2020-12-09T03:45:10Z* LcmTrn::LcmTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2020-12-09T03:45:10Z* LcmTrn::init() - using configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2020-12-09T03:45:10Z* ahrs config: AHRS_M2, platform_orientation, platform_pitch_angle, platform_roll_angle 2020-12-09T03:45:10Z* dvl config: RDI_Pathfinder, Beam1Range, Beam2Range, Beam3Range, Beam4Range, BottomVelocityFlag 2020-12-09T03:45:10Z* nav config: DeadReckonUsingMultipleVelocitySources, latitude, longitude 2020-12-09T03:45:10Z* depth config: Depth_Keller, depth, sea_water_pressure 2020-12-09T03:45:10Z* trn config: TRN, trn_mle, trn_mmse, trn_var, trn_reinits, trn_filterstate 2020-12-09T03:45:10Z* LCM timeout=5.00 sec 2020-12-09T03:45:10Z* TRN settings: 2020-12-09T03:45:10Z* period=3.00 sec 2020-12-09T03:45:10Z* coherence=2.00 sec 2020-12-09T03:45:10Z* map = PortTiles cfg = mappingAUV_specs.cfg part= particles.cfg logdir= lrauv 2020-12-09T03:45:10Z* maptype = 2 filtertype = 3 weighting = 0 2020-12-09T03:45:10Z* lowgrade_filter = 1 allow reinit = 1 2020-12-09T03:45:10Z* LcmTrn::initTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2020-12-09T03:45:10Z* LcmTrn::initTrn() - map: /home/tethysadmin/Downloads/trnmaps/PortTiles 2020-12-09T03:45:10Z* LcmTrn::initTrn() - cfg: /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2020-12-09T03:45:10Z* LcmTrn::initTrn() - part: /home/tethysadmin/Downloads/trncfgs/particles.cfg 2020-12-09T03:45:10Z* TerrainMapOctree::tileDataName = /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv 2020-12-09T03:45:10Z* TerrainMapOctree::numTiles_ = 9. 2020-12-09T03:45:10Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo 4061250.0 594250.0 . 2020-12-09T03:45:10Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile2.bo 4061250.0 594750.0 . 2020-12-09T03:45:10Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile3.bo 4061250.0 595250.0 . 2020-12-09T03:45:10Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo 4061750.0 594250.0 . 2020-12-09T03:45:10Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile5.bo 4061750.0 594750.0 . 2020-12-09T03:45:10Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile6.bo 4061750.0 595250.0 . 2020-12-09T03:45:10Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile7.bo 4062250.0 594250.0 . 2020-12-09T03:45:10Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile8.bo 4062250.0 594750.0 . 2020-12-09T03:45:10Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile9.bo 4062250.0 595250.0 . 2020-12-09T03:45:10Z* TerrainMapOctree::loaded 9 useable tiles from /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv. 2020-12-09T03:45:11Z* TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo took 0.771466 seconds. 2020-12-09T03:45:11Z* TRN log directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.21 2020-12-09T03:45:11Z* symlink /home/tethysadmin/Downloads/trnlogs/latestTRN to /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.21 OK 2020-12-09T03:45:11Z* parseSensorSpecs parsing sensor of type 1. 2020-12-09T03:45:11Z* Sensor 0 is of type 1. 2020-12-09T03:45:11Z* parseSensorSpecs parsing sensor of type 2. 2020-12-09T03:45:11Z* Sensor 1 is of type 2. 2020-12-09T03:45:11Z* parseSensorSpecs parsing sensor of type 5. 2020-12-09T03:45:11Z* Sensor 2 is of type 5. 2020-12-09T03:45:11Z- File created[/home/tethysadmin/Downloads/trnlogs/latestTRN/trn.log.0000] returned[0x559a51e550] 2020-12-09T03:45:11Z- TNavConfig::setParticlesFile: value is now particles.cfg 2020-12-09T03:45:11Z- TNavConfig::setMapFile: value is now /home/tethysadmin/Downloads/trnmaps/PortTiles 2020-12-09T03:45:11Z- TNavConfig::setVehicleSpecsFile: value is now /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2020-12-09T03:45:11Z- TNavConfig::setParticlesFile: value is now /home/tethysadmin/Downloads/trncfgs/particles.cfg 2020-12-09T03:45:11Z- TNavConfig::setLogDir: value is now /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.21 2020-12-09T03:45:11Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2020-12-09T03:45:11Z- parseSensorSpecs parsing sensor of type 1. 2020-12-09T03:45:11Z- Sensor 0 is of type 1. 2020-12-09T03:45:11Z- parseSensorSpecs parsing sensor of type 2. 2020-12-09T03:45:11Z- Sensor 1 is of type 2. 2020-12-09T03:45:11Z- parseSensorSpecs parsing sensor of type 5. 2020-12-09T03:45:11Z- Sensor 2 is of type 5. 2020-12-09T03:45:11Z- Random noise maker initialized with 1607485511 2020-12-09T03:45:11Z- setDistribToSave(0) 2020-12-09T03:45:11Z- setDistribToSave set to 0 2020-12-09T03:45:11Z- Vehicle name: mappingAUV Number of sensors: 3 2020-12-09T03:45:11Z- Sensor #1: 2020-12-09T03:45:11Z- Sensor name: rdiDVL 2020-12-09T03:45:11Z- Sensor type: 1 2020-12-09T03:45:11Z- Number of beams per measurement: 4 2020-12-09T03:45:11Z- Sensor #1 to vehicle transformation information: 2020-12-09T03:45:11Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2020-12-09T03:45:11Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2020-12-09T03:45:11Z- 2020-12-09T03:45:11Z- Sensor #2: 2020-12-09T03:45:11Z- Sensor name: resonSeabat8101 2020-12-09T03:45:11Z- Sensor type: 2 2020-12-09T03:45:11Z- Number of beams per measurement: 11 2020-12-09T03:45:11Z- Sensor #2 to vehicle transformation information: 2020-12-09T03:45:11Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2020-12-09T03:45:11Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2020-12-09T03:45:11Z- 2020-12-09T03:45:11Z- Sensor #3: 2020-12-09T03:45:11Z- Sensor name: imagenexdeltat 2020-12-09T03:45:11Z- Sensor type: 5 2020-12-09T03:45:11Z- Number of beams per measurement: 120 2020-12-09T03:45:11Z- Sensor #3 to vehicle transformation information: 2020-12-09T03:45:11Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2020-12-09T03:45:11Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2020-12-09T03:45:11Z- 2020-12-09T03:45:11Z- TNavBF::nParticles: 10000 numFilters: 2 PMF Grid Resolution: 1.0 PMF Grid Size: 100 2020-12-09T03:45:11Z- TerrainNav::TNavFilter initialized with type 3 2020-12-09T03:45:11Z- TerrainNav::initVariables finished. 2020-12-09T03:45:11Z- TerrainNav::Constructor finished. 2020-12-09T03:45:11Z- TNavBF::setModifiedWeighting umw: 4 2020-12-09T03:45:11Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20 2020-12-09T03:45:11Z- TNavBF::numFilters: 1 2020-12-09T03:45:11Z- TerrainNav::modified weighting set to 0 2020-12-09T03:45:11Z- LcmTrn::initLcm() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2020-12-09T03:45:11Z- LcmTrn::run() 2020-12-09T03:45:16Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:45:16Z- waiting for 3.00, time is 0.00 2020-12-09T03:45:16Z- sync is 0.00, coherence is 2.00 2020-12-09T03:45:20Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:45:20Z- waiting for 3.00, time is 0.00 2020-12-09T03:45:20Z- sync is 0.00, coherence is 2.00 2020-12-09T03:45:25Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:45:25Z- waiting for 3.00, time is 0.00 2020-12-09T03:45:25Z- sync is 0.00, coherence is 2.00 2020-12-09T03:45:30Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:45:30Z- waiting for 3.00, time is 0.00 2020-12-09T03:45:30Z- sync is 0.00, coherence is 2.00 2020-12-09T03:45:36Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:45:36Z- waiting for 3.00, time is 0.00 2020-12-09T03:45:36Z- sync is 0.00, coherence is 2.00 2020-12-09T03:45:41Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:45:41Z- waiting for 3.00, time is 0.00 2020-12-09T03:45:41Z- sync is 0.00, coherence is 2.00 2020-12-09T03:45:46Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:45:46Z- waiting for 3.00, time is 0.00 2020-12-09T03:45:46Z- sync is 0.00, coherence is 2.00 2020-12-09T03:45:51Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:45:51Z- waiting for 3.00, time is 0.00 2020-12-09T03:45:51Z- sync is 0.00, coherence is 2.00 2020-12-09T03:45:56Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:45:56Z- waiting for 3.00, time is 0.00 2020-12-09T03:45:56Z- sync is 0.00, coherence is 2.00 2020-12-09T03:46:01Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:46:01Z- waiting for 3.00, time is 0.00 2020-12-09T03:46:01Z- sync is 0.00, coherence is 2.00 2020-12-09T03:46:06Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:46:06Z- waiting for 3.00, time is 0.00 2020-12-09T03:46:06Z- sync is 0.00, coherence is 2.00 2020-12-09T03:46:11Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:46:11Z- waiting for 3.00, time is 0.00 2020-12-09T03:46:11Z- sync is 0.00, coherence is 2.00 2020-12-09T03:46:16Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:46:16Z- waiting for 3.00, time is 0.00 2020-12-09T03:46:16Z- sync is 0.00, coherence is 2.00 2020-12-09T03:46:21Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:46:21Z- waiting for 3.00, time is 0.00 2020-12-09T03:46:21Z- sync is 0.00, coherence is 2.00 2020-12-09T03:46:26Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:46:26Z- waiting for 3.00, time is 0.00 2020-12-09T03:46:26Z- sync is 0.00, coherence is 2.00 2020-12-09T03:46:31Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:46:31Z- waiting for 3.00, time is 0.00 2020-12-09T03:46:31Z- sync is 0.00, coherence is 2.00 2020-12-09T03:46:36Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:46:36Z- waiting for 3.00, time is 0.00 2020-12-09T03:46:36Z- sync is 0.00, coherence is 2.00 2020-12-09T03:46:41Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:46:41Z- waiting for 3.00, time is 0.00 2020-12-09T03:46:41Z- sync is 0.00, coherence is 2.00 2020-12-09T03:46:46Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:46:46Z- waiting for 3.00, time is 0.00 2020-12-09T03:46:46Z- sync is 0.00, coherence is 2.00 2020-12-09T03:46:51Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:46:51Z- waiting for 3.00, time is 0.00 2020-12-09T03:46:51Z- sync is 0.00, coherence is 2.00 2020-12-09T03:46:56Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:46:56Z- waiting for 3.00, time is 0.00 2020-12-09T03:46:56Z- sync is 0.00, coherence is 2.00 2020-12-09T03:47:01Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:47:01Z- waiting for 3.00, time is 0.00 2020-12-09T03:47:01Z- sync is 0.00, coherence is 2.00 2020-12-09T03:47:06Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:47:06Z- waiting for 3.00, time is 0.00 2020-12-09T03:47:06Z- sync is 0.00, coherence is 2.00 2020-12-09T03:47:11Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:47:11Z- waiting for 3.00, time is 0.00 2020-12-09T03:47:11Z- sync is 0.00, coherence is 2.00 2020-12-09T03:47:16Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:47:16Z- waiting for 3.00, time is 0.00 2020-12-09T03:47:16Z- sync is 0.00, coherence is 2.00 2020-12-09T03:47:21Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:47:21Z- waiting for 3.00, time is 0.00 2020-12-09T03:47:21Z- sync is 0.00, coherence is 2.00 2020-12-09T03:47:26Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:47:26Z- waiting for 3.00, time is 0.00 2020-12-09T03:47:26Z- sync is 0.00, coherence is 2.00 2020-12-09T03:47:31Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:47:31Z- waiting for 3.00, time is 0.00 2020-12-09T03:47:31Z- sync is 0.00, coherence is 2.00 2020-12-09T03:47:36Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:47:36Z- waiting for 3.00, time is 0.00 2020-12-09T03:47:36Z- sync is 0.00, coherence is 2.00 2020-12-09T03:47:41Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:47:41Z- waiting for 3.00, time is 0.00 2020-12-09T03:47:41Z- sync is 0.00, coherence is 2.00 2020-12-09T03:47:46Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:47:46Z- waiting for 3.00, time is 0.00 2020-12-09T03:47:46Z- sync is 0.00, coherence is 2.00 2020-12-09T03:47:51Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:47:51Z- waiting for 3.00, time is 0.00 2020-12-09T03:47:51Z- sync is 0.00, coherence is 2.00 2020-12-09T03:47:56Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:47:56Z- waiting for 3.00, time is 0.00 2020-12-09T03:47:56Z- sync is 0.00, coherence is 2.00 2020-12-09T03:48:01Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:48:01Z- waiting for 3.00, time is 0.00 2020-12-09T03:48:01Z- sync is 0.00, coherence is 2.00 2020-12-09T03:48:06Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:48:06Z- waiting for 3.00, time is 0.00 2020-12-09T03:48:06Z- sync is 0.00, coherence is 2.00 2020-12-09T03:48:11Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:48:11Z- waiting for 3.00, time is 0.00 2020-12-09T03:48:11Z- sync is 0.00, coherence is 2.00 2020-12-09T03:48:16Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:48:16Z- waiting for 3.00, time is 0.00 2020-12-09T03:48:16Z- sync is 0.00, coherence is 2.00 2020-12-09T03:48:21Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:48:21Z- waiting for 3.00, time is 0.00 2020-12-09T03:48:21Z- sync is 0.00, coherence is 2.00 2020-12-09T03:48:26Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:48:26Z- waiting for 3.00, time is 0.00 2020-12-09T03:48:26Z- sync is 0.00, coherence is 2.00 2020-12-09T03:48:31Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:48:31Z- waiting for 3.00, time is 0.00 2020-12-09T03:48:31Z- sync is 0.00, coherence is 2.00 2020-12-09T03:48:36Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:48:36Z- waiting for 3.00, time is 0.00 2020-12-09T03:48:36Z- sync is 0.00, coherence is 2.00 2020-12-09T03:48:41Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:48:41Z- waiting for 3.00, time is 0.00 2020-12-09T03:48:41Z- sync is 0.00, coherence is 2.00 2020-12-09T03:48:46Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:48:46Z- waiting for 3.00, time is 0.00 2020-12-09T03:48:46Z- sync is 0.00, coherence is 2.00 2020-12-09T03:48:51Z- LcmTrn::cycle() - No messages handled... 2020-12-09T03:48:51Z- waiting for 3.00, time is 0.00 2020-12-09T03:48:51Z- sync is 0.00, coherence is 2.00 2020-12-09T03:48:54Z- AHRS_M2 msg: 1607485734.41 epoch sec; seqNo:1 2020-12-09T03:48:54Z- AHRS_M2 msg: 2.64 phi; 0.04 theta; 0.03 psi 2020-12-09T03:48:54Z- waiting for 3.00, time is 0.00 2020-12-09T03:48:54Z- sync is 1607485734.41, coherence is 2.00 2020-12-09T03:48:54Z- handleDepth()-Depth_Keller msg: 0.05 epoch sec; seqNo:1607485734430; depth 0.00 2020-12-09T03:48:54Z- waiting for 3.00, time is 0.00 2020-12-09T03:48:54Z- sync is 1607485734.41, coherence is 2.00 2020-12-09T03:48:54Z- handleDvl() - RDI_Pathfinder msg: 1607485734.47 epoch sec; seqNo:1 2020-12-09T03:48:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T03:48:54Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:48:54Z- waiting for 1607485737.47, time is 1607485734.47 2020-12-09T03:48:54Z- sync is 0.07, coherence is 2.00 2020-12-09T03:48:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485734.53 epoch sec; seqNo:1; 4061789.81 north; 594420.93 east 2020-12-09T03:48:54Z- waiting for 1607485737.47, time is 1607485734.47 2020-12-09T03:48:54Z- sync is 0.06, coherence is 2.00 2020-12-09T03:48:54Z- AHRS_M2 msg: 1607485734.79 epoch sec; seqNo:2 2020-12-09T03:48:54Z- AHRS_M2 msg: 2.67 phi; -0.06 theta; -0.01 psi 2020-12-09T03:48:54Z- waiting for 1607485737.47, time is 1607485734.47 2020-12-09T03:48:54Z- sync is 0.31, coherence is 2.00 2020-12-09T03:48:54Z- handleDepth()-Depth_Keller msg: 0.09 epoch sec; seqNo:1607485734797; depth 0.00 2020-12-09T03:48:54Z- waiting for 1607485737.47, time is 1607485734.47 2020-12-09T03:48:54Z- sync is 0.31, coherence is 2.00 2020-12-09T03:48:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485734.81 epoch sec; seqNo:2; 4061789.43 north; 594420.93 east 2020-12-09T03:48:54Z- waiting for 1607485737.47, time is 1607485734.47 2020-12-09T03:48:54Z- sync is 0.34, coherence is 2.00 2020-12-09T03:48:55Z- AHRS_M2 msg: 1607485735.21 epoch sec; seqNo:3 2020-12-09T03:48:55Z- AHRS_M2 msg: 2.66 phi; -0.08 theta; -0.06 psi 2020-12-09T03:48:55Z- waiting for 1607485737.47, time is 1607485734.47 2020-12-09T03:48:55Z- sync is 0.74, coherence is 2.00 2020-12-09T03:48:55Z- handleDepth()-Depth_Keller msg: 0.07 epoch sec; seqNo:1607485735226; depth 0.00 2020-12-09T03:48:55Z- waiting for 1607485737.47, time is 1607485734.47 2020-12-09T03:48:55Z- sync is 0.74, coherence is 2.00 2020-12-09T03:48:55Z- handleDvl() - RDI_Pathfinder msg: 1607485735.25 epoch sec; seqNo:2 2020-12-09T03:48:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.13 , 79.24 , 85.13 , 82.43 2020-12-09T03:48:55Z- handleDvl() - RDI_Pathfinder msg: velocities -0.82 , 0.49 , -0.11 2020-12-09T03:48:55Z- waiting for 1607485737.47, time is 1607485735.25 2020-12-09T03:48:55Z- sync is 0.03, coherence is 2.00 2020-12-09T03:48:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485735.26 epoch sec; seqNo:3; 4061789.80 north; 594419.71 east 2020-12-09T03:48:55Z- waiting for 1607485737.47, time is 1607485735.25 2020-12-09T03:48:55Z- sync is 0.01, coherence is 2.00 2020-12-09T03:48:55Z- AHRS_M2 msg: 1607485735.60 epoch sec; seqNo:4 2020-12-09T03:48:55Z- AHRS_M2 msg: 2.67 phi; -0.04 theta; -0.10 psi 2020-12-09T03:48:55Z- waiting for 1607485737.47, time is 1607485735.25 2020-12-09T03:48:55Z- sync is 0.35, coherence is 2.00 2020-12-09T03:48:55Z- handleDepth()-Depth_Keller msg: 0.08 epoch sec; seqNo:1607485735606; depth 0.00 2020-12-09T03:48:55Z- waiting for 1607485737.47, time is 1607485735.25 2020-12-09T03:48:55Z- sync is 0.35, coherence is 2.00 2020-12-09T03:48:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485735.62 epoch sec; seqNo:4; 4061789.80 north; 594419.71 east 2020-12-09T03:48:55Z- waiting for 1607485737.47, time is 1607485735.25 2020-12-09T03:48:55Z- sync is 0.37, coherence is 2.00 2020-12-09T03:48:55Z- AHRS_M2 msg: 1607485736.00 epoch sec; seqNo:5 2020-12-09T03:48:55Z- AHRS_M2 msg: 2.69 phi; -0.01 theta; -0.11 psi 2020-12-09T03:48:55Z- waiting for 1607485737.47, time is 1607485735.25 2020-12-09T03:48:55Z- sync is 0.75, coherence is 2.00 2020-12-09T03:48:55Z- handleDepth()-Depth_Keller msg: 0.07 epoch sec; seqNo:1607485736010; depth 0.00 2020-12-09T03:48:55Z- waiting for 1607485737.47, time is 1607485735.25 2020-12-09T03:48:55Z- sync is 0.75, coherence is 2.00 2020-12-09T03:48:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485736.04 epoch sec; seqNo:5; 4061790.18 north; 594419.70 east 2020-12-09T03:48:55Z- waiting for 1607485737.47, time is 1607485735.25 2020-12-09T03:48:55Z- sync is 0.79, coherence is 2.00 2020-12-09T03:48:56Z- AHRS_M2 msg: 1607485736.41 epoch sec; seqNo:6 2020-12-09T03:48:56Z- AHRS_M2 msg: 2.69 phi; -0.04 theta; -0.09 psi 2020-12-09T03:48:56Z- waiting for 1607485737.47, time is 1607485735.25 2020-12-09T03:48:56Z- sync is 1.16, coherence is 2.00 2020-12-09T03:48:56Z- handleDepth()-Depth_Keller msg: 0.05 epoch sec; seqNo:1607485736410; depth 0.00 2020-12-09T03:48:56Z- waiting for 1607485737.47, time is 1607485735.25 2020-12-09T03:48:56Z- sync is 1.16, coherence is 2.00 2020-12-09T03:48:56Z- handleDvl() - RDI_Pathfinder msg: 1607485736.42 epoch sec; seqNo:3 2020-12-09T03:48:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.01 , 87.43 , 86.21 , 81.35 2020-12-09T03:48:56Z- handleDvl() - RDI_Pathfinder msg: velocities -0.41 , 0.36 , 0.30 2020-12-09T03:48:56Z- waiting for 1607485737.47, time is 1607485736.42 2020-12-09T03:48:56Z- sync is 0.02, coherence is 2.00 2020-12-09T03:48:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485736.43 epoch sec; seqNo:6; 4061790.18 north; 594419.70 east 2020-12-09T03:48:56Z- waiting for 1607485737.47, time is 1607485736.42 2020-12-09T03:48:56Z- sync is 0.01, coherence is 2.00 2020-12-09T03:48:56Z- AHRS_M2 msg: 1607485736.81 epoch sec; seqNo:7 2020-12-09T03:48:56Z- AHRS_M2 msg: 2.68 phi; -0.10 theta; -0.05 psi 2020-12-09T03:48:56Z- waiting for 1607485737.47, time is 1607485736.42 2020-12-09T03:48:56Z- sync is 0.39, coherence is 2.00 2020-12-09T03:48:56Z- handleDepth()-Depth_Keller msg: 0.06 epoch sec; seqNo:1607485736828; depth 0.00 2020-12-09T03:48:56Z- waiting for 1607485737.47, time is 1607485736.42 2020-12-09T03:48:56Z- sync is 0.39, coherence is 2.00 2020-12-09T03:48:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485736.84 epoch sec; seqNo:7; 4061790.54 north; 594418.48 east 2020-12-09T03:48:56Z- waiting for 1607485737.47, time is 1607485736.42 2020-12-09T03:48:56Z- sync is 0.42, coherence is 2.00 2020-12-09T03:48:57Z- AHRS_M2 msg: 1607485737.21 epoch sec; seqNo:8 2020-12-09T03:48:57Z- AHRS_M2 msg: 2.68 phi; -0.10 theta; -0.04 psi 2020-12-09T03:48:57Z- waiting for 1607485737.47, time is 1607485736.42 2020-12-09T03:48:57Z- sync is 0.79, coherence is 2.00 2020-12-09T03:48:57Z- handleDepth()-Depth_Keller msg: 0.04 epoch sec; seqNo:1607485737217; depth 0.00 2020-12-09T03:48:57Z- waiting for 1607485737.47, time is 1607485736.42 2020-12-09T03:48:57Z- sync is 0.79, coherence is 2.00 2020-12-09T03:48:57Z- handleDvl() - RDI_Pathfinder msg: 1607485737.23 epoch sec; seqNo:4 2020-12-09T03:48:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.93 , 86.14 , 83.71 , 83.71 2020-12-09T03:48:57Z- handleDvl() - RDI_Pathfinder msg: velocities -0.47 , 0.36 , 0.27 2020-12-09T03:48:57Z- waiting for 1607485737.47, time is 1607485737.23 2020-12-09T03:48:57Z- sync is 0.02, coherence is 2.00 2020-12-09T03:48:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485737.24 epoch sec; seqNo:8; 4061790.54 north; 594418.48 east 2020-12-09T03:48:57Z- waiting for 1607485737.47, time is 1607485737.23 2020-12-09T03:48:57Z- sync is 0.01, coherence is 2.00 2020-12-09T03:48:57Z- AHRS_M2 msg: 1607485737.62 epoch sec; seqNo:9 2020-12-09T03:48:57Z- AHRS_M2 msg: 2.67 phi; -0.06 theta; -0.06 psi 2020-12-09T03:48:57Z- waiting for 1607485737.47, time is 1607485737.23 2020-12-09T03:48:57Z- sync is 0.39, coherence is 2.00 2020-12-09T03:48:57Z- handleDepth()-Depth_Keller msg: 0.05 epoch sec; seqNo:1607485737623; depth 0.00 2020-12-09T03:48:57Z- waiting for 1607485737.47, time is 1607485737.23 2020-12-09T03:48:57Z- sync is 0.39, coherence is 2.00 2020-12-09T03:48:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485737.63 epoch sec; seqNo:9; 4061790.54 north; 594418.48 east 2020-12-09T03:48:57Z- waiting for 1607485737.47, time is 1607485737.23 2020-12-09T03:48:57Z- sync is 0.40, coherence is 2.00 2020-12-09T03:48:57Z- AHRS_M2 msg: 1607485738.02 epoch sec; seqNo:10 2020-12-09T03:48:57Z- AHRS_M2 msg: 2.69 phi; -0.06 theta; -0.08 psi 2020-12-09T03:48:57Z- waiting for 1607485737.47, time is 1607485737.23 2020-12-09T03:48:57Z- sync is 0.79, coherence is 2.00 2020-12-09T03:48:57Z- handleDepth()-Depth_Keller msg: 0.05 epoch sec; seqNo:1607485738024; depth 0.00 2020-12-09T03:48:57Z- waiting for 1607485737.47, time is 1607485737.23 2020-12-09T03:48:57Z- sync is 0.79, coherence is 2.00 2020-12-09T03:48:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485738.05 epoch sec; seqNo:10; 4061790.54 north; 594418.48 east 2020-12-09T03:48:57Z- waiting for 1607485737.47, time is 1607485737.23 2020-12-09T03:48:57Z- sync is 0.82, coherence is 2.00 2020-12-09T03:48:58Z- AHRS_M2 msg: 1607485738.42 epoch sec; seqNo:11 2020-12-09T03:48:58Z- AHRS_M2 msg: 2.73 phi; -0.07 theta; -0.08 psi 2020-12-09T03:48:58Z- waiting for 1607485737.47, time is 1607485737.23 2020-12-09T03:48:58Z- sync is 1.19, coherence is 2.00 2020-12-09T03:48:58Z- handleDepth()-Depth_Keller msg: 0.07 epoch sec; seqNo:1607485738428; depth 0.00 2020-12-09T03:48:58Z- waiting for 1607485737.47, time is 1607485737.23 2020-12-09T03:48:58Z- sync is 1.19, coherence is 2.00 2020-12-09T03:48:58Z- handleDvl() - RDI_Pathfinder msg: 1607485738.44 epoch sec; seqNo:5 2020-12-09T03:48:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.43 , 87.29 , 84.86 , 79.65 2020-12-09T03:48:58Z- handleDvl() - RDI_Pathfinder msg: velocities -0.19 , 0.26 , 0.64 2020-12-09T03:48:58Z- waiting for 1607485737.47, time is 1607485738.44 2020-12-09T03:48:58Z- sync is 0.02, coherence is 2.00 2020-12-09T03:48:58Z- LcmTrn::updateTrn() >>>> pose time 1607485738.42, meas time 1607485738.44 <<<< 2020-12-09T03:48:58Z- TerrainNav::Measurement type 1 from time = 1607485738.44 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2020-12-09T03:48:58Z- TerrainNav::motionUpdate() - currEstimate = (4061791, 594418.48, 0.07) 2020-12-09T03:48:58Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-12-09T03:48:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:48:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:48:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:48:58Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-12-09T03:48:58Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-12-09T03:48:58Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-12-09T03:48:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485738.47 epoch sec; seqNo:11; 4061790.54 north; 594418.48 east 2020-12-09T03:48:58Z- waiting for 1607485741.44, time is 1607485738.44 2020-12-09T03:48:58Z- sync is 0.03, coherence is 2.00 2020-12-09T03:48:58Z- AHRS_M2 msg: 1607485738.83 epoch sec; seqNo:12 2020-12-09T03:48:58Z- AHRS_M2 msg: 2.73 phi; -0.03 theta; -0.08 psi 2020-12-09T03:48:58Z- waiting for 1607485741.44, time is 1607485738.44 2020-12-09T03:48:58Z- sync is 0.39, coherence is 2.00 2020-12-09T03:48:58Z- handleDepth()-Depth_Keller msg: 0.06 epoch sec; seqNo:1607485738832; depth 0.00 2020-12-09T03:48:58Z- waiting for 1607485741.44, time is 1607485738.44 2020-12-09T03:48:58Z- sync is 0.39, coherence is 2.00 2020-12-09T03:48:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485738.84 epoch sec; seqNo:12; 4061790.92 north; 594418.48 east 2020-12-09T03:48:58Z- waiting for 1607485741.44, time is 1607485738.44 2020-12-09T03:48:58Z- sync is 0.41, coherence is 2.00 2020-12-09T03:48:59Z- AHRS_M2 msg: 1607485739.23 epoch sec; seqNo:13 2020-12-09T03:48:59Z- AHRS_M2 msg: 2.72 phi; 0.02 theta; -0.13 psi 2020-12-09T03:48:59Z- waiting for 1607485741.44, time is 1607485738.44 2020-12-09T03:48:59Z- sync is 0.79, coherence is 2.00 2020-12-09T03:48:59Z- handleDepth()-Depth_Keller msg: 0.04 epoch sec; seqNo:1607485739245; depth 0.00 2020-12-09T03:48:59Z- waiting for 1607485741.44, time is 1607485738.44 2020-12-09T03:48:59Z- sync is 0.79, coherence is 2.00 2020-12-09T03:48:59Z- handleDvl() - RDI_Pathfinder msg: 1607485739.26 epoch sec; seqNo:6 2020-12-09T03:48:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.93 , 87.36 , 87.36 , 83.71 2020-12-09T03:48:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.22 , 0.02 , 0.97 2020-12-09T03:48:59Z- waiting for 1607485741.44, time is 1607485739.26 2020-12-09T03:48:59Z- sync is 0.02, coherence is 2.00 2020-12-09T03:48:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485739.27 epoch sec; seqNo:13; 4061790.54 north; 594418.48 east 2020-12-09T03:48:59Z- waiting for 1607485741.44, time is 1607485739.26 2020-12-09T03:48:59Z- sync is 0.01, coherence is 2.00 2020-12-09T03:48:59Z- AHRS_M2 msg: 1607485739.63 epoch sec; seqNo:14 2020-12-09T03:48:59Z- AHRS_M2 msg: 2.72 phi; 0.01 theta; -0.16 psi 2020-12-09T03:48:59Z- waiting for 1607485741.44, time is 1607485739.26 2020-12-09T03:48:59Z- sync is 0.38, coherence is 2.00 2020-12-09T03:48:59Z- handleDepth()-Depth_Keller msg: 0.05 epoch sec; seqNo:1607485739640; depth 0.00 2020-12-09T03:48:59Z- waiting for 1607485741.44, time is 1607485739.26 2020-12-09T03:48:59Z- sync is 0.38, coherence is 2.00 2020-12-09T03:48:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485739.66 epoch sec; seqNo:14; 4061790.54 north; 594418.48 east 2020-12-09T03:48:59Z- waiting for 1607485741.44, time is 1607485739.26 2020-12-09T03:48:59Z- sync is 0.40, coherence is 2.00 2020-12-09T03:48:59Z- AHRS_M2 msg: 1607485740.04 epoch sec; seqNo:15 2020-12-09T03:48:59Z- AHRS_M2 msg: 2.73 phi; -0.05 theta; -0.14 psi 2020-12-09T03:48:59Z- waiting for 1607485741.44, time is 1607485739.26 2020-12-09T03:48:59Z- sync is 0.78, coherence is 2.00 2020-12-09T03:48:59Z- handleDepth()-Depth_Keller msg: 0.04 epoch sec; seqNo:1607485740045; depth 0.00 2020-12-09T03:48:59Z- waiting for 1607485741.44, time is 1607485739.26 2020-12-09T03:48:59Z- sync is 0.78, coherence is 2.00 2020-12-09T03:48:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485740.05 epoch sec; seqNo:15; 4061790.54 north; 594418.48 east 2020-12-09T03:48:59Z- waiting for 1607485741.44, time is 1607485739.26 2020-12-09T03:48:59Z- sync is 0.80, coherence is 2.00 2020-12-09T03:49:00Z- AHRS_M2 msg: 1607485740.44 epoch sec; seqNo:16 2020-12-09T03:49:00Z- AHRS_M2 msg: 2.74 phi; -0.04 theta; -0.14 psi 2020-12-09T03:49:00Z- waiting for 1607485741.44, time is 1607485739.26 2020-12-09T03:49:00Z- sync is 1.19, coherence is 2.00 2020-12-09T03:49:00Z- handleDepth()-Depth_Keller msg: 0.01 epoch sec; seqNo:1607485740448; depth 0.00 2020-12-09T03:49:00Z- waiting for 1607485741.44, time is 1607485739.26 2020-12-09T03:49:00Z- sync is 1.19, coherence is 2.00 2020-12-09T03:49:00Z- handleDvl() - RDI_Pathfinder msg: 1607485740.46 epoch sec; seqNo:7 2020-12-09T03:49:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.29 , 92.02 , 88.37 , 83.51 2020-12-09T03:49:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.20 , -0.14 , 0.00 2020-12-09T03:49:00Z- waiting for 1607485741.44, time is 1607485740.46 2020-12-09T03:49:00Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485740.48 epoch sec; seqNo:16; 4061790.54 north; 594418.48 east 2020-12-09T03:49:00Z- waiting for 1607485741.44, time is 1607485740.46 2020-12-09T03:49:00Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:00Z- AHRS_M2 msg: 1607485740.86 epoch sec; seqNo:17 2020-12-09T03:49:00Z- AHRS_M2 msg: 2.67 phi; 0.02 theta; -0.18 psi 2020-12-09T03:49:00Z- waiting for 1607485741.44, time is 1607485740.46 2020-12-09T03:49:00Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:00Z- handleDepth()-Depth_Keller msg: 0.01 epoch sec; seqNo:1607485740864; depth 0.00 2020-12-09T03:49:00Z- waiting for 1607485741.44, time is 1607485740.46 2020-12-09T03:49:00Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485740.88 epoch sec; seqNo:17; 4061790.16 north; 594418.48 east 2020-12-09T03:49:00Z- waiting for 1607485741.44, time is 1607485740.46 2020-12-09T03:49:00Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:01Z- AHRS_M2 msg: 1607485741.26 epoch sec; seqNo:18 2020-12-09T03:49:01Z- AHRS_M2 msg: 2.70 phi; 0.02 theta; -0.16 psi 2020-12-09T03:49:01Z- waiting for 1607485741.44, time is 1607485740.46 2020-12-09T03:49:01Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:01Z- handleDepth()-Depth_Keller msg: 0.04 epoch sec; seqNo:1607485741268; depth 0.00 2020-12-09T03:49:01Z- waiting for 1607485741.44, time is 1607485740.46 2020-12-09T03:49:01Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:01Z- handleDvl() - RDI_Pathfinder msg: 1607485741.29 epoch sec; seqNo:8 2020-12-09T03:49:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.01 , 95.60 , 90.74 , 78.83 2020-12-09T03:49:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.53 , -0.59 , -0.04 2020-12-09T03:49:01Z- waiting for 1607485741.44, time is 1607485741.29 2020-12-09T03:49:01Z- sync is 0.04, coherence is 2.00 2020-12-09T03:49:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485741.31 epoch sec; seqNo:18; 4061790.16 north; 594418.48 east 2020-12-09T03:49:01Z- waiting for 1607485741.44, time is 1607485741.29 2020-12-09T03:49:01Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:01Z- AHRS_M2 msg: 1607485741.67 epoch sec; seqNo:19 2020-12-09T03:49:01Z- AHRS_M2 msg: 2.73 phi; 0.02 theta; -0.12 psi 2020-12-09T03:49:01Z- waiting for 