 epoch sec; seqNo:19806 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.10 , 0.03 2020-11-23T22:54:01Z- waiting for 1599967074.85, time is 1599967075.06 2020-11-23T22:54:01Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967073.85, meas time 1599967075.06 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967075.06, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967075.06 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061607, 594145.89, 17.12) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967079.06 epoch sec; seqNo:19816 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.10 , 0.03 2020-11-23T22:54:01Z- waiting for 1599967078.06, time is 1599967079.06 2020-11-23T22:54:01Z- sync is 5.21, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967079.06 epoch sec; seqNo:19816; 4061603.33 north; 594139.83 east 2020-11-23T22:54:01Z- waiting for 1599967078.06, time is 1599967079.06 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967079.06, meas time 1599967079.06 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967079.06, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967079.06 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061603, 594139.83, 17.12) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967079.46 epoch sec; seqNo:19817; 4061603.33 north; 594139.83 east 2020-11-23T22:54:01Z- waiting for 1599967082.06, time is 1599967079.06 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967080.26 epoch sec; seqNo:19819; 4061602.94 north; 594138.62 east 2020-11-23T22:54:01Z- waiting for 1599967082.06, time is 1599967079.06 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967081.46 epoch sec; seqNo:19822 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.06 phi; 0.36 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967082.06, time is 1599967079.06 2020-11-23T22:54:01Z- sync is 2.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 14.58 epoch sec; seqNo:1599967082267; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967082.06, time is 1599967079.06 2020-11-23T22:54:01Z- sync is 2.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967082.67 epoch sec; seqNo:19825; 4061601.41 north; 594137.41 east 2020-11-23T22:54:01Z- waiting for 1599967082.06, time is 1599967079.06 2020-11-23T22:54:01Z- sync is 3.61, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967083.88 epoch sec; seqNo:19828 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.07 phi; 0.36 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967082.06, time is 1599967079.06 2020-11-23T22:54:01Z- sync is 4.81, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967084.68 epoch sec; seqNo:19830 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.07 phi; 0.36 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967082.06, time is 1599967079.06 2020-11-23T22:54:01Z- sync is 5.62, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 13.48 epoch sec; seqNo:1599967085481; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967082.06, time is 1599967079.06 2020-11-23T22:54:01Z- sync is 5.62, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967085.88 epoch sec; seqNo:19833 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.10 , 0.04 2020-11-23T22:54:01Z- waiting for 1599967082.06, time is 1599967085.88 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967084.68, meas time 1599967085.88 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967085.88, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967085.88 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061601, 594137.41, 13.48) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967087.09 epoch sec; seqNo:19836; 4061598.72 north; 594133.78 east 2020-11-23T22:54:01Z- waiting for 1599967088.88, time is 1599967085.88 2020-11-23T22:54:01Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967088.29 epoch sec; seqNo:19839 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.07 phi; 0.37 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967088.88, time is 1599967085.88 2020-11-23T22:54:01Z- sync is 2.41, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 12.51 epoch sec; seqNo:1599967088289; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967088.88, time is 1599967085.88 2020-11-23T22:54:01Z- sync is 2.41, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967088.29 epoch sec; seqNo:19839 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.10 , 0.04 2020-11-23T22:54:01Z- waiting for 1599967088.88, time is 1599967088.29 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967091.90 epoch sec; seqNo:19848; 4061596.01 north; 594128.93 east 2020-11-23T22:54:01Z- waiting for 1599967088.88, time is 1599967088.29 2020-11-23T22:54:01Z- sync is 3.61, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967092.30 epoch sec; seqNo:19849 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.07 phi; 0.36 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967088.88, time is 1599967088.29 2020-11-23T22:54:01Z- sync is 4.01, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 10.84 epoch sec; seqNo:1599967093104; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967088.88, time is 1599967088.29 2020-11-23T22:54:01Z- sync is 4.01, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967093.51 epoch sec; seqNo:19852 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.10 , 0.03 2020-11-23T22:54:01Z- waiting for 1599967088.88, time is 1599967093.51 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967092.30, meas time 1599967093.51 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967093.51, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967093.51 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061596, 594128.93, 10.84) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967094.71 epoch sec; seqNo:19855; 4061594.47 north; 594126.50 east 2020-11-23T22:54:01Z- waiting for 1599967096.51, time is 1599967093.51 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967095.51 epoch sec; seqNo:19857 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.07 phi; 0.35 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967096.51, time is 1599967093.51 2020-11-23T22:54:01Z- sync is 2.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 9.75 epoch sec; seqNo:1599967096315; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967096.51, time is 1599967093.51 2020-11-23T22:54:01Z- sync is 2.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967097.12 epoch sec; seqNo:19861 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.11 , 0.03 2020-11-23T22:54:01Z- waiting for 1599967096.51, time is 1599967097.12 2020-11-23T22:54:01Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967095.51, meas time 1599967097.12 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967097.12, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967097.12 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061594, 594126.50, 9.75) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967100.33 epoch sec; seqNo:19869; 4061591.01 north; 594121.66 east 2020-11-23T22:54:01Z- waiting for 1599967100.12, time is 1599967097.12 2020-11-23T22:54:01Z- sync is 3.21, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967100.73 epoch sec; seqNo:19870 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.07 phi; 0.35 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967100.12, time is 1599967097.12 2020-11-23T22:54:01Z- sync is 3.61, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 7.99 epoch sec; seqNo:1599967101539; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967100.12, time is 1599967097.12 2020-11-23T22:54:01Z- sync is 3.61, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967102.34 epoch sec; seqNo:19874 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.14 , 0.03 2020-11-23T22:54:01Z- waiting for 1599967100.12, time is 1599967102.34 2020-11-23T22:54:01Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967100.73, meas time 1599967102.34 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967102.34, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967102.34 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061591, 594121.66, 7.99) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 7.46 epoch sec; seqNo:1599967103145; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967105.34, time is 1599967102.34 2020-11-23T22:54:01Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967103.95 epoch sec; seqNo:19878 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.15 , 0.04 2020-11-23T22:54:01Z- waiting for 1599967105.34, time is 1599967103.95 2020-11-23T22:54:01Z- sync is 3.22, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967105.16 epoch sec; seqNo:19881; 4061588.32 north; 594118.03 east 2020-11-23T22:54:01Z- waiting for 1599967105.34, time is 1599967103.95 2020-11-23T22:54:01Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967105.56 epoch sec; seqNo:19882; 4061587.94 north; 594118.03 east 2020-11-23T22:54:01Z- waiting for 1599967105.34, time is 1599967103.95 2020-11-23T22:54:01Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967106.36 epoch sec; seqNo:19884 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.07 phi; 0.34 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967105.34, time is 1599967103.95 2020-11-23T22:54:01Z- sync is 2.41, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967107.16 epoch sec; seqNo:19886 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.07 phi; 0.34 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967105.34, time is 1599967103.95 2020-11-23T22:54:01Z- sync is 3.21, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 5.89 epoch sec; seqNo:1599967107966; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967105.34, time is 1599967103.95 2020-11-23T22:54:01Z- sync is 3.21, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967108.37 epoch sec; seqNo:19889 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.18 , 0.04 2020-11-23T22:54:01Z- waiting for 1599967105.34, time is 1599967108.37 2020-11-23T22:54:01Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967107.16, meas time 1599967108.37 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967108.37, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967108.37 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061588, 594118.03, 5.89) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967112.38 epoch sec; seqNo:19899; 4061584.08 north; 594111.97 east 2020-11-23T22:54:01Z- waiting for 1599967111.37, time is 1599967108.37 2020-11-23T22:54:01Z- sync is 4.02, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967113.19 epoch sec; seqNo:19901 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.08 phi; 0.33 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967111.37, time is 1599967108.37 2020-11-23T22:54:01Z- sync is 4.82, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 3.96 epoch sec; seqNo:1599967113988; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967111.37, time is 1599967108.37 2020-11-23T22:54:01Z- sync is 4.82, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967114.39 epoch sec; seqNo:19904 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.21 , 0.04 2020-11-23T22:54:01Z- waiting for 1599967111.37, time is 1599967114.39 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967113.19, meas time 1599967114.39 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967114.39, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967114.39 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061584, 594111.97, 3.96) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967115.19 epoch sec; seqNo:19906; 4061582.54 north; 594109.55 east 2020-11-23T22:54:01Z- waiting for 1599967117.39, time is 1599967114.39 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967116.40 epoch sec; seqNo:19909 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.08 phi; 0.34 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967117.39, time is 1599967114.39 2020-11-23T22:54:01Z- sync is 2.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967117.20 epoch sec; seqNo:19911 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.22 , 0.04 2020-11-23T22:54:01Z- waiting for 1599967117.39, time is 1599967117.20 2020-11-23T22:54:01Z- sync is 0.81, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967118.81 epoch sec; seqNo:19915; 4061581.00 north; 594107.13 east 2020-11-23T22:54:01Z- waiting for 1599967117.39, time is 1599967117.20 2020-11-23T22:54:01Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967119.21 epoch sec; seqNo:19916 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.08 phi; 0.35 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967117.39, time is 1599967117.20 2020-11-23T22:54:01Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967120.01 epoch sec; seqNo:19918 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.23 , 0.05 2020-11-23T22:54:01Z- waiting for 1599967117.39, time is 1599967120.01 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967119.21, meas time 1599967120.01 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967120.01, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967120.01 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061581, 594107.13, 3.96) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967123.63 epoch sec; seqNo:19927 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.08 phi; 0.35 theta; -0.02 psi 2020-11-23T22:54:01Z- waiting for 1599967123.01, time is 1599967120.01 2020-11-23T22:54:01Z- sync is 3.62, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967124.03 epoch sec; seqNo:19928 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.25 , 0.03 2020-11-23T22:54:01Z- waiting for 1599967123.01, time is 1599967124.03 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967123.63, meas time 1599967124.03 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967124.03, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967124.03 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061581, 594107.13, 3.96) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967125.23 epoch sec; seqNo:19931; 4061578.67 north; 594102.27 east 2020-11-23T22:54:01Z- waiting for 1599967127.03, time is 1599967124.03 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967126.03 epoch sec; seqNo:19933 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.08 phi; 0.32 theta; -0.05 psi 2020-11-23T22:54:01Z- waiting for 1599967127.03, time is 1599967124.03 2020-11-23T22:54:01Z- sync is 2.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967127.23 epoch sec; seqNo:19936 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.08 phi; 0.28 theta; -0.04 psi 2020-11-23T22:54:01Z- waiting for 1599967127.03, time is 1599967124.03 2020-11-23T22:54:01Z- sync is 3.20, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967127.64 epoch sec; seqNo:19937 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , -0.27 , 0.23 2020-11-23T22:54:01Z- waiting for 1599967127.03, time is 1599967127.64 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967127.23, meas time 1599967127.64 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967127.64, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967127.64 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061579, 594102.27, 3.96) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967129.24 epoch sec; seqNo:19941 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.08 phi; 0.20 theta; -0.04 psi 2020-11-23T22:54:01Z- waiting for 1599967130.64, time is 1599967127.64 2020-11-23T22:54:01Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967130.04 epoch sec; seqNo:19943 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.08 phi; 0.19 theta; -0.04 psi 2020-11-23T22:54:01Z- waiting for 1599967130.64, time is 1599967127.64 2020-11-23T22:54:01Z- sync is 2.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599967131243; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967130.64, time is 1599967127.64 2020-11-23T22:54:01Z- sync is 2.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 0.00 epoch sec; seqNo:1599967131645; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967130.64, time is 1599967127.64 2020-11-23T22:54:01Z- sync is 2.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967132.05 epoch sec; seqNo:19948 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.61 , -0.27 , 0.09 2020-11-23T22:54:01Z- waiting for 1599967130.64, time is 1599967132.05 2020-11-23T22:54:01Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967135.66 epoch sec; seqNo:19957 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.08 phi; 0.10 theta; -0.04 psi 2020-11-23T22:54:01Z- waiting for 1599967130.64, time is 1599967132.05 2020-11-23T22:54:01Z- sync is 3.61, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599967136466; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967130.64, time is 1599967132.05 2020-11-23T22:54:01Z- sync is 3.61, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967136.87 epoch sec; seqNo:19960 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.56 , -0.26 , 0.04 2020-11-23T22:54:01Z- waiting for 1599967130.64, time is 1599967136.87 2020-11-23T22:54:01Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967135.66, meas time 1599967136.87 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967136.87, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967136.87 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061579, 594102.27, -0.00) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967138.47 epoch sec; seqNo:19964; 4061552.89 north; 594101.33 east 2020-11-23T22:54:01Z- waiting for 1599967139.87, time is 1599967136.87 2020-11-23T22:54:01Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967139.27 epoch sec; seqNo:19966 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.08 phi; 0.06 theta; -0.04 psi 2020-11-23T22:54:01Z- waiting for 1599967139.87, time is 1599967136.87 2020-11-23T22:54:01Z- sync is 2.