1607485741.44, time is 1607485741.29 2020-12-09T03:49:01Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:01Z- handleDepth()-Depth_Keller msg: 0.06 epoch sec; seqNo:1607485741675; depth 0.00 2020-12-09T03:49:01Z- waiting for 1607485741.44, time is 1607485741.29 2020-12-09T03:49:01Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485741.72 epoch sec; seqNo:19; 4061790.16 north; 594418.48 east 2020-12-09T03:49:01Z- waiting for 1607485741.44, time is 1607485741.29 2020-12-09T03:49:01Z- sync is 0.43, coherence is 2.00 2020-12-09T03:49:01Z- AHRS_M2 msg: 1607485742.08 epoch sec; seqNo:20 2020-12-09T03:49:01Z- AHRS_M2 msg: 2.72 phi; -0.00 theta; -0.07 psi 2020-12-09T03:49:01Z- waiting for 1607485741.44, time is 1607485741.29 2020-12-09T03:49:01Z- sync is 0.78, coherence is 2.00 2020-12-09T03:49:01Z- handleDepth()-Depth_Keller msg: 0.08 epoch sec; seqNo:1607485742081; depth 0.00 2020-12-09T03:49:01Z- waiting for 1607485741.44, time is 1607485741.29 2020-12-09T03:49:01Z- sync is 0.78, coherence is 2.00 2020-12-09T03:49:01Z- handleDvl() - RDI_Pathfinder msg: 1607485742.10 epoch sec; seqNo:9 2020-12-09T03:49:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.65 , 90.81 , 0.00 , 82.29 2020-12-09T03:49:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.36 , -0.35 , -0.05 2020-12-09T03:49:01Z- waiting for 1607485741.44, time is 1607485742.10 2020-12-09T03:49:01Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:01Z- LcmTrn::updateTrn() >>>> pose time 1607485742.08, meas time 1607485742.10 <<<< 2020-12-09T03:49:01Z- TerrainNav::Measurement type 1 from time = 1607485742.10 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2020-12-09T03:49:01Z- TerrainNav::motionUpdate() - currEstimate = (4061790, 594418.48, 0.08) 2020-12-09T03:49:01Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-12-09T03:49:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:49:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:49:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:49:01Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-12-09T03:49:01Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-12-09T03:49:01Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-12-09T03:49:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485742.11 epoch sec; seqNo:20; 4061790.16 north; 594418.48 east 2020-12-09T03:49:01Z- waiting for 1607485745.10, time is 1607485742.10 2020-12-09T03:49:01Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:02Z- AHRS_M2 msg: 1607485742.47 epoch sec; seqNo:21 2020-12-09T03:49:02Z- AHRS_M2 msg: 2.69 phi; -0.03 theta; -0.03 psi 2020-12-09T03:49:02Z- waiting for 1607485745.10, time is 1607485742.10 2020-12-09T03:49:02Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:02Z- handleDepth()-Depth_Keller msg: 0.08 epoch sec; seqNo:1607485742471; depth 0.00 2020-12-09T03:49:02Z- waiting for 1607485745.10, time is 1607485742.10 2020-12-09T03:49:02Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485742.48 epoch sec; seqNo:21; 4061790.16 north; 594418.48 east 2020-12-09T03:49:02Z- waiting for 1607485745.10, time is 1607485742.10 2020-12-09T03:49:02Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:02Z- AHRS_M2 msg: 1607485742.87 epoch sec; seqNo:22 2020-12-09T03:49:02Z- AHRS_M2 msg: 2.71 phi; -0.03 theta; -0.04 psi 2020-12-09T03:49:02Z- waiting for 1607485745.10, time is 1607485742.10 2020-12-09T03:49:02Z- sync is 0.77, coherence is 2.00 2020-12-09T03:49:02Z- handleDepth()-Depth_Keller msg: 0.08 epoch sec; seqNo:1607485742874; depth 0.00 2020-12-09T03:49:02Z- waiting for 1607485745.10, time is 1607485742.10 2020-12-09T03:49:02Z- sync is 0.77, coherence is 2.00 2020-12-09T03:49:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485742.89 epoch sec; seqNo:22; 4061789.80 north; 594419.71 east 2020-12-09T03:49:02Z- waiting for 1607485745.10, time is 1607485742.10 2020-12-09T03:49:02Z- sync is 0.80, coherence is 2.00 2020-12-09T03:49:03Z- handleDepth()-Depth_Keller msg: 0.08 epoch sec; seqNo:1607485743294; depth 0.00 2020-12-09T03:49:03Z- waiting for 1607485745.10, time is 1607485742.10 2020-12-09T03:49:03Z- sync is 0.80, coherence is 2.00 2020-12-09T03:49:03Z- handleDvl() - RDI_Pathfinder msg: 1607485743.31 epoch sec; seqNo:10 2020-12-09T03:49:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.29 , 87.29 , 87.29 , 83.64 2020-12-09T03:49:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.43 , 0.04 , 0.04 2020-12-09T03:49:03Z- waiting for 1607485745.10, time is 1607485743.31 2020-12-09T03:49:03Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485743.32 epoch sec; seqNo:23; 4061789.80 north; 594419.71 east 2020-12-09T03:49:03Z- waiting for 1607485745.10, time is 1607485743.31 2020-12-09T03:49:03Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:03Z- AHRS_M2 msg: 1607485743.68 epoch sec; seqNo:23 2020-12-09T03:49:03Z- AHRS_M2 msg: 2.74 phi; -0.02 theta; -0.14 psi 2020-12-09T03:49:03Z- waiting for 1607485745.10, time is 1607485743.31 2020-12-09T03:49:03Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:03Z- handleDepth()-Depth_Keller msg: 0.05 epoch sec; seqNo:1607485743687; depth 0.00 2020-12-09T03:49:03Z- waiting for 1607485745.10, time is 1607485743.31 2020-12-09T03:49:03Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485743.70 epoch sec; seqNo:24; 4061789.42 north; 594419.71 east 2020-12-09T03:49:03Z- waiting for 1607485745.10, time is 1607485743.31 2020-12-09T03:49:03Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:03Z- handleDepth()-Depth_Keller msg: 0.04 epoch sec; seqNo:1607485744101; depth 0.00 2020-12-09T03:49:03Z- waiting for 1607485745.10, time is 1607485743.31 2020-12-09T03:49:03Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:03Z- handleDvl() - RDI_Pathfinder msg: 1607485744.11 epoch sec; seqNo:11 2020-12-09T03:49:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T03:49:03Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:49:03Z- waiting for 1607485745.10, time is 1607485744.11 2020-12-09T03:49:03Z- sync is 0.42, coherence is 2.00 2020-12-09T03:49:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485744.14 epoch sec; seqNo:25; 4061789.42 north; 594419.71 east 2020-12-09T03:49:04Z- waiting for 1607485745.10, time is 1607485744.11 2020-12-09T03:49:04Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:04Z- AHRS_M2 msg: 1607485744.48 epoch sec; seqNo:24 2020-12-09T03:49:04Z- AHRS_M2 msg: 2.71 phi; -0.10 theta; -0.16 psi 2020-12-09T03:49:04Z- waiting for 1607485745.10, time is 1607485744.11 2020-12-09T03:49:04Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:04Z- handleDepth()-Depth_Keller msg: 0.04 epoch sec; seqNo:1607485744489; depth 0.00 2020-12-09T03:49:04Z- waiting for 1607485745.10, time is 1607485744.11 2020-12-09T03:49:04Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485744.51 epoch sec; seqNo:26; 4061789.42 north; 594419.71 east 2020-12-09T03:49:04Z- waiting for 1607485745.10, time is 1607485744.11 2020-12-09T03:49:04Z- sync is 0.40, coherence is 2.00 2020-12-09T03:49:04Z- AHRS_M2 msg: 1607485744.90 epoch sec; seqNo:25 2020-12-09T03:49:04Z- AHRS_M2 msg: 2.76 phi; -0.05 theta; -0.11 psi 2020-12-09T03:49:04Z- waiting for 1607485745.10, time is 1607485744.11 2020-12-09T03:49:04Z- sync is 0.78, coherence is 2.00 2020-12-09T03:49:04Z- handleDepth()-Depth_Keller msg: 0.03 epoch sec; seqNo:1607485744900; depth 0.00 2020-12-09T03:49:04Z- waiting for 1607485745.10, time is 1607485744.11 2020-12-09T03:49:04Z- sync is 0.78, coherence is 2.00 2020-12-09T03:49:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485744.91 epoch sec; seqNo:27; 4061789.04 north; 594419.72 east 2020-12-09T03:49:04Z- waiting for 1607485745.10, time is 1607485744.11 2020-12-09T03:49:04Z- sync is 0.80, coherence is 2.00 2020-12-09T03:49:05Z- AHRS_M2 msg: 1607485745.29 epoch sec; seqNo:26 2020-12-09T03:49:05Z- AHRS_M2 msg: 2.76 phi; 0.01 theta; -0.02 psi 2020-12-09T03:49:05Z- waiting for 1607485745.10, time is 1607485744.11 2020-12-09T03:49:05Z- sync is 1.18, coherence is 2.00 2020-12-09T03:49:05Z- handleDepth()-Depth_Keller msg: 0.02 epoch sec; seqNo:1607485745309; depth 0.00 2020-12-09T03:49:05Z- waiting for 1607485745.10, time is 1607485744.11 2020-12-09T03:49:05Z- sync is 1.18, coherence is 2.00 2020-12-09T03:49:05Z- handleDvl() - RDI_Pathfinder msg: 1607485745.33 epoch sec; seqNo:12 2020-12-09T03:49:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.79 , 91.95 , 85.87 , 84.66 2020-12-09T03:49:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.07 , -0.22 2020-12-09T03:49:05Z- waiting for 1607485745.10, time is 1607485745.33 2020-12-09T03:49:05Z- sync is 0.04, coherence is 2.00 2020-12-09T03:49:05Z- LcmTrn::updateTrn() >>>> pose time 1607485745.29, meas time 1607485745.33 <<<< 2020-12-09T03:49:05Z- TerrainNav::Measurement type 1 from time = 1607485745.33 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2020-12-09T03:49:05Z- TerrainNav::motionUpdate() - currEstimate = (4061789, 594419.72, 0.02) 2020-12-09T03:49:05Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-12-09T03:49:05Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:49:05Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:49:05Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:49:05Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-12-09T03:49:05Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-12-09T03:49:05Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-12-09T03:49:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485745.37 epoch sec; seqNo:28; 4061788.66 north; 594419.72 east 2020-12-09T03:49:05Z- waiting for 1607485748.33, time is 1607485745.33 2020-12-09T03:49:05Z- sync is 0.04, coherence is 2.00 2020-12-09T03:49:05Z- AHRS_M2 msg: 1607485745.70 epoch sec; seqNo:27 2020-12-09T03:49:05Z- AHRS_M2 msg: 2.73 phi; -0.02 theta; -0.00 psi 2020-12-09T03:49:05Z- waiting for 1607485748.33, time is 1607485745.33 2020-12-09T03:49:05Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:05Z- handleDepth()-Depth_Keller msg: 0.08 epoch sec; seqNo:1607485745725; depth 0.00 2020-12-09T03:49:05Z- waiting for 1607485748.33, time is 1607485745.33 2020-12-09T03:49:05Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485745.77 epoch sec; seqNo:29; 4061788.66 north; 594419.72 east 2020-12-09T03:49:05Z- waiting for 1607485748.33, time is 1607485745.33 2020-12-09T03:49:05Z- sync is 0.43, coherence is 2.00 2020-12-09T03:49:05Z- AHRS_M2 msg: 1607485746.11 epoch sec; seqNo:28 2020-12-09T03:49:05Z- AHRS_M2 msg: 2.74 phi; -0.07 theta; -0.05 psi 2020-12-09T03:49:05Z- waiting for 1607485748.33, time is 1607485745.33 2020-12-09T03:49:05Z- sync is 0.77, coherence is 2.00 2020-12-09T03:49:06Z- handleDepth()-Depth_Keller msg: 0.08 epoch sec; seqNo:1607485746127; depth 0.00 2020-12-09T03:49:06Z- waiting for 1607485748.33, time is 1607485745.33 2020-12-09T03:49:06Z- sync is 0.77, coherence is 2.00 2020-12-09T03:49:06Z- handleDvl() - RDI_Pathfinder msg: 1607485746.18 epoch sec; seqNo:13 2020-12-09T03:49:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.16 , 83.51 , 0.00 , 82.29 2020-12-09T03:49:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.50 , 0.11 , -0.37 2020-12-09T03:49:06Z- waiting for 1607485748.33, time is 1607485746.18 2020-12-09T03:49:06Z- sync is 0.08, coherence is 2.00 2020-12-09T03:49:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485746.21 epoch sec; seqNo:30; 4061788.28 north; 594419.73 east 2020-12-09T03:49:06Z- waiting for 1607485748.33, time is 1607485746.18 2020-12-09T03:49:06Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:06Z- AHRS_M2 msg: 1607485746.51 epoch sec; seqNo:29 2020-12-09T03:49:06Z- AHRS_M2 msg: 2.75 phi; -0.04 theta; -0.12 psi 2020-12-09T03:49:06Z- waiting for 1607485748.33, time is 1607485746.18 2020-12-09T03:49:06Z- sync is 0.33, coherence is 2.00 2020-12-09T03:49:06Z- handleDepth()-Depth_Keller msg: 0.06 epoch sec; seqNo:1607485746521; depth 0.00 2020-12-09T03:49:06Z- waiting for 1607485748.33, time is 1607485746.18 2020-12-09T03:49:06Z- sync is 0.33, coherence is 2.00 2020-12-09T03:49:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485746.55 epoch sec; seqNo:31; 4061788.28 north; 594419.73 east 2020-12-09T03:49:06Z- waiting for 1607485748.33, time is 1607485746.18 2020-12-09T03:49:06Z- sync is 0.36, coherence is 2.00 2020-12-09T03:49:06Z- AHRS_M2 msg: 1607485746.91 epoch sec; seqNo:30 2020-12-09T03:49:06Z- AHRS_M2 msg: 2.78 phi; -0.00 theta; -0.15 psi 2020-12-09T03:49:06Z- waiting for 1607485748.33, time is 1607485746.18 2020-12-09T03:49:06Z- sync is 0.73, coherence is 2.00 2020-12-09T03:49:06Z- handleDepth()-Depth_Keller msg: 0.04 epoch sec; seqNo:1607485746921; depth 0.00 2020-12-09T03:49:06Z- waiting for 1607485748.33, time is 1607485746.18 2020-12-09T03:49:06Z- sync is 0.73, coherence is 2.00 2020-12-09T03:49:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485746.95 epoch sec; seqNo:32; 4061787.90 north; 594419.73 east 2020-12-09T03:49:06Z- waiting for 1607485748.33, time is 1607485746.18 2020-12-09T03:49:06Z- sync is 0.76, coherence is 2.00 2020-12-09T03:49:07Z- AHRS_M2 msg: 1607485747.32 epoch sec; seqNo:31 2020-12-09T03:49:07Z- AHRS_M2 msg: 2.80 phi; -0.01 theta; -0.12 psi 2020-12-09T03:49:07Z- waiting for 1607485748.33, time is 1607485746.18 2020-12-09T03:49:07Z- sync is 1.14, coherence is 2.00 2020-12-09T03:49:07Z- handleDepth()-Depth_Keller msg: 0.05 epoch sec; seqNo:1607485747348; depth 0.00 2020-12-09T03:49:07Z- waiting for 1607485748.33, time is 1607485746.18 2020-12-09T03:49:07Z- sync is 1.14, coherence is 2.00 2020-12-09T03:49:07Z- handleDvl() - RDI_Pathfinder msg: 1607485747.37 epoch sec; seqNo:14 2020-12-09T03:49:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.42 , 90.94 , 88.51 , 78.83 2020-12-09T03:49:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.40 , -0.10 , -0.15 2020-12-09T03:49:07Z- waiting for 1607485748.33, time is 1607485747.37 2020-12-09T03:49:07Z- sync is 0.05, coherence is 2.00 2020-12-09T03:49:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485747.41 epoch sec; seqNo:33; 4061787.90 north; 594419.73 east 2020-12-09T03:49:07Z- waiting for 1607485748.33, time is 1607485747.37 2020-12-09T03:49:07Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:07Z- AHRS_M2 msg: 1607485747.72 epoch sec; seqNo:32 2020-12-09T03:49:07Z- AHRS_M2 msg: 2.80 phi; -0.07 theta; -0.10 psi 2020-12-09T03:49:07Z- waiting for 1607485748.33, time is 1607485747.37 2020-12-09T03:49:07Z- sync is 0.34, coherence is 2.00 2020-12-09T03:49:07Z- handleDepth()-Depth_Keller msg: 0.05 epoch sec; seqNo:1607485747730; depth 0.00 2020-12-09T03:49:07Z- waiting for 1607485748.33, time is 1607485747.37 2020-12-09T03:49:07Z- sync is 0.34, coherence is 2.00 2020-12-09T03:49:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485747.76 epoch sec; seqNo:34; 4061787.52 north; 594419.73 east 2020-12-09T03:49:07Z- waiting for 1607485748.33, time is 1607485747.37 2020-12-09T03:49:07Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:07Z- AHRS_M2 msg: 1607485748.12 epoch sec; seqNo:33 2020-12-09T03:49:07Z- AHRS_M2 msg: 2.82 phi; -0.13 theta; -0.10 psi 2020-12-09T03:49:07Z- waiting for 1607485748.33, time is 1607485747.37 2020-12-09T03:49:07Z- sync is 0.75, coherence is 2.00 2020-12-09T03:49:07Z- handleDepth()-Depth_Keller msg: 0.04 epoch sec; seqNo:1607485748133; depth 0.00 2020-12-09T03:49:07Z- waiting for 1607485748.33, time is 1607485747.37 2020-12-09T03:49:07Z- sync is 0.75, coherence is 2.00 2020-12-09T03:49:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485748.15 epoch sec; seqNo:35; 4061787.52 north; 594419.73 east 2020-12-09T03:49:08Z- waiting for 1607485748.33, time is 1607485747.37 2020-12-09T03:49:08Z- sync is 0.78, coherence is 2.00 2020-12-09T03:49:08Z- AHRS_M2 msg: 1607485748.53 epoch sec; seqNo:34 2020-12-09T03:49:08Z- AHRS_M2 msg: 2.84 phi; -0.13 theta; -0.07 psi 2020-12-09T03:49:08Z- waiting for 1607485748.33, time is 1607485747.37 2020-12-09T03:49:08Z- sync is 1.15, coherence is 2.00 2020-12-09T03:49:08Z- handleDepth()-Depth_Keller msg: 0.03 epoch sec; seqNo:1607485748551; depth 0.00 2020-12-09T03:49:08Z- waiting for 1607485748.33, time is 1607485747.37 2020-12-09T03:49:08Z- sync is 1.15, coherence is 2.00 2020-12-09T03:49:08Z- handleDvl() - RDI_Pathfinder msg: 1607485748.58 epoch sec; seqNo:15 2020-12-09T03:49:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.64 , 87.29 , 84.86 , 82.43 2020-12-09T03:49:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.03 , -0.09 , -0.34 2020-12-09T03:49:08Z- waiting for 1607485748.33, time is 1607485748.58 2020-12-09T03:49:08Z- sync is 0.05, coherence is 2.00 2020-12-09T03:49:08Z- LcmTrn::updateTrn() >>>> pose time 1607485748.53, meas time 1607485748.58 <<<< 2020-12-09T03:49:08Z- TerrainNav::Measurement type 1 from time = 1607485748.58 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2020-12-09T03:49:08Z- TerrainNav::motionUpdate() - currEstimate = (4061788, 594419.73, 0.03) 2020-12-09T03:49:08Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-12-09T03:49:08Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:49:08Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:49:08Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:49:08Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-12-09T03:49:08Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-12-09T03:49:08Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-12-09T03:49:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485748.62 epoch sec; seqNo:36; 4061787.54 north; 594420.95 east 2020-12-09T03:49:08Z- waiting for 1607485751.58, time is 1607485748.58 2020-12-09T03:49:08Z- sync is 0.04, coherence is 2.00 2020-12-09T03:49:08Z- AHRS_M2 msg: 1607485748.93 epoch sec; seqNo:35 2020-12-09T03:49:08Z- AHRS_M2 msg: 2.84 phi; -0.06 theta; -0.03 psi 2020-12-09T03:49:08Z- waiting for 1607485751.58, time is 1607485748.58 2020-12-09T03:49:08Z- sync is 0.35, coherence is 2.00 2020-12-09T03:49:08Z- handleDepth()-Depth_Keller msg: 0.05 epoch sec; seqNo:1607485748938; depth 0.00 2020-12-09T03:49:08Z- waiting for 1607485751.58, time is 1607485748.58 2020-12-09T03:49:08Z- sync is 0.35, coherence is 2.00 2020-12-09T03:49:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485748.97 epoch sec; seqNo:37; 4061787.54 north; 594420.95 east 2020-12-09T03:49:08Z- waiting for 1607485751.58, time is 1607485748.58 2020-12-09T03:49:08Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:09Z- AHRS_M2 msg: 1607485749.34 epoch sec; seqNo:36 2020-12-09T03:49:09Z- AHRS_M2 msg: 2.83 phi; -0.02 theta; 0.01 psi 2020-12-09T03:49:09Z- waiting for 1607485751.58, time is 1607485748.58 2020-12-09T03:49:09Z- sync is 0.76, coherence is 2.00 2020-12-09T03:49:09Z- handleDepth()-Depth_Keller msg: 0.08 epoch sec; seqNo:1607485749421; depth 0.00 2020-12-09T03:49:09Z- waiting for 1607485751.58, time is 1607485748.58 2020-12-09T03:49:09Z- sync is 0.76, coherence is 2.00 2020-12-09T03:49:09Z- handleDvl() - RDI_Pathfinder msg: 1607485749.47 epoch sec; seqNo:16 2020-12-09T03:49:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 84.86 , 83.64 , 86.08 2020-12-09T03:49:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.26 , 0.37 , -0.18 2020-12-09T03:49:09Z- waiting for 1607485751.58, time is 1607485749.47 2020-12-09T03:49:09Z- sync is 0.14, coherence is 2.00 2020-12-09T03:49:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485749.52 epoch sec; seqNo:38; 4061787.52 north; 594419.73 east 2020-12-09T03:49:09Z- waiting for 1607485751.58, time is 1607485749.47 2020-12-09T03:49:09Z- sync is 0.05, coherence is 2.00 2020-12-09T03:49:09Z- AHRS_M2 msg: 1607485749.82 epoch sec; seqNo:37 2020-12-09T03:49:09Z- AHRS_M2 msg: 2.87 phi; -0.03 theta; -0.04 psi 2020-12-09T03:49:09Z- waiting for 1607485751.58, time is 1607485749.47 2020-12-09T03:49:09Z- sync is 0.34, coherence is 2.00 2020-12-09T03:49:09Z- handleDepth()-Depth_Keller msg: 0.06 epoch sec; seqNo:1607485749844; depth 0.00 2020-12-09T03:49:09Z- waiting for 1607485751.58, time is 1607485749.47 2020-12-09T03:49:09Z- sync is 0.34, coherence is 2.00 2020-12-09T03:49:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485749.91 epoch sec; seqNo:39; 4061787.14 north; 594419.74 east 2020-12-09T03:49:09Z- waiting for 1607485751.58, time is 1607485749.47 2020-12-09T03:49:09Z- sync is 0.44, coherence is 2.00 2020-12-09T03:49:10Z- AHRS_M2 msg: 1607485750.20 epoch sec; seqNo:38 2020-12-09T03:49:10Z- AHRS_M2 msg: 2.90 phi; -0.03 theta; -0.16 psi 2020-12-09T03:49:10Z- waiting for 1607485751.58, time is 1607485749.47 2020-12-09T03:49:10Z- sync is 0.73, coherence is 2.00 2020-12-09T03:49:10Z- handleDepth()-Depth_Keller msg: 0.05 epoch sec; seqNo:1607485750213; depth 0.00 2020-12-09T03:49:10Z- waiting for 1607485751.58, time is 1607485749.47 2020-12-09T03:49:10Z- sync is 0.73, coherence is 2.00 2020-12-09T03:49:10Z- handleDvl() - RDI_Pathfinder msg: 1607485750.25 epoch sec; seqNo:17 2020-12-09T03:49:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.58 , 84.79 , 0.00 , 82.36 2020-12-09T03:49:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.29 , 0.68 , 0.38 2020-12-09T03:49:10Z- waiting for 1607485751.58, time is 1607485750.25 2020-12-09T03:49:10Z- sync is 0.04, coherence is 2.00 2020-12-09T03:49:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485750.30 epoch sec; seqNo:40; 4061787.14 north; 594419.74 east 2020-12-09T03:49:10Z- waiting for 1607485751.58, time is 1607485750.25 2020-12-09T03:49:10Z- sync is 0.06, coherence is 2.00 2020-12-09T03:49:10Z- AHRS_M2 msg: 1607485750.61 epoch sec; seqNo:39 2020-12-09T03:49:10Z- AHRS_M2 msg: 2.93 phi; -0.06 theta; -0.26 psi 2020-12-09T03:49:10Z- waiting for 1607485751.58, time is 1607485750.25 2020-12-09T03:49:10Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:10Z- handleDepth()-Depth_Keller msg: 0.02 epoch sec; seqNo:1607485750617; depth 0.00 2020-12-09T03:49:10Z- waiting for 1607485751.58, time is 1607485750.25 2020-12-09T03:49:10Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485750.65 epoch sec; seqNo:41; 4061786.77 north; 594419.74 east 2020-12-09T03:49:10Z- waiting for 1607485751.58, time is 1607485750.25 2020-12-09T03:49:10Z- sync is 0.40, coherence is 2.00 2020-12-09T03:49:10Z- handleDepth()-Depth_Keller msg: 0.02 epoch sec; seqNo:1607485751057; depth 0.00 2020-12-09T03:49:10Z- waiting for 1607485751.58, time is 1607485750.25 2020-12-09T03:49:10Z- sync is 0.40, coherence is 2.00 2020-12-09T03:49:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485751.15 epoch sec; seqNo:42; 4061786.77 north; 594419.74 east 2020-12-09T03:49:11Z- waiting for 1607485751.58, time is 1607485750.25 2020-12-09T03:49:11Z- sync is 0.91, coherence is 2.00 2020-12-09T03:49:11Z- handleDepth()-Depth_Keller msg: 0.04 epoch sec; seqNo:1607485751489; depth 0.00 2020-12-09T03:49:11Z- waiting for 1607485751.58, time is 1607485750.25 2020-12-09T03:49:11Z- sync is 0.91, coherence is 2.00 2020-12-09T03:49:11Z- handleDvl() - RDI_Pathfinder msg: 1607485751.54 epoch sec; seqNo:18 2020-12-09T03:49:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.75 , 106.82 , 87.36 , 83.71 2020-12-09T03:49:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.51 , 0.25 , -0.13 2020-12-09T03:49:11Z- waiting for 1607485751.58, time is 1607485751.54 2020-12-09T03:49:11Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485751.63 epoch sec; seqNo:43; 4061786.39 north; 594419.75 east 2020-12-09T03:49:11Z- waiting for 1607485751.58, time is 1607485751.54 2020-12-09T03:49:11Z- sync is 0.09, coherence is 2.00 2020-12-09T03:49:11Z- AHRS_M2 msg: 1607485752.02 epoch sec; seqNo:40 2020-12-09T03:49:11Z- AHRS_M2 msg: 3.00 phi; -0.06 theta; -0.09 psi 2020-12-09T03:49:11Z- waiting for 1607485751.58, time is 1607485751.54 2020-12-09T03:49:11Z- sync is 0.48, coherence is 2.00 2020-12-09T03:49:11Z- handleDepth()-Depth_Keller msg: 0.06 epoch sec; seqNo:1607485752041; depth 0.00 2020-12-09T03:49:11Z- waiting for 1607485751.58, time is 1607485751.54 2020-12-09T03:49:11Z- sync is 0.48, coherence is 2.00 2020-12-09T03:49:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485752.09 epoch sec; seqNo:44; 4061786.01 north; 594419.75 east 2020-12-09T03:49:11Z- waiting for 1607485751.58, time is 1607485751.54 2020-12-09T03:49:11Z- sync is 0.55, coherence is 2.00 2020-12-09T03:49:12Z- AHRS_M2 msg: 1607485752.46 epoch sec; seqNo:41 2020-12-09T03:49:12Z- AHRS_M2 msg: 3.02 phi; -0.09 theta; -0.11 psi 2020-12-09T03:49:12Z- waiting for 1607485751.58, time is 1607485751.54 2020-12-09T03:49:12Z- sync is 0.92, coherence is 2.00 2020-12-09T03:49:12Z- handleDepth()-Depth_Keller msg: 0.06 epoch sec; seqNo:1607485752484; depth 0.00 2020-12-09T03:49:12Z- waiting for 1607485751.58, time is 1607485751.54 2020-12-09T03:49:12Z- sync is 0.92, coherence is 2.00 2020-12-09T03:49:12Z- handleDvl() - RDI_Pathfinder msg: 1607485752.53 epoch sec; seqNo:19 2020-12-09T03:49:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.09 , 89.39 , 86.96 , 76.79 2020-12-09T03:49:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.50 , 0.47 , 0.30 2020-12-09T03:49:12Z- waiting for 1607485751.58, time is 1607485752.53 2020-12-09T03:49:12Z- sync is 0.06, coherence is 2.00 2020-12-09T03:49:12Z- LcmTrn::updateTrn() >>>> pose time 1607485752.46, meas time 1607485752.53 <<<< 2020-12-09T03:49:12Z- TerrainNav::Measurement type 1 from time = 1607485752.53 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2020-12-09T03:49:12Z- TerrainNav::motionUpdate() - currEstimate = (4061786, 594419.75, 0.06) 2020-12-09T03:49:12Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-12-09T03:49:12Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:49:12Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:49:12Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:49:12Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-12-09T03:49:12Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-12-09T03:49:12Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-12-09T03:49:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485752.58 epoch sec; seqNo:45; 4061785.99 north; 594418.53 east 2020-12-09T03:49:12Z- waiting for 1607485755.53, time is 1607485752.53 2020-12-09T03:49:12Z- sync is 0.05, coherence is 2.00 2020-12-09T03:49:12Z- AHRS_M2 msg: 1607485752.83 epoch sec; seqNo:42 2020-12-09T03:49:12Z- AHRS_M2 msg: 3.04 phi; -0.08 theta; -0.15 psi 2020-12-09T03:49:12Z- waiting for 1607485755.53, time is 1607485752.53 2020-12-09T03:49:12Z- sync is 0.31, coherence is 2.00 2020-12-09T03:49:12Z- handleDepth()-Depth_Keller msg: 0.03 epoch sec; seqNo:1607485752843; depth 0.00 2020-12-09T03:49:12Z- waiting for 1607485755.53, time is 1607485752.53 2020-12-09T03:49:12Z- sync is 0.31, coherence is 2.00 2020-12-09T03:49:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485752.88 epoch sec; seqNo:46; 4061785.62 north; 594418.53 east 2020-12-09T03:49:12Z- waiting for 1607485755.53, time is 1607485752.53 2020-12-09T03:49:12Z- sync is 0.35, coherence is 2.00 2020-12-09T03:49:13Z- handleAhrs() - platform_orientation item not found in ahrs msg 2020-12-09T03:49:13Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2020-12-09T03:49:13Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2020-12-09T03:49:13Z- AHRS_M2 msg: 1607485753.23 epoch sec; seqNo:43 2020-12-09T03:49:13Z- AHRS_M2 msg: 3.04 phi; -0.08 theta; -0.15 psi 2020-12-09T03:49:13Z- waiting for 1607485755.53, time is 1607485752.53 2020-12-09T03:49:13Z- sync is 0.70, coherence is 2.00 2020-12-09T03:49:13Z- handleDepth()-Depth_Keller msg: 0.05 epoch sec; seqNo:1607485753257; depth 0.00 2020-12-09T03:49:13Z- waiting for 1607485755.53, time is 1607485752.53 2020-12-09T03:49:13Z- sync is 0.70, coherence is 2.00 2020-12-09T03:49:13Z- handleDvl() - RDI_Pathfinder msg: 1607485753.31 epoch sec; seqNo:20 2020-12-09T03:49:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.50 , 89.79 , 79.65 , 86.14 2020-12-09T03:49:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.63 , 0.25 , 0.48 2020-12-09T03:49:13Z- waiting for 1607485755.53, time is 1607485753.31 2020-12-09T03:49:13Z- sync is 0.08, coherence is 2.00 2020-12-09T03:49:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485753.35 epoch sec; seqNo:47; 4061785.62 north; 594418.53 east 2020-12-09T03:49:13Z- waiting for 1607485755.53, time is 1607485753.31 2020-12-09T03:49:13Z- sync is 0.04, coherence is 2.00 2020-12-09T03:49:13Z- AHRS_M2 msg: 1607485753.65 epoch sec; seqNo:44 2020-12-09T03:49:13Z- AHRS_M2 msg: 3.09 phi; -0.01 theta; -0.26 psi 2020-12-09T03:49:13Z- waiting for 1607485755.53, time is 1607485753.31 2020-12-09T03:49:13Z- sync is 0.34, coherence is 2.00 2020-12-09T03:49:13Z- handleDepth()-Depth_Keller msg: 0.04 epoch sec; seqNo:1607485753670; depth 0.00 2020-12-09T03:49:13Z- waiting for 1607485755.53, time is 1607485753.31 2020-12-09T03:49:13Z- sync is 0.34, coherence is 2.00 2020-12-09T03:49:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485753.72 epoch sec; seqNo:48; 4061785.24 north; 594418.54 east 2020-12-09T03:49:13Z- waiting for 1607485755.53, time is 1607485753.31 2020-12-09T03:49:13Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:13Z- AHRS_M2 msg: 1607485754.04 epoch sec; seqNo:45 2020-12-09T03:49:13Z- AHRS_M2 msg: 3.14 phi; -0.04 theta; -0.27 psi 2020-12-09T03:49:13Z- waiting for 1607485755.53, time is 1607485753.31 2020-12-09T03:49:13Z- sync is 0.74, coherence is 2.00 2020-12-09T03:49:13Z- handleDepth()-Depth_Keller msg: 0.03 epoch sec; seqNo:1607485754049; depth 0.00 2020-12-09T03:49:13Z- waiting for 1607485755.53, time is 1607485753.31 2020-12-09T03:49:13Z- sync is 0.74, coherence is 2.00 2020-12-09T03:49:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485754.08 epoch sec; seqNo:49; 4061784.86 north; 594418.54 east 2020-12-09T03:49:13Z- waiting for 1607485755.53, time is 1607485753.31 2020-12-09T03:49:13Z- sync is 0.78, coherence is 2.00 2020-12-09T03:49:14Z- AHRS_M2 msg: 1607485754.45 epoch sec; seqNo:46 2020-12-09T03:49:14Z- AHRS_M2 msg: 3.17 phi; -0.09 theta; -0.21 psi 2020-12-09T03:49:14Z- waiting for 1607485755.53, time is 1607485753.31 2020-12-09T03:49:14Z- sync is 1.14, coherence is 2.00 2020-12-09T03:49:14Z- handleDepth()-Depth_Keller msg: 0.03 epoch sec; seqNo:1607485754464; depth 0.00 2020-12-09T03:49:14Z- waiting for 1607485755.53, time is 1607485753.31 2020-12-09T03:49:14Z- sync is 1.14, coherence is 2.00 2020-12-09T03:49:14Z- handleDvl() - RDI_Pathfinder msg: 1607485754.48 epoch sec; seqNo:21 2020-12-09T03:49:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T03:49:14Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:49:14Z- waiting for 1607485755.53, time is 1607485754.48 2020-12-09T03:49:14Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485754.49 epoch sec; seqNo:50; 4061784.86 north; 594418.54 east 2020-12-09T03:49:14Z- waiting for 1607485755.53, time is 1607485754.48 2020-12-09T03:49:14Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:14Z- AHRS_M2 msg: 1607485754.87 epoch sec; seqNo:47 2020-12-09T03:49:14Z- AHRS_M2 msg: 3.21 phi; -0.08 theta; -0.16 psi 2020-12-09T03:49:14Z- waiting for 1607485755.53, time is 1607485754.48 2020-12-09T03:49:14Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:14Z- handleDepth()-Depth_Keller msg: 0.04 epoch sec; seqNo:1607485754885; depth 0.00 2020-12-09T03:49:14Z- waiting for 1607485755.53, time is 1607485754.48 2020-12-09T03:49:14Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485754.92 epoch sec; seqNo:51; 4061784.48 north; 594418.55 east 2020-12-09T03:49:14Z- waiting for 1607485755.53, time is 1607485754.48 2020-12-09T03:49:14Z- sync is 0.45, coherence is 2.00 2020-12-09T03:49:15Z- AHRS_M2 msg: 1607485755.28 epoch sec; seqNo:48 2020-12-09T03:49:15Z- AHRS_M2 msg: 3.22 phi; -0.01 theta; -0.12 psi 2020-12-09T03:49:15Z- waiting for 1607485755.53, time is 1607485754.48 2020-12-09T03:49:15Z- sync is 0.81, coherence is 2.00 2020-12-09T03:49:15Z- handleDepth()-Depth_Keller msg: 0.02 epoch sec; seqNo:1607485755297; depth 0.00 2020-12-09T03:49:15Z- waiting for 1607485755.53, time is 1607485754.48 2020-12-09T03:49:15Z- sync is 0.81, coherence is 2.00 2020-12-09T03:49:15Z- handleDvl() - RDI_Pathfinder msg: 1607485755.34 epoch sec; seqNo:22 2020-12-09T03:49:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.83 , 92.02 , 83.10 , 86.08 2020-12-09T03:49:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.38 , -0.25 2020-12-09T03:49:15Z- waiting for 1607485755.53, time is 1607485755.34 2020-12-09T03:49:15Z- sync is 0.05, coherence is 2.00 2020-12-09T03:49:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485755.40 epoch sec; seqNo:52; 4061784.10 north; 594418.55 east 2020-12-09T03:49:15Z- waiting for 1607485755.53, time is 1607485755.34 2020-12-09T03:49:15Z- sync is 0.06, coherence is 2.00 2020-12-09T03:49:15Z- AHRS_M2 msg: 1607485755.80 epoch sec; seqNo:49 2020-12-09T03:49:15Z- AHRS_M2 msg: 3.21 phi; 0.03 theta; -0.11 psi 2020-12-09T03:49:15Z- waiting for 1607485755.53, time is 1607485755.34 2020-12-09T03:49:15Z- sync is 0.47, coherence is 2.00 2020-12-09T03:49:15Z- handleDepth()-Depth_Keller msg: 0.07 epoch sec; seqNo:1607485755808; depth 0.00 2020-12-09T03:49:15Z- waiting for 1607485755.53, time is 1607485755.34 2020-12-09T03:49:15Z- sync is 0.47, coherence is 2.00 2020-12-09T03:49:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485755.82 epoch sec; seqNo:53; 4061783.72 north; 594418.56 east 2020-12-09T03:49:15Z- waiting for 1607485755.53, time is 1607485755.34 2020-12-09T03:49:15Z- sync is 0.48, coherence is 2.00 2020-12-09T03:49:16Z- AHRS_M2 msg: 1607485756.21 epoch sec; seqNo:50 2020-12-09T03:49:16Z- AHRS_M2 msg: 3.18 phi; 0.02 theta; -0.09 psi 2020-12-09T03:49:16Z- waiting for 1607485755.53, time is 1607485755.34 2020-12-09T03:49:16Z- sync is 0.87, coherence is 2.00 2020-12-09T03:49:16Z- handleDepth()-Depth_Keller msg: 0.08 epoch sec; seqNo:1607485756213; depth 0.00 2020-12-09T03:49:16Z- waiting for 1607485755.53, time is 1607485755.34 2020-12-09T03:49:16Z- sync is 0.87, coherence is 2.00 2020-12-09T03:49:16Z- handleDvl() - RDI_Pathfinder msg: 1607485756.22 epoch sec; seqNo:23 2020-12-09T03:49:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.58 , 88.44 , 88.44 , 0.00 2020-12-09T03:49:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.61 , 0.24 , -0.47 2020-12-09T03:49:16Z- waiting for 1607485755.53, time is 1607485756.22 2020-12-09T03:49:16Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:16Z- LcmTrn::updateTrn() >>>> pose time 1607485756.21, meas time 1607485756.22 <<<< 2020-12-09T03:49:16Z- TerrainNav::Measurement type 1 from time = 1607485756.22 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2020-12-09T03:49:16Z- TerrainNav::motionUpdate() - currEstimate = (4061784, 594418.56, 0.08) 2020-12-09T03:49:16Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-12-09T03:49:16Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:49:16Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:49:16Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:49:16Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-12-09T03:49:16Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-12-09T03:49:16Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-12-09T03:49:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485756.24 epoch sec; seqNo:54; 4061783.34 north; 594418.56 east 2020-12-09T03:49:16Z- waiting for 1607485759.22, time is 1607485756.22 2020-12-09T03:49:16Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:16Z- AHRS_M2 msg: 1607485756.61 epoch sec; seqNo:51 2020-12-09T03:49:16Z- AHRS_M2 msg: 3.21 phi; -0.05 theta; -0.11 psi 2020-12-09T03:49:16Z- waiting for 1607485759.22, time is 1607485756.22 2020-12-09T03:49:16Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:16Z- handleDepth()-Depth_Keller msg: 0.06 epoch sec; seqNo:1607485756621; depth 0.00 2020-12-09T03:49:16Z- waiting for 1607485759.22, time is 1607485756.22 2020-12-09T03:49:16Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485756.63 epoch sec; seqNo:55; 4061783.34 north; 594418.56 east 2020-12-09T03:49:16Z- waiting for 1607485759.22, time is 1607485756.22 2020-12-09T03:49:16Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:16Z- AHRS_M2 msg: 1607485757.02 epoch sec; seqNo:52 2020-12-09T03:49:16Z- AHRS_M2 msg: 3.24 phi; -0.09 theta; -0.16 psi 2020-12-09T03:49:16Z- waiting for 1607485759.22, time is 1607485756.22 2020-12-09T03:49:16Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:16Z- handleDepth()-Depth_Keller msg: 0.03 epoch sec; seqNo:1607485757024; depth 0.00 2020-12-09T03:49:16Z- waiting for 1607485759.22, time is 1607485756.22 2020-12-09T03:49:16Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485757.05 epoch sec; seqNo:56; 4061782.96 north; 594418.56 east 2020-12-09T03:49:16Z- waiting for 1607485759.22, time is 1607485756.22 2020-12-09T03:49:16Z- sync is 0.82, coherence is 2.00 2020-12-09T03:49:17Z- AHRS_M2 msg: 1607485757.41 epoch sec; seqNo:53 2020-12-09T03:49:17Z- AHRS_M2 msg: 3.22 phi; -0.09 theta; -0.21 psi 2020-12-09T03:49:17Z- waiting for 1607485759.22, time is 1607485756.22 2020-12-09T03:49:17Z- sync is 1.19, coherence is 2.00 2020-12-09T03:49:17Z- handleDepth()-Depth_Keller msg: 0.02 epoch sec; seqNo:1607485757417; depth 0.00 2020-12-09T03:49:17Z- waiting for 1607485759.22, time is 1607485756.22 2020-12-09T03:49:17Z- sync is 1.19, coherence is 2.00 2020-12-09T03:49:17Z- handleDvl() - RDI_Pathfinder msg: 1607485757.43 epoch sec; seqNo:24 2020-12-09T03:49:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.65 , 89.52 , 84.66 , 0.00 2020-12-09T03:49:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.22 , 0.38 , -0.09 2020-12-09T03:49:17Z- waiting for 1607485759.22, time is 1607485757.43 2020-12-09T03:49:17Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485757.47 epoch sec; seqNo:57; 4061782.96 north; 594418.56 east 2020-12-09T03:49:17Z- waiting for 1607485759.22, time is 1607485757.43 2020-12-09T03:49:17Z- sync is 0.04, coherence is 2.00 2020-12-09T03:49:17Z- AHRS_M2 msg: 1607485757.82 epoch sec; seqNo:54 2020-12-09T03:49:17Z- AHRS_M2 msg: 3.24 phi; -0.09 theta; -0.23 psi 2020-12-09T03:49:17Z- waiting for 1607485759.22, time is 1607485757.43 2020-12-09T03:49:17Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:17Z- handleDepth()-Depth_Keller msg: 0.02 epoch sec; seqNo:1607485757823; depth 0.00 2020-12-09T03:49:17Z- waiting for 1607485759.22, time is 1607485757.43 2020-12-09T03:49:17Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485757.84 epoch sec; seqNo:58; 4061782.96 north; 594418.56 east 2020-12-09T03:49:17Z- waiting for 1607485759.22, time is 1607485757.43 2020-12-09T03:49:17Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:18Z- AHRS_M2 msg: 1607485758.22 epoch sec; seqNo:55 2020-12-09T03:49:18Z- AHRS_M2 msg: 3.26 phi; -0.07 theta; -0.17 psi 2020-12-09T03:49:18Z- waiting for 1607485759.22, time is 1607485757.43 2020-12-09T03:49:18Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:18Z- handleDepth()-Depth_Keller msg: 0.03 epoch sec; seqNo:1607485758230; depth 0.00 2020-12-09T03:49:18Z- waiting for 1607485759.22, time is 1607485757.43 2020-12-09T03:49:18Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:18Z- handleDvl() - RDI_Pathfinder msg: 1607485758.26 epoch sec; seqNo:25 2020-12-09T03:49:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.61 , 94.59 , 79.65 , 0.00 2020-12-09T03:49:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.36 , 0.23 , 0.13 2020-12-09T03:49:18Z- waiting for 1607485759.22, time is 1607485758.26 2020-12-09T03:49:18Z- sync is 0.04, coherence is 2.00 2020-12-09T03:49:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485758.28 epoch sec; seqNo:59; 4061782.57 north; 594417.35 east 2020-12-09T03:49:18Z- waiting for 1607485759.22, time is 1607485758.26 2020-12-09T03:49:18Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:18Z- handleDepth()-Depth_Keller msg: 0.04 epoch sec; seqNo:1607485758665; depth 0.00 2020-12-09T03:49:18Z- waiting for 1607485759.22, time is 1607485758.26 2020-12-09T03:49:18Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485758.68 epoch sec; seqNo:60; 4061782.57 north; 594417.35 east 2020-12-09T03:49:18Z- waiting for 1607485759.22, time is 1607485758.26 2020-12-09T03:49:18Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:18Z- handleDepth()-Depth_Keller msg: 0.05 epoch sec; seqNo:1607485759057; depth 0.00 2020-12-09T03:49:18Z- waiting for 1607485759.22, time is 1607485758.26 2020-12-09T03:49:18Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485759.07 epoch sec; seqNo:61; 4061782.57 north; 594417.35 east 2020-12-09T03:49:18Z- waiting for 1607485759.22, time is 1607485758.26 2020-12-09T03:49:18Z- sync is 0.81, coherence is 2.00 2020-12-09T03:49:19Z- AHRS_M2 msg: 1607485759.43 epoch sec; seqNo:56 2020-12-09T03:49:19Z- AHRS_M2 msg: 3.28 phi; -0.05 theta; -0.22 psi 2020-12-09T03:49:19Z- waiting for 1607485759.22, time is 1607485758.26 2020-12-09T03:49:19Z- sync is 1.17, coherence is 2.00 2020-12-09T03:49:19Z- handleDepth()-Depth_Keller msg: 0.04 epoch sec; seqNo:1607485759439; depth 0.00 2020-12-09T03:49:19Z- waiting for 1607485759.22, time is 1607485758.26 2020-12-09T03:49:19Z- sync is 1.17, coherence is 2.00 2020-12-09T03:49:19Z- handleDvl() - RDI_Pathfinder msg: 1607485759.45 epoch sec; seqNo:26 2020-12-09T03:49:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.08 , 84.86 , 86.08 , 78.42 2020-12-09T03:49:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.64 , 0.42 , 0.00 2020-12-09T03:49:19Z- waiting for 1607485759.22, time is 1607485759.45 2020-12-09T03:49:19Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:19Z- LcmTrn::updateTrn() >>>> pose time 1607485759.43, meas time 1607485759.45 <<<< 2020-12-09T03:49:19Z- TerrainNav::Measurement type 1 from time = 1607485759.45 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2020-12-09T03:49:19Z- TerrainNav::motionUpdate() - currEstimate = (4061783, 594417.35, 0.04) 2020-12-09T03:49:19Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-12-09T03:49:19Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:49:19Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:49:19Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:49:19Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-12-09T03:49:19Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-12-09T03:49:19Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-12-09T03:49:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485759.46 epoch sec; seqNo:62; 4061782.19 north; 594417.35 east 2020-12-09T03:49:19Z- waiting for 1607485762.45, time is 1607485759.45 2020-12-09T03:49:19Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:19Z- AHRS_M2 msg: 1607485759.84 epoch sec; seqNo:57 2020-12-09T03:49:19Z- AHRS_M2 msg: 3.30 phi; -0.07 theta; -0.29 psi 2020-12-09T03:49:19Z- waiting for 1607485762.45, time is 1607485759.45 2020-12-09T03:49:19Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:19Z- handleDepth()-Depth_Keller msg: 0.01 epoch sec; seqNo:1607485759851; depth 0.00 2020-12-09T03:49:19Z- waiting for 1607485762.45, time is 1607485759.45 2020-12-09T03:49:19Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485759.87 epoch sec; seqNo:63; 4061781.81 north; 594417.36 east 2020-12-09T03:49:19Z- waiting for 1607485762.45, time is 1607485759.45 2020-12-09T03:49:19Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:20Z- AHRS_M2 msg: 1607485760.24 epoch sec; seqNo:58 2020-12-09T03:49:20Z- AHRS_M2 msg: 3.36 phi; -0.04 theta; -0.25 psi 2020-12-09T03:49:20Z- waiting for 1607485762.45, time is 1607485759.45 2020-12-09T03:49:20Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:20Z- handleDepth()-Depth_Keller msg: 0.01 epoch sec; seqNo:1607485760245; depth 0.00 2020-12-09T03:49:20Z- waiting for 1607485762.45, time is 1607485759.45 2020-12-09T03:49:20Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:20Z- handleDvl() - RDI_Pathfinder msg: 1607485760.26 epoch sec; seqNo:27 2020-12-09T03:49:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.78 , 97.02 , 83.64 , 86.08 2020-12-09T03:49:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.02 , -0.16 2020-12-09T03:49:20Z- waiting for 1607485762.45, time is 1607485760.26 2020-12-09T03:49:20Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485760.29 epoch sec; seqNo:64; 4061781.44 north; 594417.36 east 2020-12-09T03:49:20Z- waiting for 1607485762.45, time is 1607485760.26 2020-12-09T03:49:20Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:20Z- handleDepth()-Depth_Keller msg: 0.04 epoch sec; seqNo:1607485760665; depth 0.00 2020-12-09T03:49:20Z- waiting for 1607485762.45, time is 1607485760.26 2020-12-09T03:49:20Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485760.68 epoch sec; seqNo:65; 4061781.44 north; 594417.36 east 2020-12-09T03:49:20Z- waiting for 1607485762.45, time is 1607485760.26 2020-12-09T03:49:20Z- sync is 0.42, coherence is 2.00 2020-12-09T03:49:20Z- AHRS_M2 msg: 1607485761.05 epoch sec; seqNo:59 2020-12-09T03:49:20Z- AHRS_M2 msg: 3.40 phi; 0.04 theta; -0.18 psi 2020-12-09T03:49:20Z- waiting for 1607485762.45, time is 1607485760.26 2020-12-09T03:49:20Z- sync is 0.80, coherence is 2.00 2020-12-09T03:49:20Z- handleDepth()-Depth_Keller msg: 0.07 epoch sec; seqNo:1607485761058; depth 0.00 2020-12-09T03:49:20Z- waiting for 1607485762.45, time is 1607485760.26 2020-12-09T03:49:20Z- sync is 0.80, coherence is 2.00 2020-12-09T03:49:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485761.07 epoch sec; seqNo:66; 4061781.06 north; 594417.36 east 2020-12-09T03:49:20Z- waiting for 1607485762.45, time is 1607485760.26 2020-12-09T03:49:20Z- sync is 0.81, coherence is 2.00 2020-12-09T03:49:21Z- AHRS_M2 msg: 1607485761.45 epoch sec; seqNo:60 2020-12-09T03:49:21Z- AHRS_M2 msg: 3.38 phi; 0.04 theta; -0.18 psi 2020-12-09T03:49:21Z- waiting for 1607485762.45, time is 1607485760.26 2020-12-09T03:49:21Z- sync is 1.20, coherence is 2.00 2020-12-09T03:49:21Z- handleDepth()-Depth_Keller msg: 0.09 epoch sec; seqNo:1607485761457; depth 0.00 2020-12-09T03:49:21Z- waiting for 1607485762.45, time is 1607485760.26 2020-12-09T03:49:21Z- sync is 1.20, coherence is 2.00 2020-12-09T03:49:21Z- handleDvl() - RDI_Pathfinder msg: 1607485761.48 epoch sec; seqNo:28 2020-12-09T03:49:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.79 , 93.17 , 0.00 , 79.79 2020-12-09T03:49:21Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , 0.05 , 0.19 2020-12-09T03:49:21Z- waiting for 1607485762.45, time is 1607485761.48 2020-12-09T03:49:21Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485761.49 epoch sec; seqNo:67; 4061780.68 north; 594417.37 east 2020-12-09T03:49:21Z- waiting for 1607485762.45, time is 1607485761.48 2020-12-09T03:49:21Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:21Z- AHRS_M2 msg: 1607485761.86 epoch sec; seqNo:61 2020-12-09T03:49:21Z- AHRS_M2 msg: 3.40 phi; 0.04 theta; -0.16 psi 2020-12-09T03:49:21Z- waiting for 1607485762.45, time is 1607485761.48 2020-12-09T03:49:21Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:21Z- handleDepth()-Depth_Keller msg: 0.08 epoch sec; seqNo:1607485761862; depth 0.00 2020-12-09T03:49:21Z- waiting for 1607485762.45, time is 1607485761.48 2020-12-09T03:49:21Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485761.88 epoch sec; seqNo:68; 4061780.30 north; 594417.37 east 2020-12-09T03:49:21Z- waiting for 1607485762.45, time is 1607485761.48 2020-12-09T03:49:21Z- sync is 0.40, coherence is 2.00 2020-12-09T03:49:22Z- AHRS_M2 msg: 1607485762.26 epoch sec; seqNo:62 2020-12-09T03:49:22Z- AHRS_M2 msg: 3.43 phi; 0.03 theta; -0.15 psi 2020-12-09T03:49:22Z- waiting for 1607485762.45, time is 1607485761.48 2020-12-09T03:49:22Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:22Z- handleDepth()-Depth_Keller msg: 0.07 epoch sec; seqNo:1607485762267; depth 0.00 2020-12-09T03:49:22Z- waiting for 1607485762.45, time is 1607485761.48 2020-12-09T03:49:22Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:22Z- handleDvl() - RDI_Pathfinder msg: 1607485762.28 epoch sec; seqNo:29 2020-12-09T03:49:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.43 , 92.16 , 88.51 , 75.98 2020-12-09T03:49:22Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.03 , 0.09 2020-12-09T03:49:22Z- waiting for 1607485762.45, time is 1607485762.28 2020-12-09T03:49:22Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485762.29 epoch sec; seqNo:69; 4061779.91 north; 594416.16 east 2020-12-09T03:49:22Z- waiting for 1607485762.45, time is 1607485762.28 2020-12-09T03:49:22Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:22Z- AHRS_M2 msg: 1607485762.67 epoch sec; seqNo:63 2020-12-09T03:49:22Z- AHRS_M2 msg: 3.43 phi; 0.06 theta; -0.16 psi 2020-12-09T03:49:22Z- waiting for 1607485762.45, time is 1607485762.28 2020-12-09T03:49:22Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:22Z- handleDepth()-Depth_Keller msg: 0.07 epoch sec; seqNo:1607485762670; depth 0.00 2020-12-09T03:49:22Z- waiting for 1607485762.45, time is 1607485762.28 2020-12-09T03:49:22Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485762.69 epoch sec; seqNo:70; 4061779.15 north; 594416.17 east 2020-12-09T03:49:22Z- waiting for 1607485762.45, time is 1607485762.28 2020-12-09T03:49:22Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:22Z- AHRS_M2 msg: 1607485763.07 epoch sec; seqNo:64 2020-12-09T03:49:22Z- AHRS_M2 msg: 3.40 phi; 0.07 theta; -0.22 psi 2020-12-09T03:49:22Z- waiting for 1607485762.45, time is 1607485762.28 2020-12-09T03:49:22Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:22Z- handleDepth()-Depth_Keller msg: 0.08 epoch sec; seqNo:1607485763077; depth 0.00 2020-12-09T03:49:22Z- waiting for 1607485762.45, time is 1607485762.28 2020-12-09T03:49:22Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485763.11 epoch sec; seqNo:71; 4061778.77 north; 594416.17 east 2020-12-09T03:49:22Z- waiting for 1607485762.45, time is 1607485762.28 2020-12-09T03:49:22Z- sync is 0.82, coherence is 2.00 2020-12-09T03:49:23Z- AHRS_M2 msg: 1607485763.47 epoch sec; seqNo:65 2020-12-09T03:49:23Z- AHRS_M2 msg: 3.39 phi; 0.01 theta; -0.25 psi 2020-12-09T03:49:23Z- waiting for 1607485762.45, time is 1607485762.28 2020-12-09T03:49:23Z- sync is 1.19, coherence is 2.00 2020-12-09T03:49:23Z- handleDepth()-Depth_Keller msg: 0.04 epoch sec; seqNo:1607485763477; depth 0.00 2020-12-09T03:49:23Z- waiting for 1607485762.45, time is 1607485762.28 2020-12-09T03:49:23Z- sync is 1.19, coherence is 2.00 2020-12-09T03:49:23Z- handleDvl() - RDI_Pathfinder msg: 1607485763.49 epoch sec; seqNo:30 2020-12-09T03:49:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.50 , 89.80 , 88.58 , 81.28 2020-12-09T03:49:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , 0.08 , 0.46 2020-12-09T03:49:23Z- waiting for 1607485762.45, time is 1607485763.49 2020-12-09T03:49:23Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:23Z- LcmTrn::updateTrn() >>>> pose time 1607485763.47, meas time 1607485763.49 <<<< 2020-12-09T03:49:23Z- TerrainNav::Measurement type 1 from time = 1607485763.49 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2020-12-09T03:49:23Z- TerrainNav::motionUpdate() - currEstimate = (4061779, 594416.17, 0.04) 2020-12-09T03:49:23Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-12-09T03:49:23Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:49:23Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:49:23Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:49:23Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-12-09T03:49:23Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-12-09T03:49:23Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-12-09T03:49:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485763.50 epoch sec; seqNo:72; 4061778.77 north; 594416.17 east 2020-12-09T03:49:23Z- waiting for 1607485766.49, time is 1607485763.49 2020-12-09T03:49:23Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:23Z- AHRS_M2 msg: 1607485763.88 epoch sec; seqNo:66 2020-12-09T03:49:23Z- AHRS_M2 msg: 3.42 phi; -0.07 theta; -0.20 psi 2020-12-09T03:49:23Z- waiting for 1607485766.49, time is 1607485763.49 2020-12-09T03:49:23Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:23Z- handleDepth()-Depth_Keller msg: 0.03 epoch sec; seqNo:1607485763883; depth 0.00 2020-12-09T03:49:23Z- waiting for 1607485766.49, time is 1607485763.49 2020-12-09T03:49:23Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485763.90 epoch sec; seqNo:73; 4061778.39 north; 594416.17 east 2020-12-09T03:49:23Z- waiting for 1607485766.49, time is 1607485763.49 2020-12-09T03:49:23Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:24Z- handleDepth()-Depth_Keller msg: 0.01 epoch sec; seqNo:1607485764301; depth 0.00 2020-12-09T03:49:24Z- waiting for 1607485766.49, time is 1607485763.49 2020-12-09T03:49:24Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:24Z- handleDvl() - RDI_Pathfinder msg: 1607485764.32 epoch sec; seqNo:31 2020-12-09T03:49:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.79 , 99.32 , 84.73 , 0.00 2020-12-09T03:49:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.37 , 0.02 , -0.25 2020-12-09T03:49:24Z- waiting for 1607485766.49, time is 1607485764.32 2020-12-09T03:49:24Z- sync is 0.42, coherence is 2.00 2020-12-09T03:49:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485764.33 epoch sec; seqNo:74; 4061778.01 north; 594416.18 east 2020-12-09T03:49:24Z- waiting for 1607485766.49, time is 1607485764.32 2020-12-09T03:49:24Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:24Z- handleDepth()-Depth_Keller msg: 0.05 epoch sec; seqNo:1607485764711; depth 0.00 2020-12-09T03:49:24Z- waiting for 1607485766.49, time is 1607485764.32 2020-12-09T03:49:24Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485764.73 epoch sec; seqNo:75; 4061778.01 north; 594416.18 east 2020-12-09T03:49:24Z- waiting for 1607485766.49, time is 1607485764.32 2020-12-09T03:49:24Z- sync is 0.42, coherence is 2.00 2020-12-09T03:49:24Z- AHRS_M2 msg: 1607485765.09 epoch sec; seqNo:67 2020-12-09T03:49:24Z- AHRS_M2 msg: 3.51 phi; 0.01 theta; -0.18 psi 2020-12-09T03:49:24Z- waiting for 1607485766.49, time is 1607485764.32 2020-12-09T03:49:24Z- sync is 0.78, coherence is 2.00 2020-12-09T03:49:24Z- handleDepth()-Depth_Keller msg: 0.09 epoch sec; seqNo:1607485765102; depth 0.00 2020-12-09T03:49:24Z- waiting for 1607485766.49, time is 1607485764.32 2020-12-09T03:49:24Z- sync is 0.78, coherence is 2.00 2020-12-09T03:49:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485765.12 epoch sec; seqNo:76; 4061778.01 north; 594416.18 east 2020-12-09T03:49:24Z- waiting for 1607485766.49, time is 1607485764.32 2020-12-09T03:49:24Z- sync is 0.80, coherence is 2.00 2020-12-09T03:49:25Z- AHRS_M2 msg: 1607485765.49 epoch sec; seqNo:68 2020-12-09T03:49:25Z- AHRS_M2 msg: 3.48 phi; 0.07 theta; -0.20 psi 2020-12-09T03:49:25Z- waiting for 1607485766.49, time is 1607485764.32 2020-12-09T03:49:25Z- sync is 1.18, coherence is 2.00 2020-12-09T03:49:25Z- handleDepth()-Depth_Keller msg: 0.13 epoch sec; seqNo:1607485765501; depth 0.00 2020-12-09T03:49:25Z- waiting for 1607485766.49, time is 1607485764.32 2020-12-09T03:49:25Z- sync is 1.18, coherence is 2.00 2020-12-09T03:49:25Z- handleDvl() - RDI_Pathfinder msg: 1607485765.51 epoch sec; seqNo:32 2020-12-09T03:49:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.44 , 88.31 , 83.44 , 84.66 2020-12-09T03:49:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , 0.21 , 0.20 2020-12-09T03:49:25Z- waiting for 1607485766.49, time is 1607485765.51 2020-12-09T03:49:25Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485765.54 epoch sec; seqNo:77; 4061777.63 north; 594416.18 east 2020-12-09T03:49:25Z- waiting for 1607485766.49, time is 1607485765.51 2020-12-09T03:49:25Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:25Z- AHRS_M2 msg: 1607485765.90 epoch sec; seqNo:69 2020-12-09T03:49:25Z- AHRS_M2 msg: 3.44 phi; 0.09 theta; -0.21 psi 2020-12-09T03:49:25Z- waiting for 1607485766.49, time is 1607485765.51 2020-12-09T03:49:25Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:25Z- handleDepth()-Depth_Keller msg: 0.15 epoch sec; seqNo:1607485765902; depth 0.00 2020-12-09T03:49:25Z- waiting for 1607485766.49, time is 1607485765.51 2020-12-09T03:49:25Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485765.92 epoch sec; seqNo:78; 4061777.25 north; 594416.19 east 2020-12-09T03:49:25Z- waiting for 1607485766.49, time is 1607485765.51 2020-12-09T03:49:25Z- sync is 0.40, coherence is 2.00 2020-12-09T03:49:26Z- AHRS_M2 msg: 1607485766.30 epoch sec; seqNo:70 2020-12-09T03:49:26Z- AHRS_M2 msg: 3.44 phi; 0.05 theta; -0.18 psi 2020-12-09T03:49:26Z- waiting for 1607485766.49, time is 1607485765.51 2020-12-09T03:49:26Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:26Z- handleDepth()-Depth_Keller msg: 0.16 epoch sec; seqNo:1607485766307; depth 0.00 2020-12-09T03:49:26Z- waiting for 1607485766.49, time is 1607485765.51 2020-12-09T03:49:26Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:26Z- handleDvl() - RDI_Pathfinder msg: 1607485766.32 epoch sec; seqNo:33 2020-12-09T03:49:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T03:49:26Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:49:26Z- waiting for 1607485766.49, time is 1607485766.32 2020-12-09T03:49:26Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485766.33 epoch sec; seqNo:79; 4061776.86 north; 594414.97 east 2020-12-09T03:49:26Z- waiting for 1607485766.49, time is 1607485766.32 2020-12-09T03:49:26Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:26Z- AHRS_M2 msg: 1607485766.71 epoch sec; seqNo:71 2020-12-09T03:49:26Z- AHRS_M2 msg: 3.47 phi; -0.02 theta; -0.13 psi 2020-12-09T03:49:26Z- waiting for 1607485766.49, time is 1607485766.32 2020-12-09T03:49:26Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:26Z- handleDepth()-Depth_Keller msg: 0.15 epoch sec; seqNo:1607485766714; depth 0.00 2020-12-09T03:49:26Z- waiting for 1607485766.49, time is 1607485766.32 2020-12-09T03:49:26Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485766.74 epoch sec; seqNo:80; 4061776.86 north; 594414.97 east 2020-12-09T03:49:26Z- waiting for 1607485766.49, time is 1607485766.32 2020-12-09T03:49:26Z- sync is 0.42, coherence is 2.00 2020-12-09T03:49:26Z- AHRS_M2 msg: 1607485767.11 epoch sec; seqNo:72 2020-12-09T03:49:26Z- AHRS_M2 msg: 3.50 phi; -0.03 theta; -0.11 psi 2020-12-09T03:49:26Z- waiting for 1607485766.49, time is 1607485766.32 2020-12-09T03:49:26Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:26Z- handleDepth()-Depth_Keller msg: 0.12 epoch sec; seqNo:1607485767118; depth 0.00 2020-12-09T03:49:26Z- waiting for 1607485766.49, time is 1607485766.32 2020-12-09T03:49:26Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485767.13 epoch sec; seqNo:81; 4061776.48 north; 594414.97 east 2020-12-09T03:49:26Z- waiting for 1607485766.49, time is 1607485766.32 2020-12-09T03:49:26Z- sync is 0.81, coherence is 2.00 2020-12-09T03:49:27Z- AHRS_M2 msg: 1607485767.51 epoch sec; seqNo:73 2020-12-09T03:49:27Z- AHRS_M2 msg: 3.55 phi; 0.02 theta; -0.10 psi 2020-12-09T03:49:27Z- waiting for 1607485766.49, time is 1607485766.32 2020-12-09T03:49:27Z- sync is 1.19, coherence is 2.00 2020-12-09T03:49:27Z- handleDepth()-Depth_Keller msg: 0.08 epoch sec; seqNo:1607485767519; depth 0.00 2020-12-09T03:49:27Z- waiting for 1607485766.49, time is 1607485766.32 2020-12-09T03:49:27Z- sync is 1.19, coherence is 2.00 2020-12-09T03:49:27Z- handleDvl() - RDI_Pathfinder msg: 1607485767.53 epoch sec; seqNo:34 2020-12-09T03:49:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.52 , 89.39 , 85.74 , 0.00 2020-12-09T03:49:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.63 , -0.13 , 0.28 2020-12-09T03:49:27Z- waiting for 1607485766.49, time is 1607485767.53 2020-12-09T03:49:27Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:27Z- LcmTrn::updateTrn() >>>> pose time 1607485767.51, meas time 1607485767.53 <<<< 2020-12-09T03:49:27Z- TerrainNav::Measurement type 1 from time = 1607485767.53 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2020-12-09T03:49:27Z- TerrainNav::motionUpdate() - currEstimate = (4061776, 594414.97, 0.08) 2020-12-09T03:49:27Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-12-09T03:49:27Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:49:27Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:49:27Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:49:27Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-12-09T03:49:27Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-12-09T03:49:27Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-12-09T03:49:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485767.55 epoch sec; seqNo:82; 4061776.10 north; 594414.98 east 2020-12-09T03:49:27Z- waiting for 1607485770.53, time is 1607485767.53 2020-12-09T03:49:27Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:27Z- AHRS_M2 msg: 1607485767.92 epoch sec; seqNo:74 2020-12-09T03:49:27Z- AHRS_M2 msg: 3.56 phi; 0.06 theta; -0.07 psi 2020-12-09T03:49:27Z- waiting for 1607485770.53, time is 1607485767.53 2020-12-09T03:49:27Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:27Z- handleDepth()-Depth_Keller msg: 0.06 epoch sec; seqNo:1607485767922; depth 0.00 2020-12-09T03:49:27Z- waiting for 1607485770.53, time is 1607485767.53 2020-12-09T03:49:27Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485767.98 epoch sec; seqNo:83; 4061775.73 north; 594414.98 east 2020-12-09T03:49:27Z- waiting for 1607485770.53, time is 1607485767.53 2020-12-09T03:49:27Z- sync is 0.45, coherence is 2.00 2020-12-09T03:49:28Z- AHRS_M2 msg: 1607485768.32 epoch sec; seqNo:75 2020-12-09T03:49:28Z- AHRS_M2 msg: 3.56 phi; 0.04 theta; -0.07 psi 2020-12-09T03:49:28Z- waiting for 1607485770.53, time is 1607485767.53 2020-12-09T03:49:28Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:28Z- handleDepth()-Depth_Keller msg: 0.06 epoch sec; seqNo:1607485768326; depth 0.00 2020-12-09T03:49:28Z- waiting for 1607485770.53, time is 1607485767.53 2020-12-09T03:49:28Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:28Z- handleDvl() - RDI_Pathfinder msg: 1607485768.36 epoch sec; seqNo:35 2020-12-09T03:49:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.87 , 87.09 , 0.00 , 84.66 2020-12-09T03:49:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.06 , 0.08 2020-12-09T03:49:28Z- waiting for 1607485770.53, time is 1607485768.36 2020-12-09T03:49:28Z- sync is 0.04, coherence is 2.00 2020-12-09T03:49:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485768.37 epoch sec; seqNo:84; 4061775.73 north; 594414.98 east 2020-12-09T03:49:28Z- waiting for 1607485770.53, time is 1607485768.36 2020-12-09T03:49:28Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:28Z- AHRS_M2 msg: 1607485768.73 epoch sec; seqNo:76 