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967140.08 epoch sec; seqNo:19968; 4061552.89 north; 594101.33 east 2020-11-23T22:54:01Z- waiting for 1599967139.87, time is 1599967136.87 2020-11-23T22:54:01Z- sync is 3.21, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599967140876; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967139.87, time is 1599967136.87 2020-11-23T22:54:01Z- sync is 3.21, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967141.28 epoch sec; seqNo:19971 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.52 , -0.26 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967139.87, time is 1599967141.28 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967140.08, meas time 1599967141.28 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967141.28, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967141.28 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061553, 594101.33, -0.00) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967142.88 epoch sec; seqNo:19975 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.08 phi; 0.04 theta; -0.04 psi 2020-11-23T22:54:01Z- waiting for 1599967144.28, time is 1599967141.28 2020-11-23T22:54:01Z- sync is 1.61, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967143.29 epoch sec; seqNo:19976; 4061552.89 north; 594101.33 east 2020-11-23T22:54:01Z- waiting for 1599967144.28, time is 1599967141.28 2020-11-23T22:54:01Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599967144089; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967144.28, time is 1599967141.28 2020-11-23T22:54:01Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967144.89 epoch sec; seqNo:19980 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.49 , -0.26 , 0.00 2020-11-23T22:54:01Z- waiting for 1599967144.28, time is 1599967144.89 2020-11-23T22:54:01Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967143.29, meas time 1599967144.89 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967144.89, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967144.89 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061553, 594101.33, -0.00) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967148.50 epoch sec; seqNo:19989; 4061552.89 north; 594101.33 east 2020-11-23T22:54:01Z- waiting for 1599967147.89, time is 1599967144.89 2020-11-23T22:54:01Z- sync is 3.61, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967148.90 epoch sec; seqNo:19990 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.08 phi; 0.00 theta; -0.04 psi 2020-11-23T22:54:01Z- waiting for 1599967147.89, time is 1599967144.89 2020-11-23T22:54:01Z- sync is 4.01, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599967149706; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967147.89, time is 1599967144.89 2020-11-23T22:54:01Z- sync is 4.01, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967150.11 epoch sec; seqNo:19993 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.46 , -0.26 , -0.01 2020-11-23T22:54:01Z- waiting for 1599967147.89, time is 1599967150.11 2020-11-23T22:54:01Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967148.90, meas time 1599967150.11 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967150.11, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967150.11 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061553, 594101.33, -0.00) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967151.31 epoch sec; seqNo:19996; 4061552.89 north; 594101.33 east 2020-11-23T22:54:01Z- waiting for 1599967153.11, time is 1599967150.11 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599967152112; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967153.11, time is 1599967150.11 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967152.91 epoch sec; seqNo:20000 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.44 , -0.26 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967153.11, time is 1599967152.91 2020-11-23T22:54:01Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967156.93 epoch sec; seqNo:20010; 4061552.89 north; 594101.33 east 2020-11-23T22:54:01Z- waiting for 1599967153.11, time is 1599967152.91 2020-11-23T22:54:01Z- sync is 4.02, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599967157329; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967153.11, time is 1599967152.91 2020-11-23T22:54:01Z- sync is 4.02, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967158.13 epoch sec; seqNo:20013 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.41 , -0.26 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967153.11, time is 1599967158.13 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967156.93, meas time 1599967158.13 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967158.13, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967158.13 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061553, 594101.33, -0.00) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967159.34 epoch sec; seqNo:20016; 4061552.89 north; 594101.33 east 2020-11-23T22:54:01Z- waiting for 1599967161.13, time is 1599967158.13 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599967159734; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967161.13, time is 1599967158.13 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967160.54 epoch sec; seqNo:20019 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.40 , -0.26 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967161.13, time is 1599967160.54 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967161.34 epoch sec; seqNo:20021; 4061552.89 north; 594101.33 east 2020-11-23T22:54:01Z- waiting for 1599967161.13, time is 1599967160.54 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599967162541; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967161.13, time is 1599967160.54 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967162.94 epoch sec; seqNo:20025 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.08 phi; -0.03 theta; -0.04 psi 2020-11-23T22:54:01Z- waiting for 1599967161.13, time is 1599967160.54 2020-11-23T22:54:01Z- sync is 2.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599967162942; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967161.13, time is 1599967160.54 2020-11-23T22:54:01Z- sync is 2.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599967163746; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967161.13, time is 1599967160.54 2020-11-23T22:54:01Z- sync is 2.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599967164553; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967161.13, time is 1599967160.54 2020-11-23T22:54:01Z- sync is 2.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967164.96 epoch sec; seqNo:20030 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.38 , -0.26 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967161.13, time is 1599967164.96 2020-11-23T22:54:01Z- sync is 2.02, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967168.96 epoch sec; seqNo:20040; 4061552.89 north; 594101.33 east 2020-11-23T22:54:01Z- waiting for 1599967161.13, time is 1599967164.96 2020-11-23T22:54:01Z- sync is 4.01, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967169.37 epoch sec; seqNo:20041 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.08 phi; -0.04 theta; -0.04 psi 2020-11-23T22:54:01Z- waiting for 1599967161.13, time is 1599967164.96 2020-11-23T22:54:01Z- sync is 4.41, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599967170169; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967161.13, time is 1599967164.96 2020-11-23T22:54:01Z- sync is 4.41, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967170.57 epoch sec; seqNo:20044 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.36 , -0.26 , -0.03 2020-11-23T22:54:01Z- waiting for 1599967161.13, time is 1599967170.57 2020-11-23T22:54:01Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967169.37, meas time 1599967170.57 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967170.57, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967170.57 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061553, 594101.33, -0.00) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967222.72 epoch sec; seqNo:20174; 4061552.89 north; 594101.33 east 2020-11-23T22:54:01Z- waiting for 1599967173.57, time is 1599967170.57 2020-11-23T22:54:01Z- sync is 52.15, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967223.12 epoch sec; seqNo:20175 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.08 phi; -0.05 theta; -0.04 psi 2020-11-23T22:54:01Z- waiting for 1599967173.57, time is 1599967170.57 2020-11-23T22:54:01Z- sync is 52.55, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599967223118; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967173.57, time is 1599967170.57 2020-11-23T22:54:01Z- sync is 52.55, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967223.12 epoch sec; seqNo:20175 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.25 , -0.26 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967173.57, time is 1599967223.12 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967223.12, meas time 1599967223.12 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967223.12, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967223.12 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061553, 594101.33, -0.00) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967223.12 epoch sec; seqNo:20175; 4061552.89 north; 594101.33 east 2020-11-23T22:54:01Z- waiting for 1599967226.12, time is 1599967223.12 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967223.52 epoch sec; seqNo:20176 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.08 phi; -0.05 theta; -0.04 psi 2020-11-23T22:54:01Z- waiting for 1599967226.12, time is 1599967223.12 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599967223520; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967226.12, time is 1599967223.12 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967223.53 epoch sec; seqNo:20176 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.25 , -0.26 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967226.12, time is 1599967223.53 2020-11-23T22:54:01Z- sync is 0.01, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967223.53 epoch sec; seqNo:20176; 4061552.89 north; 594101.33 east 2020-11-23T22:54:01Z- waiting for 1599967226.12, time is 1599967223.53 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967223.92 epoch sec; seqNo:20177 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.08 phi; -0.05 theta; -0.04 psi 2020-11-23T22:54:01Z- waiting for 1599967226.12, time is 1599967223.53 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599967223924; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967226.12, time is 1599967223.53 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967223.92 epoch sec; seqNo:20177 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.25 , -0.26 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967226.12, time is 1599967223.92 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967223.92 epoch sec; seqNo:20177; 4061552.89 north; 594101.33 east 2020-11-23T22:54:01Z- waiting for 1599967226.12, time is 1599967223.92 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967224.32 epoch sec; seqNo:20178 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.08 phi; -0.05 theta; -0.04 psi 2020-11-23T22:54:01Z- waiting for 1599967226.12, time is 1599967223.92 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599967224323; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967226.12, time is 1599967223.92 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967224.32 epoch sec; seqNo:20178 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.25 , -0.26 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967226.12, time is 1599967224.32 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967224.32 epoch sec; seqNo:20178; 4061552.89 north; 594101.33 east 2020-11-23T22:54:01Z- waiting for 1599967226.12, time is 1599967224.32 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967224.72 epoch sec; seqNo:20179 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.08 phi; -0.05 theta; -0.04 psi 2020-11-23T22:54:01Z- waiting for 1599967226.12, time is 1599967224.32 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599967224723; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967226.12, time is 1599967224.32 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967225.12 epoch sec; seqNo:20180; 4061552.89 north; 594101.33 east 2020-11-23T22:54:01Z- waiting for 1599967226.12, time is 1599967224.32 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967225.53 epoch sec; seqNo:20181 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.25 , -0.26 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967226.12, time is 1599967225.53 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967239.97 epoch sec; seqNo:20217 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.08 phi; -0.05 theta; -0.04 psi 2020-11-23T22:54:01Z- waiting for 1599967226.12, time is 1599967225.53 2020-11-23T22:54:01Z- sync is 14.45, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599967239971; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967226.12, time is 1599967225.53 2020-11-23T22:54:01Z- sync is 14.45, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967239.97 epoch sec; seqNo:20217 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.24 , -0.26 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967226.12, time is 1599967239.97 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967239.97, meas time 1599967239.97 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967239.97, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967239.97 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061553, 594101.33, -0.00) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967251.20 epoch sec; seqNo:20245 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.23 , -0.26 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967242.97, time is 1599967251.20 2020-11-23T22:54:01Z- sync is 11.23, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967251.20 epoch sec; seqNo:20245; 4061552.89 north; 594101.33 east 2020-11-23T22:54:01Z- waiting for 1599967242.97, time is 1599967251.20 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967251.20, meas time 1599967251.20 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967251.20, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967251.20 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061553, 594101.33, -0.00) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967251.61 epoch sec; seqNo:20246 2020-11-23T22:54:01Z- AHRS_M2 msg: -2.08 phi; -0.05 theta; -0.04 psi 2020-11-23T22:54:01Z- waiting for 1599967254.20, time is 1599967251.20 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: -0.00 epoch sec; seqNo:1599967251606; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967254.20, time is 1599967251.20 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967253.61 epoch sec; seqNo:20251 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.22 , -0.26 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967254.20, time is 1599967253.61 2020-11-23T22:54:01Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967255.62 epoch sec; seqNo:20256; 4061552.89 north; 594101.33 east 2020-11-23T22:54:01Z- waiting for 1599967254.20, time is 1599967253.61 2020-11-23T22:54:01Z- sync is 2.