2020-12-09T03:49:28Z- AHRS_M2 msg: 3.57 phi; -0.01 theta; -0.12 psi 2020-12-09T03:49:28Z- waiting for 1607485770.53, time is 1607485768.36 2020-12-09T03:49:28Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:28Z- handleDepth()-Depth_Keller msg: 0.05 epoch sec; seqNo:1607485768734; depth 0.00 2020-12-09T03:49:28Z- waiting for 1607485770.53, time is 1607485768.36 2020-12-09T03:49:28Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485768.76 epoch sec; seqNo:85; 4061775.35 north; 594414.99 east 2020-12-09T03:49:28Z- waiting for 1607485770.53, time is 1607485768.36 2020-12-09T03:49:28Z- sync is 0.40, coherence is 2.00 2020-12-09T03:49:29Z- AHRS_M2 msg: 1607485769.16 epoch sec; seqNo:77 2020-12-09T03:49:29Z- AHRS_M2 msg: 3.55 phi; -0.05 theta; -0.16 psi 2020-12-09T03:49:29Z- waiting for 1607485770.53, time is 1607485768.36 2020-12-09T03:49:29Z- sync is 0.80, coherence is 2.00 2020-12-09T03:49:29Z- handleDepth()-Depth_Keller msg: 0.04 epoch sec; seqNo:1607485769162; depth 0.00 2020-12-09T03:49:29Z- waiting for 1607485770.53, time is 1607485768.36 2020-12-09T03:49:29Z- sync is 0.80, coherence is 2.00 2020-12-09T03:49:29Z- handleDvl() - RDI_Pathfinder msg: 1607485769.18 epoch sec; seqNo:36 2020-12-09T03:49:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.73 , 0.00 , 84.73 , 85.94 2020-12-09T03:49:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.12 , -0.66 2020-12-09T03:49:29Z- waiting for 1607485770.53, time is 1607485769.18 2020-12-09T03:49:29Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485769.21 epoch sec; seqNo:86; 4061774.97 north; 594414.99 east 2020-12-09T03:49:29Z- waiting for 1607485770.53, time is 1607485769.18 2020-12-09T03:49:29Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:29Z- AHRS_M2 msg: 1607485769.53 epoch sec; seqNo:78 2020-12-09T03:49:29Z- AHRS_M2 msg: 3.54 phi; -0.09 theta; -0.19 psi 2020-12-09T03:49:29Z- waiting for 1607485770.53, time is 1607485769.18 2020-12-09T03:49:29Z- sync is 0.36, coherence is 2.00 2020-12-09T03:49:29Z- handleDepth()-Depth_Keller msg: 0.03 epoch sec; seqNo:1607485769538; depth 0.00 2020-12-09T03:49:29Z- waiting for 1607485770.53, time is 1607485769.18 2020-12-09T03:49:29Z- sync is 0.36, coherence is 2.00 2020-12-09T03:49:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485769.55 epoch sec; seqNo:87; 4061774.59 north; 594414.99 east 2020-12-09T03:49:29Z- waiting for 1607485770.53, time is 1607485769.18 2020-12-09T03:49:29Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:29Z- handleDepth()-Depth_Keller msg: 0.05 epoch sec; seqNo:1607485769957; depth 0.00 2020-12-09T03:49:29Z- waiting for 1607485770.53, time is 1607485769.18 2020-12-09T03:49:29Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485770.01 epoch sec; seqNo:88; 4061774.21 north; 594415.00 east 2020-12-09T03:49:29Z- waiting for 1607485770.53, time is 1607485769.18 2020-12-09T03:49:29Z- sync is 0.83, coherence is 2.00 2020-12-09T03:49:30Z- AHRS_M2 msg: 1607485770.34 epoch sec; seqNo:79 2020-12-09T03:49:30Z- AHRS_M2 msg: 3.57 phi; -0.11 theta; -0.16 psi 2020-12-09T03:49:30Z- waiting for 1607485770.53, time is 1607485769.18 2020-12-09T03:49:30Z- sync is 1.16, coherence is 2.00 2020-12-09T03:49:30Z- handleDepth()-Depth_Keller msg: 0.06 epoch sec; seqNo:1607485770349; depth 0.00 2020-12-09T03:49:30Z- waiting for 1607485770.53, time is 1607485769.18 2020-12-09T03:49:30Z- sync is 1.16, coherence is 2.00 2020-12-09T03:49:30Z- handleDvl() - RDI_Pathfinder msg: 1607485770.36 epoch sec; seqNo:37 2020-12-09T03:49:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.42 , 92.09 , 78.01 , 0.00 2020-12-09T03:49:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.27 , -0.58 2020-12-09T03:49:30Z- waiting for 1607485770.53, time is 1607485770.36 2020-12-09T03:49:30Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485770.37 epoch sec; seqNo:89; 4061773.83 north; 594415.00 east 2020-12-09T03:49:30Z- waiting for 1607485770.53, time is 1607485770.36 2020-12-09T03:49:30Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:30Z- AHRS_M2 msg: 1607485770.77 epoch sec; seqNo:80 2020-12-09T03:49:30Z- AHRS_M2 msg: 3.62 phi; -0.07 theta; -0.11 psi 2020-12-09T03:49:30Z- waiting for 1607485770.53, time is 1607485770.36 2020-12-09T03:49:30Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:30Z- handleDepth()-Depth_Keller msg: 0.08 epoch sec; seqNo:1607485770775; depth 0.00 2020-12-09T03:49:30Z- waiting for 1607485770.53, time is 1607485770.36 2020-12-09T03:49:30Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485770.79 epoch sec; seqNo:90; 4061773.45 north; 594415.01 east 2020-12-09T03:49:30Z- waiting for 1607485770.53, time is 1607485770.36 2020-12-09T03:49:30Z- sync is 0.43, coherence is 2.00 2020-12-09T03:49:31Z- AHRS_M2 msg: 1607485771.16 epoch sec; seqNo:81 2020-12-09T03:49:31Z- AHRS_M2 msg: 3.62 phi; -0.05 theta; -0.04 psi 2020-12-09T03:49:31Z- waiting for 1607485770.53, time is 1607485770.36 2020-12-09T03:49:31Z- sync is 0.80, coherence is 2.00 2020-12-09T03:49:31Z- handleDepth()-Depth_Keller msg: 0.10 epoch sec; seqNo:1607485771162; depth 0.00 2020-12-09T03:49:31Z- waiting for 1607485770.53, time is 1607485770.36 2020-12-09T03:49:31Z- sync is 0.80, coherence is 2.00 2020-12-09T03:49:31Z- handleDvl() - RDI_Pathfinder msg: 1607485771.18 epoch sec; seqNo:38 2020-12-09T03:49:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.56 , 86.21 , 81.35 , 0.00 2020-12-09T03:49:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.05 , -0.84 2020-12-09T03:49:31Z- waiting for 1607485770.53, time is 1607485771.18 2020-12-09T03:49:31Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:31Z- LcmTrn::updateTrn() >>>> pose time 1607485771.16, meas time 1607485771.18 <<<< 2020-12-09T03:49:31Z- TerrainNav::Measurement type 1 from time = 1607485771.18 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2020-12-09T03:49:31Z- TerrainNav::motionUpdate() - currEstimate = (4061773, 594415.01, 0.10) 2020-12-09T03:49:31Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-12-09T03:49:31Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:49:31Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:49:31Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:49:31Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-12-09T03:49:31Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-12-09T03:49:31Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-12-09T03:49:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485771.19 epoch sec; seqNo:91; 4061773.06 north; 594413.79 east 2020-12-09T03:49:31Z- waiting for 1607485774.18, time is 1607485771.18 2020-12-09T03:49:31Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:31Z- AHRS_M2 msg: 1607485771.55 epoch sec; seqNo:82 2020-12-09T03:49:31Z- AHRS_M2 msg: 3.60 phi; -0.10 theta; -0.04 psi 2020-12-09T03:49:31Z- waiting for 1607485774.18, time is 1607485771.18 2020-12-09T03:49:31Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:31Z- handleDepth()-Depth_Keller msg: 0.10 epoch sec; seqNo:1607485771557; depth 0.00 2020-12-09T03:49:31Z- waiting for 1607485774.18, time is 1607485771.18 2020-12-09T03:49:31Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485771.57 epoch sec; seqNo:92; 4061772.68 north; 594413.80 east 2020-12-09T03:49:31Z- waiting for 1607485774.18, time is 1607485771.18 2020-12-09T03:49:31Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:31Z- AHRS_M2 msg: 1607485771.96 epoch sec; seqNo:83 2020-12-09T03:49:31Z- AHRS_M2 msg: 3.59 phi; -0.18 theta; -0.08 psi 2020-12-09T03:49:31Z- waiting for 1607485774.18, time is 1607485771.18 2020-12-09T03:49:31Z- sync is 0.78, coherence is 2.00 2020-12-09T03:49:31Z- handleDepth()-Depth_Keller msg: 0.10 epoch sec; seqNo:1607485771962; depth 0.00 2020-12-09T03:49:31Z- waiting for 1607485774.18, time is 1607485771.18 2020-12-09T03:49:31Z- sync is 0.78, coherence is 2.00 2020-12-09T03:49:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485771.97 epoch sec; seqNo:93; 4061772.30 north; 594413.80 east 2020-12-09T03:49:31Z- waiting for 1607485774.18, time is 1607485771.18 2020-12-09T03:49:31Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:32Z- AHRS_M2 msg: 1607485772.36 epoch sec; seqNo:84 2020-12-09T03:49:32Z- AHRS_M2 msg: 3.57 phi; -0.22 theta; -0.09 psi 2020-12-09T03:49:32Z- waiting for 1607485774.18, time is 1607485771.18 2020-12-09T03:49:32Z- sync is 1.18, coherence is 2.00 2020-12-09T03:49:32Z- handleDepth()-Depth_Keller msg: 0.09 epoch sec; seqNo:1607485772365; depth 0.00 2020-12-09T03:49:32Z- waiting for 1607485774.18, time is 1607485771.18 2020-12-09T03:49:32Z- sync is 1.18, coherence is 2.00 2020-12-09T03:49:32Z- handleDvl() - RDI_Pathfinder msg: 1607485772.39 epoch sec; seqNo:39 2020-12-09T03:49:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.93 , 84.93 , 78.85 , 89.79 2020-12-09T03:49:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.59 , 0.64 , -0.58 2020-12-09T03:49:32Z- waiting for 1607485774.18, time is 1607485772.39 2020-12-09T03:49:32Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485772.40 epoch sec; seqNo:94; 4061772.30 north; 594413.80 east 2020-12-09T03:49:32Z- waiting for 1607485774.18, time is 1607485772.39 2020-12-09T03:49:32Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:32Z- AHRS_M2 msg: 1607485772.76 epoch sec; seqNo:85 2020-12-09T03:49:32Z- AHRS_M2 msg: 3.60 phi; -0.24 theta; -0.12 psi 2020-12-09T03:49:32Z- waiting for 1607485774.18, time is 1607485772.39 2020-12-09T03:49:32Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:32Z- handleDepth()-Depth_Keller msg: 0.12 epoch sec; seqNo:1607485772770; depth 0.00 2020-12-09T03:49:32Z- waiting for 1607485774.18, time is 1607485772.39 2020-12-09T03:49:32Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485772.81 epoch sec; seqNo:95; 4061772.30 north; 594413.80 east 2020-12-09T03:49:32Z- waiting for 1607485774.18, time is 1607485772.39 2020-12-09T03:49:32Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:33Z- AHRS_M2 msg: 1607485773.17 epoch sec; seqNo:86 2020-12-09T03:49:33Z- AHRS_M2 msg: 3.66 phi; -0.18 theta; -0.14 psi 2020-12-09T03:49:33Z- waiting for 1607485774.18, time is 1607485772.39 2020-12-09T03:49:33Z- sync is 0.78, coherence is 2.00 2020-12-09T03:49:33Z- handleDepth()-Depth_Keller msg: 0.11 epoch sec; seqNo:1607485773178; depth 0.00 2020-12-09T03:49:33Z- waiting for 1607485774.18, time is 1607485772.39 2020-12-09T03:49:33Z- sync is 0.78, coherence is 2.00 2020-12-09T03:49:33Z- handleDvl() - RDI_Pathfinder msg: 1607485773.19 epoch sec; seqNo:40 2020-12-09T03:49:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.43 , 88.51 , 70.66 , 98.24 2020-12-09T03:49:33Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.74 , -0.18 2020-12-09T03:49:33Z- waiting for 1607485774.18, time is 1607485773.19 2020-12-09T03:49:33Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485773.20 epoch sec; seqNo:96; 4061771.91 north; 594412.58 east 2020-12-09T03:49:33Z- waiting for 1607485774.18, time is 1607485773.19 2020-12-09T03:49:33Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:33Z- AHRS_M2 msg: 1607485773.58 epoch sec; seqNo:87 2020-12-09T03:49:33Z- AHRS_M2 msg: 3.67 phi; -0.14 theta; -0.13 psi 2020-12-09T03:49:33Z- waiting for 1607485774.18, time is 1607485773.19 2020-12-09T03:49:33Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:33Z- handleDepth()-Depth_Keller msg: 0.15 epoch sec; seqNo:1607485773587; depth 0.00 2020-12-09T03:49:33Z- waiting for 1607485774.18, time is 1607485773.19 2020-12-09T03:49:33Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485773.60 epoch sec; seqNo:97; 4061771.53 north; 594412.59 east 2020-12-09T03:49:33Z- waiting for 1607485774.18, time is 1607485773.19 2020-12-09T03:49:33Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:33Z- AHRS_M2 msg: 1607485773.98 epoch sec; seqNo:88 2020-12-09T03:49:33Z- AHRS_M2 msg: 3.64 phi; -0.14 theta; -0.07 psi 2020-12-09T03:49:33Z- waiting for 1607485774.18, time is 1607485773.19 2020-12-09T03:49:33Z- sync is 0.78, coherence is 2.00 2020-12-09T03:49:33Z- handleDepth()-Depth_Keller msg: 0.20 epoch sec; seqNo:1607485773983; depth 0.00 2020-12-09T03:49:33Z- waiting for 1607485774.18, time is 1607485773.19 2020-12-09T03:49:33Z- sync is 0.78, coherence is 2.00 2020-12-09T03:49:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485774.01 epoch sec; seqNo:98; 4061771.52 north; 594411.37 east 2020-12-09T03:49:33Z- waiting for 1607485774.18, time is 1607485773.19 2020-12-09T03:49:33Z- sync is 0.82, coherence is 2.00 2020-12-09T03:49:34Z- AHRS_M2 msg: 1607485774.39 epoch sec; seqNo:89 2020-12-09T03:49:34Z- AHRS_M2 msg: 3.62 phi; -0.20 theta; -0.01 psi 2020-12-09T03:49:34Z- waiting for 1607485774.18, time is 1607485773.19 2020-12-09T03:49:34Z- sync is 1.19, coherence is 2.00 2020-12-09T03:49:34Z- handleDepth()-Depth_Keller msg: 0.27 epoch sec; seqNo:1607485774396; depth 0.00 2020-12-09T03:49:34Z- waiting for 1607485774.18, time is 1607485773.19 2020-12-09T03:49:34Z- sync is 1.19, coherence is 2.00 2020-12-09T03:49:34Z- handleDvl() - RDI_Pathfinder msg: 1607485774.42 epoch sec; seqNo:41 2020-12-09T03:49:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.58 , 84.79 , 78.71 , 88.44 2020-12-09T03:49:34Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 1.00 , -0.22 2020-12-09T03:49:34Z- waiting for 1607485774.18, time is 1607485774.42 2020-12-09T03:49:34Z- sync is 0.04, coherence is 2.00 2020-12-09T03:49:34Z- LcmTrn::updateTrn() >>>> pose time 1607485774.39, meas time 1607485774.42 <<<< 2020-12-09T03:49:34Z- TerrainNav::Measurement type 1 from time = 1607485774.42 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2020-12-09T03:49:34Z- TerrainNav::motionUpdate() - currEstimate = (4061772, 594411.37, 0.27) 2020-12-09T03:49:34Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-12-09T03:49:34Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:49:34Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:49:34Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:49:34Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-12-09T03:49:34Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-12-09T03:49:34Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-12-09T03:49:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485774.43 epoch sec; seqNo:99; 4061771.14 north; 594411.37 east 2020-12-09T03:49:34Z- waiting for 1607485777.42, time is 1607485774.42 2020-12-09T03:49:34Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:34Z- AHRS_M2 msg: 1607485774.79 epoch sec; seqNo:90 2020-12-09T03:49:34Z- AHRS_M2 msg: 3.63 phi; -0.25 theta; -0.02 psi 2020-12-09T03:49:34Z- waiting for 1607485777.42, time is 1607485774.42 2020-12-09T03:49:34Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:34Z- handleDepth()-Depth_Keller msg: 0.32 epoch sec; seqNo:1607485774794; depth 0.00 2020-12-09T03:49:34Z- waiting for 1607485777.42, time is 1607485774.42 2020-12-09T03:49:34Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485774.81 epoch sec; seqNo:100; 4061771.13 north; 594410.15 east 2020-12-09T03:49:34Z- waiting for 1607485777.42, time is 1607485774.42 2020-12-09T03:49:34Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:35Z- AHRS_M2 msg: 1607485775.19 epoch sec; seqNo:91 2020-12-09T03:49:35Z- AHRS_M2 msg: 3.65 phi; -0.25 theta; -0.10 psi 2020-12-09T03:49:35Z- waiting for 1607485777.42, time is 1607485774.42 2020-12-09T03:49:35Z- sync is 0.76, coherence is 2.00 2020-12-09T03:49:35Z- handleDepth()-Depth_Keller msg: 0.35 epoch sec; seqNo:1607485775192; depth 0.00 2020-12-09T03:49:35Z- waiting for 1607485777.42, time is 1607485774.42 2020-12-09T03:49:35Z- sync is 0.76, coherence is 2.00 2020-12-09T03:49:35Z- handleDvl() - RDI_Pathfinder msg: 1607485775.23 epoch sec; seqNo:42 2020-12-09T03:49:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.51 , 78.83 , 69.85 , 95.80 2020-12-09T03:49:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , 1.06 , 0.76 2020-12-09T03:49:35Z- waiting for 1607485777.42, time is 1607485775.23 2020-12-09T03:49:35Z- sync is 0.05, coherence is 2.00 2020-12-09T03:49:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485775.26 epoch sec; seqNo:101; 4061771.13 north; 594410.15 east 2020-12-09T03:49:35Z- waiting for 1607485777.42, time is 1607485775.23 2020-12-09T03:49:35Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:35Z- AHRS_M2 msg: 1607485775.60 epoch sec; seqNo:92 2020-12-09T03:49:35Z- AHRS_M2 msg: 3.63 phi; -0.20 theta; -0.18 psi 2020-12-09T03:49:35Z- waiting for 1607485777.42, time is 1607485775.23 2020-12-09T03:49:35Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:35Z- handleDepth()-Depth_Keller msg: 0.41 epoch sec; seqNo:1607485775607; depth 0.00 2020-12-09T03:49:35Z- waiting for 1607485777.42, time is 1607485775.23 2020-12-09T03:49:35Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485775.65 epoch sec; seqNo:102; 4061771.13 north; 594410.15 east 2020-12-09T03:49:35Z- waiting for 1607485777.42, time is 1607485775.23 2020-12-09T03:49:35Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:35Z- AHRS_M2 msg: 1607485776.01 epoch sec; seqNo:93 2020-12-09T03:49:35Z- AHRS_M2 msg: 3.62 phi; -0.22 theta; -0.17 psi 2020-12-09T03:49:35Z- waiting for 1607485777.42, time is 1607485775.23 2020-12-09T03:49:35Z- sync is 0.77, coherence is 2.00 2020-12-09T03:49:35Z- handleDepth()-Depth_Keller msg: 0.50 epoch sec; seqNo:1607485776015; depth 0.00 2020-12-09T03:49:35Z- waiting for 1607485777.42, time is 1607485775.23 2020-12-09T03:49:35Z- sync is 0.77, coherence is 2.00 2020-12-09T03:49:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485776.08 epoch sec; seqNo:103; 4061771.11 north; 594408.93 east 2020-12-09T03:49:35Z- waiting for 1607485777.42, time is 1607485775.23 2020-12-09T03:49:35Z- sync is 0.84, coherence is 2.00 2020-12-09T03:49:36Z- AHRS_M2 msg: 1607485776.40 epoch sec; seqNo:94 2020-12-09T03:49:36Z- AHRS_M2 msg: 3.63 phi; -0.24 theta; -0.18 psi 2020-12-09T03:49:36Z- waiting for 1607485777.42, time is 1607485775.23 2020-12-09T03:49:36Z- sync is 1.17, coherence is 2.00 2020-12-09T03:49:36Z- handleDepth()-Depth_Keller msg: 0.55 epoch sec; seqNo:1607485776407; depth 0.00 2020-12-09T03:49:36Z- waiting for 1607485777.42, time is 1607485775.23 2020-12-09T03:49:36Z- sync is 1.17, coherence is 2.00 2020-12-09T03:49:36Z- handleDvl() - RDI_Pathfinder msg: 1607485776.43 epoch sec; seqNo:43 2020-12-09T03:49:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.61 , 91.01 , 72.30 , 92.22 2020-12-09T03:49:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.60 , 0.54 , 0.79 2020-12-09T03:49:36Z- waiting for 1607485777.42, time is 1607485776.43 2020-12-09T03:49:36Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485776.46 epoch sec; seqNo:104; 4061771.11 north; 594408.93 east 2020-12-09T03:49:36Z- waiting for 1607485777.42, time is 1607485776.43 2020-12-09T03:49:36Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:36Z- AHRS_M2 msg: 1607485776.81 epoch sec; seqNo:95 2020-12-09T03:49:36Z- AHRS_M2 msg: 3.66 phi; -0.21 theta; -0.19 psi 2020-12-09T03:49:36Z- waiting for 1607485777.42, time is 1607485776.43 2020-12-09T03:49:36Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:36Z- handleDepth()-Depth_Keller msg: 0.59 epoch sec; seqNo:1607485776820; depth 0.00 2020-12-09T03:49:36Z- waiting for 1607485777.42, time is 1607485776.43 2020-12-09T03:49:36Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485776.83 epoch sec; seqNo:105; 4061771.11 north; 594408.93 east 2020-12-09T03:49:36Z- waiting for 1607485777.42, time is 1607485776.43 2020-12-09T03:49:36Z- sync is 0.40, coherence is 2.00 2020-12-09T03:49:37Z- AHRS_M2 msg: 1607485777.21 epoch sec; seqNo:96 2020-12-09T03:49:37Z- AHRS_M2 msg: 3.68 phi; -0.16 theta; -0.17 psi 2020-12-09T03:49:37Z- waiting for 1607485777.42, time is 1607485776.43 2020-12-09T03:49:37Z- sync is 0.78, coherence is 2.00 2020-12-09T03:49:37Z- handleDepth()-Depth_Keller msg: 0.64 epoch sec; seqNo:1607485777211; depth 0.00 2020-12-09T03:49:37Z- waiting for 1607485777.42, time is 1607485776.43 2020-12-09T03:49:37Z- sync is 0.78, coherence is 2.00 2020-12-09T03:49:37Z- handleDvl() - RDI_Pathfinder msg: 1607485777.22 epoch sec; seqNo:44 2020-12-09T03:49:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.83 , 93.44 , 72.30 , 97.09 2020-12-09T03:49:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.61 , 0.26 , 0.87 2020-12-09T03:49:37Z- waiting for 1607485777.42, time is 1607485777.22 2020-12-09T03:49:37Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485777.24 epoch sec; seqNo:106; 4061771.10 north; 594407.71 east 2020-12-09T03:49:37Z- waiting for 1607485777.42, time is 1607485777.22 2020-12-09T03:49:37Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:37Z- AHRS_M2 msg: 1607485777.61 epoch sec; seqNo:97 2020-12-09T03:49:37Z- AHRS_M2 msg: 3.68 phi; -0.13 theta; -0.12 psi 2020-12-09T03:49:37Z- waiting for 1607485777.42, time is 1607485777.22 2020-12-09T03:49:37Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:37Z- handleDepth()-Depth_Keller msg: 0.72 epoch sec; seqNo:1607485777617; depth 0.00 2020-12-09T03:49:37Z- waiting for 1607485777.42, time is 1607485777.22 2020-12-09T03:49:37Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485777.63 epoch sec; seqNo:107; 4061771.10 north; 594407.71 east 2020-12-09T03:49:37Z- waiting for 1607485777.42, time is 1607485777.22 2020-12-09T03:49:37Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:37Z- AHRS_M2 msg: 1607485778.02 epoch sec; seqNo:98 2020-12-09T03:49:37Z- AHRS_M2 msg: 3.66 phi; -0.12 theta; -0.08 psi 2020-12-09T03:49:37Z- waiting for 1607485777.42, time is 1607485777.22 2020-12-09T03:49:37Z- sync is 0.80, coherence is 2.00 2020-12-09T03:49:37Z- handleDepth()-Depth_Keller msg: 0.80 epoch sec; seqNo:1607485778029; depth 0.00 2020-12-09T03:49:37Z- waiting for 1607485777.42, time is 1607485777.22 2020-12-09T03:49:37Z- sync is 0.80, coherence is 2.00 2020-12-09T03:49:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485778.04 epoch sec; seqNo:108; 4061770.72 north; 594407.71 east 2020-12-09T03:49:37Z- waiting for 1607485777.42, time is 1607485777.22 2020-12-09T03:49:37Z- sync is 0.82, coherence is 2.00 2020-12-09T03:49:38Z- AHRS_M2 msg: 1607485778.42 epoch sec; seqNo:99 2020-12-09T03:49:38Z- AHRS_M2 msg: 3.66 phi; -0.13 theta; -0.08 psi 2020-12-09T03:49:38Z- waiting for 1607485777.42, time is 1607485777.22 2020-12-09T03:49:38Z- sync is 1.20, coherence is 2.00 2020-12-09T03:49:38Z- handleDepth()-Depth_Keller msg: 0.89 epoch sec; seqNo:1607485778427; depth 0.00 2020-12-09T03:49:38Z- waiting for 1607485777.42, time is 1607485777.22 2020-12-09T03:49:38Z- sync is 1.20, coherence is 2.00 2020-12-09T03:49:38Z- handleDvl() - RDI_Pathfinder msg: 1607485778.44 epoch sec; seqNo:45 2020-12-09T03:49:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.29 , 88.37 , 78.65 , 92.02 2020-12-09T03:49:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.14 , 1.32 2020-12-09T03:49:38Z- waiting for 1607485777.42, time is 1607485778.44 2020-12-09T03:49:38Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:38Z- LcmTrn::updateTrn() >>>> pose time 1607485778.42, meas time 1607485778.44 <<<< 2020-12-09T03:49:38Z- TerrainNav::Measurement type 1 from time = 1607485778.44 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2020-12-09T03:49:38Z- TerrainNav::motionUpdate() - currEstimate = (4061771, 594407.71, 0.89) 2020-12-09T03:49:38Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2020-12-09T03:49:38Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:49:38Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2020-12-09T03:49:38Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:49:38Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2020-12-09T03:49:38Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2020-12-09T03:49:38Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2020-12-09T03:49:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485778.45 epoch sec; seqNo:109; 4061770.72 north; 594407.71 east 2020-12-09T03:49:38Z- waiting for 1607485781.44, time is 1607485778.44 2020-12-09T03:49:38Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:38Z- AHRS_M2 msg: 1607485778.82 epoch sec; seqNo:100 2020-12-09T03:49:38Z- AHRS_M2 msg: 3.66 phi; -0.13 theta; -0.11 psi 2020-12-09T03:49:38Z- waiting for 1607485781.44, time is 1607485778.44 2020-12-09T03:49:38Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:38Z- handleDepth()-Depth_Keller msg: 0.93 epoch sec; seqNo:1607485778827; depth 0.00 2020-12-09T03:49:38Z- waiting for 1607485781.44, time is 1607485778.44 2020-12-09T03:49:38Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485778.85 epoch sec; seqNo:110; 4061770.34 north; 594407.72 east 2020-12-09T03:49:38Z- waiting for 1607485781.44, time is 1607485778.44 2020-12-09T03:49:38Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:39Z- AHRS_M2 msg: 1607485779.23 epoch sec; seqNo:101 2020-12-09T03:49:39Z- AHRS_M2 msg: 3.66 phi; -0.12 theta; -0.15 psi 2020-12-09T03:49:39Z- waiting for 1607485781.44, time is 1607485778.44 2020-12-09T03:49:39Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:39Z- handleDepth()-Depth_Keller msg: 0.98 epoch sec; seqNo:1607485779231; depth 0.00 2020-12-09T03:49:39Z- waiting for 1607485781.44, time is 1607485778.44 2020-12-09T03:49:39Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:39Z- handleDvl() - RDI_Pathfinder msg: 1607485779.24 epoch sec; seqNo:46 2020-12-09T03:49:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T03:49:39Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:49:39Z- waiting for 1607485781.44, time is 1607485779.24 2020-12-09T03:49:39Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485779.27 epoch sec; seqNo:111; 4061770.34 north; 594407.72 east 2020-12-09T03:49:39Z- waiting for 1607485781.44, time is 1607485779.24 2020-12-09T03:49:39Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:39Z- AHRS_M2 msg: 1607485779.64 epoch sec; seqNo:102 2020-12-09T03:49:39Z- AHRS_M2 msg: 3.67 phi; -0.09 theta; -0.18 psi 2020-12-09T03:49:39Z- waiting for 1607485781.44, time is 1607485779.24 2020-12-09T03:49:39Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:39Z- handleDepth()-Depth_Keller msg: 1.01 epoch sec; seqNo:1607485779641; depth 0.00 2020-12-09T03:49:39Z- waiting for 1607485781.44, time is 1607485779.24 2020-12-09T03:49:39Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485779.66 epoch sec; seqNo:112; 4061769.96 north; 594407.72 east 2020-12-09T03:49:39Z- waiting for 1607485781.44, time is 1607485779.24 2020-12-09T03:49:39Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:39Z- AHRS_M2 msg: 1607485780.05 epoch sec; seqNo:103 2020-12-09T03:49:39Z- AHRS_M2 msg: 3.68 phi; -0.08 theta; -0.18 psi 2020-12-09T03:49:39Z- waiting for 1607485781.44, time is 1607485779.24 2020-12-09T03:49:39Z- sync is 0.81, coherence is 2.00 2020-12-09T03:49:39Z- handleDepth()-Depth_Keller msg: 1.04 epoch sec; seqNo:1607485780055; depth 0.00 2020-12-09T03:49:39Z- waiting for 1607485781.44, time is 1607485779.24 2020-12-09T03:49:39Z- sync is 0.81, coherence is 2.00 2020-12-09T03:49:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485780.07 epoch sec; seqNo:113; 4061769.96 north; 594407.72 east 2020-12-09T03:49:39Z- waiting for 1607485781.44, time is 1607485779.24 2020-12-09T03:49:39Z- sync is 0.82, coherence is 2.00 2020-12-09T03:49:40Z- AHRS_M2 msg: 1607485780.44 epoch sec; seqNo:104 2020-12-09T03:49:40Z- AHRS_M2 msg: 3.70 phi; -0.06 theta; -0.17 psi 2020-12-09T03:49:40Z- waiting for 1607485781.44, time is 1607485779.24 2020-12-09T03:49:40Z- sync is 1.20, coherence is 2.00 2020-12-09T03:49:40Z- handleDepth()-Depth_Keller msg: 1.08 epoch sec; seqNo:1607485780448; depth 0.00 2020-12-09T03:49:40Z- waiting for 1607485781.44, time is 1607485779.24 2020-12-09T03:49:40Z- sync is 1.20, coherence is 2.00 2020-12-09T03:49:40Z- handleDvl() - RDI_Pathfinder msg: 1607485780.48 epoch sec; seqNo:47 2020-12-09T03:49:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.65 , 94.66 , 77.61 , 91.68 2020-12-09T03:49:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.61 , -1.16 , 0.52 2020-12-09T03:49:40Z- waiting for 1607485781.44, time is 1607485780.48 2020-12-09T03:49:40Z- sync is 0.04, coherence is 2.00 2020-12-09T03:49:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485780.49 epoch sec; seqNo:114; 4061769.58 north; 594407.73 east 2020-12-09T03:49:40Z- waiting for 1607485781.44, time is 1607485780.48 2020-12-09T03:49:40Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:40Z- handleDepth()-Depth_Keller msg: 1.11 epoch sec; seqNo:1607485780861; depth 0.00 2020-12-09T03:49:40Z- waiting for 1607485781.44, time is 1607485780.48 2020-12-09T03:49:40Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485780.89 epoch sec; seqNo:115; 4061768.83 north; 594407.74 east 2020-12-09T03:49:40Z- waiting for 1607485781.44, time is 1607485780.48 2020-12-09T03:49:40Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:41Z- AHRS_M2 msg: 1607485781.25 epoch sec; seqNo:105 2020-12-09T03:49:41Z- AHRS_M2 msg: 3.73 phi; -0.04 theta; -0.13 psi 2020-12-09T03:49:41Z- waiting for 1607485781.44, time is 1607485780.48 2020-12-09T03:49:41Z- sync is 0.76, coherence is 2.00 2020-12-09T03:49:41Z- handleDepth()-Depth_Keller msg: 1.15 epoch sec; seqNo:1607485781256; depth 0.00 2020-12-09T03:49:41Z- waiting for 1607485781.44, time is 1607485780.48 2020-12-09T03:49:41Z- sync is 0.76, coherence is 2.00 2020-12-09T03:49:41Z- handleDvl() - RDI_Pathfinder msg: 1607485781.28 epoch sec; seqNo:48 2020-12-09T03:49:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.73 , 92.02 , 79.65 , 90.81 2020-12-09T03:49:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.58 , -1.33 , -0.19 2020-12-09T03:49:41Z- waiting for 1607485781.44, time is 1607485781.28 2020-12-09T03:49:41Z- sync is 0.04, coherence is 2.00 2020-12-09T03:49:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485781.31 epoch sec; seqNo:116; 4061768.45 north; 594407.74 east 2020-12-09T03:49:41Z- waiting for 1607485781.44, time is 1607485781.28 2020-12-09T03:49:41Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:41Z- AHRS_M2 msg: 1607485781.65 epoch sec; seqNo:106 2020-12-09T03:49:41Z- AHRS_M2 msg: 3.74 phi; -0.02 theta; -0.12 psi 2020-12-09T03:49:41Z- waiting for 1607485781.44, time is 1607485781.28 2020-12-09T03:49:41Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:41Z- handleDepth()-Depth_Keller msg: 1.17 epoch sec; seqNo:1607485781661; depth 0.00 2020-12-09T03:49:41Z- waiting for 1607485781.44, time is 1607485781.28 2020-12-09T03:49:41Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485781.69 epoch sec; seqNo:117; 4061768.08 north; 594408.96 east 2020-12-09T03:49:41Z- waiting for 1607485781.44, time is 1607485781.28 2020-12-09T03:49:41Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:41Z- AHRS_M2 msg: 1607485782.05 epoch sec; seqNo:107 2020-12-09T03:49:41Z- AHRS_M2 msg: 3.75 phi; -0.01 theta; -0.09 psi 2020-12-09T03:49:41Z- waiting for 1607485781.44, time is 1607485781.28 2020-12-09T03:49:41Z- sync is 0.77, coherence is 2.00 2020-12-09T03:49:41Z- handleDepth()-Depth_Keller msg: 1.19 epoch sec; seqNo:1607485782057; depth 0.00 2020-12-09T03:49:41Z- waiting for 1607485781.44, time is 1607485781.28 2020-12-09T03:49:41Z- sync is 0.77, coherence is 2.00 2020-12-09T03:49:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485782.08 epoch sec; seqNo:118; 4061767.70 north; 594408.97 east 2020-12-09T03:49:41Z- waiting for 1607485781.44, time is 1607485781.28 2020-12-09T03:49:41Z- sync is 0.80, coherence is 2.00 2020-12-09T03:49:42Z- AHRS_M2 msg: 1607485782.47 epoch sec; seqNo:108 2020-12-09T03:49:42Z- AHRS_M2 msg: 3.76 phi; -0.02 theta; -0.06 psi 2020-12-09T03:49:42Z- waiting for 1607485781.44, time is 1607485781.28 2020-12-09T03:49:42Z- sync is 1.18, coherence is 2.00 2020-12-09T03:49:42Z- handleDepth()-Depth_Keller msg: 1.22 epoch sec; seqNo:1607485782473; depth 0.00 2020-12-09T03:49:42Z- waiting for 1607485781.44, time is 1607485781.28 2020-12-09T03:49:42Z- sync is 1.18, coherence is 2.00 2020-12-09T03:49:42Z- handleDvl() - RDI_Pathfinder msg: 1607485782.49 epoch sec; seqNo:49 2020-12-09T03:49:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.87 , 89.52 , 83.44 , 88.31 2020-12-09T03:49:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.55 , -1.04 , -0.99 2020-12-09T03:49:42Z- waiting for 1607485781.44, time is 1607485782.49 2020-12-09T03:49:42Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:42Z- LcmTrn::updateTrn() >>>> pose time 1607485782.47, meas time 1607485782.49 <<<< 2020-12-09T03:49:42Z- TerrainNav::Measurement type 1 from time = 1607485782.49 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2020-12-09T03:49:42Z- TerrainNav::motionUpdate() - currEstimate = (4061768, 594408.97, 1.22) 2020-12-09T03:49:42Z- TerrainNav::attemptInitFilter is increasing Init Search Window by 0.000000 m 2020-12-09T03:49:42Z- TNavBF: Successfully initialized particles 2020-12-09T03:49:42Z- TerrainNav:: vehicle motion has been initialized 2020-12-09T03:49:42Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:49:42Z- TNavBF::mmse selected from filter -1 2020-12-09T03:49:42Z- variances([0], [2], and psi_berg) = 833.250000 833.250000 0.000000 2020-12-09T03:49:42Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:49:42Z- LcmTrn::cycle() - MLE : 4061718.20 594359.47 1.22 2020-12-09T03:49:42Z- LcmTrn::cycle() - MMSE : 4061767.70 594408.97 1.22 2020-12-09T03:49:42Z- LcmTrn::cycle() - COVAR: 833.25 833.25 25.00 0.00 2020-12-09T03:49:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485782.51 epoch sec; seqNo:119; 4061766.94 north; 594408.98 east 2020-12-09T03:49:42Z- waiting for 1607485785.49, time is 1607485782.49 2020-12-09T03:49:42Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:42Z- AHRS_M2 msg: 1607485782.86 epoch sec; seqNo:109 2020-12-09T03:49:42Z- AHRS_M2 msg: 3.78 phi; -0.03 theta; -0.04 psi 2020-12-09T03:49:42Z- waiting for 1607485785.49, time is 1607485782.49 2020-12-09T03:49:42Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:42Z- handleDepth()-Depth_Keller msg: 1.22 epoch sec; seqNo:1607485782869; depth 0.00 2020-12-09T03:49:42Z- waiting for 1607485785.49, time is 1607485782.49 2020-12-09T03:49:42Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485782.88 epoch sec; seqNo:120; 4061766.57 north; 594408.98 east 2020-12-09T03:49:42Z- waiting for 1607485785.49, time is 1607485782.49 2020-12-09T03:49:42Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:43Z- AHRS_M2 msg: 1607485783.26 epoch sec; seqNo:110 2020-12-09T03:49:43Z- AHRS_M2 msg: 3.80 phi; -0.03 theta; -0.03 psi 2020-12-09T03:49:43Z- waiting for 1607485785.49, time is 1607485782.49 2020-12-09T03:49:43Z- sync is 0.77, coherence is 2.00 2020-12-09T03:49:43Z- handleDepth()-Depth_Keller msg: 1.22 epoch sec; seqNo:1607485783271; depth 0.00 2020-12-09T03:49:43Z- waiting for 1607485785.49, time is 1607485782.49 2020-12-09T03:49:43Z- sync is 0.77, coherence is 2.00 2020-12-09T03:49:43Z- handleDvl() - RDI_Pathfinder msg: 1607485783.29 epoch sec; seqNo:50 2020-12-09T03:49:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.09 , 83.44 , 78.42 , 87.09 2020-12-09T03:49:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.58 , -0.18 , -1.44 2020-12-09T03:49:43Z- waiting for 1607485785.49, time is 1607485783.29 2020-12-09T03:49:43Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485783.30 epoch sec; seqNo:121; 4061766.57 north; 594408.98 east 2020-12-09T03:49:43Z- waiting for 1607485785.49, time is 1607485783.29 2020-12-09T03:49:43Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:43Z- AHRS_M2 msg: 1607485783.67 epoch sec; seqNo:111 2020-12-09T03:49:43Z- AHRS_M2 msg: 3.83 phi; -0.03 theta; -0.02 psi 2020-12-09T03:49:43Z- waiting for 1607485785.49, time is 1607485783.29 2020-12-09T03:49:43Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:43Z- handleDepth()-Depth_Keller msg: 1.22 epoch sec; seqNo:1607485783673; depth 0.00 2020-12-09T03:49:43Z- waiting for 1607485785.49, time is 1607485783.29 2020-12-09T03:49:43Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485783.71 epoch sec; seqNo:122; 4061766.19 north; 594408.99 east 2020-12-09T03:49:43Z- waiting for 1607485785.49, time is 1607485783.29 2020-12-09T03:49:43Z- sync is 0.42, coherence is 2.00 2020-12-09T03:49:43Z- AHRS_M2 msg: 1607485784.07 epoch sec; seqNo:112 2020-12-09T03:49:43Z- AHRS_M2 msg: 3.85 phi; -0.02 theta; -0.02 psi 2020-12-09T03:49:43Z- waiting for 1607485785.49, time is 1607485783.29 2020-12-09T03:49:43Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:43Z- handleDepth()-Depth_Keller msg: 1.19 epoch sec; seqNo:1607485784077; depth 0.00 2020-12-09T03:49:43Z- waiting for 1607485785.49, time is 1607485783.29 2020-12-09T03:49:43Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485784.09 epoch sec; seqNo:123; 4061765.81 north; 594408.99 east 2020-12-09T03:49:43Z- waiting for 1607485785.49, time is 1607485783.29 2020-12-09T03:49:43Z- sync is 0.81, coherence is 2.00 2020-12-09T03:49:44Z- AHRS_M2 msg: 1607485784.47 epoch sec; seqNo:113 2020-12-09T03:49:44Z- AHRS_M2 msg: 3.87 phi; -0.01 theta; -0.02 psi 2020-12-09T03:49:44Z- waiting for 1607485785.49, time is 1607485783.29 2020-12-09T03:49:44Z- sync is 1.19, coherence is 2.00 2020-12-09T03:49:44Z- handleDepth()-Depth_Keller msg: 1.19 epoch sec; seqNo:1607485784483; depth 0.00 2020-12-09T03:49:44Z- waiting for 1607485785.49, time is 1607485783.29 2020-12-09T03:49:44Z- sync is 1.19, coherence is 2.00 2020-12-09T03:49:44Z- handleDvl() - RDI_Pathfinder msg: 1607485784.51 epoch sec; seqNo:51 2020-12-09T03:49:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.08 , 82.43 , 76.38 , 86.08 2020-12-09T03:49:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.42 , -1.40 2020-12-09T03:49:44Z- waiting for 1607485785.49, time is 1607485784.51 2020-12-09T03:49:44Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485784.54 epoch sec; seqNo:124; 4061765.81 north; 594408.99 east 2020-12-09T03:49:44Z- waiting for 1607485785.49, time is 1607485784.51 2020-12-09T03:49:44Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:44Z- AHRS_M2 msg: 1607485784.89 epoch sec; seqNo:114 2020-12-09T03:49:44Z- AHRS_M2 msg: 3.88 phi; 0.01 theta; -0.01 psi 2020-12-09T03:49:44Z- waiting for 1607485785.49, time is 1607485784.51 2020-12-09T03:49:44Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:44Z- handleDepth()-Depth_Keller msg: 1.20 epoch sec; seqNo:1607485784897; depth 0.00 2020-12-09T03:49:44Z- waiting for 1607485785.49, time is 1607485784.51 2020-12-09T03:49:44Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485784.91 epoch sec; seqNo:125; 4061765.42 north; 594407.77 east 2020-12-09T03:49:44Z- waiting for 1607485785.49, time is 1607485784.51 2020-12-09T03:49:44Z- sync is 0.40, coherence is 2.00 2020-12-09T03:49:45Z- handleDepth()-Depth_Keller msg: 1.20 epoch sec; seqNo:1607485785300; depth 0.00 2020-12-09T03:49:45Z- waiting for 1607485785.49, time is 1607485784.51 2020-12-09T03:49:45Z- sync is 0.40, coherence is 2.00 2020-12-09T03:49:45Z- handleDvl() - RDI_Pathfinder msg: 1607485785.31 epoch sec; seqNo:52 2020-12-09T03:49:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.00 , 80.13 , 75.56 , 0.00 2020-12-09T03:49:45Z- handleDvl() - RDI_Pathfinder msg: velocities 1.36 , 0.89 , -1.05 2020-12-09T03:49:45Z- waiting for 1607485785.49, time is 1607485785.31 2020-12-09T03:49:45Z- sync is 0.40, coherence is 2.00 2020-12-09T03:49:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485785.33 epoch sec; seqNo:126; 4061765.42 north; 594407.77 east 2020-12-09T03:49:45Z- waiting for 1607485785.49, time is 1607485785.31 2020-12-09T03:49:45Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:45Z- AHRS_M2 msg: 1607485785.69 epoch sec; seqNo:115 2020-12-09T03:49:45Z- AHRS_M2 msg: 3.90 phi; 0.02 theta; 0.01 psi 2020-12-09T03:49:45Z- waiting for 1607485785.49, time is 1607485785.31 2020-12-09T03:49:45Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:45Z- handleDepth()-Depth_Keller msg: 1.20 epoch sec; seqNo:1607485785699; depth 0.00 2020-12-09T03:49:45Z- waiting for 1607485785.49, time is 1607485785.31 2020-12-09T03:49:45Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485785.74 epoch sec; seqNo:127; 4061765.40 north; 594406.55 east 2020-12-09T03:49:45Z- waiting for 1607485785.49, time is 1607485785.31 2020-12-09T03:49:45Z- sync is 0.43, coherence is 2.00 2020-12-09T03:49:45Z- AHRS_M2 msg: 1607485786.10 epoch sec; seqNo:116 2020-12-09T03:49:45Z- AHRS_M2 msg: 3.92 phi; 0.02 theta; -0.00 psi 2020-12-09T03:49:45Z- waiting for 1607485785.49, time is 1607485785.31 2020-12-09T03:49:45Z- sync is 0.78, coherence is 2.00 2020-12-09T03:49:45Z- handleDepth()-Depth_Keller msg: 1.21 epoch sec; seqNo:1607485786105; depth 0.00 2020-12-09T03:49:45Z- waiting for 1607485785.49, time is 1607485785.31 2020-12-09T03:49:45Z- sync is 0.78, coherence is 2.00 2020-12-09T03:49:45Z- handleDvl() - RDI_Pathfinder msg: 1607485786.14 epoch sec; seqNo:53 2020-12-09T03:49:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.09 , 75.56 , 75.56 , 79.65 2020-12-09T03:49:45Z- handleDvl() - RDI_Pathfinder msg: velocities 1.40 , 1.14 , -0.32 2020-12-09T03:49:45Z- waiting for 1607485785.49, time is 1607485786.14 2020-12-09T03:49:45Z- sync is 0.04, coherence is 2.00 2020-12-09T03:49:45Z- LcmTrn::updateTrn() >>>> pose time 1607485786.10, meas time 1607485786.14 <<<< 2020-12-09T03:49:45Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485786.14 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:49:45Z- TerrainNav::motionUpdate() - currEstimate = (4061765, 594406.55, 1.21) 2020-12-09T03:49:45Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:49:45Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:49:45Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:49:45Z- TNavBF::mmse selected from filter -1 2020-12-09T03:49:45Z- variances([0], [2], and psi_berg) = 832.720265 833.245165 0.000000 2020-12-09T03:49:45Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:49:45Z- LcmTrn::cycle() - MLE : 4061716.90 594358.05 1.21 2020-12-09T03:49:45Z- LcmTrn::cycle() - MMSE : 4061765.40 594406.55 1.21 2020-12-09T03:49:45Z- LcmTrn::cycle() - COVAR: 832.72 833.25 25.17 0.00 2020-12-09T03:49:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485786.15 epoch sec; seqNo:128; 4061765.02 north; 594406.56 east 2020-12-09T03:49:45Z- waiting for 1607485789.14, time is 1607485786.14 2020-12-09T03:49:45Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:46Z- AHRS_M2 msg: 1607485786.50 epoch sec; seqNo:117 2020-12-09T03:49:46Z- AHRS_M2 msg: 3.93 phi; 0.03 theta; -0.01 psi 2020-12-09T03:49:46Z- waiting for 1607485789.14, time is 1607485786.14 2020-12-09T03:49:46Z- sync is 0.36, coherence is 2.00 2020-12-09T03:49:46Z- handleDepth()-Depth_Keller msg: 1.21 epoch sec; seqNo:1607485786501; depth 0.00 2020-12-09T03:49:46Z- waiting for 1607485789.14, time is 1607485786.14 2020-12-09T03:49:46Z- sync is 0.36, coherence is 2.00 2020-12-09T03:49:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485786.54 epoch sec; seqNo:129; 4061765.01 north; 594405.34 east 2020-12-09T03:49:46Z- waiting for 1607485789.14, time is 1607485786.14 2020-12-09T03:49:46Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:46Z- AHRS_M2 msg: 1607485786.90 epoch sec; seqNo:118 2020-12-09T03:49:46Z- AHRS_M2 msg: 3.93 phi; 0.02 theta; -0.01 psi 2020-12-09T03:49:46Z- waiting for 1607485789.14, time is 1607485786.14 2020-12-09T03:49:46Z- sync is 0.76, coherence is 2.00 2020-12-09T03:49:46Z- handleDepth()-Depth_Keller msg: 1.20 epoch sec; seqNo:1607485786906; depth 0.00 2020-12-09T03:49:46Z- waiting for 1607485789.14, time is 1607485786.14 2020-12-09T03:49:46Z- sync is 0.76, coherence is 2.00 2020-12-09T03:49:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485786.94 epoch sec; seqNo:130; 4061765.00 north; 594404.12 east 2020-12-09T03:49:46Z- waiting for 1607485789.14, time is 1607485786.14 2020-12-09T03:49:46Z- sync is 0.80, coherence is 2.00 2020-12-09T03:49:47Z- AHRS_M2 msg: 1607485787.31 epoch sec; seqNo:119 2020-12-09T03:49:47Z- AHRS_M2 msg: 3.93 phi; 0.01 theta; -0.01 psi 2020-12-09T03:49:47Z- waiting for 1607485789.14, time is 1607485786.14 2020-12-09T03:49:47Z- sync is 1.17, coherence is 2.00 2020-12-09T03:49:47Z- handleDepth()-Depth_Keller msg: 1.20 epoch sec; seqNo:1607485787311; depth 0.00 2020-12-09T03:49:47Z- waiting for 1607485789.14, time is 1607485786.14 2020-12-09T03:49:47Z- sync is 1.17, coherence is 2.00 2020-12-09T03:49:47Z- handleDvl() - RDI_Pathfinder msg: 1607485787.33 epoch sec; seqNo:54 2020-12-09T03:49:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 76.79 , 76.38 , 81.69 2020-12-09T03:49:47Z- handleDvl() - RDI_Pathfinder msg: velocities 1.35 , 1.15 , 0.29 2020-12-09T03:49:47Z- waiting for 1607485789.14, time is 1607485787.33 2020-12-09T03:49:47Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485787.34 epoch sec; seqNo:131; 4061765.00 north; 594404.12 east 2020-12-09T03:49:47Z- waiting for 1607485789.14, time is 1607485787.33 2020-12-09T03:49:47Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:47Z- AHRS_M2 msg: 1607485787.71 epoch sec; seqNo:120 2020-12-09T03:49:47Z- AHRS_M2 msg: 3.92 phi; 0.00 theta; -0.04 psi 2020-12-09T03:49:47Z- waiting for 1607485789.14, time is 1607485787.33 2020-12-09T03:49:47Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:47Z- handleDepth()-Depth_Keller msg: 1.20 epoch sec; seqNo:1607485787715; depth 0.00 2020-12-09T03:49:47Z- waiting for 1607485789.14, time is 1607485787.33 2020-12-09T03:49:47Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485787.73 epoch sec; seqNo:132; 4061764.98 north; 594402.90 east 2020-12-09T03:49:47Z- waiting for 1607485789.14, time is 1607485787.33 2020-12-09T03:49:47Z- sync is 0.40, coherence is 2.00 2020-12-09T03:49:47Z- AHRS_M2 msg: 1607485788.12 epoch sec; seqNo:121 2020-12-09T03:49:47Z- AHRS_M2 msg: 3.92 phi; -0.01 theta; -0.09 psi 2020-12-09T03:49:47Z- waiting for 1607485789.14, time is 1607485787.33 2020-12-09T03:49:47Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:47Z- handleDepth()-Depth_Keller msg: 1.20 epoch sec; seqNo:1607485788122; depth 0.00 2020-12-09T03:49:47Z- waiting for 1607485789.14, time is 1607485787.33 2020-12-09T03:49:47Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485788.17 epoch sec; seqNo:133; 4061764.98 north; 594402.90 east 2020-12-09T03:49:48Z- waiting for 1607485789.14, time is 1607485787.33 2020-12-09T03:49:48Z- sync is 0.85, coherence is 2.00 2020-12-09T03:49:48Z- AHRS_M2 msg: 1607485788.52 epoch sec; seqNo:122 2020-12-09T03:49:48Z- AHRS_M2 msg: 3.92 phi; -0.02 theta; -0.13 psi 2020-12-09T03:49:48Z- waiting for 1607485789.14, time is 1607485787.33 2020-12-09T03:49:48Z- sync is 1.19, coherence is 2.00 2020-12-09T03:49:48Z- handleDepth()-Depth_Keller msg: 1.17 epoch sec; seqNo:1607485788523; depth 0.00 2020-12-09T03:49:48Z- waiting for 1607485789.14, time is 1607485787.33 2020-12-09T03:49:48Z- sync is 1.19, coherence is 2.00 2020-12-09T03:49:48Z- handleDvl() - RDI_Pathfinder msg: 1607485788.54 epoch sec; seqNo:55 2020-12-09T03:49:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.85 , 81.69 , 75.15 , 83.85 2020-12-09T03:49:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.80 , 0.91 2020-12-09T03:49:48Z- waiting for 1607485789.14, time is 1607485788.54 2020-12-09T03:49:48Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485788.58 epoch sec; seqNo:134; 4061764.59 north; 594401.68 east 2020-12-09T03:49:48Z- waiting for 1607485789.14, time is 1607485788.54 2020-12-09T03:49:48Z- sync is 0.05, coherence is 2.00 2020-12-09T03:49:48Z- AHRS_M2 msg: 1607485788.92 epoch sec; seqNo:123 2020-12-09T03:49:48Z- AHRS_M2 msg: 3.92 phi; -0.02 theta; -0.17 psi 2020-12-09T03:49:48Z- waiting for 1607485789.14, time is 1607485788.54 2020-12-09T03:49:48Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:48Z- handleDepth()-Depth_Keller msg: 1.17 epoch sec; seqNo:1607485788925; depth 0.00 2020-12-09T03:49:48Z- waiting for 1607485789.14, time is 1607485788.54 2020-12-09T03:49:48Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485788.94 epoch sec; seqNo:135; 4061764.59 north; 594401.68 east 2020-12-09T03:49:48Z- waiting for 1607485789.14, time is 1607485788.54 2020-12-09T03:49:48Z- sync is 0.40, coherence is 2.00 2020-12-09T03:49:49Z- AHRS_M2 msg: 1607485789.33 epoch sec; seqNo:124 2020-12-09T03:49:49Z- AHRS_M2 msg: 3.92 phi; -0.02 theta; -0.20 psi 2020-12-09T03:49:49Z- waiting for 1607485789.14, time is 1607485788.54 2020-12-09T03:49:49Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:49Z- handleDepth()-Depth_Keller msg: 1.17 epoch sec; seqNo:1607485789331; depth 0.00 2020-12-09T03:49:49Z- waiting for 1607485789.14, time is 1607485788.54 2020-12-09T03:49:49Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:49Z- handleDvl() - RDI_Pathfinder msg: 1607485789.35 epoch sec; seqNo:56 2020-12-09T03:49:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.42 , 89.18 , 76.79 , 84.86 2020-12-09T03:49:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.41 , 0.71 2020-12-09T03:49:49Z- waiting for 1607485789.14, time is 1607485789.35 2020-12-09T03:49:49Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:49Z- LcmTrn::updateTrn() >>>> pose time 1607485789.33, meas time 1607485789.35 <<<< 2020-12-09T03:49:49Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485789.35 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:49:49Z- TerrainNav::motionUpdate() - currEstimate = (4061765, 594401.68, 1.17) 2020-12-09T03:49:49Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:49:49Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:49:49Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:49:49Z- TNavBF::mmse selected from filter -1 2020-12-09T03:49:49Z- variances([0], [2], and psi_berg) = 832.086398 833.239553 0.000000 2020-12-09T03:49:49Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:49:49Z- LcmTrn::cycle() - MLE : 4061717.09 594354.18 1.17 2020-12-09T03:49:49Z- LcmTrn::cycle() - MMSE : 4061764.59 594401.68 1.17 2020-12-09T03:49:49Z- LcmTrn::cycle() - COVAR: 832.09 833.24 25.42 0.00 2020-12-09T03:49:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485789.36 epoch sec; seqNo:136; 4061764.58 north; 594400.46 east 2020-12-09T03:49:49Z- waiting for 1607485792.35, time is 1607485789.35 2020-12-09T03:49:49Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:49Z- AHRS_M2 msg: 1607485789.73 epoch sec; seqNo:125 2020-12-09T03:49:49Z- AHRS_M2 msg: 3.94 phi; -0.02 theta; -0.22 psi 2020-12-09T03:49:49Z- waiting for 1607485792.35, time is 1607485789.35 2020-12-09T03:49:49Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:49Z- handleDepth()-Depth_Keller msg: 1.16 epoch sec; seqNo:1607485789733; depth 0.00 2020-12-09T03:49:49Z- waiting for 1607485792.35, time is 1607485789.35 2020-12-09T03:49:49Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485789.76 epoch sec; seqNo:137; 4061764.58 north; 594400.46 east 2020-12-09T03:49:49Z- waiting for 1607485792.35, time is 1607485789.35 2020-12-09T03:49:49Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:49Z- AHRS_M2 msg: 1607485790.15 epoch sec; seqNo:126 2020-12-09T03:49:49Z- AHRS_M2 msg: 3.95 phi; -0.03 theta; -0.22 psi 2020-12-09T03:49:49Z- waiting for 1607485792.35, time is 1607485789.35 2020-12-09T03:49:49Z- sync is 0.80, coherence is 2.00 2020-12-09T03:49:49Z- handleDepth()-Depth_Keller msg: 1.17 epoch sec; seqNo:1607485790154; depth 0.00 2020-12-09T03:49:49Z- waiting for 1607485792.35, time is 1607485789.35 2020-12-09T03:49:49Z- sync is 0.80, coherence is 2.00 2020-12-09T03:49:50Z- handleDvl() - RDI_Pathfinder msg: 1607485790.18 epoch sec; seqNo:57 2020-12-09T03:49:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.92 , 93.51 , 77.61 , 86.21 2020-12-09T03:49:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.41 , 0.46 2020-12-09T03:49:50Z- waiting for 1607485792.35, time is 1607485790.18 2020-12-09T03:49:50Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485790.20 epoch sec; seqNo:138; 4061764.20 north; 594400.46 east 2020-12-09T03:49:50Z- waiting for 1607485792.35, time is 1607485790.18 2020-12-09T03:49:50Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:50Z- AHRS_M2 msg: 1607485790.54 epoch sec; seqNo:127 2020-12-09T03:49:50Z- AHRS_M2 msg: 3.95 phi; -0.04 theta; -0.19 psi 2020-12-09T03:49:50Z- waiting for 1607485792.35, time is 1607485790.18 2020-12-09T03:49:50Z- sync is 0.36, coherence is 2.00 2020-12-09T03:49:50Z- handleDepth()-Depth_Keller msg: 1.19 epoch sec; seqNo:1607485790549; depth 0.00 2020-12-09T03:49:50Z- waiting for 1607485792.35, time is 1607485790.18 2020-12-09T03:49:50Z- sync is 0.36, coherence is 2.00 2020-12-09T03:49:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485790.56 epoch sec; seqNo:139; 4061764.19 north; 594399.24 east 2020-12-09T03:49:50Z- waiting for 1607485792.35, time is 1607485790.18 2020-12-09T03:49:50Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:50Z- AHRS_M2 msg: 1607485790.94 epoch sec; seqNo:128 2020-12-09T03:49:50Z- AHRS_M2 msg: 3.94 phi; -0.06 theta; -0.16 psi 2020-12-09T03:49:50Z- waiting for 1607485792.35, time is 1607485790.18 2020-12-09T03:49:50Z- sync is 0.76, coherence is 2.00 2020-12-09T03:49:50Z- handleDepth()-Depth_Keller msg: 1.20 epoch sec; seqNo:1607485790947; depth 0.00 2020-12-09T03:49:50Z- waiting for 1607485792.35, time is 1607485790.18 2020-12-09T03:49:50Z- sync is 0.76, coherence is 2.00 2020-12-09T03:49:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485790.97 epoch sec; seqNo:140; 4061764.19 north; 594399.24 east 2020-12-09T03:49:50Z- waiting for 1607485792.35, time is 1607485790.18 2020-12-09T03:49:50Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:51Z- handleDepth()-Depth_Keller msg: 1.18 epoch sec; seqNo:1607485791365; depth 0.00 2020-12-09T03:49:51Z- waiting for 1607485792.35, time is 1607485790.18 2020-12-09T03:49:51Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:51Z- handleDvl() - RDI_Pathfinder msg: 1607485791.40 epoch sec; seqNo:58 2020-12-09T03:49:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 88.51 , 80.00 , 88.51 2020-12-09T03:49:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , 0.24 , 0.70 2020-12-09T03:49:51Z- waiting for 1607485792.35, time is 1607485791.40 2020-12-09T03:49:51Z- sync is 0.42, coherence is 2.00 2020-12-09T03:49:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485791.43 epoch sec; seqNo:141; 4061763.81 north; 594399.25 east 2020-12-09T03:49:51Z- waiting for 1607485792.35, time is 1607485791.40 2020-12-09T03:49:51Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:51Z- AHRS_M2 msg: 1607485791.75 epoch sec; seqNo:129 2020-12-09T03:49:51Z- AHRS_M2 msg: 3.92 phi; -0.08 theta; -0.22 psi 2020-12-09T03:49:51Z- waiting for 1607485792.35, time is 1607485791.40 2020-12-09T03:49:51Z- sync is 0.35, coherence is 2.00 2020-12-09T03:49:51Z- handleDepth()-Depth_Keller msg: 1.20 epoch sec; seqNo:1607485791754; depth 0.00 2020-12-09T03:49:51Z- waiting for 1607485792.35, time is 1607485791.40 2020-12-09T03:49:51Z- sync is 0.35, coherence is 2.00 2020-12-09T03:49:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485791.79 epoch sec; seqNo:142; 4061763.79 north; 594398.03 east 2020-12-09T03:49:51Z- waiting for 1607485792.35, time is 1607485791.40 2020-12-09T03:49:51Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:51Z- AHRS_M2 msg: 1607485792.15 epoch sec; seqNo:130 2020-12-09T03:49:51Z- AHRS_M2 msg: 3.92 phi; -0.08 theta; -0.27 psi 2020-12-09T03:49:51Z- waiting for 1607485792.35, time is 1607485791.40 2020-12-09T03:49:51Z- sync is 0.75, coherence is 2.00 2020-12-09T03:49:51Z- handleDepth()-Depth_Keller msg: 1.20 epoch sec; seqNo:1607485792158; depth 0.00 2020-12-09T03:49:51Z- waiting for 1607485792.35, time is 1607485791.40 2020-12-09T03:49:51Z- sync is 0.75, coherence is 2.00 2020-12-09T03:49:52Z- handleDvl() - RDI_Pathfinder msg: 1607485792.19 epoch sec; seqNo:59 2020-12-09T03:49:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.20 , 94.45 , 76.79 , 90.81 2020-12-09T03:49:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.68 , -0.36 , 0.76 2020-12-09T03:49:52Z- waiting for 1607485792.35, time is 1607485792.19 2020-12-09T03:49:52Z- sync is 0.04, coherence is 2.00 2020-12-09T03:49:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485792.21 epoch sec; seqNo:143; 4061763.79 north; 594398.03 east 2020-12-09T03:49:52Z- waiting for 1607485792.35, time is 1607485792.19 2020-12-09T03:49:52Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:52Z- AHRS_M2 msg: 1607485792.56 epoch sec; seqNo:131 2020-12-09T03:49:52Z- AHRS_M2 msg: 3.91 phi; -0.08 theta; -0.29 psi 2020-12-09T03:49:52Z- waiting for 1607485792.35, time is 1607485792.19 2020-12-09T03:49:52Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:52Z- handleDepth()-Depth_Keller msg: 1.21 epoch sec; seqNo:1607485792563; depth 0.00 2020-12-09T03:49:52Z- waiting for 1607485792.35, time is 1607485792.19 2020-12-09T03:49:52Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485792.59 epoch sec; seqNo:144; 4061763.41 north; 594398.03 east 2020-12-09T03:49:52Z- waiting for 1607485792.35, time is 1607485792.19 2020-12-09T03:49:52Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:52Z- AHRS_M2 msg: 1607485792.96 epoch sec; seqNo:132 2020-12-09T03:49:52Z- AHRS_M2 msg: 3.91 phi; -0.08 theta; -0.29 psi 2020-12-09T03:49:52Z- waiting for 1607485792.35, time is 1607485792.19 2020-12-09T03:49:52Z- sync is 0.77, coherence is 2.00 2020-12-09T03:49:52Z- handleDepth()-Depth_Keller msg: 1.25 epoch sec; seqNo:1607485792965; depth 0.00 2020-12-09T03:49:52Z- waiting for 1607485792.35, time is 1607485792.19 2020-12-09T03:49:52Z- sync is 0.77, coherence is 2.00 2020-12-09T03:49:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485792.98 epoch sec; seqNo:145; 4061763.04 north; 594398.04 east 2020-12-09T03:49:52Z- waiting for 1607485792.35, time is 1607485792.19 2020-12-09T03:49:52Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:53Z- AHRS_M2 msg: 1607485793.37 epoch sec; seqNo:133 2020-12-09T03:49:53Z- AHRS_M2 msg: 3.92 phi; -0.10 theta; -0.27 psi 2020-12-09T03:49:53Z- waiting for 1607485792.35, time is 1607485792.19 2020-12-09T03:49:53Z- sync is 1.18, coherence is 2.00 2020-12-09T03:49:53Z- handleDepth()-Depth_Keller msg: 1.26 epoch sec; seqNo:1607485793377; depth 0.00 2020-12-09T03:49:53Z- waiting for 1607485792.35, time is 1607485792.19 2020-12-09T03:49:53Z- sync is 1.18, coherence is 2.00 2020-12-09T03:49:53Z- handleDvl() - RDI_Pathfinder msg: 1607485793.39 epoch sec; seqNo:60 2020-12-09T03:49:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T03:49:53Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:49:53Z- waiting for 1607485792.35, time is 1607485793.39 2020-12-09T03:49:53Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:53Z- LcmTrn::updateTrn() >>>> pose time 1607485793.37, meas time 1607485793.39 <<<< 2020-12-09T03:49:53Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607485793.39, ping # 0. 