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967268.85 epoch sec; seqNo:20289; 4061498.76 north; 594071.41 east 2020-11-23T22:54:01Z- waiting for 1599967254.20, time is 1599967253.61 2020-11-23T22:54:01Z- sync is 15.24, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967269.26 epoch sec; seqNo:20290 2020-11-23T22:54:01Z- AHRS_M2 msg: -1.65 phi; -0.09 theta; 0.00 psi 2020-11-23T22:54:01Z- waiting for 1599967254.20, time is 1599967253.61 2020-11-23T22:54:01Z- sync is 15.64, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 0.11 epoch sec; seqNo:1599967269256; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967254.20, time is 1599967253.61 2020-11-23T22:54:01Z- sync is 15.64, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967269.26 epoch sec; seqNo:20290 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.38 , -0.05 2020-11-23T22:54:01Z- waiting for 1599967254.20, time is 1599967269.26 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967269.26, meas time 1599967269.26 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967269.26, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967269.26 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061499, 594071.41, 0.11) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967269.26 epoch sec; seqNo:20290; 4061498.76 north; 594071.41 east 2020-11-23T22:54:01Z- waiting for 1599967272.26, time is 1599967269.26 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967269.66 epoch sec; seqNo:20291 2020-11-23T22:54:01Z- AHRS_M2 msg: -1.62 phi; -0.09 theta; 0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967272.26, time is 1599967269.26 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 0.13 epoch sec; seqNo:1599967269657; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967272.26, time is 1599967269.26 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967269.66 epoch sec; seqNo:20291; 4061498.76 north; 594071.41 east 2020-11-23T22:54:01Z- waiting for 1599967272.26, time is 1599967269.26 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967276.47 epoch sec; seqNo:20308 2020-11-23T22:54:01Z- AHRS_M2 msg: -1.10 phi; -0.12 theta; 0.00 psi 2020-11-23T22:54:01Z- waiting for 1599967272.26, time is 1599967269.26 2020-11-23T22:54:01Z- sync is 7.21, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967280.49 epoch sec; seqNo:20318; 4061502.44 north; 594061.61 east 2020-11-23T22:54:01Z- waiting for 1599967272.26, time is 1599967269.26 2020-11-23T22:54:01Z- sync is 11.23, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967280.89 epoch sec; seqNo:20319 2020-11-23T22:54:01Z- AHRS_M2 msg: -0.76 phi; -0.15 theta; 0.00 psi 2020-11-23T22:54:01Z- waiting for 1599967272.26, time is 1599967269.26 2020-11-23T22:54:01Z- sync is 11.63, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 0.84 epoch sec; seqNo:1599967280888; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967272.26, time is 1599967269.26 2020-11-23T22:54:01Z- sync is 11.63, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967280.89 epoch sec; seqNo:20319 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.27 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967272.26, time is 1599967280.89 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967280.89, meas time 1599967280.89 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967280.89, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967280.89 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061502, 594061.61, 0.84) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 2.05 epoch sec; seqNo:1599967291316; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967283.89, time is 1599967280.89 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967291.32 epoch sec; seqNo:20345 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , -0.07 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967283.89, time is 1599967291.32 2020-11-23T22:54:01Z- sync is 10.43, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967291.32 epoch sec; seqNo:20345; 4061512.25 north; 594057.84 east 2020-11-23T22:54:01Z- waiting for 1599967283.89, time is 1599967291.32 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967291.32, meas time 1599967291.32 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967291.32, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967291.32 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061512, 594057.84, 2.05) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967291.72 epoch sec; seqNo:20346 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.08 phi; -0.19 theta; 0.00 psi 2020-11-23T22:54:01Z- waiting for 1599967294.32, time is 1599967291.32 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 2.11 epoch sec; seqNo:1599967291716; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967294.32, time is 1599967291.32 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967291.72 epoch sec; seqNo:20346; 4061512.63 north; 594057.84 east 2020-11-23T22:54:01Z- waiting for 1599967294.32, time is 1599967291.32 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967292.12 epoch sec; seqNo:20347 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.11 phi; -0.19 theta; 0.00 psi 2020-11-23T22:54:01Z- waiting for 1599967294.32, time is 1599967291.32 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967314.99 epoch sec; seqNo:20404 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.60 phi; -0.13 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967294.32, time is 1599967291.32 2020-11-23T22:54:01Z- sync is 23.67, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 5.15 epoch sec; seqNo:1599967314987; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967294.32, time is 1599967291.32 2020-11-23T22:54:01Z- sync is 23.67, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967314.99 epoch sec; seqNo:20404 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.17 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967294.32, time is 1599967314.99 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967314.99, meas time 1599967314.99 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967314.99, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967314.99 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061513, 594057.84, 5.15) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967314.99 epoch sec; seqNo:20404; 4061524.57 north; 594074.79 east 2020-11-23T22:54:01Z- waiting for 1599967317.99, time is 1599967314.99 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 5.18 epoch sec; seqNo:1599967315386; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967317.99, time is 1599967314.99 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967315.39 epoch sec; seqNo:20405 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.17 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967317.99, time is 1599967315.39 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967315.39 epoch sec; seqNo:20405; 4061524.57 north; 594074.79 east 2020-11-23T22:54:01Z- waiting for 1599967317.99, time is 1599967315.39 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967315.79 epoch sec; seqNo:20406 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.17 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967317.99, time is 1599967315.79 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967315.79 epoch sec; seqNo:20406; 4061524.57 north; 594074.79 east 2020-11-23T22:54:01Z- waiting for 1599967317.99, time is 1599967315.79 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967317.39 epoch sec; seqNo:20410 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.65 phi; -0.11 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967317.99, time is 1599967315.79 2020-11-23T22:54:01Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 5.37 epoch sec; seqNo:1599967317393; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967317.99, time is 1599967315.79 2020-11-23T22:54:01Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967317.39 epoch sec; seqNo:20410 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.18 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967317.99, time is 1599967317.39 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967317.39 epoch sec; seqNo:20410; 4061524.21 north; 594077.24 east 2020-11-23T22:54:01Z- waiting for 1599967317.99, time is 1599967317.39 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967323.02 epoch sec; seqNo:20424 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.73 phi; -0.08 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967317.99, time is 1599967317.39 2020-11-23T22:54:01Z- sync is 5.62, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 5.78 epoch sec; seqNo:1599967323016; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967317.99, time is 1599967317.39 2020-11-23T22:54:01Z- sync is 5.62, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967323.02 epoch sec; seqNo:20424 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.18 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967317.99, time is 1599967323.02 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967323.02, meas time 1599967323.02 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967323.02, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967323.02 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061524, 594077.24, 5.78) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967323.02 epoch sec; seqNo:20424; 4061523.51 north; 594082.13 east 2020-11-23T22:54:01Z- waiting for 1599967326.02, time is 1599967323.02 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967323.42 epoch sec; seqNo:20425 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.73 phi; -0.08 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967326.02, time is 1599967323.02 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967323.82 epoch sec; seqNo:20426 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.73 phi; -0.08 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967326.02, time is 1599967323.02 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967324.62 epoch sec; seqNo:20428 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.19 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967326.02, time is 1599967324.62 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967328.64 epoch sec; seqNo:20438; 4061522.82 north; 594088.24 east 2020-11-23T22:54:01Z- waiting for 1599967326.02, time is 1599967324.62 2020-11-23T22:54:01Z- sync is 4.02, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967331.05 epoch sec; seqNo:20444 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.77 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967326.02, time is 1599967324.62 2020-11-23T22:54:01Z- sync is 6.43, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967367.57 epoch sec; seqNo:20535 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.18 , -0.00 2020-11-23T22:54:01Z- waiting for 1599967326.02, time is 1599967367.57 2020-11-23T22:54:01Z- sync is 36.52, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967376.01 epoch sec; seqNo:20556 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.59 phi; -0.08 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967326.02, time is 1599967367.57 2020-11-23T22:54:01Z- sync is 8.44, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967378.01 epoch sec; seqNo:20561 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.12 , -0.00 2020-11-23T22:54:01Z- waiting for 1599967326.02, time is 1599967378.01 2020-11-23T22:54:01Z- sync is 2.01, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967386.04 epoch sec; seqNo:20581; 4061533.57 north; 594135.72 east 2020-11-23T22:54:01Z- waiting for 1599967326.02, time is 1599967378.01 2020-11-23T22:54:01Z- sync is 8.02, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967386.43 epoch sec; seqNo:20582 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.46 phi; -0.10 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967326.02, time is 1599967378.01 2020-11-23T22:54:01Z- sync is 8.42, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967386.43 epoch sec; seqNo:20582 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.08 , 0.00 2020-11-23T22:54:01Z- waiting for 1599967326.02, time is 1599967386.43 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967386.43, meas time 1599967386.43 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967386.43, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967386.43 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061534, 594135.72, 5.78) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967386.83 epoch sec; seqNo:20583 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.46 phi; -0.10 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967389.43, time is 1599967386.43 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967392.45 epoch sec; seqNo:20597 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.44 phi; -0.11 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967389.43, time is 1599967386.43 2020-11-23T22:54:01Z- sync is 6.01, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 9.47 epoch sec; seqNo:1599967392449; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967389.43, time is 1599967386.43 2020-11-23T22:54:01Z- sync is 6.01, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967392.85 epoch sec; seqNo:20598 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.44 phi; -0.11 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967389.43, time is 1599967386.43 2020-11-23T22:54:01Z- sync is 6.42, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 10.74 epoch sec; seqNo:1599967403688; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967389.43, time is 1599967386.43 2020-11-23T22:54:01Z- sync is 6.42, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967403.69 epoch sec; seqNo:20625 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.03 , 0.00 2020-11-23T22:54:01Z- waiting for 1599967389.43, time is 1599967403.69 2020-11-23T22:54:01Z- sync is 10.84, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967403.69 epoch sec; seqNo:20625; 4061547.29 north; 594142.89 east 2020-11-23T22:54:01Z- waiting for 1599967389.43, time is 1599967403.69 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967403.69, meas time 1599967403.69 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967403.69, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967403.69 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061547, 594142.89, 10.74) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967404.09 epoch sec; seqNo:20626 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.46 phi; -0.15 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967406.69, time is 1599967403.69 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 10.79 epoch sec; seqNo:1599967404088; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967406.69, time is 1599967403.69 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967404.09 epoch sec; seqNo:20626 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.03 , 0.00 2020-11-23T22:54:01Z- waiting for 1599967406.69, time is 1599967404.09 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967404.09 epoch sec; seqNo:20626; 4061547.67 north; 594142.89 east 2020-11-23T22:54:01Z- waiting for 1599967406.69, time is 1599967404.09 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967404.49 epoch sec; seqNo:20627 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.46 phi; -0.15 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967406.69, time is 1599967404.09 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 10.85 epoch sec; seqNo:1599967404491; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967406.69, time is 1599967404.09 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967404.49 epoch sec; seqNo:20627 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.03 , 0.00 2020-11-23T22:54:01Z- waiting for 1599967406.69, time is 1599967404.49 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967414.13 epoch sec; seqNo:20651 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.03 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967406.69, time is 1599967414.13 2020-11-23T22:54:01Z- sync is 9.64, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967414.13 epoch sec; seqNo:20651; 4061555.29 north; 594146.46 east 2020-11-23T22:54:01Z- waiting for 1599967406.69, time is 1599967414.13 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967414.13, meas time 1599967414.13 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967414.13, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967414.13 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061555, 594146.46, 10.85) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967414.53 epoch sec; seqNo:20652 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.49 phi; -0.17 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967417.13, time is 1599967414.13 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 12.34 epoch sec; seqNo:1599967414534; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967417.13, time is 1599967414.13 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967414.54 epoch sec; seqNo:20652; 4061555.68 north; 594147.68 east 2020-11-23T22:54:01Z- waiting for 1599967417.13, time is 1599967414.13 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967414.93 epoch sec; seqNo:20653 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.50 phi; -0.17 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967417.13, time is 1599967414.13 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 13.36 epoch sec; seqNo:1599967420946; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967417.13, time is 1599967414.13 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967420.95 epoch sec; seqNo:20668 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.03 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967417.13, time is 1599967420.95 2020-11-23T22:54:01Z- sync is 6.01, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967420.95 epoch sec; seqNo:20668; 4061560.25 north; 594150.07 east 2020-11-23T22:54:01Z- waiting for 1599967417.13, time is 1599967420.95 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967420.95, meas time 1599967420.95 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967420.95, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967420.95 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061560, 594150.07, 13.36) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 13.42 epoch sec; seqNo:1599967421350; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967423.95, time is 1599967420.95 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967421.35 epoch sec; seqNo:20669 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.03 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967423.95, time is 1599967421.35 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967436.60 epoch sec; seqNo:20707 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.58 phi; -0.16 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967423.95, time is 1599967421.35 2020-11-23T22:54:01Z- sync is 15.25, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 15.79 epoch sec; seqNo:1599967436602; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967423.95, time is 1599967421.35 2020-11-23T22:54:01Z- sync is 15.25, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967436.60 epoch sec; seqNo:20707 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.04 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967423.95, time is 1599967436.60 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967436.60, meas time 1599967436.60 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967436.60, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967436.60 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061560, 594150.07, 15.79) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967436.61 epoch sec; seqNo:20707; 4061571.70 north; 594157.27 east 2020-11-23T22:54:01Z- waiting for 1599967439.60, time is 1599967436.60 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967437.00 epoch sec; seqNo:20708 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.58 phi; -0.16 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967439.60, time is 1599967436.60 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 15.85 epoch sec; seqNo:1599967437002; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967439.60, time is 1599967436.60 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967437.00 epoch sec; seqNo:20708 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.04 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967439.60, time is 1599967437.00 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967437.01 epoch sec; seqNo:20708; 4061572.08 north; 594157.26 east 2020-11-23T22:54:01Z- waiting for 1599967439.60, time is 1599967437.00 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 15.91 epoch sec; seqNo:1599967437402; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967439.60, time is 1599967437.00 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967437.40 epoch sec; seqNo:20709 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.04 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967439.60, time is 1599967437.40 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967437.40 epoch sec; seqNo:20709; 4061572.47 north; 594158.48 east 2020-11-23T22:54:01Z- waiting for 1599967439.60, time is 1599967437.40 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 15.97 epoch sec; seqNo:1599967437804; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967439.60, time is 1599967437.40 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967437.81 epoch sec; seqNo:20710 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.04 , 0.01 2020-11-23T22:54:01Z- waiting for 1599967439.60, time is 1599967437.81 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967437.81 epoch sec; seqNo:20710; 4061572.47 north; 594158.48 east 2020-11-23T22:54:01Z- waiting for 1599967439.60, time is 1599967437.81 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 16.03 epoch sec; seqNo:1599967438203; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967439.60, time is 1599967437.81 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 16.09 epoch sec; seqNo:1599967438603; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967439.60, time is 1599967437.81 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 16.15 epoch sec; seqNo:1599967439007; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967439.60, time is 1599967437.81 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 18.91 epoch sec; seqNo:1599967456252; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967439.60, time is 1599967437.81 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967456.25 epoch sec; seqNo:20756 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.05 , 0.00 2020-11-23T22:54:01Z- waiting for 1599967439.60, time is 1599967456.25 2020-11-23T22:54:01Z- sync is 18.44, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967456.25 epoch sec; seqNo:20756; 4061585.46 north; 594168.10 east 2020-11-23T22:54:01Z- waiting for 1599967439.60, time is 1599967456.25 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967456.25, meas time 1599967456.25 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967456.25, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967456.25 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061585, 594168.10, 18.91) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967456.65 epoch sec; seqNo:20757 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.63 phi; -0.20 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967459.25, time is 1599967456.25 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 18.98 epoch sec; seqNo:1599967456650; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967459.25, time is 1599967456.25 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967456.65 epoch sec; seqNo:20757 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.05 , 0.00 2020-11-23T22:54:01Z- waiting for 1599967459.25, time is 1599967456.65 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967456.65 epoch sec; seqNo:20757; 4061585.83 north; 594168.10 east 2020-11-23T22:54:01Z- waiting for 1599967459.25, time is 1599967456.65 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967457.05 epoch sec; seqNo:20758 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.63 phi; -0.20 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967459.25, time is 1599967456.65 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 19.05 epoch sec; seqNo:1599967457052; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967459.25, time is 1599967456.65 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967457.05 epoch sec; seqNo:20758 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.06 , 0.00 2020-11-23T22:54:01Z- waiting for 1599967459.25, time is 1599967457.05 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967457.05 epoch sec; seqNo:20758; 4061585.83 north; 594168.10 east 2020-11-23T22:54:01Z- waiting for 1599967459.25, time is 1599967457.05 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967457.45 epoch sec; seqNo:20759 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.63 phi; -0.20 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967459.25, time is 1599967457.05 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 19.12 epoch sec; seqNo:1599967457455; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967459.25, time is 1599967457.05 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967457.46 epoch sec; seqNo:20759 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.06 , 0.00 2020-11-23T22:54:01Z- waiting for 1599967459.25, time is 1599967457.46 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967457.46 epoch sec; seqNo:20759; 4061586.21 north; 594168.09 east 2020-11-23T22:54:01Z- waiting for 1599967459.25, time is 1599967457.46 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967457.86 epoch sec; seqNo:20760 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.63 phi; -0.20 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967459.25, time is 1599967457.46 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 19.20 epoch sec; seqNo:1599967457859; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967459.25, time is 1599967457.46 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967457.86 epoch sec; seqNo:20760 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.06 , 0.00 2020-11-23T22:54:01Z- waiting for 1599967459.25, time is 1599967457.86 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967457.86 epoch sec; seqNo:20760; 4061586.61 north; 594169.31 east 2020-11-23T22:54:01Z- waiting for 1599967459.25, time is 1599967457.86 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967458.26 epoch sec; seqNo:20761 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.63 phi; -0.20 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967459.25, time is 1599967457.86 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967458.26 epoch sec; seqNo:20761; 4061586.98 north; 594169.30 east 2020-11-23T22:54:01Z- waiting for 1599967459.25, time is 1599967457.86 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967473.51 epoch sec; seqNo:20799; 4061597.31 north; 594177.73 east 2020-11-23T22:54:01Z- waiting for 1599967459.25, time is 1599967457.86 2020-11-23T22:54:01Z- sync is 15.65, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967473.91 epoch sec; seqNo:20800 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.63 phi; -0.22 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967459.25, time is 1599967457.86 2020-11-23T22:54:01Z- sync is 16.05, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 22.28 epoch sec; seqNo:1599967473909; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967459.25, time is 1599967457.86 2020-11-23T22:54:01Z- sync is 16.05, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967473.91 epoch sec; seqNo:20800 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.06 , 0.00 2020-11-23T22:54:01Z- waiting for 1599967459.25, time is 1599967473.91 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967473.91, meas time 1599967473.91 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967473.91, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967473.91 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061597, 594177.73, 22.28) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967473.91 epoch sec; seqNo:20800; 4061597.31 north; 594177.73 east 2020-11-23T22:54:01Z- waiting for 1599967476.91, time is 1599967473.91 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967474.31 epoch sec; seqNo:20801 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.63 phi; -0.23 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967476.91, time is 1599967473.91 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 22.36 epoch sec; seqNo:1599967474310; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967476.91, time is 1599967473.91 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967474.31 epoch sec; seqNo:20801 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.06 , 0.00 2020-11-23T22:54:01Z- waiting for 1599967476.91, time is 1599967474.31 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967474.31 epoch sec; seqNo:20801; 4061597.69 north; 594177.73 east 2020-11-23T22:54:01Z- waiting for 1599967476.91, time is 1599967474.31 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967474.71 epoch sec; seqNo:20802 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.63 phi; -0.23 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967476.91, time is 1599967474.31 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 22.44 epoch sec; seqNo:1599967474710; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967476.91, time is 1599967474.31 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967474.71 epoch sec; seqNo:20802 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.06 , 0.00 2020-11-23T22:54:01Z- waiting for 1599967476.91, time is 1599967474.71 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967474.71 epoch sec; seqNo:20802; 4061598.06 north; 594177.73 east 2020-11-23T22:54:01Z- waiting for 1599967476.91, time is 1599967474.71 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967475.11 epoch sec; seqNo:20803 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.06 , 0.00 2020-11-23T22:54:01Z- waiting for 1599967476.91, time is 1599967475.11 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 26.44 epoch sec; seqNo:1599967493564; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967476.91, time is 1599967475.11 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967493.57 epoch sec; seqNo:20849 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.06 , 0.00 2020-11-23T22:54:01Z- waiting for 1599967476.91, time is 1599967493.57 2020-11-23T22:54:01Z- sync is 18.85, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967493.57 epoch sec; seqNo:20849; 4061610.69 north; 594188.57 east 2020-11-23T22:54:01Z- waiting for 1599967476.91, time is 1599967493.57 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967493.57, meas time 1599967493.57 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967493.57, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967493.57 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061611, 594188.57, 26.44) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967493.97 epoch sec; seqNo:20850 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.64 phi; -0.24 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967496.57, time is 1599967493.57 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 26.52 epoch sec; seqNo:1599967493967; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967496.57, time is 1599967493.57 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967493.97 epoch sec; seqNo:20850 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.06 , 0.00 2020-11-23T22:54:01Z- waiting for 1599967496.57, time is 1599967493.97 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967493.97 epoch sec; seqNo:20850; 4061611.08 north; 594189.79 east 2020-11-23T22:54:01Z- waiting for 1599967496.57, time is 1599967493.97 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967494.37 epoch sec; seqNo:20851 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.64 phi; -0.24 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967496.57, time is 1599967493.97 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 26.61 epoch sec; seqNo:1599967494368; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967496.57, time is 1599967493.97 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967494.37 epoch sec; seqNo:20851 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.06 , -0.00 2020-11-23T22:54:01Z- waiting for 1599967496.57, time is 1599967494.37 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967494.37 epoch sec; seqNo:20851; 4061611.46 north; 594189.78 east 2020-11-23T22:54:01Z- waiting for 1599967496.57, time is 1599967494.37 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967494.77 epoch sec; seqNo:20852 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.64 phi; -0.24 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967496.57, time is 1599967494.37 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 26.70 epoch sec; seqNo:1599967494768; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967496.57, time is 1599967494.37 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967494.77 epoch sec; seqNo:20852; 4061611.46 north; 594189.78 east 2020-11-23T22:54:01Z- waiting for 1599967496.57, time is 1599967494.37 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967495.17 epoch sec; seqNo:20853 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.64 phi; -0.24 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967496.57, time is 1599967494.37 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 26.79 epoch sec; seqNo:1599967495169; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967496.57, time is 1599967494.37 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967495.57 epoch sec; seqNo:20854 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.64 phi; -0.24 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967496.57, time is 1599967494.37 2020-11-23T22:54:01Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967495.97 epoch sec; seqNo:20855 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.64 phi; -0.24 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967496.57, time is 1599967494.37 2020-11-23T22:54:01Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 30.03 epoch sec; seqNo:1599967510419; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967496.57, time is 1599967494.37 2020-11-23T22:54:01Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967510.42 epoch sec; seqNo:20891 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.07 , 0.00 2020-11-23T22:54:01Z- waiting for 1599967496.57, time is 1599967510.42 2020-11-23T22:54:01Z- sync is 14.45, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967510.42 epoch sec; seqNo:20891; 4061622.16 north; 594198.21 east 2020-11-23T22:54:01Z- waiting for 1599967496.57, time is 1599967510.42 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967510.42, meas time 1599967510.42 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967510.42, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967510.42 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061622, 594198.21, 30.03) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967510.82 epoch sec; seqNo:20892 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.65 phi; -0.22 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967513.42, time is 1599967510.42 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 30.11 epoch sec; seqNo:1599967510821; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967513.42, time is 1599967510.42 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967510.82 epoch sec; seqNo:20892 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.07 , 0.00 2020-11-23T22:54:01Z- waiting for 1599967513.42, time is 1599967510.82 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967510.83 epoch sec; seqNo:20892; 4061622.55 north; 594199.43 east 2020-11-23T22:54:01Z- waiting for 1599967513.42, time is 1599967510.82 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967511.22 epoch sec; seqNo:20893 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.65 phi; -0.22 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967513.42, time is 1599967510.82 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 30.19 epoch sec; seqNo:1599967511221; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967513.42, time is 1599967510.82 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967511.22 epoch sec; seqNo:20893 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.07 , 0.00 2020-11-23T22:54:01Z- waiting for 1599967513.42, time is 1599967511.22 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967511.22 epoch sec; seqNo:20893; 4061622.93 north; 594199.42 east 2020-11-23T22:54:01Z- waiting for 1599967513.42, time is 1599967511.22 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967511.62 epoch sec; seqNo:20894 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.65 phi; -0.21 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967513.42, time is 1599967511.22 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967511.63 epoch sec; seqNo:20894 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.07 , 0.00 2020-11-23T22:54:01Z- waiting for 1599967513.42, time is 1599967511.63 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967511.63 epoch sec; seqNo:20894; 4061622.93 north; 594199.42 east 2020-11-23T22:54:01Z- waiting for 1599967513.42, time is 1599967511.63 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967512.03 epoch sec; seqNo:20895 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.65 phi; -0.21 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967513.42, time is 1599967511.63 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967512.03 epoch sec; seqNo:20895; 4061623.31 north; 594199.42 east 2020-11-23T22:54:01Z- waiting for 1599967513.42, time is 1599967511.63 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967516.03 epoch sec; seqNo:20905 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.65 phi; -0.21 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967513.42, time is 1599967511.63 2020-11-23T22:54:01Z- sync is 4.