2020-12-09T03:49:53Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485793.39 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:49:53Z- TerrainNav::motionUpdate() - currEstimate = (4061763, 594398.04, 1.26) 2020-12-09T03:49:53Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:49:53Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:49:53Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T03:49:53Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T03:49:53Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:49:53Z- TNavBF::mmse selected from filter -1 2020-12-09T03:49:53Z- variances([0], [2], and psi_berg) = 831.530183 833.234807 0.000000 2020-12-09T03:49:53Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:49:53Z- LcmTrn::cycle() - MLE : 4061716.54 594351.54 1.26 2020-12-09T03:49:53Z- LcmTrn::cycle() - MMSE : 4061763.04 594398.04 1.26 2020-12-09T03:49:53Z- LcmTrn::cycle() - COVAR: 831.53 833.23 25.62 0.00 2020-12-09T03:49:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485793.42 epoch sec; seqNo:146; 4061763.04 north; 594398.04 east 2020-12-09T03:49:53Z- waiting for 1607485796.39, time is 1607485793.39 2020-12-09T03:49:53Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:53Z- AHRS_M2 msg: 1607485793.77 epoch sec; seqNo:134 2020-12-09T03:49:53Z- AHRS_M2 msg: 3.93 phi; -0.12 theta; -0.26 psi 2020-12-09T03:49:53Z- waiting for 1607485796.39, time is 1607485793.39 2020-12-09T03:49:53Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:53Z- handleDepth()-Depth_Keller msg: 1.29 epoch sec; seqNo:1607485793778; depth 0.00 2020-12-09T03:49:53Z- waiting for 1607485796.39, time is 1607485793.39 2020-12-09T03:49:53Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485793.79 epoch sec; seqNo:147; 4061762.66 north; 594398.04 east 2020-12-09T03:49:53Z- waiting for 1607485796.39, time is 1607485793.39 2020-12-09T03:49:53Z- sync is 0.40, coherence is 2.00 2020-12-09T03:49:54Z- AHRS_M2 msg: 1607485794.17 epoch sec; seqNo:135 2020-12-09T03:49:54Z- AHRS_M2 msg: 3.93 phi; -0.13 theta; -0.25 psi 2020-12-09T03:49:54Z- waiting for 1607485796.39, time is 1607485793.39 2020-12-09T03:49:54Z- sync is 0.78, coherence is 2.00 2020-12-09T03:49:54Z- handleDepth()-Depth_Keller msg: 1.30 epoch sec; seqNo:1607485794177; depth 0.00 2020-12-09T03:49:54Z- waiting for 1607485796.39, time is 1607485793.39 2020-12-09T03:49:54Z- sync is 0.78, coherence is 2.00 2020-12-09T03:49:54Z- handleDvl() - RDI_Pathfinder msg: 1607485794.19 epoch sec; seqNo:61 2020-12-09T03:49:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.38 , 96.28 , 77.20 , 97.63 2020-12-09T03:49:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.50 , -0.58 , 0.15 2020-12-09T03:49:54Z- waiting for 1607485796.39, time is 1607485794.19 2020-12-09T03:49:54Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485794.22 epoch sec; seqNo:148; 4061762.66 north; 594398.04 east 2020-12-09T03:49:54Z- waiting for 1607485796.39, time is 1607485794.19 2020-12-09T03:49:54Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:54Z- AHRS_M2 msg: 1607485794.58 epoch sec; seqNo:136 2020-12-09T03:49:54Z- AHRS_M2 msg: 3.92 phi; -0.14 theta; -0.25 psi 2020-12-09T03:49:54Z- waiting for 1607485796.39, time is 1607485794.19 2020-12-09T03:49:54Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:54Z- handleDepth()-Depth_Keller msg: 1.34 epoch sec; seqNo:1607485794586; depth 0.00 2020-12-09T03:49:54Z- waiting for 1607485796.39, time is 1607485794.19 2020-12-09T03:49:54Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485794.61 epoch sec; seqNo:149; 4061762.28 north; 594398.04 east 2020-12-09T03:49:54Z- waiting for 1607485796.39, time is 1607485794.19 2020-12-09T03:49:54Z- sync is 0.42, coherence is 2.00 2020-12-09T03:49:54Z- AHRS_M2 msg: 1607485794.98 epoch sec; seqNo:137 2020-12-09T03:49:54Z- AHRS_M2 msg: 3.93 phi; -0.14 theta; -0.26 psi 2020-12-09T03:49:54Z- waiting for 1607485796.39, time is 1607485794.19 2020-12-09T03:49:54Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:54Z- handleDepth()-Depth_Keller msg: 1.33 epoch sec; seqNo:1607485794985; depth 0.00 2020-12-09T03:49:54Z- waiting for 1607485796.39, time is 1607485794.19 2020-12-09T03:49:54Z- sync is 0.79, coherence is 2.00 2020-12-09T03:49:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485795.01 epoch sec; seqNo:150; 4061761.90 north; 594398.05 east 2020-12-09T03:49:54Z- waiting for 1607485796.39, time is 1607485794.19 2020-12-09T03:49:54Z- sync is 0.82, coherence is 2.00 2020-12-09T03:49:55Z- AHRS_M2 msg: 1607485795.38 epoch sec; seqNo:138 2020-12-09T03:49:55Z- AHRS_M2 msg: 3.93 phi; -0.14 theta; -0.28 psi 2020-12-09T03:49:55Z- waiting for 1607485796.39, time is 1607485794.19 2020-12-09T03:49:55Z- sync is 1.19, coherence is 2.00 2020-12-09T03:49:55Z- handleDepth()-Depth_Keller msg: 1.36 epoch sec; seqNo:1607485795390; depth 0.00 2020-12-09T03:49:55Z- waiting for 1607485796.39, time is 1607485794.19 2020-12-09T03:49:55Z- sync is 1.19, coherence is 2.00 2020-12-09T03:49:55Z- handleDvl() - RDI_Pathfinder msg: 1607485795.40 epoch sec; seqNo:62 2020-12-09T03:49:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.79 , 96.82 , 78.58 , 96.82 2020-12-09T03:49:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.67 , -0.44 , -0.31 2020-12-09T03:49:55Z- waiting for 1607485796.39, time is 1607485795.40 2020-12-09T03:49:55Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485795.43 epoch sec; seqNo:151; 4061761.52 north; 594398.05 east 2020-12-09T03:49:55Z- waiting for 1607485796.39, time is 1607485795.40 2020-12-09T03:49:55Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:55Z- AHRS_M2 msg: 1607485795.80 epoch sec; seqNo:139 2020-12-09T03:49:55Z- AHRS_M2 msg: 3.94 phi; -0.14 theta; -0.26 psi 2020-12-09T03:49:55Z- waiting for 1607485796.39, time is 1607485795.40 2020-12-09T03:49:55Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:55Z- handleDepth()-Depth_Keller msg: 1.40 epoch sec; seqNo:1607485795800; depth 0.00 2020-12-09T03:49:55Z- waiting for 1607485796.39, time is 1607485795.40 2020-12-09T03:49:55Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485795.82 epoch sec; seqNo:152; 4061761.14 north; 594398.06 east 2020-12-09T03:49:55Z- waiting for 1607485796.39, time is 1607485795.40 2020-12-09T03:49:55Z- sync is 0.42, coherence is 2.00 2020-12-09T03:49:56Z- AHRS_M2 msg: 1607485796.21 epoch sec; seqNo:140 2020-12-09T03:49:56Z- AHRS_M2 msg: 3.93 phi; -0.14 theta; -0.23 psi 2020-12-09T03:49:56Z- waiting for 1607485796.39, time is 1607485795.40 2020-12-09T03:49:56Z- sync is 0.81, coherence is 2.00 2020-12-09T03:49:56Z- handleDepth()-Depth_Keller msg: 1.44 epoch sec; seqNo:1607485796216; depth 0.00 2020-12-09T03:49:56Z- waiting for 1607485796.39, time is 1607485795.40 2020-12-09T03:49:56Z- sync is 0.81, coherence is 2.00 2020-12-09T03:49:56Z- handleDvl() - RDI_Pathfinder msg: 1607485796.24 epoch sec; seqNo:63 2020-12-09T03:49:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 80.94 , 96.75 , 75.56 , 97.97 2020-12-09T03:49:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.31 , -0.26 2020-12-09T03:49:56Z- waiting for 1607485796.39, time is 1607485796.24 2020-12-09T03:49:56Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485796.27 epoch sec; seqNo:153; 4061760.76 north; 594398.06 east 2020-12-09T03:49:56Z- waiting for 1607485796.39, time is 1607485796.24 2020-12-09T03:49:56Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:56Z- AHRS_M2 msg: 1607485796.60 epoch sec; seqNo:141 2020-12-09T03:49:56Z- AHRS_M2 msg: 3.95 phi; -0.14 theta; -0.23 psi 2020-12-09T03:49:56Z- waiting for 1607485796.39, time is 1607485796.24 2020-12-09T03:49:56Z- sync is 0.36, coherence is 2.00 2020-12-09T03:49:56Z- handleDepth()-Depth_Keller msg: 1.48 epoch sec; seqNo:1607485796606; depth 0.00 2020-12-09T03:49:56Z- waiting for 1607485796.39, time is 1607485796.24 2020-12-09T03:49:56Z- sync is 0.36, coherence is 2.00 2020-12-09T03:49:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485796.64 epoch sec; seqNo:154; 4061760.38 north; 594398.07 east 2020-12-09T03:49:56Z- waiting for 1607485796.39, time is 1607485796.24 2020-12-09T03:49:56Z- sync is 0.40, coherence is 2.00 2020-12-09T03:49:56Z- AHRS_M2 msg: 1607485797.00 epoch sec; seqNo:142 2020-12-09T03:49:56Z- AHRS_M2 msg: 3.96 phi; -0.14 theta; -0.22 psi 2020-12-09T03:49:56Z- waiting for 1607485796.39, time is 1607485796.24 2020-12-09T03:49:56Z- sync is 0.76, coherence is 2.00 2020-12-09T03:49:56Z- handleDepth()-Depth_Keller msg: 1.52 epoch sec; seqNo:1607485797009; depth 0.00 2020-12-09T03:49:56Z- waiting for 1607485796.39, time is 1607485796.24 2020-12-09T03:49:56Z- sync is 0.76, coherence is 2.00 2020-12-09T03:49:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485797.05 epoch sec; seqNo:155; 4061760.38 north; 594398.07 east 2020-12-09T03:49:56Z- waiting for 1607485796.39, time is 1607485796.24 2020-12-09T03:49:56Z- sync is 0.81, coherence is 2.00 2020-12-09T03:49:57Z- AHRS_M2 msg: 1607485797.40 epoch sec; seqNo:143 2020-12-09T03:49:57Z- AHRS_M2 msg: 3.97 phi; -0.14 theta; -0.21 psi 2020-12-09T03:49:57Z- waiting for 1607485796.39, time is 1607485796.24 2020-12-09T03:49:57Z- sync is 1.16, coherence is 2.00 2020-12-09T03:49:57Z- handleDepth()-Depth_Keller msg: 1.56 epoch sec; seqNo:1607485797414; depth 0.00 2020-12-09T03:49:57Z- waiting for 1607485796.39, time is 1607485796.24 2020-12-09T03:49:57Z- sync is 1.16, coherence is 2.00 2020-12-09T03:49:57Z- handleDvl() - RDI_Pathfinder msg: 1607485797.44 epoch sec; seqNo:64 2020-12-09T03:49:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.20 , 94.25 , 73.52 , 95.47 2020-12-09T03:49:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.16 , -0.39 2020-12-09T03:49:57Z- waiting for 1607485796.39, time is 1607485797.44 2020-12-09T03:49:57Z- sync is 0.04, coherence is 2.00 2020-12-09T03:49:57Z- LcmTrn::updateTrn() >>>> pose time 1607485797.40, meas time 1607485797.44 <<<< 2020-12-09T03:49:57Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485797.44 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:49:57Z- TerrainNav::motionUpdate() - currEstimate = (4061760, 594398.07, 1.56) 2020-12-09T03:49:57Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:49:57Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:49:57Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:49:57Z- TNavBF::mmse selected from filter -1 2020-12-09T03:49:57Z- variances([0], [2], and psi_berg) = 831.083226 833.231113 0.000000 2020-12-09T03:49:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:49:57Z- LcmTrn::cycle() - MLE : 4061714.88 594352.57 1.56 2020-12-09T03:49:57Z- LcmTrn::cycle() - MMSE : 4061760.38 594398.07 1.56 2020-12-09T03:49:57Z- LcmTrn::cycle() - COVAR: 831.08 833.23 25.76 0.00 2020-12-09T03:49:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485797.45 epoch sec; seqNo:156; 4061759.99 north; 594396.85 east 2020-12-09T03:49:57Z- waiting for 1607485800.44, time is 1607485797.44 2020-12-09T03:49:57Z- sync is 0.01, coherence is 2.00 2020-12-09T03:49:57Z- AHRS_M2 msg: 1607485797.81 epoch sec; seqNo:144 2020-12-09T03:49:57Z- AHRS_M2 msg: 3.97 phi; -0.15 theta; -0.19 psi 2020-12-09T03:49:57Z- waiting for 1607485800.44, time is 1607485797.44 2020-12-09T03:49:57Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:57Z- handleDepth()-Depth_Keller msg: 1.61 epoch sec; seqNo:1607485797813; depth 0.00 2020-12-09T03:49:57Z- waiting for 1607485800.44, time is 1607485797.44 2020-12-09T03:49:57Z- sync is 0.37, coherence is 2.00 2020-12-09T03:49:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485797.84 epoch sec; seqNo:157; 4061759.61 north; 594396.85 east 2020-12-09T03:49:57Z- waiting for 1607485800.44, time is 1607485797.44 2020-12-09T03:49:57Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:58Z- AHRS_M2 msg: 1607485798.21 epoch sec; seqNo:145 2020-12-09T03:49:58Z- AHRS_M2 msg: 3.96 phi; -0.16 theta; -0.17 psi 2020-12-09T03:49:58Z- waiting for 1607485800.44, time is 1607485797.44 2020-12-09T03:49:58Z- sync is 0.77, coherence is 2.00 2020-12-09T03:49:58Z- handleDepth()-Depth_Keller msg: 1.67 epoch sec; seqNo:1607485798217; depth 0.00 2020-12-09T03:49:58Z- waiting for 1607485800.44, time is 1607485797.44 2020-12-09T03:49:58Z- sync is 0.77, coherence is 2.00 2020-12-09T03:49:58Z- handleDvl() - RDI_Pathfinder msg: 1607485798.23 epoch sec; seqNo:65 2020-12-09T03:49:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.24 , 90.87 , 72.30 , 93.31 2020-12-09T03:49:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.06 , -0.41 2020-12-09T03:49:58Z- waiting for 1607485800.44, time is 1607485798.23 2020-12-09T03:49:58Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485798.26 epoch sec; seqNo:158; 4061759.23 north; 594396.86 east 2020-12-09T03:49:58Z- waiting for 1607485800.44, time is 1607485798.23 2020-12-09T03:49:58Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:58Z- AHRS_M2 msg: 1607485798.62 epoch sec; seqNo:146 2020-12-09T03:49:58Z- AHRS_M2 msg: 3.97 phi; -0.17 theta; -0.18 psi 2020-12-09T03:49:58Z- waiting for 1607485800.44, time is 1607485798.23 2020-12-09T03:49:58Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:58Z- handleDepth()-Depth_Keller msg: 1.70 epoch sec; seqNo:1607485798630; depth 0.00 2020-12-09T03:49:58Z- waiting for 1607485800.44, time is 1607485798.23 2020-12-09T03:49:58Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485798.64 epoch sec; seqNo:159; 4061758.85 north; 594396.86 east 2020-12-09T03:49:58Z- waiting for 1607485800.44, time is 1607485798.23 2020-12-09T03:49:58Z- sync is 0.41, coherence is 2.00 2020-12-09T03:49:58Z- AHRS_M2 msg: 1607485799.03 epoch sec; seqNo:147 2020-12-09T03:49:58Z- AHRS_M2 msg: 3.99 phi; -0.17 theta; -0.19 psi 2020-12-09T03:49:58Z- waiting for 1607485800.44, time is 1607485798.23 2020-12-09T03:49:58Z- sync is 0.80, coherence is 2.00 2020-12-09T03:49:58Z- handleDepth()-Depth_Keller msg: 1.74 epoch sec; seqNo:1607485799042; depth 0.00 2020-12-09T03:49:58Z- waiting for 1607485800.44, time is 1607485798.23 2020-12-09T03:49:58Z- sync is 0.80, coherence is 2.00 2020-12-09T03:49:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T03:49:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T03:49:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T03:49:58Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T03:49:58Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T03:49:58Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T03:49:58Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T03:49:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T03:49:58Z- handleDvl() - RDI_Pathfinder msg: 1607485799.05 epoch sec; seqNo:66 2020-12-09T03:49:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T03:49:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.06 , -0.41 2020-12-09T03:49:58Z- waiting for 1607485800.44, time is 1607485799.05 2020-12-09T03:49:58Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485799.08 epoch sec; seqNo:160; 4061758.84 north; 594395.64 east 2020-12-09T03:49:58Z- waiting for 1607485800.44, time is 1607485799.05 2020-12-09T03:49:58Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:59Z- AHRS_M2 msg: 1607485799.42 epoch sec; seqNo:148 2020-12-09T03:49:59Z- AHRS_M2 msg: 4.02 phi; -0.17 theta; -0.19 psi 2020-12-09T03:49:59Z- waiting for 1607485800.44, time is 1607485799.05 2020-12-09T03:49:59Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:59Z- handleDepth()-Depth_Keller msg: 1.77 epoch sec; seqNo:1607485799429; depth 0.00 2020-12-09T03:49:59Z- waiting for 1607485800.44, time is 1607485799.05 2020-12-09T03:49:59Z- sync is 0.38, coherence is 2.00 2020-12-09T03:49:59Z- handleDvl() - RDI_Pathfinder msg: 1607485799.44 epoch sec; seqNo:67 2020-12-09T03:49:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.24 , 89.72 , 71.07 , 95.80 2020-12-09T03:49:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.09 , -0.37 2020-12-09T03:49:59Z- waiting for 1607485800.44, time is 1607485799.44 2020-12-09T03:49:59Z- sync is 0.02, coherence is 2.00 2020-12-09T03:49:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485799.47 epoch sec; seqNo:161; 4061758.46 north; 594395.65 east 2020-12-09T03:49:59Z- waiting for 1607485800.44, time is 1607485799.44 2020-12-09T03:49:59Z- sync is 0.03, coherence is 2.00 2020-12-09T03:49:59Z- AHRS_M2 msg: 1607485799.83 epoch sec; seqNo:149 2020-12-09T03:49:59Z- AHRS_M2 msg: 4.04 phi; -0.17 theta; -0.18 psi 2020-12-09T03:49:59Z- waiting for 1607485800.44, time is 1607485799.44 2020-12-09T03:49:59Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:59Z- handleDepth()-Depth_Keller msg: 1.83 epoch sec; seqNo:1607485799833; depth 0.00 2020-12-09T03:49:59Z- waiting for 1607485800.44, time is 1607485799.44 2020-12-09T03:49:59Z- sync is 0.39, coherence is 2.00 2020-12-09T03:49:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485799.85 epoch sec; seqNo:162; 4061758.08 north; 594395.65 east 2020-12-09T03:49:59Z- waiting for 1607485800.44, time is 1607485799.44 2020-12-09T03:49:59Z- sync is 0.40, coherence is 2.00 2020-12-09T03:50:00Z- AHRS_M2 msg: 1607485800.23 epoch sec; seqNo:150 2020-12-09T03:50:00Z- AHRS_M2 msg: 4.05 phi; -0.15 theta; -0.15 psi 2020-12-09T03:50:00Z- waiting for 1607485800.44, time is 1607485799.44 2020-12-09T03:50:00Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:00Z- handleDepth()-Depth_Keller msg: 1.86 epoch sec; seqNo:1607485800241; depth 0.00 2020-12-09T03:50:00Z- waiting for 1607485800.44, time is 1607485799.44 2020-12-09T03:50:00Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:00Z- handleDvl() - RDI_Pathfinder msg: 1607485800.25 epoch sec; seqNo:68 2020-12-09T03:50:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.01 , 88.51 , 69.85 , 94.59 2020-12-09T03:50:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.32 , 0.33 , -0.56 2020-12-09T03:50:00Z- waiting for 1607485800.44, time is 1607485800.25 2020-12-09T03:50:00Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485800.27 epoch sec; seqNo:163; 4061758.07 north; 594394.43 east 2020-12-09T03:50:00Z- waiting for 1607485800.44, time is 1607485800.25 2020-12-09T03:50:00Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:00Z- AHRS_M2 msg: 1607485800.63 epoch sec; seqNo:151 2020-12-09T03:50:00Z- AHRS_M2 msg: 4.05 phi; -0.14 theta; -0.13 psi 2020-12-09T03:50:00Z- waiting for 1607485800.44, time is 1607485800.25 2020-12-09T03:50:00Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:00Z- handleDepth()-Depth_Keller msg: 1.91 epoch sec; seqNo:1607485800655; depth 0.00 2020-12-09T03:50:00Z- waiting for 1607485800.44, time is 1607485800.25 2020-12-09T03:50:00Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485800.67 epoch sec; seqNo:164; 4061757.69 north; 594394.43 east 2020-12-09T03:50:00Z- waiting for 1607485800.44, time is 1607485800.25 2020-12-09T03:50:00Z- sync is 0.42, coherence is 2.00 2020-12-09T03:50:00Z- AHRS_M2 msg: 1607485801.06 epoch sec; seqNo:152 2020-12-09T03:50:00Z- AHRS_M2 msg: 4.05 phi; -0.14 theta; -0.11 psi 2020-12-09T03:50:00Z- waiting for 1607485800.44, time is 1607485800.25 2020-12-09T03:50:00Z- sync is 0.81, coherence is 2.00 2020-12-09T03:50:00Z- handleDepth()-Depth_Keller msg: 1.98 epoch sec; seqNo:1607485801079; depth 0.00 2020-12-09T03:50:00Z- waiting for 1607485800.44, time is 1607485800.25 2020-12-09T03:50:00Z- sync is 0.81, coherence is 2.00 2020-12-09T03:50:00Z- handleDvl() - RDI_Pathfinder msg: 1607485801.11 epoch sec; seqNo:69 2020-12-09T03:50:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.24 , 86.21 , 69.44 , 92.29 2020-12-09T03:50:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.45 , 0.60 , -0.24 2020-12-09T03:50:00Z- waiting for 1607485800.44, time is 1607485801.11 2020-12-09T03:50:00Z- sync is 0.05, coherence is 2.00 2020-12-09T03:50:00Z- LcmTrn::updateTrn() >>>> pose time 1607485801.06, meas time 1607485801.11 <<<< 2020-12-09T03:50:00Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485801.11 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:50:00Z- TerrainNav::motionUpdate() - currEstimate = (4061758, 594394.43, 1.98) 2020-12-09T03:50:00Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:50:00Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:50:00Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:50:00Z- TNavBF::mmse selected from filter -1 2020-12-09T03:50:00Z- variances([0], [2], and psi_berg) = 830.507937 833.226479 0.000000 2020-12-09T03:50:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:50:00Z- LcmTrn::cycle() - MLE : 4061713.19 594349.93 1.98 2020-12-09T03:50:00Z- LcmTrn::cycle() - MMSE : 4061757.69 594394.43 1.98 2020-12-09T03:50:00Z- LcmTrn::cycle() - COVAR: 830.51 833.23 25.99 0.00 2020-12-09T03:50:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485801.13 epoch sec; seqNo:165; 4061757.30 north; 594393.22 east 2020-12-09T03:50:00Z- waiting for 1607485804.11, time is 1607485801.11 2020-12-09T03:50:00Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:01Z- AHRS_M2 msg: 1607485801.44 epoch sec; seqNo:153 2020-12-09T03:50:01Z- AHRS_M2 msg: 4.04 phi; -0.14 theta; -0.12 psi 2020-12-09T03:50:01Z- waiting for 1607485804.11, time is 1607485801.11 2020-12-09T03:50:01Z- sync is 0.34, coherence is 2.00 2020-12-09T03:50:01Z- handleDepth()-Depth_Keller msg: 2.05 epoch sec; seqNo:1607485801449; depth 0.00 2020-12-09T03:50:01Z- waiting for 1607485804.11, time is 1607485801.11 2020-12-09T03:50:01Z- sync is 0.34, coherence is 2.00 2020-12-09T03:50:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485801.50 epoch sec; seqNo:166; 4061757.30 north; 594393.22 east 2020-12-09T03:50:01Z- waiting for 1607485804.11, time is 1607485801.11 2020-12-09T03:50:01Z- sync is 0.39, coherence is 2.00 2020-12-09T03:50:01Z- AHRS_M2 msg: 1607485801.85 epoch sec; seqNo:154 2020-12-09T03:50:01Z- AHRS_M2 msg: 4.04 phi; -0.15 theta; -0.13 psi 2020-12-09T03:50:01Z- waiting for 1607485804.11, time is 1607485801.11 2020-12-09T03:50:01Z- sync is 0.74, coherence is 2.00 2020-12-09T03:50:01Z- handleDepth()-Depth_Keller msg: 2.09 epoch sec; seqNo:1607485801855; depth 0.00 2020-12-09T03:50:01Z- waiting for 1607485804.11, time is 1607485801.11 2020-12-09T03:50:01Z- sync is 0.74, coherence is 2.00 2020-12-09T03:50:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485801.89 epoch sec; seqNo:167; 4061756.92 north; 594393.22 east 2020-12-09T03:50:01Z- waiting for 1607485804.11, time is 1607485801.11 2020-12-09T03:50:01Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:02Z- AHRS_M2 msg: 1607485802.25 epoch sec; seqNo:155 2020-12-09T03:50:02Z- AHRS_M2 msg: 4.04 phi; -0.15 theta; -0.15 psi 2020-12-09T03:50:02Z- waiting for 1607485804.11, time is 1607485801.11 2020-12-09T03:50:02Z- sync is 1.14, coherence is 2.00 2020-12-09T03:50:02Z- handleDepth()-Depth_Keller msg: 2.15 epoch sec; seqNo:1607485802257; depth 0.00 2020-12-09T03:50:02Z- waiting for 1607485804.11, time is 1607485801.11 2020-12-09T03:50:02Z- sync is 1.14, coherence is 2.00 2020-12-09T03:50:02Z- handleDvl() - RDI_Pathfinder msg: 1607485802.28 epoch sec; seqNo:70 2020-12-09T03:50:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.24 , 86.96 , 69.44 , 92.36 2020-12-09T03:50:02Z- handleDvl() - RDI_Pathfinder msg: velocities 1.26 , 0.71 , 0.17 2020-12-09T03:50:02Z- waiting for 1607485804.11, time is 1607485802.28 2020-12-09T03:50:02Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485802.30 epoch sec; seqNo:168; 4061756.91 north; 594392.00 east 2020-12-09T03:50:02Z- waiting for 1607485804.11, time is 1607485802.28 2020-12-09T03:50:02Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:02Z- AHRS_M2 msg: 1607485802.65 epoch sec; seqNo:156 2020-12-09T03:50:02Z- AHRS_M2 msg: 4.04 phi; -0.15 theta; -0.15 psi 2020-12-09T03:50:02Z- waiting for 1607485804.11, time is 1607485802.28 2020-12-09T03:50:02Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:02Z- handleDepth()-Depth_Keller msg: 2.23 epoch sec; seqNo:1607485802660; depth 0.00 2020-12-09T03:50:02Z- waiting for 1607485804.11, time is 1607485802.28 2020-12-09T03:50:02Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485802.67 epoch sec; seqNo:169; 4061756.91 north; 594392.00 east 2020-12-09T03:50:02Z- waiting for 1607485804.11, time is 1607485802.28 2020-12-09T03:50:02Z- sync is 0.39, coherence is 2.00 2020-12-09T03:50:02Z- AHRS_M2 msg: 1607485803.06 epoch sec; seqNo:157 2020-12-09T03:50:02Z- AHRS_M2 msg: 4.03 phi; -0.15 theta; -0.16 psi 2020-12-09T03:50:02Z- waiting for 1607485804.11, time is 1607485802.28 2020-12-09T03:50:02Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:02Z- handleDepth()-Depth_Keller msg: 2.28 epoch sec; seqNo:1607485803078; depth 0.00 2020-12-09T03:50:02Z- waiting for 1607485804.11, time is 1607485802.28 2020-12-09T03:50:02Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485803.12 epoch sec; seqNo:170; 4061756.89 north; 594390.78 east 2020-12-09T03:50:02Z- waiting for 1607485804.11, time is 1607485802.28 2020-12-09T03:50:02Z- sync is 0.84, coherence is 2.00 2020-12-09T03:50:03Z- AHRS_M2 msg: 1607485803.47 epoch sec; seqNo:158 2020-12-09T03:50:03Z- AHRS_M2 msg: 4.02 phi; -0.16 theta; -0.16 psi 2020-12-09T03:50:03Z- waiting for 1607485804.11, time is 1607485802.28 2020-12-09T03:50:03Z- sync is 1.18, coherence is 2.00 2020-12-09T03:50:03Z- handleDepth()-Depth_Keller msg: 2.35 epoch sec; seqNo:1607485803472; depth 0.00 2020-12-09T03:50:03Z- waiting for 1607485804.11, time is 1607485802.28 2020-12-09T03:50:03Z- sync is 1.18, coherence is 2.00 2020-12-09T03:50:03Z- handleDvl() - RDI_Pathfinder msg: 1607485803.48 epoch sec; seqNo:71 2020-12-09T03:50:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 86.96 , 69.03 , 92.36 2020-12-09T03:50:03Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.74 , 0.40 2020-12-09T03:50:03Z- waiting for 1607485804.11, time is 1607485803.48 2020-12-09T03:50:03Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485803.50 epoch sec; seqNo:171; 4061756.89 north; 594390.78 east 2020-12-09T03:50:03Z- waiting for 1607485804.11, time is 1607485803.48 2020-12-09T03:50:03Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:03Z- AHRS_M2 msg: 1607485803.87 epoch sec; seqNo:159 2020-12-09T03:50:03Z- AHRS_M2 msg: 4.01 phi; -0.16 theta; -0.18 psi 2020-12-09T03:50:03Z- waiting for 1607485804.11, time is 1607485803.48 2020-12-09T03:50:03Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:03Z- handleDepth()-Depth_Keller msg: 2.41 epoch sec; seqNo:1607485803873; depth 0.00 2020-12-09T03:50:03Z- waiting for 1607485804.11, time is 1607485803.48 2020-12-09T03:50:03Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485803.89 epoch sec; seqNo:172; 4061756.88 north; 594389.56 east 2020-12-09T03:50:03Z- waiting for 1607485804.11, time is 1607485803.48 2020-12-09T03:50:03Z- sync is 0.41, coherence is 2.00 2020-12-09T03:50:04Z- AHRS_M2 msg: 1607485804.27 epoch sec; seqNo:160 2020-12-09T03:50:04Z- AHRS_M2 msg: 4.00 phi; -0.17 theta; -0.21 psi 2020-12-09T03:50:04Z- waiting for 1607485804.11, time is 1607485803.48 2020-12-09T03:50:04Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:04Z- handleDepth()-Depth_Keller msg: 2.45 epoch sec; seqNo:1607485804281; depth 0.00 2020-12-09T03:50:04Z- waiting for 1607485804.11, time is 1607485803.48 2020-12-09T03:50:04Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:04Z- handleDvl() - RDI_Pathfinder msg: 1607485804.30 epoch sec; seqNo:72 2020-12-09T03:50:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 81.35 , 88.64 , 69.03 , 94.72 2020-12-09T03:50:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.45 , 0.51 2020-12-09T03:50:04Z- waiting for 1607485804.11, time is 1607485804.30 2020-12-09T03:50:04Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:04Z- LcmTrn::updateTrn() >>>> pose time 1607485804.27, meas time 1607485804.30 <<<< 2020-12-09T03:50:04Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485804.30 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:50:04Z- TerrainNav::motionUpdate() - currEstimate = (4061757, 594389.56, 2.45) 2020-12-09T03:50:04Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:50:04Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:50:04Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:50:04Z- TNavBF::mmse selected from filter -1 2020-12-09T03:50:04Z- variances([0], [2], and psi_berg) = 829.917583 833.221880 0.000000 2020-12-09T03:50:04Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:50:04Z- LcmTrn::cycle() - MLE : 4061713.38 594344.06 2.45 2020-12-09T03:50:04Z- LcmTrn::cycle() - MMSE : 4061756.88 594389.56 2.45 2020-12-09T03:50:04Z- LcmTrn::cycle() - COVAR: 829.92 833.22 26.24 0.00 2020-12-09T03:50:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485804.31 epoch sec; seqNo:173; 4061756.88 north; 594389.56 east 2020-12-09T03:50:04Z- waiting for 1607485807.30, time is 1607485804.30 2020-12-09T03:50:04Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:04Z- AHRS_M2 msg: 1607485804.67 epoch sec; seqNo:161 2020-12-09T03:50:04Z- AHRS_M2 msg: 3.99 phi; -0.18 theta; -0.23 psi 2020-12-09T03:50:04Z- waiting for 1607485807.30, time is 1607485804.30 2020-12-09T03:50:04Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:04Z- handleDepth()-Depth_Keller msg: 2.51 epoch sec; seqNo:1607485804679; depth 0.00 2020-12-09T03:50:04Z- waiting for 1607485807.30, time is 1607485804.30 2020-12-09T03:50:04Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485804.69 epoch sec; seqNo:174; 4061756.50 north; 594389.56 east 2020-12-09T03:50:04Z- waiting for 1607485807.30, time is 1607485804.30 2020-12-09T03:50:04Z- sync is 0.39, coherence is 2.00 2020-12-09T03:50:04Z- AHRS_M2 msg: 1607485805.09 epoch sec; seqNo:162 2020-12-09T03:50:04Z- AHRS_M2 msg: 3.98 phi; -0.19 theta; -0.24 psi 2020-12-09T03:50:04Z- waiting for 1607485807.30, time is 1607485804.30 2020-12-09T03:50:04Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:04Z- handleDepth()-Depth_Keller msg: 2.56 epoch sec; seqNo:1607485805092; depth 0.00 2020-12-09T03:50:04Z- waiting for 1607485807.30, time is 1607485804.30 2020-12-09T03:50:04Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:04Z- handleDvl() - RDI_Pathfinder msg: 1607485805.10 epoch sec; seqNo:73 2020-12-09T03:50:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.56 , 93.44 , 71.48 , 95.87 2020-12-09T03:50:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , 0.13 , 0.57 2020-12-09T03:50:04Z- waiting for 1607485807.30, time is 1607485805.10 2020-12-09T03:50:04Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485805.12 epoch sec; seqNo:175; 4061756.49 north; 594388.34 east 2020-12-09T03:50:04Z- waiting for 1607485807.30, time is 1607485805.10 2020-12-09T03:50:04Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:05Z- AHRS_M2 msg: 1607485805.48 epoch sec; seqNo:163 2020-12-09T03:50:05Z- AHRS_M2 msg: 3.97 phi; -0.19 theta; -0.24 psi 2020-12-09T03:50:05Z- waiting for 1607485807.30, time is 1607485805.10 2020-12-09T03:50:05Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:05Z- handleDepth()-Depth_Keller msg: 2.64 epoch sec; seqNo:1607485805491; depth 0.00 2020-12-09T03:50:05Z- waiting for 1607485807.30, time is 1607485805.10 2020-12-09T03:50:05Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485805.51 epoch sec; seqNo:176; 4061756.49 north; 594388.34 east 2020-12-09T03:50:05Z- waiting for 1607485807.30, time is 1607485805.10 2020-12-09T03:50:05Z- sync is 0.41, coherence is 2.00 2020-12-09T03:50:05Z- AHRS_M2 msg: 1607485805.89 epoch sec; seqNo:164 2020-12-09T03:50:05Z- AHRS_M2 msg: 3.97 phi; -0.19 theta; -0.24 psi 2020-12-09T03:50:05Z- waiting for 1607485807.30, time is 1607485805.10 2020-12-09T03:50:05Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:05Z- handleDepth()-Depth_Keller msg: 2.70 epoch sec; seqNo:1607485805893; depth 0.00 2020-12-09T03:50:05Z- waiting for 1607485807.30, time is 1607485805.10 2020-12-09T03:50:05Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485805.90 epoch sec; seqNo:177; 4061756.49 north; 594388.34 east 2020-12-09T03:50:05Z- waiting for 1607485807.30, time is 1607485805.10 2020-12-09T03:50:05Z- sync is 0.80, coherence is 2.00 2020-12-09T03:50:06Z- AHRS_M2 msg: 1607485806.29 epoch sec; seqNo:165 2020-12-09T03:50:06Z- AHRS_M2 msg: 3.97 phi; -0.21 theta; -0.25 psi 2020-12-09T03:50:06Z- waiting for 1607485807.30, time is 1607485805.10 2020-12-09T03:50:06Z- sync is 1.19, coherence is 2.00 2020-12-09T03:50:06Z- handleDepth()-Depth_Keller msg: 2.75 epoch sec; seqNo:1607485806301; depth 0.00 2020-12-09T03:50:06Z- waiting for 1607485807.30, time is 1607485805.10 2020-12-09T03:50:06Z- sync is 1.19, coherence is 2.00 2020-12-09T03:50:06Z- handleDvl() - RDI_Pathfinder msg: 1607485806.33 epoch sec; seqNo:74 2020-12-09T03:50:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.56 , 97.02 , 72.30 , 98.24 2020-12-09T03:50:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.59 , -0.13 , 0.44 2020-12-09T03:50:06Z- waiting for 1607485807.30, time is 1607485806.33 2020-12-09T03:50:06Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485806.34 epoch sec; seqNo:178; 4061756.11 north; 594388.35 east 2020-12-09T03:50:06Z- waiting for 1607485807.30, time is 1607485806.33 2020-12-09T03:50:06Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:06Z- AHRS_M2 msg: 1607485806.70 epoch sec; seqNo:166 2020-12-09T03:50:06Z- AHRS_M2 msg: 3.97 phi; -0.21 theta; -0.27 psi 2020-12-09T03:50:06Z- waiting for 1607485807.30, time is 1607485806.33 2020-12-09T03:50:06Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:06Z- handleDepth()-Depth_Keller msg: 2.83 epoch sec; seqNo:1607485806703; depth 0.00 2020-12-09T03:50:06Z- waiting for 1607485807.30, time is 1607485806.33 2020-12-09T03:50:06Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485806.74 epoch sec; seqNo:179; 4061756.11 north; 594388.35 east 2020-12-09T03:50:06Z- waiting for 1607485807.30, time is 1607485806.33 2020-12-09T03:50:06Z- sync is 0.41, coherence is 2.00 2020-12-09T03:50:06Z- AHRS_M2 msg: 1607485807.12 epoch sec; seqNo:167 2020-12-09T03:50:06Z- AHRS_M2 msg: 3.98 phi; -0.22 theta; -0.27 psi 2020-12-09T03:50:06Z- waiting for 1607485807.30, time is 1607485806.33 2020-12-09T03:50:06Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:06Z- handleDepth()-Depth_Keller msg: 2.87 epoch sec; seqNo:1607485807145; depth 0.00 2020-12-09T03:50:06Z- waiting for 1607485807.30, time is 1607485806.33 2020-12-09T03:50:06Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:06Z- handleDvl() - RDI_Pathfinder msg: 1607485807.17 epoch sec; seqNo:75 2020-12-09T03:50:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.34 , 96.89 , 72.70 , 99.32 2020-12-09T03:50:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.62 , -0.36 , -0.05 2020-12-09T03:50:07Z- waiting for 1607485807.30, time is 1607485807.17 2020-12-09T03:50:07Z- sync is 0.05, coherence is 2.00 2020-12-09T03:50:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485807.21 epoch sec; seqNo:180; 4061755.73 north; 594388.35 east 2020-12-09T03:50:07Z- waiting for 1607485807.30, time is 1607485807.17 2020-12-09T03:50:07Z- sync is 0.04, coherence is 2.00 2020-12-09T03:50:07Z- AHRS_M2 msg: 1607485807.50 epoch sec; seqNo:168 2020-12-09T03:50:07Z- AHRS_M2 msg: 3.99 phi; -0.21 theta; -0.27 