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967516.03 epoch sec; seqNo:20905 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.06 , -0.00 2020-11-23T22:54:01Z- waiting for 1599967513.42, time is 1599967516.03 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967516.03, meas time 1599967516.03 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967516.03, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967516.03 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061623, 594199.42, 30.19) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967516.03 epoch sec; seqNo:20905; 4061625.99 north; 594201.83 east 2020-11-23T22:54:01Z- waiting for 1599967519.03, time is 1599967516.03 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967516.43 epoch sec; seqNo:20906 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.65 phi; -0.21 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967519.03, time is 1599967516.03 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967516.43 epoch sec; seqNo:20906 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.06 , -0.00 2020-11-23T22:54:01Z- waiting for 1599967519.03, time is 1599967516.43 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967516.83 epoch sec; seqNo:20907 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.06 , -0.00 2020-11-23T22:54:01Z- waiting for 1599967519.03, time is 1599967516.83 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967530.45 epoch sec; seqNo:20941 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.66 phi; -0.19 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967519.03, time is 1599967516.83 2020-11-23T22:54:01Z- sync is 13.62, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 33.67 epoch sec; seqNo:1599967530453; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967519.03, time is 1599967516.83 2020-11-23T22:54:01Z- sync is 13.62, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967530.45 epoch sec; seqNo:20941 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.06 , -0.00 2020-11-23T22:54:01Z- waiting for 1599967519.03, time is 1599967530.45 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967530.45, meas time 1599967530.45 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967530.45, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967530.45 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061626, 594201.83, 33.67) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967530.45 epoch sec; seqNo:20941; 4061635.93 north; 594210.26 east 2020-11-23T22:54:01Z- waiting for 1599967533.45, time is 1599967530.45 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967530.85 epoch sec; seqNo:20942 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.66 phi; -0.19 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967533.45, time is 1599967530.45 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 33.73 epoch sec; seqNo:1599967530853; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967533.45, time is 1599967530.45 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967530.85 epoch sec; seqNo:20942 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.06 , -0.00 2020-11-23T22:54:01Z- waiting for 1599967533.45, time is 1599967530.85 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967530.85 epoch sec; seqNo:20942; 4061636.33 north; 594211.48 east 2020-11-23T22:54:01Z- waiting for 1599967533.45, time is 1599967530.85 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967531.25 epoch sec; seqNo:20943 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.66 phi; -0.19 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967533.45, time is 1599967530.85 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967531.66 epoch sec; seqNo:20944 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.66 phi; -0.19 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967533.45, time is 1599967530.85 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967532.06 epoch sec; seqNo:20945 2020-11-23T22:54:01Z- AHRS_M2 msg: 0.66 phi; -0.19 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967533.45, time is 1599967530.85 2020-11-23T22:54:01Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967576.20 epoch sec; seqNo:21055 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.01 2020-11-23T22:54:01Z- waiting for 1599967533.45, time is 1599967576.20 2020-11-23T22:54:01Z- sync is 44.14, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967576.20 epoch sec; seqNo:21055; 4061666.18 north; 594239.22 east 2020-11-23T22:54:01Z- waiting for 1599967533.45, time is 1599967576.20 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967576.20, meas time 1599967576.20 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967576.20, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967576.20 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594239.22, 33.73) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967576.60 epoch sec; seqNo:21056 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.21 phi; -0.15 theta; -0.00 psi 2020-11-23T22:54:01Z- waiting for 1599967579.20, time is 1599967576.20 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 41.15 epoch sec; seqNo:1599967576600; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967579.20, time is 1599967576.20 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967576.60 epoch sec; seqNo:21056 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.02 , -0.01 2020-11-23T22:54:01Z- waiting for 1599967579.20, time is 1599967576.60 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967576.60 epoch sec; seqNo:21056; 4061666.20 north; 594240.44 east 2020-11-23T22:54:01Z- waiting for 1599967579.20, time is 1599967576.60 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967577.00 epoch sec; seqNo:21057 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.24 phi; -0.15 theta; -0.00 psi 2020-11-23T22:54:01Z- waiting for 1599967579.20, time is 1599967576.60 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 41.21 epoch sec; seqNo:1599967577004; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967579.20, time is 1599967576.60 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967577.01 epoch sec; seqNo:21057 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.02 , -0.01 2020-11-23T22:54:01Z- waiting for 1599967579.20, time is 1599967577.01 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967577.01 epoch sec; seqNo:21057; 4061666.58 north; 594240.44 east 2020-11-23T22:54:01Z- waiting for 1599967579.20, time is 1599967577.01 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967577.40 epoch sec; seqNo:21058 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.26 phi; -0.15 theta; -0.00 psi 2020-11-23T22:54:01Z- waiting for 1599967579.20, time is 1599967577.01 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 41.26 epoch sec; seqNo:1599967577403; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967579.20, time is 1599967577.01 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967577.41 epoch sec; seqNo:21058 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.02 , -0.01 2020-11-23T22:54:01Z- waiting for 1599967579.20, time is 1599967577.41 2020-11-23T22:54:01Z- sync is 0.01, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967577.41 epoch sec; seqNo:21058; 4061666.58 north; 594240.44 east 2020-11-23T22:54:01Z- waiting for 1599967579.20, time is 1599967577.41 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967577.81 epoch sec; seqNo:21059 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.29 phi; -0.14 theta; -0.00 psi 2020-11-23T22:54:01Z- waiting for 1599967579.20, time is 1599967577.41 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 41.31 epoch sec; seqNo:1599967577806; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967579.20, time is 1599967577.41 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967577.81 epoch sec; seqNo:21059 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.02 , -0.01 2020-11-23T22:54:01Z- waiting for 1599967579.20, time is 1599967577.81 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 41.36 epoch sec; seqNo:1599967578208; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967579.20, time is 1599967577.81 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967578.21 epoch sec; seqNo:21060 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.01 , -0.01 2020-11-23T22:54:01Z- waiting for 1599967579.20, time is 1599967578.21 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 41.41 epoch sec; seqNo:1599967578610; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967579.20, time is 1599967578.21 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967586.24 epoch sec; seqNo:21080; 4061667.05 north; 594248.98 east 2020-11-23T22:54:01Z- waiting for 1599967579.20, time is 1599967578.21 2020-11-23T22:54:01Z- sync is 8.03, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967586.64 epoch sec; seqNo:21081 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.64 phi; -0.12 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967579.20, time is 1599967578.21 2020-11-23T22:54:01Z- sync is 8.43, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 42.32 epoch sec; seqNo:1599967586637; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967579.20, time is 1599967578.21 2020-11-23T22:54:01Z- sync is 8.43, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967586.64 epoch sec; seqNo:21081 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.03 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967579.20, time is 1599967586.64 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967586.64, meas time 1599967586.64 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to -1.000 at t=1599967586.64, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967586.64 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594248.98, 42.32) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967586.64 epoch sec; seqNo:21081; 4061667.06 north; 594250.20 east 2020-11-23T22:54:01Z- waiting for 1599967589.64, time is 1599967586.64 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 42.36 epoch sec; seqNo:1599967587040; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967589.64, time is 1599967586.64 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967587.04 epoch sec; seqNo:21082 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.04 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967589.64, time is 1599967587.04 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967587.04 epoch sec; seqNo:21082; 4061667.06 north; 594250.20 east 2020-11-23T22:54:01Z- waiting for 1599967589.64, time is 1599967587.04 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 42.40 epoch sec; seqNo:1599967587441; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967589.64, time is 1599967587.04 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967587.44 epoch sec; seqNo:21083 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, -1.00 , -1.00 , -1.00 , -1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.04 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967589.64, time is 1599967587.44 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967613.53 epoch sec; seqNo:21148; 4061663.18 north; 594275.87 east 2020-11-23T22:54:01Z- waiting for 1599967589.64, time is 1599967587.44 2020-11-23T22:54:01Z- sync is 26.08, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967613.93 epoch sec; seqNo:21149 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.50 phi; -0.14 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967589.64, time is 1599967587.44 2020-11-23T22:54:01Z- sync is 26.49, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 45.30 epoch sec; seqNo:1599967613928; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967589.64, time is 1599967587.44 2020-11-23T22:54:01Z- sync is 26.49, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967613.93 epoch sec; seqNo:21149 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 33.00 , 33.00 , 33.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.11 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967589.64, time is 1599967613.93 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967613.93, meas time 1599967613.93 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to 33.000 at t=1599967613.93, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967613.93 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061663, 594275.87, 45.30) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967613.93 epoch sec; seqNo:21149; 4061663.19 north; 594277.09 east 2020-11-23T22:54:01Z- waiting for 1599967616.93, time is 1599967613.93 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 45.34 epoch sec; seqNo:1599967614330; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967616.93, time is 1599967613.93 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967614.33 epoch sec; seqNo:21150 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.11 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967616.93, time is 1599967614.33 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 45.39 epoch sec; seqNo:1599967614732; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967616.93, time is 1599967614.33 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 45.44 epoch sec; seqNo:1599967615131; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967616.93, time is 1599967614.33 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 45.48 epoch sec; seqNo:1599967615533; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967616.93, time is 1599967614.33 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967624.75 epoch sec; seqNo:21176 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.40 phi; -0.14 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967616.93, time is 1599967614.33 2020-11-23T22:54:01Z- sync is 10.42, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 46.58 epoch sec; seqNo:1599967624748; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967616.93, time is 1599967614.33 2020-11-23T22:54:01Z- sync is 10.42, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967624.75 epoch sec; seqNo:21176 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 10.00 , 10.00 , 10.00 , 10.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.10 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967616.93, time is 1599967624.75 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967624.75, meas time 1599967624.75 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to 10.000 at t=1599967624.75, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967624.75 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061663, 594277.09, 46.58) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967624.75 epoch sec; seqNo:21176; 4061663.68 north; 594286.85 east 2020-11-23T22:54:01Z- waiting for 1599967627.75, time is 1599967624.75 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967625.15 epoch sec; seqNo:21177; 4061663.69 north; 594288.07 east 2020-11-23T22:54:01Z- waiting for 1599967627.75, time is 1599967624.75 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967633.97 epoch sec; seqNo:21199 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.36 phi; -0.15 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967627.75, time is 1599967624.75 2020-11-23T22:54:01Z- sync is 9.22, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 47.71 epoch sec; seqNo:1599967633970; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967627.75, time is 1599967624.75 2020-11-23T22:54:01Z- sync is 9.22, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967633.97 epoch sec; seqNo:21199 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.09 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967627.75, time is 1599967633.97 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967633.97, meas time 1599967633.97 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to 19.000 at t=1599967633.97, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967633.97 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594288.07, 47.71) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967633.97 epoch sec; seqNo:21199; 4061664.54 north; 594296.60 east 2020-11-23T22:54:01Z- waiting for 1599967636.97, time is 1599967633.97 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967634.37 epoch sec; seqNo:21200 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.36 phi; -0.15 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967636.97, time is 1599967633.97 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 47.76 epoch sec; seqNo:1599967634371; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967636.97, time is 1599967633.97 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967634.37 epoch sec; seqNo:21200 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 20.00 , 20.00 , 20.00 , 20.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.09 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967636.97, time is 1599967634.37 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967634.37 epoch sec; seqNo:21200; 4061664.54 north; 594296.60 east 2020-11-23T22:54:01Z- waiting for 1599967636.97, time is 1599967634.37 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967634.77 epoch sec; seqNo:21201 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.35 phi; -0.15 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967636.97, time is 1599967634.37 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967665.65 epoch sec; seqNo:21278 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.34 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967636.97, time is 1599967634.37 2020-11-23T22:54:01Z- sync is 31.28, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 50.77 epoch sec; seqNo:1599967665650; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967636.97, time is 1599967634.37 2020-11-23T22:54:01Z- sync is 31.28, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967665.65 epoch sec; seqNo:21278 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.08 , -0.01 2020-11-23T22:54:01Z- waiting for 1599967636.97, time is 1599967665.65 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967665.65, meas time 1599967665.65 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to 17.000 at t=1599967665.65, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967665.65 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594296.60, 50.77) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967665.65 epoch sec; seqNo:21278; 4061669.42 north; 594327.06 east 2020-11-23T22:54:01Z- waiting for 1599967668.65, time is 1599967665.65 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967666.05 epoch sec; seqNo:21279 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.34 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967668.65, time is 1599967665.65 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 50.78 epoch sec; seqNo:1599967666050; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967668.65, time is 1599967665.65 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967666.05 epoch sec; seqNo:21279 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.08 , -0.01 2020-11-23T22:54:01Z- waiting for 1599967668.65, time is 1599967666.05 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967666.05 epoch sec; seqNo:21279; 4061669.42 north; 594327.06 east 2020-11-23T22:54:01Z- waiting for 1599967668.65, time is 1599967666.05 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967666.45 epoch sec; seqNo:21280 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.34 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967668.65, time is 1599967666.05 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 50.80 epoch sec; seqNo:1599967666451; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967668.65, time is 1599967666.05 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967666.45 epoch sec; seqNo:21280 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.08 , -0.01 2020-11-23T22:54:01Z- waiting for 1599967668.65, time is 1599967666.45 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967666.45 epoch sec; seqNo:21280; 4061669.42 north; 594327.06 east 2020-11-23T22:54:01Z- waiting for 1599967668.65, time is 1599967666.45 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967666.85 epoch sec; seqNo:21281 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.08 , -0.01 2020-11-23T22:54:01Z- waiting for 1599967668.65, time is 1599967666.85 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967666.86 epoch sec; seqNo:21281; 4061669.44 north; 594328.28 east 2020-11-23T22:54:01Z- waiting for 1599967668.65, time is 1599967666.85 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967667.26 epoch sec; seqNo:21282; 4061669.82 north; 594328.28 east 2020-11-23T22:54:01Z- waiting for 1599967668.65, time is 1599967666.85 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967675.68 epoch sec; seqNo:21303 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:54:01Z- waiting for 1599967668.65, time is 1599967675.68 2020-11-23T22:54:01Z- sync is 8.43, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967675.68 epoch sec; seqNo:21303; 4061671.05 north; 594336.81 east 2020-11-23T22:54:01Z- waiting for 1599967668.65, time is 1599967675.68 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967675.68, meas time 1599967675.68 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to 27.000 at t=1599967675.68, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967675.68 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061671, 594336.81, 50.80) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967676.08 epoch sec; seqNo:21304 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.36 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967678.68, time is 1599967675.68 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 50.99 epoch sec; seqNo:1599967676085; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967678.68, time is 1599967675.68 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967676.09 epoch sec; seqNo:21304 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:54:01Z- waiting for 1599967678.68, time is 1599967676.09 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967676.09 epoch sec; seqNo:21304; 4061671.05 north; 594336.81 east 2020-11-23T22:54:01Z- waiting for 1599967678.68, time is 1599967676.09 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967676.49 epoch sec; seqNo:21305 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.36 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967678.68, time is 1599967676.09 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 50.99 epoch sec; seqNo:1599967676487; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967678.68, time is 1599967676.09 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967700.18 epoch sec; seqNo:21364; 4061673.95 north; 594359.96 east 2020-11-23T22:54:01Z- waiting for 1599967678.68, time is 1599967676.09 2020-11-23T22:54:01Z- sync is 24.09, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967700.58 epoch sec; seqNo:21365 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.37 phi; 0.03 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967678.68, time is 1599967676.09 2020-11-23T22:54:01Z- sync is 24.49, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1599967700578; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967678.68, time is 1599967676.09 2020-11-23T22:54:01Z- sync is 24.49, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967700.58 epoch sec; seqNo:21365 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:54:01Z- waiting for 1599967678.68, time is 1599967700.58 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967700.58, meas time 1599967700.58 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to 18.000 at t=1599967700.58, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967700.58 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061674, 594359.96, 50.42) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967700.58 epoch sec; seqNo:21365; 4061673.97 north; 594361.18 east 2020-11-23T22:54:01Z- waiting for 1599967703.58, time is 1599967700.58 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967700.98 epoch sec; seqNo:21366 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.37 phi; 0.03 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967703.58, time is 1599967700.58 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1599967700978; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967703.58, time is 1599967700.58 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967700.98 epoch sec; seqNo:21366 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:54:01Z- waiting for 1599967703.58, time is 1599967700.98 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967700.98 epoch sec; seqNo:21366; 4061674.35 north; 594361.18 east 2020-11-23T22:54:01Z- waiting for 1599967703.58, time is 1599967700.98 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967701.38 epoch sec; seqNo:21367 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.37 phi; 0.03 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967703.58, time is 1599967700.98 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599967701379; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967703.58, time is 1599967700.98 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967701.78 epoch sec; seqNo:21368 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.37 phi; 0.04 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967703.58, time is 1599967700.98 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1599967701779; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967703.58, time is 1599967700.98 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967709.40 epoch sec; seqNo:21387 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.37 phi; 0.03 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967703.58, time is 1599967700.98 2020-11-23T22:54:01Z- sync is 8.42, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 49.98 epoch sec; seqNo:1599967709402; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967703.58, time is 1599967700.98 2020-11-23T22:54:01Z- sync is 8.42, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967709.40 epoch sec; seqNo:21387 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.00 , 27.00 , 27.00 , 27.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967703.58, time is 1599967709.40 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967709.40, meas time 1599967709.40 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to 27.000 at t=1599967709.40, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967709.40 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061674, 594361.18, 49.98) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967716.62 epoch sec; seqNo:21405 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.37 phi; 0.02 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967712.40, time is 1599967709.40 2020-11-23T22:54:01Z- sync is 7.22, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1599967716625; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967712.40, time is 1599967709.40 2020-11-23T22:54:01Z- sync is 7.22, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967716.63 epoch sec; seqNo:21405 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967712.40, time is 1599967716.63 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967716.62, meas time 1599967716.63 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1599967716.63, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967716.63 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061674, 594361.18, 49.66) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967716.63 epoch sec; seqNo:21405; 4061676.04 north; 594377.03 east 2020-11-23T22:54:01Z- waiting for 1599967719.63, time is 1599967716.63 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967717.02 epoch sec; seqNo:21406 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.37 phi; 0.02 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967719.63, time is 1599967716.63 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967717.03 epoch sec; seqNo:21406 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967719.63, time is 1599967717.03 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967717.03 epoch sec; seqNo:21406; 4061676.04 north; 594377.03 east 2020-11-23T22:54:01Z- waiting for 1599967719.63, time is 1599967717.03 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967717.43 epoch sec; seqNo:21407; 4061676.42 north; 594377.02 east 2020-11-23T22:54:01Z- waiting for 1599967719.63, time is 1599967717.03 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967718.63 epoch sec; seqNo:21410 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.37 phi; 0.02 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967719.63, time is 1599967717.03 2020-11-23T22:54:01Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967743.11 epoch sec; seqNo:21471 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.38 phi; -0.06 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967719.63, time is 1599967717.03 2020-11-23T22:54:01Z- sync is 26.09, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967747.13 epoch sec; seqNo:21481 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.39 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967719.63, time is 1599967717.03 2020-11-23T22:54:01Z- sync is 30.10, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1599967747128; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967719.63, time is 1599967717.03 2020-11-23T22:54:01Z- sync is 30.10, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967747.13 epoch sec; seqNo:21481 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:54:01Z- waiting for 1599967719.63, time is 1599967747.13 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967747.13, meas time 1599967747.13 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to 31.000 at t=1599967747.13, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967747.13 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594377.02, 49.87) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967747.13 epoch sec; seqNo:21481; 4061680.15 north; 594406.27 east 2020-11-23T22:54:01Z- waiting for 1599967750.13, time is 1599967747.13 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967747.53 epoch sec; seqNo:21482 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.39 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967750.13, time is 1599967747.13 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967747.53 epoch sec; seqNo:21482 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:54:01Z- waiting for 1599967750.13, time is 1599967747.53 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967747.53 epoch sec; seqNo:21482; 4061680.15 north; 594406.27 east 2020-11-23T22:54:01Z- waiting for 1599967750.13, time is 1599967747.53 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967747.93 epoch sec; seqNo:21483 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:54:01Z- waiting for 1599967750.13, time is 1599967747.93 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967748.33 epoch sec; seqNo:21484 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:54:01Z- waiting for 1599967750.13, time is 1599967748.33 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967755.55 epoch sec; seqNo:21502 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:54:01Z- waiting for 1599967750.13, time is 1599967755.55 2020-11-23T22:54:01Z- sync is 8.02, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967755.55 epoch sec; seqNo:21502; 4061681.00 north; 594414.81 east 2020-11-23T22:54:01Z- waiting for 1599967750.13, time is 1599967755.55 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967755.55, meas time 1599967755.55 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to 5.000 at t=1599967755.55, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967755.55 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061681, 594414.81, 49.87) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967755.95 epoch sec; seqNo:21503 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.40 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967758.55, time is 1599967755.55 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 50.18 epoch sec; seqNo:1599967755955; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967758.55, time is 1599967755.55 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967755.96 epoch sec; seqNo:21503; 4061681.00 north; 594414.81 east 2020-11-23T22:54:01Z- waiting for 1599967758.55, time is 1599967755.55 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967756.36 epoch sec; seqNo:21504 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.40 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967758.55, time is 1599967755.55 2020-11-23T22:54:01Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967756.76 epoch sec; seqNo:21505 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.40 phi; -0.05 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967758.55, time is 1599967755.55 2020-11-23T22:54:01Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967776.02 epoch sec; seqNo:21553 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.40 phi; 0.00 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967758.55, time is 1599967755.55 2020-11-23T22:54:01Z- sync is 20.47, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1599967776022; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967758.55, time is 1599967755.55 2020-11-23T22:54:01Z- sync is 20.47, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967776.02 epoch sec; seqNo:21553 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:54:01Z- waiting for 1599967758.55, time is 1599967776.02 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967776.02, meas time 1599967776.02 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to 26.000 at t=1599967776.02, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967776.02 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061681, 594414.81, 50.37) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967776.02 epoch sec; seqNo:21553; 4061683.11 north; 594434.31 east 2020-11-23T22:54:01Z- waiting for 1599967779.02, time is 1599967776.02 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967776.42 epoch sec; seqNo:21554 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.40 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967779.02, time is 1599967776.02 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1599967776422; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967779.02, time is 1599967776.02 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967776.42 epoch sec; seqNo:21554 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.00 , 26.00 , 26.00 , 26.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.01 2020-11-23T22:54:01Z- waiting for 1599967779.02, time is 1599967776.42 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967776.43 epoch sec; seqNo:21554; 4061683.11 north; 594434.31 east 2020-11-23T22:54:01Z- waiting for 1599967779.02, time is 1599967776.42 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967776.82 epoch sec; seqNo:21555 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.40 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967779.02, time is 1599967776.42 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967788.86 epoch sec; seqNo:21585 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 4.00 , 4.00 , 4.00 , 4.