psi 2020-12-09T03:50:07Z- waiting for 1607485807.30, time is 1607485807.17 2020-12-09T03:50:07Z- sync is 0.33, coherence is 2.00 2020-12-09T03:50:07Z- handleDepth()-Depth_Keller msg: 2.94 epoch sec; seqNo:1607485807510; depth 0.00 2020-12-09T03:50:07Z- waiting for 1607485807.30, time is 1607485807.17 2020-12-09T03:50:07Z- sync is 0.33, coherence is 2.00 2020-12-09T03:50:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485807.54 epoch sec; seqNo:181; 4061755.73 north; 594388.35 east 2020-12-09T03:50:07Z- waiting for 1607485807.30, time is 1607485807.17 2020-12-09T03:50:07Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:07Z- AHRS_M2 msg: 1607485807.91 epoch sec; seqNo:169 2020-12-09T03:50:07Z- AHRS_M2 msg: 4.01 phi; -0.21 theta; -0.26 psi 2020-12-09T03:50:07Z- waiting for 1607485807.30, time is 1607485807.17 2020-12-09T03:50:07Z- sync is 0.74, coherence is 2.00 2020-12-09T03:50:07Z- handleDepth()-Depth_Keller msg: 3.00 epoch sec; seqNo:1607485807915; depth 0.00 2020-12-09T03:50:07Z- waiting for 1607485807.30, time is 1607485807.17 2020-12-09T03:50:07Z- sync is 0.74, coherence is 2.00 2020-12-09T03:50:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485807.93 epoch sec; seqNo:182; 4061755.35 north; 594388.36 east 2020-12-09T03:50:07Z- waiting for 1607485807.30, time is 1607485807.17 2020-12-09T03:50:07Z- sync is 0.76, coherence is 2.00 2020-12-09T03:50:08Z- AHRS_M2 msg: 1607485808.31 epoch sec; seqNo:170 2020-12-09T03:50:08Z- AHRS_M2 msg: 4.03 phi; -0.21 theta; -0.25 psi 2020-12-09T03:50:08Z- waiting for 1607485807.30, time is 1607485807.17 2020-12-09T03:50:08Z- sync is 1.14, coherence is 2.00 2020-12-09T03:50:08Z- handleDepth()-Depth_Keller msg: 3.04 epoch sec; seqNo:1607485808326; depth 0.00 2020-12-09T03:50:08Z- waiting for 1607485807.30, time is 1607485807.17 2020-12-09T03:50:08Z- sync is 1.14, coherence is 2.00 2020-12-09T03:50:08Z- handleDvl() - RDI_Pathfinder msg: 1607485808.34 epoch sec; seqNo:76 2020-12-09T03:50:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.56 , 96.89 , 71.89 , 96.89 2020-12-09T03:50:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.36 , -0.32 2020-12-09T03:50:08Z- waiting for 1607485807.30, time is 1607485808.34 2020-12-09T03:50:08Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:08Z- LcmTrn::updateTrn() >>>> pose time 1607485808.31, meas time 1607485808.34 <<<< 2020-12-09T03:50:08Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485808.34 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:50:08Z- TerrainNav::motionUpdate() - currEstimate = (4061755, 594388.36, 3.04) 2020-12-09T03:50:08Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:50:08Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:50:08Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:50:08Z- TNavBF::mmse selected from filter -1 2020-12-09T03:50:08Z- variances([0], [2], and psi_berg) = 829.554094 833.219143 0.000000 2020-12-09T03:50:08Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:50:08Z- LcmTrn::cycle() - MLE : 4061712.85 594341.86 3.04 2020-12-09T03:50:08Z- LcmTrn::cycle() - MMSE : 4061755.35 594388.36 3.04 2020-12-09T03:50:08Z- LcmTrn::cycle() - COVAR: 829.55 833.22 26.34 0.00 2020-12-09T03:50:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485808.37 epoch sec; seqNo:183; 4061754.96 north; 594387.14 east 2020-12-09T03:50:08Z- waiting for 1607485811.34, time is 1607485808.34 2020-12-09T03:50:08Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:08Z- AHRS_M2 msg: 1607485808.72 epoch sec; seqNo:171 2020-12-09T03:50:08Z- AHRS_M2 msg: 4.05 phi; -0.22 theta; -0.24 psi 2020-12-09T03:50:08Z- waiting for 1607485811.34, time is 1607485808.34 2020-12-09T03:50:08Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:08Z- handleDepth()-Depth_Keller msg: 3.12 epoch sec; seqNo:1607485808727; depth 0.00 2020-12-09T03:50:08Z- waiting for 1607485811.34, time is 1607485808.34 2020-12-09T03:50:08Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485808.74 epoch sec; seqNo:184; 4061754.58 north; 594387.14 east 2020-12-09T03:50:08Z- waiting for 1607485811.34, time is 1607485808.34 2020-12-09T03:50:08Z- sync is 0.40, coherence is 2.00 2020-12-09T03:50:08Z- AHRS_M2 msg: 1607485809.13 epoch sec; seqNo:172 2020-12-09T03:50:08Z- AHRS_M2 msg: 4.06 phi; -0.22 theta; -0.22 psi 2020-12-09T03:50:08Z- waiting for 1607485811.34, time is 1607485808.34 2020-12-09T03:50:08Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:08Z- handleDepth()-Depth_Keller msg: 3.18 epoch sec; seqNo:1607485809145; depth 0.00 2020-12-09T03:50:08Z- waiting for 1607485811.34, time is 1607485808.34 2020-12-09T03:50:08Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:08Z- handleDvl() - RDI_Pathfinder msg: 1607485809.16 epoch sec; seqNo:77 2020-12-09T03:50:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 94.52 , 70.25 , 99.38 2020-12-09T03:50:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.24 , -0.38 2020-12-09T03:50:08Z- waiting for 1607485811.34, time is 1607485809.16 2020-12-09T03:50:08Z- sync is 0.04, coherence is 2.00 2020-12-09T03:50:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485809.17 epoch sec; seqNo:185; 4061754.20 north; 594387.15 east 2020-12-09T03:50:09Z- waiting for 1607485811.34, time is 1607485809.16 2020-12-09T03:50:09Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:09Z- AHRS_M2 msg: 1607485809.53 epoch sec; seqNo:173 2020-12-09T03:50:09Z- AHRS_M2 msg: 4.08 phi; -0.21 theta; -0.19 psi 2020-12-09T03:50:09Z- waiting for 1607485811.34, time is 1607485809.16 2020-12-09T03:50:09Z- sync is 0.36, coherence is 2.00 2020-12-09T03:50:09Z- handleDepth()-Depth_Keller msg: 3.24 epoch sec; seqNo:1607485809529; depth 0.00 2020-12-09T03:50:09Z- waiting for 1607485811.34, time is 1607485809.16 2020-12-09T03:50:09Z- sync is 0.36, coherence is 2.00 2020-12-09T03:50:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485809.55 epoch sec; seqNo:186; 4061753.82 north; 594387.15 east 2020-12-09T03:50:09Z- waiting for 1607485811.34, time is 1607485809.16 2020-12-09T03:50:09Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:09Z- AHRS_M2 msg: 1607485809.93 epoch sec; seqNo:174 2020-12-09T03:50:09Z- AHRS_M2 msg: 4.08 phi; -0.20 theta; -0.16 psi 2020-12-09T03:50:09Z- waiting for 1607485811.34, time is 1607485809.16 2020-12-09T03:50:09Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:09Z- handleDepth()-Depth_Keller msg: 3.31 epoch sec; seqNo:1607485809939; depth 0.00 2020-12-09T03:50:09Z- waiting for 1607485811.34, time is 1607485809.16 2020-12-09T03:50:09Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485809.95 epoch sec; seqNo:187; 4061753.44 north; 594387.16 east 2020-12-09T03:50:09Z- waiting for 1607485811.34, time is 1607485809.16 2020-12-09T03:50:09Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:10Z- AHRS_M2 msg: 1607485810.34 epoch sec; seqNo:175 2020-12-09T03:50:10Z- AHRS_M2 msg: 4.08 phi; -0.20 theta; -0.13 psi 2020-12-09T03:50:10Z- waiting for 1607485811.34, time is 1607485809.16 2020-12-09T03:50:10Z- sync is 1.17, coherence is 2.00 2020-12-09T03:50:10Z- handleDepth()-Depth_Keller msg: 3.39 epoch sec; seqNo:1607485810345; depth 0.00 2020-12-09T03:50:10Z- waiting for 1607485811.34, time is 1607485809.16 2020-12-09T03:50:10Z- sync is 1.17, coherence is 2.00 2020-12-09T03:50:10Z- handleDvl() - RDI_Pathfinder msg: 1607485810.36 epoch sec; seqNo:78 2020-12-09T03:50:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.31 , 88.17 , 67.39 , 96.68 2020-12-09T03:50:10Z- handleDvl() - RDI_Pathfinder msg: velocities 1.20 , 0.16 , -0.05 2020-12-09T03:50:10Z- waiting for 1607485811.34, time is 1607485810.36 2020-12-09T03:50:10Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485810.37 epoch sec; seqNo:188; 4061753.43 north; 594385.94 east 2020-12-09T03:50:10Z- waiting for 1607485811.34, time is 1607485810.36 2020-12-09T03:50:10Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:10Z- AHRS_M2 msg: 1607485810.74 epoch sec; seqNo:176 2020-12-09T03:50:10Z- AHRS_M2 msg: 4.06 phi; -0.20 theta; -0.12 psi 2020-12-09T03:50:10Z- waiting for 1607485811.34, time is 1607485810.36 2020-12-09T03:50:10Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:10Z- handleDepth()-Depth_Keller msg: 3.46 epoch sec; seqNo:1607485810758; depth 0.00 2020-12-09T03:50:10Z- waiting for 1607485811.34, time is 1607485810.36 2020-12-09T03:50:10Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485810.78 epoch sec; seqNo:189; 4061753.05 north; 594385.94 east 2020-12-09T03:50:10Z- waiting for 1607485811.34, time is 1607485810.36 2020-12-09T03:50:10Z- sync is 0.42, coherence is 2.00 2020-12-09T03:50:10Z- AHRS_M2 msg: 1607485811.15 epoch sec; seqNo:177 2020-12-09T03:50:10Z- AHRS_M2 msg: 4.04 phi; -0.21 theta; -0.14 psi 2020-12-09T03:50:10Z- waiting for 1607485811.34, time is 1607485810.36 2020-12-09T03:50:10Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:10Z- handleDepth()-Depth_Keller msg: 3.54 epoch sec; seqNo:1607485811159; depth 0.00 2020-12-09T03:50:10Z- waiting for 1607485811.34, time is 1607485810.36 2020-12-09T03:50:10Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:11Z- handleDvl() - RDI_Pathfinder msg: 1607485811.18 epoch sec; seqNo:79 2020-12-09T03:50:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.42 , 84.86 , 68.21 , 98.24 2020-12-09T03:50:11Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , 0.34 , 0.17 2020-12-09T03:50:11Z- waiting for 1607485811.34, time is 1607485811.18 2020-12-09T03:50:11Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485811.20 epoch sec; seqNo:190; 4061753.05 north; 594385.94 east 2020-12-09T03:50:11Z- waiting for 1607485811.34, time is 1607485811.18 2020-12-09T03:50:11Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:11Z- AHRS_M2 msg: 1607485811.55 epoch sec; seqNo:178 2020-12-09T03:50:11Z- AHRS_M2 msg: 4.03 phi; -0.21 theta; -0.16 psi 2020-12-09T03:50:11Z- waiting for 1607485811.34, time is 1607485811.18 2020-12-09T03:50:11Z- sync is 0.36, coherence is 2.00 2020-12-09T03:50:11Z- handleDepth()-Depth_Keller msg: 3.61 epoch sec; seqNo:1607485811550; depth 0.00 2020-12-09T03:50:11Z- waiting for 1607485811.34, time is 1607485811.18 2020-12-09T03:50:11Z- sync is 0.36, coherence is 2.00 2020-12-09T03:50:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485811.60 epoch sec; seqNo:191; 4061752.66 north; 594384.73 east 2020-12-09T03:50:11Z- waiting for 1607485811.34, time is 1607485811.18 2020-12-09T03:50:11Z- sync is 0.41, coherence is 2.00 2020-12-09T03:50:11Z- AHRS_M2 msg: 1607485811.96 epoch sec; seqNo:179 2020-12-09T03:50:11Z- AHRS_M2 msg: 4.02 phi; -0.22 theta; -0.19 psi 2020-12-09T03:50:11Z- waiting for 1607485811.34, time is 1607485811.18 2020-12-09T03:50:11Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:11Z- handleDepth()-Depth_Keller msg: 3.67 epoch sec; seqNo:1607485811967; depth 0.00 2020-12-09T03:50:11Z- waiting for 1607485811.34, time is 1607485811.18 2020-12-09T03:50:11Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485811.99 epoch sec; seqNo:192; 4061752.66 north; 594384.73 east 2020-12-09T03:50:11Z- waiting for 1607485811.34, time is 1607485811.18 2020-12-09T03:50:11Z- sync is 0.81, coherence is 2.00 2020-12-09T03:50:12Z- AHRS_M2 msg: 1607485812.35 epoch sec; seqNo:180 2020-12-09T03:50:12Z- AHRS_M2 msg: 4.02 phi; -0.22 theta; -0.21 psi 2020-12-09T03:50:12Z- waiting for 1607485811.34, time is 1607485811.18 2020-12-09T03:50:12Z- sync is 1.17, coherence is 2.00 2020-12-09T03:50:12Z- handleDepth()-Depth_Keller msg: 3.75 epoch sec; seqNo:1607485812357; depth 0.00 2020-12-09T03:50:12Z- waiting for 1607485811.34, time is 1607485811.18 2020-12-09T03:50:12Z- sync is 1.17, coherence is 2.00 2020-12-09T03:50:12Z- handleDvl() - RDI_Pathfinder msg: 1607485812.39 epoch sec; seqNo:80 2020-12-09T03:50:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.97 , 88.64 , 78.92 , 95.94 2020-12-09T03:50:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.35 , 0.03 2020-12-09T03:50:12Z- waiting for 1607485811.34, time is 1607485812.39 2020-12-09T03:50:12Z- sync is 0.04, coherence is 2.00 2020-12-09T03:50:12Z- LcmTrn::updateTrn() >>>> pose time 1607485812.35, meas time 1607485812.39 <<<< 2020-12-09T03:50:12Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485812.39 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:50:12Z- TerrainNav::motionUpdate() - currEstimate = (4061753, 594384.73, 3.75) 2020-12-09T03:50:12Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:50:12Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:50:12Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:50:12Z- TNavBF::mmse selected from filter -1 2020-12-09T03:50:12Z- variances([0], [2], and psi_berg) = 829.006387 833.215104 0.000000 2020-12-09T03:50:12Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:50:12Z- LcmTrn::cycle() - MLE : 4061711.16 594338.23 3.75 2020-12-09T03:50:12Z- LcmTrn::cycle() - MMSE : 4061752.66 594384.73 3.75 2020-12-09T03:50:12Z- LcmTrn::cycle() - COVAR: 829.01 833.22 26.57 0.00 2020-12-09T03:50:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485812.40 epoch sec; seqNo:193; 4061752.28 north; 594384.73 east 2020-12-09T03:50:12Z- waiting for 1607485815.39, time is 1607485812.39 2020-12-09T03:50:12Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:12Z- AHRS_M2 msg: 1607485812.76 epoch sec; seqNo:181 2020-12-09T03:50:12Z- AHRS_M2 msg: 4.03 phi; -0.22 theta; -0.23 psi 2020-12-09T03:50:12Z- waiting for 1607485815.39, time is 1607485812.39 2020-12-09T03:50:12Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:12Z- handleDepth()-Depth_Keller msg: 3.83 epoch sec; seqNo:1607485812769; depth 0.00 2020-12-09T03:50:12Z- waiting for 1607485815.39, time is 1607485812.39 2020-12-09T03:50:12Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485812.81 epoch sec; seqNo:194; 4061752.27 north; 594383.51 east 2020-12-09T03:50:12Z- waiting for 1607485815.39, time is 1607485812.39 2020-12-09T03:50:12Z- sync is 0.42, coherence is 2.00 2020-12-09T03:50:12Z- AHRS_M2 msg: 1607485813.16 epoch sec; seqNo:182 2020-12-09T03:50:12Z- AHRS_M2 msg: 4.04 phi; -0.22 theta; -0.24 psi 2020-12-09T03:50:12Z- waiting for 1607485815.39, time is 1607485812.39 2020-12-09T03:50:12Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:13Z- handleDepth()-Depth_Keller msg: 3.90 epoch sec; seqNo:1607485813179; depth 0.00 2020-12-09T03:50:13Z- waiting for 1607485815.39, time is 1607485812.39 2020-12-09T03:50:13Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:13Z- handleDvl() - RDI_Pathfinder msg: 1607485813.20 epoch sec; seqNo:81 2020-12-09T03:50:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.52 , 93.31 , 69.44 , 98.17 2020-12-09T03:50:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.27 , -0.16 2020-12-09T03:50:13Z- waiting for 1607485815.39, time is 1607485813.20 2020-12-09T03:50:13Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485813.21 epoch sec; seqNo:195; 4061751.89 north; 594383.51 east 2020-12-09T03:50:13Z- waiting for 1607485815.39, time is 1607485813.20 2020-12-09T03:50:13Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:13Z- AHRS_M2 msg: 1607485813.57 epoch sec; seqNo:183 2020-12-09T03:50:13Z- AHRS_M2 msg: 4.04 phi; -0.21 theta; -0.24 psi 2020-12-09T03:50:13Z- waiting for 1607485815.39, time is 1607485813.20 2020-12-09T03:50:13Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:13Z- handleDepth()-Depth_Keller msg: 3.95 epoch sec; seqNo:1607485813577; depth 0.00 2020-12-09T03:50:13Z- waiting for 1607485815.39, time is 1607485813.20 2020-12-09T03:50:13Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485813.60 epoch sec; seqNo:196; 4061751.89 north; 594383.51 east 2020-12-09T03:50:13Z- waiting for 1607485815.39, time is 1607485813.20 2020-12-09T03:50:13Z- sync is 0.40, coherence is 2.00 2020-12-09T03:50:13Z- AHRS_M2 msg: 1607485813.97 epoch sec; seqNo:184 2020-12-09T03:50:13Z- AHRS_M2 msg: 4.05 phi; -0.21 theta; -0.23 psi 2020-12-09T03:50:13Z- waiting for 1607485815.39, time is 1607485813.20 2020-12-09T03:50:13Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:13Z- handleDepth()-Depth_Keller msg: 4.03 epoch sec; seqNo:1607485813975; depth 0.00 2020-12-09T03:50:13Z- waiting for 1607485815.39, time is 1607485813.20 2020-12-09T03:50:13Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485813.99 epoch sec; seqNo:197; 4061751.87 north; 594382.29 east 2020-12-09T03:50:13Z- waiting for 1607485815.39, time is 1607485813.20 2020-12-09T03:50:13Z- sync is 0.80, coherence is 2.00 2020-12-09T03:50:14Z- AHRS_M2 msg: 1607485814.37 epoch sec; seqNo:185 2020-12-09T03:50:14Z- AHRS_M2 msg: 4.05 phi; -0.20 theta; -0.22 psi 2020-12-09T03:50:14Z- waiting for 1607485815.39, time is 1607485813.20 2020-12-09T03:50:14Z- sync is 1.17, coherence is 2.00 2020-12-09T03:50:14Z- handleDepth()-Depth_Keller msg: 4.08 epoch sec; seqNo:1607485814378; depth 0.00 2020-12-09T03:50:14Z- waiting for 1607485815.39, time is 1607485813.20 2020-12-09T03:50:14Z- sync is 1.17, coherence is 2.00 2020-12-09T03:50:14Z- handleDvl() - RDI_Pathfinder msg: 1607485814.39 epoch sec; seqNo:82 2020-12-09T03:50:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.89 , 93.44 , 69.44 , 97.09 2020-12-09T03:50:14Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.20 , -0.18 2020-12-09T03:50:14Z- waiting for 1607485815.39, time is 1607485814.39 2020-12-09T03:50:14Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485814.40 epoch sec; seqNo:198; 4061751.49 north; 594382.30 east 2020-12-09T03:50:14Z- waiting for 1607485815.39, time is 1607485814.39 2020-12-09T03:50:14Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:14Z- AHRS_M2 msg: 1607485814.78 epoch sec; seqNo:186 2020-12-09T03:50:14Z- AHRS_M2 msg: 4.05 phi; -0.20 theta; -0.21 psi 2020-12-09T03:50:14Z- waiting for 1607485815.39, time is 1607485814.39 2020-12-09T03:50:14Z- sync is 0.39, coherence is 2.00 2020-12-09T03:50:14Z- handleDepth()-Depth_Keller msg: 4.18 epoch sec; seqNo:1607485814793; depth 0.00 2020-12-09T03:50:14Z- waiting for 1607485815.39, time is 1607485814.39 2020-12-09T03:50:14Z- sync is 0.39, coherence is 2.00 2020-12-09T03:50:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485814.81 epoch sec; seqNo:199; 4061751.12 north; 594382.30 east 2020-12-09T03:50:14Z- waiting for 1607485815.39, time is 1607485814.39 2020-12-09T03:50:14Z- sync is 0.41, coherence is 2.00 2020-12-09T03:50:15Z- AHRS_M2 msg: 1607485815.18 epoch sec; seqNo:187 2020-12-09T03:50:15Z- AHRS_M2 msg: 4.05 phi; -0.20 theta; -0.20 psi 2020-12-09T03:50:15Z- waiting for 1607485815.39, time is 1607485814.39 2020-12-09T03:50:15Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:15Z- handleDepth()-Depth_Keller msg: 4.26 epoch sec; seqNo:1607485815186; depth 0.00 2020-12-09T03:50:15Z- waiting for 1607485815.39, time is 1607485814.39 2020-12-09T03:50:15Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:15Z- handleDvl() - RDI_Pathfinder msg: 1607485815.21 epoch sec; seqNo:83 2020-12-09T03:50:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.30 , 91.07 , 69.03 , 98.37 2020-12-09T03:50:15Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , 0.21 , -0.08 2020-12-09T03:50:15Z- waiting for 1607485815.39, time is 1607485815.21 2020-12-09T03:50:15Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485815.22 epoch sec; seqNo:200; 4061751.10 north; 594381.08 east 2020-12-09T03:50:15Z- waiting for 1607485815.39, time is 1607485815.21 2020-12-09T03:50:15Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:15Z- AHRS_M2 msg: 1607485815.59 epoch sec; seqNo:188 2020-12-09T03:50:15Z- AHRS_M2 msg: 4.05 phi; -0.21 theta; -0.19 psi 2020-12-09T03:50:15Z- waiting for 1607485815.39, time is 1607485815.21 2020-12-09T03:50:15Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:15Z- handleDepth()-Depth_Keller msg: 4.33 epoch sec; seqNo:1607485815595; depth 0.00 2020-12-09T03:50:15Z- waiting for 1607485815.39, time is 1607485815.21 2020-12-09T03:50:15Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485815.61 epoch sec; seqNo:201; 4061750.72 north; 594381.09 east 2020-12-09T03:50:15Z- waiting for 1607485815.39, time is 1607485815.21 2020-12-09T03:50:15Z- sync is 0.40, coherence is 2.00 2020-12-09T03:50:15Z- AHRS_M2 msg: 1607485815.99 epoch sec; seqNo:189 2020-12-09T03:50:15Z- AHRS_M2 msg: 4.05 phi; -0.21 theta; -0.19 psi 2020-12-09T03:50:15Z- waiting for 1607485815.39, time is 1607485815.21 2020-12-09T03:50:15Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:15Z- handleDepth()-Depth_Keller msg: 4.42 epoch sec; seqNo:1607485815994; depth 0.00 2020-12-09T03:50:15Z- waiting for 1607485815.39, time is 1607485815.21 2020-12-09T03:50:15Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485816.01 epoch sec; seqNo:202; 4061750.72 north; 594381.09 east 2020-12-09T03:50:15Z- waiting for 1607485815.39, time is 1607485815.21 2020-12-09T03:50:15Z- sync is 0.80, coherence is 2.00 2020-12-09T03:50:16Z- AHRS_M2 msg: 1607485816.39 epoch sec; seqNo:190 2020-12-09T03:50:16Z- AHRS_M2 msg: 4.05 phi; -0.21 theta; -0.20 psi 2020-12-09T03:50:16Z- waiting for 1607485815.39, time is 1607485815.21 2020-12-09T03:50:16Z- sync is 1.18, coherence is 2.00 2020-12-09T03:50:16Z- handleDepth()-Depth_Keller msg: 4.49 epoch sec; seqNo:1607485816398; depth 0.00 2020-12-09T03:50:16Z- waiting for 1607485815.39, time is 1607485815.21 2020-12-09T03:50:16Z- sync is 1.18, coherence is 2.00 2020-12-09T03:50:16Z- handleDvl() - RDI_Pathfinder msg: 1607485816.41 epoch sec; seqNo:84 2020-12-09T03:50:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.52 , 91.07 , 68.62 , 95.94 2020-12-09T03:50:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.23 , 0.06 2020-12-09T03:50:16Z- waiting for 1607485815.39, time is 1607485816.41 2020-12-09T03:50:16Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:16Z- LcmTrn::updateTrn() >>>> pose time 1607485816.39, meas time 1607485816.41 <<<< 2020-12-09T03:50:16Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485816.41 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:50:16Z- TerrainNav::motionUpdate() - currEstimate = (4061751, 594381.09, 4.49) 2020-12-09T03:50:16Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:50:16Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:50:16Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:50:16Z- TNavBF::mmse selected from filter -1 2020-12-09T03:50:16Z- variances([0], [2], and psi_berg) = 828.492505 833.211431 0.000000 2020-12-09T03:50:16Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:50:16Z- LcmTrn::cycle() - MLE : 4061709.22 594430.59 4.49 2020-12-09T03:50:16Z- LcmTrn::cycle() - MMSE : 4061750.72 594381.09 4.49 2020-12-09T03:50:16Z- LcmTrn::cycle() - COVAR: 828.49 833.21 26.78 0.00 2020-12-09T03:50:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485816.42 epoch sec; seqNo:203; 4061750.34 north; 594381.09 east 2020-12-09T03:50:16Z- waiting for 1607485819.41, time is 1607485816.41 2020-12-09T03:50:16Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:16Z- AHRS_M2 msg: 1607485816.80 epoch sec; seqNo:191 2020-12-09T03:50:16Z- AHRS_M2 msg: 4.06 phi; -0.22 theta; -0.20 psi 2020-12-09T03:50:16Z- waiting for 1607485819.41, time is 1607485816.41 2020-12-09T03:50:16Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:16Z- handleDepth()-Depth_Keller msg: 4.56 epoch sec; seqNo:1607485816801; depth 0.00 2020-12-09T03:50:16Z- waiting for 1607485819.41, time is 1607485816.41 2020-12-09T03:50:16Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485816.83 epoch sec; seqNo:204; 4061750.33 north; 594379.87 east 2020-12-09T03:50:16Z- waiting for 1607485819.41, time is 1607485816.41 2020-12-09T03:50:16Z- sync is 0.42, coherence is 2.00 2020-12-09T03:50:17Z- AHRS_M2 msg: 1607485817.20 epoch sec; seqNo:192 2020-12-09T03:50:17Z- AHRS_M2 msg: 4.07 phi; -0.22 theta; -0.21 psi 2020-12-09T03:50:17Z- waiting for 1607485819.41, time is 1607485816.41 2020-12-09T03:50:17Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:17Z- handleDepth()-Depth_Keller msg: 4.63 epoch sec; seqNo:1607485817205; depth 0.00 2020-12-09T03:50:17Z- waiting for 1607485819.41, time is 1607485816.41 2020-12-09T03:50:17Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:17Z- handleDvl() - RDI_Pathfinder msg: 1607485817.24 epoch sec; seqNo:85 2020-12-09T03:50:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.52 , 90.20 , 68.62 , 96.68 2020-12-09T03:50:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , 0.25 , 0.16 2020-12-09T03:50:17Z- waiting for 1607485819.41, time is 1607485817.24 2020-12-09T03:50:17Z- sync is 0.04, coherence is 2.00 2020-12-09T03:50:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485817.25 epoch sec; seqNo:205; 4061750.33 north; 594379.87 east 2020-12-09T03:50:17Z- waiting for 1607485819.41, time is 1607485817.24 2020-12-09T03:50:17Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:17Z- AHRS_M2 msg: 1607485817.61 epoch sec; seqNo:193 2020-12-09T03:50:17Z- AHRS_M2 msg: 4.07 phi; -0.22 theta; -0.21 psi 2020-12-09T03:50:17Z- waiting for 1607485819.41, time is 1607485817.24 2020-12-09T03:50:17Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:17Z- handleDepth()-Depth_Keller msg: 4.69 epoch sec; seqNo:1607485817617; depth 0.00 2020-12-09T03:50:17Z- waiting for 1607485819.41, time is 1607485817.24 2020-12-09T03:50:17Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485817.66 epoch sec; seqNo:206; 4061750.33 north; 594379.87 east 2020-12-09T03:50:17Z- waiting for 1607485819.41, time is 1607485817.24 2020-12-09T03:50:17Z- sync is 0.42, coherence is 2.00 2020-12-09T03:50:17Z- AHRS_M2 msg: 1607485818.01 epoch sec; seqNo:194 2020-12-09T03:50:17Z- AHRS_M2 msg: 4.07 phi; -0.21 theta; -0.20 psi 2020-12-09T03:50:17Z- waiting for 1607485819.41, time is 1607485817.24 2020-12-09T03:50:17Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:17Z- handleDepth()-Depth_Keller msg: 4.77 epoch sec; seqNo:1607485818017; depth 0.00 2020-12-09T03:50:17Z- waiting for 1607485819.41, time is 1607485817.24 2020-12-09T03:50:17Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485818.05 epoch sec; seqNo:207; 4061749.94 north; 594378.65 east 2020-12-09T03:50:17Z- waiting for 1607485819.41, time is 1607485817.24 2020-12-09T03:50:17Z- sync is 0.82, coherence is 2.00 2020-12-09T03:50:18Z- AHRS_M2 msg: 1607485818.42 epoch sec; seqNo:195 2020-12-09T03:50:18Z- AHRS_M2 msg: 4.07 phi; -0.21 theta; -0.20 psi 2020-12-09T03:50:18Z- waiting for 1607485819.41, time is 1607485817.24 2020-12-09T03:50:18Z- sync is 1.18, coherence is 2.00 2020-12-09T03:50:18Z- handleDepth()-Depth_Keller msg: 4.84 epoch sec; seqNo:1607485818420; depth 0.00 2020-12-09T03:50:18Z- waiting for 1607485819.41, time is 1607485817.24 2020-12-09T03:50:18Z- sync is 1.18, coherence is 2.00 2020-12-09T03:50:18Z- handleDvl() - RDI_Pathfinder msg: 1607485818.44 epoch sec; seqNo:86 2020-12-09T03:50:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.70 , 91.28 , 68.21 , 96.68 2020-12-09T03:50:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.34 , 0.17 2020-12-09T03:50:18Z- waiting for 1607485819.41, time is 1607485818.44 2020-12-09T03:50:18Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485818.45 epoch sec; seqNo:208; 4061749.94 north; 594378.65 east 2020-12-09T03:50:18Z- waiting for 1607485819.41, time is 1607485818.44 2020-12-09T03:50:18Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:18Z- AHRS_M2 msg: 1607485818.82 epoch sec; seqNo:196 2020-12-09T03:50:18Z- AHRS_M2 msg: 4.07 phi; -0.21 theta; -0.20 psi 2020-12-09T03:50:18Z- waiting for 1607485819.41, time is 1607485818.44 2020-12-09T03:50:18Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:18Z- handleDepth()-Depth_Keller msg: 4.92 epoch sec; seqNo:1607485818822; depth 0.00 2020-12-09T03:50:18Z- waiting for 1607485819.41, time is 1607485818.44 2020-12-09T03:50:18Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485818.84 epoch sec; seqNo:209; 4061749.94 north; 594378.65 east 2020-12-09T03:50:18Z- waiting for 1607485819.41, time is 1607485818.44 2020-12-09T03:50:18Z- sync is 0.40, coherence is 2.00 2020-12-09T03:50:19Z- AHRS_M2 msg: 1607485819.22 epoch sec; seqNo:197 2020-12-09T03:50:19Z- AHRS_M2 msg: 4.06 phi; -0.21 theta; -0.21 psi 2020-12-09T03:50:19Z- waiting for 1607485819.41, time is 1607485818.44 2020-12-09T03:50:19Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:19Z- handleDepth()-Depth_Keller msg: 4.98 epoch sec; seqNo:1607485819231; depth 0.00 2020-12-09T03:50:19Z- waiting for 1607485819.41, time is 1607485818.44 2020-12-09T03:50:19Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:19Z- handleDvl() - RDI_Pathfinder msg: 1607485819.25 epoch sec; seqNo:87 2020-12-09T03:50:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.11 , 90.20 , 68.62 , 98.84 2020-12-09T03:50:19Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.32 , 0.17 2020-12-09T03:50:19Z- waiting for 1607485819.41, time is 1607485819.25 2020-12-09T03:50:19Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485819.28 epoch sec; seqNo:210; 4061749.55 north; 594377.44 east 2020-12-09T03:50:19Z- waiting for 1607485819.41, time is 1607485819.25 2020-12-09T03:50:19Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:19Z- AHRS_M2 msg: 1607485819.63 epoch sec; seqNo:198 2020-12-09T03:50:19Z- AHRS_M2 msg: 4.05 phi; -0.20 theta; -0.21 psi 2020-12-09T03:50:19Z- waiting for 1607485819.41, time is 1607485819.25 2020-12-09T03:50:19Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:19Z- handleDepth()-Depth_Keller msg: 5.07 epoch sec; seqNo:1607485819633; depth 0.00 2020-12-09T03:50:19Z- waiting for 1607485819.41, time is 1607485819.25 2020-12-09T03:50:19Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485819.66 epoch sec; seqNo:211; 4061749.55 north; 594377.44 east 2020-12-09T03:50:19Z- waiting for 1607485819.41, time is 1607485819.25 2020-12-09T03:50:19Z- sync is 0.40, coherence is 2.00 2020-12-09T03:50:19Z- AHRS_M2 msg: 1607485820.04 epoch sec; seqNo:199 2020-12-09T03:50:19Z- AHRS_M2 msg: 4.05 phi; -0.20 theta; -0.21 psi 2020-12-09T03:50:19Z- waiting for 1607485819.41, time is 1607485819.25 2020-12-09T03:50:19Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:19Z- handleDepth()-Depth_Keller msg: 5.14 epoch sec; seqNo:1607485820042; depth 0.00 2020-12-09T03:50:19Z- waiting for 1607485819.41, time is 1607485819.25 2020-12-09T03:50:19Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485820.09 epoch sec; seqNo:212; 4061749.55 north; 594377.44 east 2020-12-09T03:50:19Z- waiting for 1607485819.41, time is 1607485819.25 2020-12-09T03:50:19Z- sync is 0.84, coherence is 2.00 2020-12-09T03:50:20Z- AHRS_M2 msg: 1607485820.44 epoch sec; seqNo:200 2020-12-09T03:50:20Z- AHRS_M2 msg: 4.04 phi; -0.19 theta; -0.21 psi 2020-12-09T03:50:20Z- waiting for 1607485819.41, time is 1607485819.25 2020-12-09T03:50:20Z- sync is 1.18, coherence is 2.00 2020-12-09T03:50:20Z- handleDepth()-Depth_Keller msg: 5.21 epoch sec; seqNo:1607485820441; depth 0.00 2020-12-09T03:50:20Z- waiting for 1607485819.41, time is 1607485819.25 2020-12-09T03:50:20Z- sync is 1.18, coherence is 2.00 2020-12-09T03:50:20Z- handleDvl() - RDI_Pathfinder msg: 1607485820.45 epoch sec; seqNo:88 2020-12-09T03:50:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.52 , 91.07 , 0.00 , 93.51 2020-12-09T03:50:20Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.17 , 0.22 2020-12-09T03:50:20Z- waiting for 1607485819.41, time is 1607485820.45 