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967779.02, time is 1599967788.86 2020-11-23T22:54:01Z- sync is 12.03, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967788.86 epoch sec; seqNo:21585; 4061684.38 north; 594446.50 east 2020-11-23T22:54:01Z- waiting for 1599967779.02, time is 1599967788.86 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- LcmTrn::updateTrn() >>>> pose time 1599967788.86, meas time 1599967788.86 <<<< 2020-11-23T22:54:01Z- TerrainNav:: Throwing out all beams because more than two are equal to 4.000 at t=1599967788.86, ping # 0. 2020-11-23T22:54:01Z- TerrainNav::Measurement type 1 from time = 1599967788.86 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:01Z- TerrainNav::motionUpdate() - currEstimate = (4061684, 594446.50, 50.36) 2020-11-23T22:54:01Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967789.26 epoch sec; seqNo:21586 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.40 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:01Z- waiting for 1599967791.86, time is 1599967788.86 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1599967789255; depth 0.00 2020-11-23T22:54:01Z- waiting for 1599967791.86, time is 1599967788.86 2020-11-23T22:54:01Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: 1599967789.26 epoch sec; seqNo:21586 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:54:01Z- waiting for 1599967791.86, time is 1599967789.26 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967789.26 epoch sec; seqNo:21586; 4061684.39 north; 594447.72 east 2020-11-23T22:54:01Z- waiting for 1599967791.86, time is 1599967789.26 2020-11-23T22:54:01Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:01Z- AHRS_M2 msg: 1599967789.66 epoch sec; seqNo:21587 2020-11-23T22:54:01Z- AHRS_M2 msg: 1.40 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967791.86, time is 1599967789.26 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1599967789658; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967791.86, time is 1599967789.26 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967818.95 epoch sec; seqNo:21660 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967791.86, time is 1599967789.26 2020-11-23T22:54:06Z- sync is 29.70, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1599967818952; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967791.86, time is 1599967789.26 2020-11-23T22:54:06Z- sync is 29.70, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967818.95 epoch sec; seqNo:21660 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 0.00 , 0.00 , 0.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967791.86, time is 1599967818.95 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- LcmTrn::updateTrn() >>>> pose time 1599967818.95, meas time 1599967818.95 <<<< 2020-11-23T22:54:06Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1599967818.95, ping # 0. 2020-11-23T22:54:06Z- TerrainNav::Measurement type 1 from time = 1599967818.95 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:06Z- TerrainNav::motionUpdate() - currEstimate = (4061684, 594447.72, 49.74) 2020-11-23T22:54:06Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:06Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:06Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:06Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:06Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967818.95 epoch sec; seqNo:21660; 4061687.75 north; 594476.98 east 2020-11-23T22:54:06Z- waiting for 1599967821.95, time is 1599967818.95 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967819.35 epoch sec; seqNo:21661 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967821.95, time is 1599967818.95 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1599967819355; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967821.95, time is 1599967818.95 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967819.36 epoch sec; seqNo:21661 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967821.95, time is 1599967819.36 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967819.36 epoch sec; seqNo:21661; 4061687.75 north; 594476.98 east 2020-11-23T22:54:06Z- waiting for 1599967821.95, time is 1599967819.36 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1599967819758; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967821.95, time is 1599967819.36 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967819.76 epoch sec; seqNo:21662 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 1.00 , 1.00 , 1.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967821.95, time is 1599967819.76 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967819.76 epoch sec; seqNo:21662; 4061687.75 north; 594476.98 east 2020-11-23T22:54:06Z- waiting for 1599967821.95, time is 1599967819.76 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1599967820158; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967821.95, time is 1599967819.76 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967820.16 epoch sec; seqNo:21663 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967821.95, time is 1599967820.16 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967820.16 epoch sec; seqNo:21663; 4061687.76 north; 594478.20 east 2020-11-23T22:54:06Z- waiting for 1599967821.95, time is 1599967820.16 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599967820558; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967821.95, time is 1599967820.16 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967820.56 epoch sec; seqNo:21664 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967821.95, time is 1599967820.56 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967820.56 epoch sec; seqNo:21664; 4061687.76 north; 594478.20 east 2020-11-23T22:54:06Z- waiting for 1599967821.95, time is 1599967820.56 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1599967820958; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967821.95, time is 1599967820.56 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967820.96 epoch sec; seqNo:21665 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 2.00 , 2.00 , 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.08 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967821.95, time is 1599967820.96 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967835.40 epoch sec; seqNo:21701 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967821.95, time is 1599967820.96 2020-11-23T22:54:06Z- sync is 14.44, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599967835400; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967821.95, time is 1599967820.96 2020-11-23T22:54:06Z- sync is 14.44, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967835.40 epoch sec; seqNo:21701 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967821.95, time is 1599967835.40 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- LcmTrn::updateTrn() >>>> pose time 1599967835.40, meas time 1599967835.40 <<<< 2020-11-23T22:54:06Z- TerrainNav:: Throwing out all beams because more than two are equal to 17.000 at t=1599967835.40, ping # 0. 2020-11-23T22:54:06Z- TerrainNav::Measurement type 1 from time = 1599967835.40 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:06Z- TerrainNav::motionUpdate() - currEstimate = (4061688, 594478.20, 49.82) 2020-11-23T22:54:06Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:06Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:06Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:06Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:06Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967835.40 epoch sec; seqNo:21701; 4061689.44 north; 594492.82 east 2020-11-23T22:54:06Z- waiting for 1599967838.40, time is 1599967835.40 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967835.80 epoch sec; seqNo:21702 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967838.40, time is 1599967835.40 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1599967835800; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967838.40, time is 1599967835.40 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967835.80 epoch sec; seqNo:21702 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 17.00 , 17.00 , 17.00 , 17.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967838.40, time is 1599967835.80 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967835.80 epoch sec; seqNo:21702; 4061689.44 north; 594492.82 east 2020-11-23T22:54:06Z- waiting for 1599967838.40, time is 1599967835.80 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967836.20 epoch sec; seqNo:21703 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967838.40, time is 1599967836.20 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967836.20 epoch sec; seqNo:21703; 4061689.44 north; 594492.82 east 2020-11-23T22:54:06Z- waiting for 1599967838.40, time is 1599967836.20 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967836.60 epoch sec; seqNo:21704 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967838.40, time is 1599967836.20 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1599967836604; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967838.40, time is 1599967836.20 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1599967837004; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967838.40, time is 1599967836.20 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1599967837405; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967838.40, time is 1599967836.20 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967837.81 epoch sec; seqNo:21707 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967838.40, time is 1599967836.20 2020-11-23T22:54:06Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1599967837805; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967838.40, time is 1599967836.20 2020-11-23T22:54:06Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967837.81 epoch sec; seqNo:21707 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967838.40, time is 1599967837.81 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967837.81 epoch sec; seqNo:21707; 4061689.84 north; 594495.26 east 2020-11-23T22:54:06Z- waiting for 1599967838.40, time is 1599967837.81 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1599967838209; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967838.40, time is 1599967837.81 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967857.08 epoch sec; seqNo:21755; 4061691.94 north; 594513.54 east 2020-11-23T22:54:06Z- waiting for 1599967838.40, time is 1599967837.81 2020-11-23T22:54:06Z- sync is 19.27, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967857.48 epoch sec; seqNo:21756 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967838.40, time is 1599967837.81 2020-11-23T22:54:06Z- sync is 19.67, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 50.05 epoch sec; seqNo:1599967857477; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967838.40, time is 1599967837.81 2020-11-23T22:54:06Z- sync is 19.67, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967857.48 epoch sec; seqNo:21756 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967838.40, time is 1599967857.48 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- LcmTrn::updateTrn() >>>> pose time 1599967857.48, meas time 1599967857.48 <<<< 2020-11-23T22:54:06Z- TerrainNav:: Throwing out all beams because more than two are equal to 5.000 at t=1599967857.48, ping # 0. 2020-11-23T22:54:06Z- TerrainNav::Measurement type 1 from time = 1599967857.48 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:06Z- TerrainNav::motionUpdate() - currEstimate = (4061692, 594513.54, 50.05) 2020-11-23T22:54:06Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:06Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:06Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:06Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:06Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967857.48 epoch sec; seqNo:21756; 4061691.95 north; 594514.76 east 2020-11-23T22:54:06Z- waiting for 1599967860.48, time is 1599967857.48 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967857.88 epoch sec; seqNo:21757 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967860.48, time is 1599967857.48 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 50.06 epoch sec; seqNo:1599967857879; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967860.48, time is 1599967857.48 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967857.88 epoch sec; seqNo:21757 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 5.00 , 5.00 , 5.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967860.48, time is 1599967857.88 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967857.88 epoch sec; seqNo:21757; 4061691.95 north; 594514.76 east 2020-11-23T22:54:06Z- waiting for 1599967860.48, time is 1599967857.88 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967858.28 epoch sec; seqNo:21758 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967860.48, time is 1599967857.88 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 50.06 epoch sec; seqNo:1599967858282; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967860.48, time is 1599967857.88 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967858.29 epoch sec; seqNo:21758 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967860.48, time is 1599967858.29 2020-11-23T22:54:06Z- sync is 0.01, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967858.29 epoch sec; seqNo:21758; 4061691.95 north; 594514.76 east 2020-11-23T22:54:06Z- waiting for 1599967860.48, time is 1599967858.29 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967858.68 epoch sec; seqNo:21759 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967860.48, time is 1599967858.29 2020-11-23T22:54:06Z- sync is 0.39, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967858.68 epoch sec; seqNo:21759 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 6.00 , 6.00 , 6.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967860.48, time is 1599967858.68 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967858.68 epoch sec; seqNo:21759; 4061692.35 north; 594515.98 east 2020-11-23T22:54:06Z- waiting for 1599967860.48, time is 1599967858.68 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967859.08 epoch sec; seqNo:21760 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 7.00 , 7.00 , 7.00 , 7.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967860.48, time is 1599967859.08 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967859.08 epoch sec; seqNo:21760; 4061692.35 north; 594515.98 east 2020-11-23T22:54:06Z- waiting for 1599967860.48, time is 1599967859.08 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967861.49 epoch sec; seqNo:21766 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967860.48, time is 1599967861.49 2020-11-23T22:54:06Z- sync is 2.41, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967861.50 epoch sec; seqNo:21766; 4061692.37 north; 594518.42 east 2020-11-23T22:54:06Z- waiting for 1599967860.48, time is 1599967861.49 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- LcmTrn::updateTrn() >>>> pose time 1599967861.50, meas time 1599967861.49 <<<< 2020-11-23T22:54:06Z- TerrainNav:: Throwing out all beams because more than two are equal to 9.000 at t=1599967861.49, ping # 0. 2020-11-23T22:54:06Z- TerrainNav::Measurement type 1 from time = 1599967861.49 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:06Z- TerrainNav::motionUpdate() - currEstimate = (4061692, 594518.42, 50.06) 2020-11-23T22:54:06Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:06Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:06Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:06Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:06Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967861.89 epoch sec; seqNo:21767 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967864.49, time is 1599967861.49 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1599967861893; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967864.49, time is 1599967861.49 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967861.89 epoch sec; seqNo:21767; 4061692.37 north; 594518.42 east 2020-11-23T22:54:06Z- waiting for 1599967864.49, time is 1599967861.49 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 50.12 epoch sec; seqNo:1599967862297; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967864.49, time is 1599967861.49 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967870.72 epoch sec; seqNo:21789 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 18.00 , 18.00 , 18.00 , 18.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967864.49, time is 1599967870.72 2020-11-23T22:54:06Z- sync is 8.83, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967870.72 epoch sec; seqNo:21789; 4061693.60 north; 594526.95 east 2020-11-23T22:54:06Z- waiting for 1599967864.49, time is 1599967870.72 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- LcmTrn::updateTrn() >>>> pose time 1599967870.72, meas time 1599967870.72 <<<< 2020-11-23T22:54:06Z- TerrainNav:: Throwing out all beams because more than two are equal to 18.000 at t=1599967870.72, ping # 0. 2020-11-23T22:54:06Z- TerrainNav::Measurement type 1 from time = 1599967870.72 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:06Z- TerrainNav::motionUpdate() - currEstimate = (4061694, 594526.95, 50.12) 2020-11-23T22:54:06Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:06Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:06Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:06Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:06Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967871.12 epoch sec; seqNo:21790 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967873.72, time is 1599967870.72 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1599967871123; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967873.72, time is 1599967870.72 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967871.12 epoch sec; seqNo:21790 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 19.00 , 19.00 , 19.00 , 19.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967873.72, time is 1599967871.12 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967871.13 epoch sec; seqNo:21790; 4061693.62 north; 594528.17 east 2020-11-23T22:54:06Z- waiting for 1599967873.72, time is 1599967871.12 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967871.52 epoch sec; seqNo:21791 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967873.72, time is 1599967871.12 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1599967871522; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967873.72, time is 1599967871.12 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967880.36 epoch sec; seqNo:21813 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967873.72, time is 1599967871.12 2020-11-23T22:54:06Z- sync is 9.23, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599967880355; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967873.72, time is 1599967871.12 2020-11-23T22:54:06Z- sync is 9.23, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967880.36 epoch sec; seqNo:21813 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967873.72, time is 1599967880.36 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- LcmTrn::updateTrn() >>>> pose time 1599967880.36, meas time 1599967880.36 <<<< 2020-11-23T22:54:06Z- TerrainNav:: Throwing out all beams because more than two are equal to 28.000 at t=1599967880.36, ping # 0. 2020-11-23T22:54:06Z- TerrainNav::Measurement type 1 from time = 1599967880.36 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:06Z- TerrainNav::motionUpdate() - currEstimate = (4061694, 594528.17, 50.39) 2020-11-23T22:54:06Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:06Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:06Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:06Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:06Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967880.76 epoch sec; seqNo:21814 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967883.36, time is 1599967880.36 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1599967880756; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967883.36, time is 1599967880.36 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967880.76 epoch sec; seqNo:21814 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.00 , 28.00 , 28.00 , 28.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967883.36, time is 1599967880.76 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967881.16 epoch sec; seqNo:21815 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967883.36, time is 1599967880.76 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1599967881158; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967883.36, time is 1599967880.76 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967881.56 epoch sec; seqNo:21816 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; -0.03 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967883.36, time is 1599967880.76 2020-11-23T22:54:06Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1599967881561; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967883.36, time is 1599967880.76 2020-11-23T22:54:06Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967889.19 epoch sec; seqNo:21835 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 3.00 , 3.00 , 3.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:54:06Z- waiting for 1599967883.36, time is 1599967889.19 2020-11-23T22:54:06Z- sync is 7.63, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967889.19 epoch sec; seqNo:21835; 4061695.70 north; 594545.23 east 2020-11-23T22:54:06Z- waiting for 1599967883.36, time is 1599967889.19 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- LcmTrn::updateTrn() >>>> pose time 1599967889.19, meas time 1599967889.19 <<<< 2020-11-23T22:54:06Z- TerrainNav:: Throwing out all beams because more than two are equal to 3.000 at t=1599967889.19, ping # 0. 2020-11-23T22:54:06Z- TerrainNav::Measurement type 1 from time = 1599967889.19 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:06Z- TerrainNav::motionUpdate() - currEstimate = (4061696, 594545.23, 50.41) 2020-11-23T22:54:06Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:06Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:06Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:06Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:06Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967889.59 epoch sec; seqNo:21836 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; -0.02 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967892.19, time is 1599967889.19 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967889.60 epoch sec; seqNo:21836; 4061695.70 north; 594545.23 east 2020-11-23T22:54:06Z- waiting for 1599967892.19, time is 1599967889.19 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967889.99 epoch sec; seqNo:21837 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967892.19, time is 1599967889.19 2020-11-23T22:54:06Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967890.00 epoch sec; seqNo:21837; 4061695.71 north; 594546.46 east 2020-11-23T22:54:06Z- waiting for 1599967892.19, time is 1599967889.19 2020-11-23T22:54:06Z- sync is 0.81, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967890.39 epoch sec; seqNo:21838 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967892.19, time is 1599967889.19 2020-11-23T22:54:06Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967890.80 epoch sec; seqNo:21839 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; -0.01 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967892.19, time is 1599967889.19 2020-11-23T22:54:06Z- sync is 1.60, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967898.82 epoch sec; seqNo:21859; 4061696.94 north; 594554.98 east 2020-11-23T22:54:06Z- waiting for 1599967892.19, time is 1599967889.19 2020-11-23T22:54:06Z- sync is 9.63, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967899.22 epoch sec; seqNo:21860 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967892.19, time is 1599967889.19 2020-11-23T22:54:06Z- sync is 10.03, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1599967899224; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967892.19, time is 1599967889.19 2020-11-23T22:54:06Z- sync is 10.03, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967899.22 epoch sec; seqNo:21860 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:54:06Z- waiting for 1599967892.19, time is 1599967899.22 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- LcmTrn::updateTrn() >>>> pose time 1599967899.22, meas time 1599967899.22 <<<< 2020-11-23T22:54:06Z- TerrainNav:: Throwing out all beams because more than two are equal to 13.000 at t=1599967899.22, ping # 0. 2020-11-23T22:54:06Z- TerrainNav::Measurement type 1 from time = 1599967899.22 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:06Z- TerrainNav::motionUpdate() - currEstimate = (4061697, 594554.98, 50.44) 2020-11-23T22:54:06Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:06Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:06Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:06Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:06Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967899.23 epoch sec; seqNo:21860; 4061696.94 north; 594554.98 east 2020-11-23T22:54:06Z- waiting for 1599967902.22, time is 1599967899.22 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967899.62 epoch sec; seqNo:21861 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 13.00 , 13.00 , 13.00 , 13.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:54:06Z- waiting for 1599967902.22, time is 1599967899.62 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967900.02 epoch sec; seqNo:21862 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:54:06Z- waiting for 1599967902.22, time is 1599967900.02 2020-11-23T22:54:06Z- sync is 0.80, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967900.42 epoch sec; seqNo:21863 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.00 , 14.00 , 14.00 , 14.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:54:06Z- waiting for 1599967902.22, time is 1599967900.42 2020-11-23T22:54:06Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967908.84 epoch sec; seqNo:21884 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; 0.02 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967902.22, time is 1599967900.42 2020-11-23T22:54:06Z- sync is 8.42, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 50.19 epoch sec; seqNo:1599967908844; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967902.22, time is 1599967900.42 2020-11-23T22:54:06Z- sync is 8.42, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967908.85 epoch sec; seqNo:21884 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 22.00 , 22.00 , 22.00 , 22.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:54:06Z- waiting for 1599967902.22, time is 1599967908.85 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- LcmTrn::updateTrn() >>>> pose time 1599967908.84, meas time 1599967908.85 <<<< 2020-11-23T22:54:06Z- TerrainNav:: Throwing out all beams because more than two are equal to 22.000 at t=1599967908.85, ping # 0. 2020-11-23T22:54:06Z- TerrainNav::Measurement type 1 from time = 1599967908.85 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:06Z- TerrainNav::motionUpdate() - currEstimate = (4061697, 594554.98, 50.19) 2020-11-23T22:54:06Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:06Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:06Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:06Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:06Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967908.85 epoch sec; seqNo:21884; 4061698.19 north; 594564.73 east 2020-11-23T22:54:06Z- waiting for 1599967911.85, time is 1599967908.85 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967909.25 epoch sec; seqNo:21885 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; 0.02 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967911.85, time is 1599967908.85 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 50.17 epoch sec; seqNo:1599967909247; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967911.85, time is 1599967908.85 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967909.25 epoch sec; seqNo:21885 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 23.00 , 23.00 , 23.00 , 23.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.01 2020-11-23T22:54:06Z- waiting for 1599967911.85, time is 1599967909.25 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967909.25 epoch sec; seqNo:21885; 4061698.19 north; 594564.73 east 2020-11-23T22:54:06Z- waiting for 1599967911.85, time is 1599967909.25 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967909.65 epoch sec; seqNo:21886 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; 0.02 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967911.85, time is 1599967909.25 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967910.05 epoch sec; seqNo:21887 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.39 phi; 0.02 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967911.85, time is 1599967909.25 2020-11-23T22:54:06Z- sync is 0.81, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967917.68 epoch sec; seqNo:21906 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.41 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967911.85, time is 1599967909.25 2020-11-23T22:54:06Z- sync is 8.43, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1599967917678; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967911.85, time is 1599967909.25 2020-11-23T22:54:06Z- sync is 8.43, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967917.68 epoch sec; seqNo:21906 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.00 , 31.00 , 31.00 , 31.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967911.85, time is 1599967917.68 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- LcmTrn::updateTrn() >>>> pose time 1599967917.68, meas time 1599967917.68 <<<< 2020-11-23T22:54:06Z- TerrainNav:: Throwing out all beams because more than two are equal to 31.000 at t=1599967917.68, ping # 0. 2020-11-23T22:54:06Z- TerrainNav::Measurement type 1 from time = 1599967917.68 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:06Z- TerrainNav::motionUpdate() - currEstimate = (4061698, 594564.73, 49.90) 2020-11-23T22:54:06Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:06Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:06Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:06Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:06Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967917.68 epoch sec; seqNo:21906; 4061699.04 north; 594573.27 east 2020-11-23T22:54:06Z- waiting for 1599967920.68, time is 1599967917.68 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967918.08 epoch sec; seqNo:21907 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.41 phi; 0.01 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967920.68, time is 1599967917.68 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967918.08 epoch sec; seqNo:21907 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 32.00 , 32.00 , 32.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967920.68, time is 1599967918.08 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967918.08 epoch sec; seqNo:21907; 4061699.04 north; 594573.27 east 2020-11-23T22:54:06Z- waiting for 1599967920.68, time is 1599967918.08 2020-11-23T22:54:06Z- sync is 0.00, coherence is 2.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967925.71 epoch sec; seqNo:21926; 4061699.88 north; 594580.58 east 2020-11-23T22:54:06Z- waiting for 1599967920.68, time is 1599967918.08 2020-11-23T22:54:06Z- sync is 7.63, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967928.12 epoch sec; seqNo:21932 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.41 phi; -0.00 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967920.68, time is 1599967918.08 2020-11-23T22:54:06Z- sync is 10.04, coherence is 2.00 2020-11-23T22:54:06Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1599967928924; depth 0.00 2020-11-23T22:54:06Z- waiting for 1599967920.68, time is 1599967918.08 2020-11-23T22:54:06Z- sync is 10.04, coherence is 2.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: 1599967929.33 epoch sec; seqNo:21935 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 9.00 , 9.00 , 9.00 , 9.00 2020-11-23T22:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.02 2020-11-23T22:54:06Z- waiting for 1599967920.68, time is 1599967929.33 2020-11-23T22:54:06Z- sync is 1.20, coherence is 2.00 2020-11-23T22:54:06Z- LcmTrn::updateTrn() >>>> pose time 1599967928.12, meas time 1599967929.33 <<<< 2020-11-23T22:54:06Z- TerrainNav:: Throwing out all beams because more than two are equal to 9.000 at t=1599967929.33, ping # 0. 2020-11-23T22:54:06Z- TerrainNav::Measurement type 1 from time = 1599967929.33 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2020-11-23T22:54:06Z- TerrainNav::motionUpdate() - currEstimate = (4061700, 594580.58, 49.67) 2020-11-23T22:54:06Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2020-11-23T22:54:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-11-23T22:54:06Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-11-23T22:54:06Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-11-23T22:54:06Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-11-23T22:54:06Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-11-23T22:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1599967929.73 epoch sec; seqNo:21936; 4061700.31 north; 594585.46 east 2020-11-23T22:54:06Z- waiting for 1599967932.33, time is 1599967929.33 2020-11-23T22:54:06Z- sync is 0.40, coherence is 2.00 2020-11-23T22:54:06Z- AHRS_M2 msg: 1599967930.53 epoch sec; seqNo:21938 2020-11-23T22:54:06Z- AHRS_M2 msg: 1.41 phi; -0.00 theta; -0.01 psi 2020-11-23T22:54:06Z- waiting for 1599967932.33, time is 1599967929.33 2020-11-23T22:54:06Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:11Z- LcmTrn::cycle() - No messages handled... 2020-11-23T22:54:11Z- waiting for 1599967932.33, time is 1599967929.33 2020-11-23T22:54:11Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:16Z- LcmTrn::cycle() - No messages handled... 2020-11-23T22:54:16Z- waiting for 1599967932.33, time is 1599967929.33 2020-11-23T22:54:16Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:21Z- LcmTrn::cycle() - No messages handled... 2020-11-23T22:54:21Z- waiting for 1599967932.33, time is 1599967929.33 2020-11-23T22:54:21Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:26Z- LcmTrn::cycle() - No messages handled... 2020-11-23T22:54:26Z- waiting for 1599967932.33, time is 1599967929.33 2020-11-23T22:54:26Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:31Z- LcmTrn::cycle() - No messages handled... 2020-11-23T22:54:31Z- waiting for 1599967932.33, time is 1599967929.33 2020-11-23T22:54:31Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:36Z- LcmTrn::cycle() - No messages handled... 2020-11-23T22:54:36Z- waiting for 1599967932.33, time is 1599967929.33 2020-11-23T22:54:36Z- sync is 1.21, coherence is 2.00 2020-11-23T22:54:41Z- LcmTrn::cycle() - No messages handled... 2020-11-23T22:54:41Z- waiting for 1599967932.33, time is 1599967929.33 2020-11-23T22:54:41Z- sync is 1.21, coherence is 2.00