2020-12-09T03:50:20Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:20Z- LcmTrn::updateTrn() >>>> pose time 1607485820.44, meas time 1607485820.45 <<<< 2020-12-09T03:50:20Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485820.45 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:50:20Z- TerrainNav::motionUpdate() - currEstimate = (4061750, 594377.44, 5.21) 2020-12-09T03:50:20Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:50:20Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:50:20Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:50:20Z- TNavBF::mmse selected from filter -1 2020-12-09T03:50:20Z- variances([0], [2], and psi_berg) = 828.005044 833.208048 0.000000 2020-12-09T03:50:20Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:50:20Z- LcmTrn::cycle() - MLE : 4061709.05 594328.94 5.21 2020-12-09T03:50:20Z- LcmTrn::cycle() - MMSE : 4061749.55 594377.44 5.21 2020-12-09T03:50:20Z- LcmTrn::cycle() - COVAR: 828.01 833.21 26.98 0.00 2020-12-09T03:50:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485820.47 epoch sec; seqNo:213; 4061749.17 north; 594377.44 east 2020-12-09T03:50:20Z- waiting for 1607485823.45, time is 1607485820.45 2020-12-09T03:50:20Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:20Z- AHRS_M2 msg: 1607485820.84 epoch sec; seqNo:201 2020-12-09T03:50:20Z- AHRS_M2 msg: 4.03 phi; -0.19 theta; -0.22 psi 2020-12-09T03:50:20Z- waiting for 1607485823.45, time is 1607485820.45 2020-12-09T03:50:20Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:20Z- handleDepth()-Depth_Keller msg: 5.29 epoch sec; seqNo:1607485820850; depth 0.00 2020-12-09T03:50:20Z- waiting for 1607485823.45, time is 1607485820.45 2020-12-09T03:50:20Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485820.86 epoch sec; seqNo:214; 4061749.15 north; 594376.22 east 2020-12-09T03:50:20Z- waiting for 1607485823.45, time is 1607485820.45 2020-12-09T03:50:20Z- sync is 0.41, coherence is 2.00 2020-12-09T03:50:21Z- AHRS_M2 msg: 1607485821.24 epoch sec; seqNo:202 2020-12-09T03:50:21Z- AHRS_M2 msg: 4.01 phi; -0.19 theta; -0.22 psi 2020-12-09T03:50:21Z- waiting for 1607485823.45, time is 1607485820.45 2020-12-09T03:50:21Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:21Z- handleDepth()-Depth_Keller msg: 5.37 epoch sec; seqNo:1607485821249; depth 0.00 2020-12-09T03:50:21Z- waiting for 1607485823.45, time is 1607485820.45 2020-12-09T03:50:21Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:21Z- handleDvl() - RDI_Pathfinder msg: 1607485821.27 epoch sec; seqNo:89 2020-12-09T03:50:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.11 , 93.24 , 69.03 , 93.24 2020-12-09T03:50:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.02 , 0.28 2020-12-09T03:50:21Z- waiting for 1607485823.45, time is 1607485821.27 2020-12-09T03:50:21Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485821.28 epoch sec; seqNo:215; 4061748.78 north; 594376.22 east 2020-12-09T03:50:21Z- waiting for 1607485823.45, time is 1607485821.27 2020-12-09T03:50:21Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:21Z- AHRS_M2 msg: 1607485821.65 epoch sec; seqNo:203 2020-12-09T03:50:21Z- AHRS_M2 msg: 4.01 phi; -0.20 theta; -0.23 psi 2020-12-09T03:50:21Z- waiting for 1607485823.45, time is 1607485821.27 2020-12-09T03:50:21Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:21Z- handleDepth()-Depth_Keller msg: 5.46 epoch sec; seqNo:1607485821654; depth 0.00 2020-12-09T03:50:21Z- waiting for 1607485823.45, time is 1607485821.27 2020-12-09T03:50:21Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485821.67 epoch sec; seqNo:216; 4061748.78 north; 594376.22 east 2020-12-09T03:50:21Z- waiting for 1607485823.45, time is 1607485821.27 2020-12-09T03:50:21Z- sync is 0.40, coherence is 2.00 2020-12-09T03:50:21Z- AHRS_M2 msg: 1607485822.06 epoch sec; seqNo:204 2020-12-09T03:50:21Z- AHRS_M2 msg: 4.00 phi; -0.21 theta; -0.25 psi 2020-12-09T03:50:21Z- waiting for 1607485823.45, time is 1607485821.27 2020-12-09T03:50:21Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:21Z- handleDepth()-Depth_Keller msg: 5.51 epoch sec; seqNo:1607485822062; depth 0.00 2020-12-09T03:50:21Z- waiting for 1607485823.45, time is 1607485821.27 2020-12-09T03:50:21Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485822.14 epoch sec; seqNo:217; 4061748.38 north; 594375.01 east 2020-12-09T03:50:21Z- waiting for 1607485823.45, time is 1607485821.27 2020-12-09T03:50:21Z- sync is 0.87, coherence is 2.00 2020-12-09T03:50:22Z- AHRS_M2 msg: 1607485822.46 epoch sec; seqNo:205 2020-12-09T03:50:22Z- AHRS_M2 msg: 4.00 phi; -0.22 theta; -0.26 psi 2020-12-09T03:50:22Z- waiting for 1607485823.45, time is 1607485821.27 2020-12-09T03:50:22Z- sync is 1.19, coherence is 2.00 2020-12-09T03:50:22Z- handleDepth()-Depth_Keller msg: 5.59 epoch sec; seqNo:1607485822464; depth 0.00 2020-12-09T03:50:22Z- waiting for 1607485823.45, time is 1607485821.27 2020-12-09T03:50:22Z- sync is 1.19, coherence is 2.00 2020-12-09T03:50:22Z- handleDvl() - RDI_Pathfinder msg: 1607485822.49 epoch sec; seqNo:90 2020-12-09T03:50:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.30 , 89.12 , 69.03 , 94.52 2020-12-09T03:50:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.23 , 0.17 2020-12-09T03:50:22Z- waiting for 1607485823.45, time is 1607485822.49 2020-12-09T03:50:22Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485822.50 epoch sec; seqNo:218; 4061748.00 north; 594375.01 east 2020-12-09T03:50:22Z- waiting for 1607485823.45, time is 1607485822.49 2020-12-09T03:50:22Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:22Z- AHRS_M2 msg: 1607485822.86 epoch sec; seqNo:206 2020-12-09T03:50:22Z- AHRS_M2 msg: 4.01 phi; -0.22 theta; -0.26 psi 2020-12-09T03:50:22Z- waiting for 1607485823.45, time is 1607485822.49 2020-12-09T03:50:22Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:22Z- handleDepth()-Depth_Keller msg: 5.67 epoch sec; seqNo:1607485822866; depth 0.00 2020-12-09T03:50:22Z- waiting for 1607485823.45, time is 1607485822.49 2020-12-09T03:50:22Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485822.89 epoch sec; seqNo:219; 4061748.00 north; 594375.01 east 2020-12-09T03:50:22Z- waiting for 1607485823.45, time is 1607485822.49 2020-12-09T03:50:22Z- sync is 0.40, coherence is 2.00 2020-12-09T03:50:23Z- handleDepth()-Depth_Keller msg: 5.71 epoch sec; seqNo:1607485823291; depth 0.00 2020-12-09T03:50:23Z- waiting for 1607485823.45, time is 1607485822.49 2020-12-09T03:50:23Z- sync is 0.40, coherence is 2.00 2020-12-09T03:50:23Z- handleDvl() - RDI_Pathfinder msg: 1607485823.32 epoch sec; seqNo:91 2020-12-09T03:50:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.30 , 108.64 , 69.44 , 95.67 2020-12-09T03:50:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , -0.34 , -0.01 2020-12-09T03:50:23Z- waiting for 1607485823.45, time is 1607485823.32 2020-12-09T03:50:23Z- sync is 0.42, coherence is 2.00 2020-12-09T03:50:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485823.33 epoch sec; seqNo:220; 4061747.63 north; 594375.02 east 2020-12-09T03:50:23Z- waiting for 1607485823.45, time is 1607485823.32 2020-12-09T03:50:23Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:23Z- AHRS_M2 msg: 1607485823.67 epoch sec; seqNo:207 2020-12-09T03:50:23Z- AHRS_M2 msg: 4.03 phi; -0.22 theta; -0.26 psi 2020-12-09T03:50:23Z- waiting for 1607485823.45, time is 1607485823.32 2020-12-09T03:50:23Z- sync is 0.36, coherence is 2.00 2020-12-09T03:50:23Z- handleDepth()-Depth_Keller msg: 5.77 epoch sec; seqNo:1607485823675; depth 0.00 2020-12-09T03:50:23Z- waiting for 1607485823.45, time is 1607485823.32 2020-12-09T03:50:23Z- sync is 0.36, coherence is 2.00 2020-12-09T03:50:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485823.69 epoch sec; seqNo:221; 4061747.25 north; 594375.02 east 2020-12-09T03:50:23Z- waiting for 1607485823.45, time is 1607485823.32 2020-12-09T03:50:23Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:23Z- AHRS_M2 msg: 1607485824.07 epoch sec; seqNo:208 2020-12-09T03:50:23Z- AHRS_M2 msg: 4.04 phi; -0.22 theta; -0.25 psi 2020-12-09T03:50:23Z- waiting for 1607485823.45, time is 1607485823.32 2020-12-09T03:50:23Z- sync is 0.76, coherence is 2.00 2020-12-09T03:50:23Z- handleDepth()-Depth_Keller msg: 5.83 epoch sec; seqNo:1607485824082; depth 0.00 2020-12-09T03:50:23Z- waiting for 1607485823.45, time is 1607485823.32 2020-12-09T03:50:23Z- sync is 0.76, coherence is 2.00 2020-12-09T03:50:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485824.09 epoch sec; seqNo:222; 4061747.25 north; 594375.02 east 2020-12-09T03:50:23Z- waiting for 1607485823.45, time is 1607485823.32 2020-12-09T03:50:23Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:24Z- AHRS_M2 msg: 1607485824.47 epoch sec; seqNo:209 2020-12-09T03:50:24Z- AHRS_M2 msg: 4.05 phi; -0.22 theta; -0.24 psi 2020-12-09T03:50:24Z- waiting for 1607485823.45, time is 1607485823.32 2020-12-09T03:50:24Z- sync is 1.16, coherence is 2.00 2020-12-09T03:50:24Z- handleDepth()-Depth_Keller msg: 5.91 epoch sec; seqNo:1607485824489; depth 0.00 2020-12-09T03:50:24Z- waiting for 1607485823.45, time is 1607485823.32 2020-12-09T03:50:24Z- sync is 1.16, coherence is 2.00 2020-12-09T03:50:24Z- handleDvl() - RDI_Pathfinder msg: 1607485824.50 epoch sec; seqNo:92 2020-12-09T03:50:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.30 , 96.82 , 0.00 , 98.03 2020-12-09T03:50:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.32 , -0.24 2020-12-09T03:50:24Z- waiting for 1607485823.45, time is 1607485824.50 2020-12-09T03:50:24Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:24Z- LcmTrn::updateTrn() >>>> pose time 1607485824.47, meas time 1607485824.50 <<<< 2020-12-09T03:50:24Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485824.50 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:50:24Z- TerrainNav::motionUpdate() - currEstimate = (4061747, 594375.02, 5.91) 2020-12-09T03:50:24Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:50:24Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:50:24Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:50:24Z- TNavBF::mmse selected from filter -1 2020-12-09T03:50:24Z- variances([0], [2], and psi_berg) = 827.557402 833.205027 0.000000 2020-12-09T03:50:24Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:50:24Z- LcmTrn::cycle() - MLE : 4061706.75 594328.52 5.91 2020-12-09T03:50:24Z- LcmTrn::cycle() - MMSE : 4061747.25 594375.02 5.91 2020-12-09T03:50:24Z- LcmTrn::cycle() - COVAR: 827.56 833.21 27.15 0.00 2020-12-09T03:50:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485824.53 epoch sec; seqNo:223; 4061746.87 north; 594375.03 east 2020-12-09T03:50:24Z- waiting for 1607485827.50, time is 1607485824.50 2020-12-09T03:50:24Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:24Z- AHRS_M2 msg: 1607485824.88 epoch sec; seqNo:210 2020-12-09T03:50:24Z- AHRS_M2 msg: 4.07 phi; -0.21 theta; -0.22 psi 2020-12-09T03:50:24Z- waiting for 1607485827.50, time is 1607485824.50 2020-12-09T03:50:24Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:24Z- handleDepth()-Depth_Keller msg: 5.97 epoch sec; seqNo:1607485824886; depth 0.00 2020-12-09T03:50:24Z- waiting for 1607485827.50, time is 1607485824.50 2020-12-09T03:50:24Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485824.90 epoch sec; seqNo:224; 4061746.49 north; 594375.03 east 2020-12-09T03:50:24Z- waiting for 1607485827.50, time is 1607485824.50 2020-12-09T03:50:24Z- sync is 0.40, coherence is 2.00 2020-12-09T03:50:25Z- AHRS_M2 msg: 1607485825.29 epoch sec; seqNo:211 2020-12-09T03:50:25Z- AHRS_M2 msg: 4.08 phi; -0.21 theta; -0.21 psi 2020-12-09T03:50:25Z- waiting for 1607485827.50, time is 1607485824.50 2020-12-09T03:50:25Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:25Z- handleDepth()-Depth_Keller msg: 6.04 epoch sec; seqNo:1607485825291; depth 0.00 2020-12-09T03:50:25Z- waiting for 1607485827.50, time is 1607485824.50 2020-12-09T03:50:25Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:25Z- handleDvl() - RDI_Pathfinder msg: 1607485825.30 epoch sec; seqNo:93 2020-12-09T03:50:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.70 , 90.54 , 66.58 , 97.83 2020-12-09T03:50:25Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.13 , -0.47 2020-12-09T03:50:25Z- waiting for 1607485827.50, time is 1607485825.30 2020-12-09T03:50:25Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485825.32 epoch sec; seqNo:225; 4061746.10 north; 594373.81 east 2020-12-09T03:50:25Z- waiting for 1607485827.50, time is 1607485825.30 2020-12-09T03:50:25Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:25Z- AHRS_M2 msg: 1607485825.69 epoch sec; seqNo:212 2020-12-09T03:50:25Z- AHRS_M2 msg: 4.09 phi; -0.21 theta; -0.19 psi 2020-12-09T03:50:25Z- waiting for 1607485827.50, time is 1607485825.30 2020-12-09T03:50:25Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:25Z- handleDepth()-Depth_Keller msg: 6.11 epoch sec; seqNo:1607485825697; depth 0.00 2020-12-09T03:50:25Z- waiting for 1607485827.50, time is 1607485825.30 2020-12-09T03:50:25Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485825.72 epoch sec; seqNo:226; 4061745.72 north; 594373.82 east 2020-12-09T03:50:25Z- waiting for 1607485827.50, time is 1607485825.30 2020-12-09T03:50:25Z- sync is 0.41, coherence is 2.00 2020-12-09T03:50:25Z- AHRS_M2 msg: 1607485826.11 epoch sec; seqNo:213 2020-12-09T03:50:25Z- AHRS_M2 msg: 4.10 phi; -0.20 theta; -0.18 psi 2020-12-09T03:50:25Z- waiting for 1607485827.50, time is 1607485825.30 2020-12-09T03:50:25Z- sync is 0.81, coherence is 2.00 2020-12-09T03:50:25Z- handleDepth()-Depth_Keller msg: 6.19 epoch sec; seqNo:1607485826126; depth 0.00 2020-12-09T03:50:25Z- waiting for 1607485827.50, time is 1607485825.30 2020-12-09T03:50:25Z- sync is 0.81, coherence is 2.00 2020-12-09T03:50:25Z- handleDvl() - RDI_Pathfinder msg: 1607485826.15 epoch sec; seqNo:94 2020-12-09T03:50:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.51 , 89.12 , 66.57 , 94.52 2020-12-09T03:50:25Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , 0.11 , -0.56 2020-12-09T03:50:25Z- waiting for 1607485827.50, time is 1607485826.15 2020-12-09T03:50:25Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485826.16 epoch sec; seqNo:227; 4061745.34 north; 594373.82 east 2020-12-09T03:50:25Z- waiting for 1607485827.50, time is 1607485826.15 2020-12-09T03:50:25Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:26Z- AHRS_M2 msg: 1607485826.50 epoch sec; seqNo:214 2020-12-09T03:50:26Z- AHRS_M2 msg: 4.10 phi; -0.20 theta; -0.17 psi 2020-12-09T03:50:26Z- waiting for 1607485827.50, time is 1607485826.15 2020-12-09T03:50:26Z- sync is 0.35, coherence is 2.00 2020-12-09T03:50:26Z- handleDepth()-Depth_Keller msg: 6.26 epoch sec; seqNo:1607485826502; depth 0.00 2020-12-09T03:50:26Z- waiting for 1607485827.50, time is 1607485826.15 2020-12-09T03:50:26Z- sync is 0.35, coherence is 2.00 2020-12-09T03:50:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485826.52 epoch sec; seqNo:228; 4061745.33 north; 594372.60 east 2020-12-09T03:50:26Z- waiting for 1607485827.50, time is 1607485826.15 2020-12-09T03:50:26Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:26Z- AHRS_M2 msg: 1607485826.90 epoch sec; seqNo:215 2020-12-09T03:50:26Z- AHRS_M2 msg: 4.11 phi; -0.19 theta; -0.16 psi 2020-12-09T03:50:26Z- waiting for 1607485827.50, time is 1607485826.15 2020-12-09T03:50:26Z- sync is 0.76, coherence is 2.00 2020-12-09T03:50:26Z- handleDepth()-Depth_Keller msg: 6.31 epoch sec; seqNo:1607485826906; depth 0.00 2020-12-09T03:50:26Z- waiting for 1607485827.50, time is 1607485826.15 2020-12-09T03:50:26Z- sync is 0.76, coherence is 2.00 2020-12-09T03:50:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485826.92 epoch sec; seqNo:229; 4061744.95 north; 594372.61 east 2020-12-09T03:50:26Z- waiting for 1607485827.50, time is 1607485826.15 2020-12-09T03:50:26Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:27Z- AHRS_M2 msg: 1607485827.30 epoch sec; seqNo:216 2020-12-09T03:50:27Z- AHRS_M2 msg: 4.12 phi; -0.19 theta; -0.16 psi 2020-12-09T03:50:27Z- waiting for 1607485827.50, time is 1607485826.15 2020-12-09T03:50:27Z- sync is 1.16, coherence is 2.00 2020-12-09T03:50:27Z- handleDepth()-Depth_Keller msg: 6.38 epoch sec; seqNo:1607485827313; depth 0.00 2020-12-09T03:50:27Z- waiting for 1607485827.50, time is 1607485826.15 2020-12-09T03:50:27Z- sync is 1.16, coherence is 2.00 2020-12-09T03:50:27Z- handleDvl() - RDI_Pathfinder msg: 1607485827.34 epoch sec; seqNo:95 2020-12-09T03:50:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.92 , 84.87 , 66.16 , 97.83 2020-12-09T03:50:27Z- handleDvl() - RDI_Pathfinder msg: velocities 1.21 , 0.37 , -0.45 2020-12-09T03:50:27Z- waiting for 1607485827.50, time is 1607485827.34 2020-12-09T03:50:27Z- sync is 0.04, coherence is 2.00 2020-12-09T03:50:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485827.35 epoch sec; seqNo:230; 4061744.57 north; 594372.61 east 2020-12-09T03:50:27Z- waiting for 1607485827.50, time is 1607485827.34 2020-12-09T03:50:27Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:27Z- AHRS_M2 msg: 1607485827.71 epoch sec; seqNo:217 2020-12-09T03:50:27Z- AHRS_M2 msg: 4.12 phi; -0.18 theta; -0.15 psi 2020-12-09T03:50:27Z- waiting for 1607485827.50, time is 1607485827.34 2020-12-09T03:50:27Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:27Z- handleDepth()-Depth_Keller msg: 6.45 epoch sec; seqNo:1607485827717; depth 0.00 2020-12-09T03:50:27Z- waiting for 1607485827.50, time is 1607485827.34 2020-12-09T03:50:27Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485827.76 epoch sec; seqNo:231; 4061744.55 north; 594371.39 east 2020-12-09T03:50:27Z- waiting for 1607485827.50, time is 1607485827.34 2020-12-09T03:50:27Z- sync is 0.42, coherence is 2.00 2020-12-09T03:50:27Z- AHRS_M2 msg: 1607485828.12 epoch sec; seqNo:218 2020-12-09T03:50:27Z- AHRS_M2 msg: 4.11 phi; -0.18 theta; -0.15 psi 2020-12-09T03:50:27Z- waiting for 1607485827.50, time is 1607485827.34 2020-12-09T03:50:27Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:27Z- handleDepth()-Depth_Keller msg: 6.53 epoch sec; seqNo:1607485828127; depth 0.00 2020-12-09T03:50:27Z- waiting for 1607485827.50, time is 1607485827.34 2020-12-09T03:50:27Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:27Z- handleDvl() - RDI_Pathfinder msg: 1607485828.15 epoch sec; seqNo:96 2020-12-09T03:50:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.92 , 79.64 , 65.75 , 89.26 2020-12-09T03:50:27Z- handleDvl() - RDI_Pathfinder msg: velocities 1.19 , 0.57 , -0.25 2020-12-09T03:50:27Z- waiting for 1607485827.50, time is 1607485828.15 2020-12-09T03:50:27Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:27Z- LcmTrn::updateTrn() >>>> pose time 1607485828.12, meas time 1607485828.15 <<<< 2020-12-09T03:50:27Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485828.15 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:50:27Z- TerrainNav::motionUpdate() - currEstimate = (4061745, 594371.39, 6.53) 2020-12-09T03:50:27Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:50:27Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:50:27Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:50:27Z- TNavBF::mmse selected from filter -1 2020-12-09T03:50:27Z- variances([0], [2], and psi_berg) = 827.043622 833.201645 0.000000 2020-12-09T03:50:27Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:50:27Z- LcmTrn::cycle() - MLE : 4061705.05 594321.89 6.53 2020-12-09T03:50:27Z- LcmTrn::cycle() - MMSE : 4061744.55 594371.39 6.53 2020-12-09T03:50:27Z- LcmTrn::cycle() - COVAR: 827.04 833.20 27.38 0.00 2020-12-09T03:50:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485828.18 epoch sec; seqNo:232; 4061744.55 north; 594371.39 east 2020-12-09T03:50:28Z- waiting for 1607485831.15, time is 1607485828.15 2020-12-09T03:50:28Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:28Z- AHRS_M2 msg: 1607485828.52 epoch sec; seqNo:219 2020-12-09T03:50:28Z- AHRS_M2 msg: 4.11 phi; -0.18 theta; -0.16 psi 2020-12-09T03:50:28Z- waiting for 1607485831.15, time is 1607485828.15 2020-12-09T03:50:28Z- sync is 0.36, coherence is 2.00 2020-12-09T03:50:28Z- handleDepth()-Depth_Keller msg: 6.59 epoch sec; seqNo:1607485828530; depth 0.00 2020-12-09T03:50:28Z- waiting for 1607485831.15, time is 1607485828.15 2020-12-09T03:50:28Z- sync is 0.36, coherence is 2.00 2020-12-09T03:50:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485828.57 epoch sec; seqNo:233; 4061744.16 north; 594370.17 east 2020-12-09T03:50:28Z- waiting for 1607485831.15, time is 1607485828.15 2020-12-09T03:50:28Z- sync is 0.42, coherence is 2.00 2020-12-09T03:50:28Z- AHRS_M2 msg: 1607485828.92 epoch sec; seqNo:220 2020-12-09T03:50:28Z- AHRS_M2 msg: 4.10 phi; -0.18 theta; -0.16 psi 2020-12-09T03:50:28Z- waiting for 1607485831.15, time is 1607485828.15 2020-12-09T03:50:28Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:28Z- handleDepth()-Depth_Keller msg: 6.66 epoch sec; seqNo:1607485828930; depth 0.00 2020-12-09T03:50:28Z- waiting for 1607485831.15, time is 1607485828.15 2020-12-09T03:50:28Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485828.94 epoch sec; seqNo:234; 4061744.16 north; 594370.17 east 2020-12-09T03:50:28Z- waiting for 1607485831.15, time is 1607485828.15 2020-12-09T03:50:28Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:29Z- AHRS_M2 msg: 1607485829.33 epoch sec; seqNo:221 2020-12-09T03:50:29Z- AHRS_M2 msg: 4.10 phi; -0.18 theta; -0.17 psi 2020-12-09T03:50:29Z- waiting for 1607485831.15, time is 1607485828.15 2020-12-09T03:50:29Z- sync is 1.17, coherence is 2.00 2020-12-09T03:50:29Z- handleDepth()-Depth_Keller msg: 6.73 epoch sec; seqNo:1607485829331; depth 0.00 2020-12-09T03:50:29Z- waiting for 1607485831.15, time is 1607485828.15 2020-12-09T03:50:29Z- sync is 1.17, coherence is 2.00 2020-12-09T03:50:29Z- handleDvl() - RDI_Pathfinder msg: 1607485829.34 epoch sec; seqNo:97 2020-12-09T03:50:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.70 , 79.64 , 64.94 , 90.34 2020-12-09T03:50:29Z- handleDvl() - RDI_Pathfinder msg: velocities 1.27 , 0.58 , -0.01 2020-12-09T03:50:29Z- waiting for 1607485831.15, time is 1607485829.34 2020-12-09T03:50:29Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485829.36 epoch sec; seqNo:235; 4061744.16 north; 594370.17 east 2020-12-09T03:50:29Z- waiting for 1607485831.15, time is 1607485829.34 2020-12-09T03:50:29Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:29Z- AHRS_M2 msg: 1607485829.73 epoch sec; seqNo:222 2020-12-09T03:50:29Z- AHRS_M2 msg: 4.09 phi; -0.18 theta; -0.17 psi 2020-12-09T03:50:29Z- waiting for 1607485831.15, time is 1607485829.34 2020-12-09T03:50:29Z- sync is 0.39, coherence is 2.00 2020-12-09T03:50:29Z- handleDepth()-Depth_Keller msg: 6.78 epoch sec; seqNo:1607485829749; depth 0.00 2020-12-09T03:50:29Z- waiting for 1607485831.15, time is 1607485829.34 2020-12-09T03:50:29Z- sync is 0.39, coherence is 2.00 2020-12-09T03:50:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485829.76 epoch sec; seqNo:236; 4061744.15 north; 594368.95 east 2020-12-09T03:50:29Z- waiting for 1607485831.15, time is 1607485829.34 2020-12-09T03:50:29Z- sync is 0.42, coherence is 2.00 2020-12-09T03:50:29Z- AHRS_M2 msg: 1607485830.13 epoch sec; seqNo:223 2020-12-09T03:50:29Z- AHRS_M2 msg: 4.09 phi; -0.18 theta; -0.18 psi 2020-12-09T03:50:29Z- waiting for 1607485831.15, time is 1607485829.34 2020-12-09T03:50:29Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:29Z- handleDepth()-Depth_Keller msg: 6.85 epoch sec; seqNo:1607485830141; depth 0.00 2020-12-09T03:50:29Z- waiting for 1607485831.15, time is 1607485829.34 2020-12-09T03:50:29Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:29Z- handleDvl() - RDI_Pathfinder msg: 1607485830.16 epoch sec; seqNo:98 2020-12-09T03:50:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.29 , 84.93 , 64.94 , 90.34 2020-12-09T03:50:29Z- handleDvl() - RDI_Pathfinder msg: velocities 1.27 , 0.57 , 0.22 2020-12-09T03:50:29Z- waiting for 1607485831.15, time is 1607485830.16 2020-12-09T03:50:29Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485830.17 epoch sec; seqNo:237; 4061743.77 north; 594368.96 east 2020-12-09T03:50:29Z- waiting for 1607485831.15, time is 1607485830.16 2020-12-09T03:50:29Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:30Z- AHRS_M2 msg: 1607485830.54 epoch sec; seqNo:224 2020-12-09T03:50:30Z- AHRS_M2 msg: 4.09 phi; -0.18 theta; -0.19 psi 2020-12-09T03:50:30Z- waiting for 1607485831.15, time is 1607485830.16 2020-12-09T03:50:30Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:30Z- handleDepth()-Depth_Keller msg: 6.93 epoch sec; seqNo:1607485830541; depth 0.00 2020-12-09T03:50:30Z- waiting for 1607485831.15, time is 1607485830.16 2020-12-09T03:50:30Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485830.55 epoch sec; seqNo:238; 4061743.76 north; 594367.74 east 2020-12-09T03:50:30Z- waiting for 1607485831.15, time is 1607485830.16 2020-12-09T03:50:30Z- sync is 0.39, coherence is 2.00 2020-12-09T03:50:30Z- AHRS_M2 msg: 1607485830.94 epoch sec; seqNo:225 2020-12-09T03:50:30Z- AHRS_M2 msg: 4.08 phi; -0.17 theta; -0.19 psi 2020-12-09T03:50:30Z- waiting for 1607485831.15, time is 1607485830.16 2020-12-09T03:50:30Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:30Z- handleDepth()-Depth_Keller msg: 6.99 epoch sec; seqNo:1607485830949; depth 0.00 2020-12-09T03:50:30Z- waiting for 1607485831.15, time is 1607485830.16 2020-12-09T03:50:30Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485830.96 epoch sec; seqNo:239; 4061743.76 north; 594367.74 east 2020-12-09T03:50:30Z- waiting for 1607485831.15, time is 1607485830.16 2020-12-09T03:50:30Z- sync is 0.80, coherence is 2.00 2020-12-09T03:50:31Z- AHRS_M2 msg: 1607485831.34 epoch sec; seqNo:226 2020-12-09T03:50:31Z- AHRS_M2 msg: 4.08 phi; -0.17 theta; -0.20 psi 2020-12-09T03:50:31Z- waiting for 1607485831.15, time is 1607485830.16 2020-12-09T03:50:31Z- sync is 1.18, coherence is 2.00 2020-12-09T03:50:31Z- handleDepth()-Depth_Keller msg: 7.07 epoch sec; seqNo:1607485831352; depth 0.00 2020-12-09T03:50:31Z- waiting for 1607485831.15, time is 1607485830.16 2020-12-09T03:50:31Z- sync is 1.18, coherence is 2.00 2020-12-09T03:50:31Z- handleDvl() - RDI_Pathfinder msg: 1607485831.37 epoch sec; seqNo:99 2020-12-09T03:50:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.25 , 91.42 , 66.16 , 90.34 2020-12-09T03:50:31Z- handleDvl() - RDI_Pathfinder msg: velocities 1.29 , 0.50 , 0.40 2020-12-09T03:50:31Z- waiting for 1607485831.15, time is 1607485831.37 2020-12-09T03:50:31Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:31Z- LcmTrn::updateTrn() >>>> pose time 1607485831.34, meas time 1607485831.37 <<<< 2020-12-09T03:50:31Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485831.37 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:50:31Z- TerrainNav::motionUpdate() - currEstimate = (4061744, 594367.74, 7.07) 2020-12-09T03:50:31Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:50:31Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:50:31Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:50:31Z- TNavBF::mmse selected from filter -1 2020-12-09T03:50:31Z- variances([0], [2], and psi_berg) = 826.584002 833.198707 0.000000 2020-12-09T03:50:31Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:50:31Z- LcmTrn::cycle() - MLE : 4061704.26 594319.24 7.07 2020-12-09T03:50:31Z- LcmTrn::cycle() - MMSE : 4061743.76 594367.74 7.07 2020-12-09T03:50:31Z- LcmTrn::cycle() - COVAR: 826.58 833.20 27.57 0.00 2020-12-09T03:50:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485831.38 epoch sec; seqNo:240; 4061743.36 north; 594366.52 east 2020-12-09T03:50:31Z- waiting for 1607485834.37, time is 1607485831.37 2020-12-09T03:50:31Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:31Z- AHRS_M2 msg: 1607485831.75 epoch sec; seqNo:227 2020-12-09T03:50:31Z- AHRS_M2 msg: 4.08 phi; -0.17 theta; -0.20 psi 2020-12-09T03:50:31Z- waiting for 1607485834.37, time is 1607485831.37 2020-12-09T03:50:31Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:31Z- handleDepth()-Depth_Keller msg: 7.13 epoch sec; seqNo:1607485831753; depth 0.00 2020-12-09T03:50:31Z- waiting for 1607485834.37, time is 1607485831.37 2020-12-09T03:50:31Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485831.77 epoch sec; seqNo:241; 4061743.36 north; 594366.52 east 2020-12-09T03:50:31Z- waiting for 1607485834.37, time is 1607485831.37 2020-12-09T03:50:31Z- sync is 0.40, coherence is 2.00 2020-12-09T03:50:31Z- AHRS_M2 msg: 1607485832.15 epoch sec; seqNo:228 2020-12-09T03:50:31Z- AHRS_M2 msg: 4.07 phi; -0.17 theta; -0.20 psi 2020-12-09T03:50:31Z- waiting for 1607485834.37, time is 1607485831.37 2020-12-09T03:50:31Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:31Z- handleDepth()-Depth_Keller msg: 7.21 epoch sec; seqNo:1607485832161; depth 0.00 2020-12-09T03:50:31Z- waiting for 1607485834.37, time is 1607485831.37 2020-12-09T03:50:31Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:32Z- handleDvl() - RDI_Pathfinder msg: 1607485832.18 epoch sec; seqNo:100 2020-12-09T03:50:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.43 , 97.90 , 66.57 , 88.18 2020-12-09T03:50:32Z- handleDvl() - RDI_Pathfinder msg: velocities 1.20 , 0.38 , 0.52 2020-12-09T03:50:32Z- waiting for 1607485834.37, time is 1607485832.18 2020-12-09T03:50:32Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485832.20 epoch sec; seqNo:242; 4061743.35 north; 594365.30 east 2020-12-09T03:50:32Z- waiting for 1607485834.37, time is 1607485832.18 2020-12-09T03:50:32Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:32Z- AHRS_M2 msg: 1607485832.56 epoch sec; seqNo:229 2020-12-09T03:50:32Z- AHRS_M2 msg: 4.07 phi; -0.17 theta; -0.21 psi 2020-12-09T03:50:32Z- waiting for 1607485834.37, time is 1607485832.18 2020-12-09T03:50:32Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:32Z- handleDepth()-Depth_Keller msg: 7.29 epoch sec; seqNo:1607485832564; depth 0.00 2020-12-09T03:50:32Z- waiting for 1607485834.37, time is 1607485832.18 2020-12-09T03:50:32Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485832.60 epoch sec; seqNo:243; 4061743.35 north; 594365.30 east 2020-12-09T03:50:32Z- waiting for 1607485834.37, time is 1607485832.18 2020-12-09T03:50:32Z- sync is 0.42, coherence is 2.00 2020-12-09T03:50:32Z- AHRS_M2 msg: 1607485832.96 epoch sec; seqNo:230 2020-12-09T03:50:32Z- AHRS_M2 msg: 4.06 phi; -0.17 theta; -0.21 psi 2020-12-09T03:50:32Z- waiting for 1607485834.37, time is 1607485832.18 2020-12-09T03:50:32Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:32Z- handleDepth()-Depth_Keller msg: 7.35 epoch sec; seqNo:1607485832965; depth 0.00 2020-12-09T03:50:32Z- waiting for 1607485834.37, time is 1607485832.18 2020-12-09T03:50:32Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485832.99 epoch sec; seqNo:244; 4061742.97 north; 594365.30 east 2020-12-09T03:50:32Z- waiting for 1607485834.37, time is 1607485832.18 2020-12-09T03:50:32Z- sync is 0.82, coherence is 2.00 2020-12-09T03:50:33Z- AHRS_M2 msg: 1607485833.37 epoch sec; seqNo:231 2020-12-09T03:50:33Z- AHRS_M2 msg: 4.05 phi; -0.17 theta; -0.22 psi 2020-12-09T03:50:33Z- waiting for 1607485834.37, time is 1607485832.18 2020-12-09T03:50:33Z- sync is 1.19, coherence is 2.00 2020-12-09T03:50:33Z- handleDepth()-Depth_Keller msg: 7.42 epoch sec; seqNo:1607485833369; depth 0.00 2020-12-09T03:50:33Z- waiting for 1607485834.37, time is 1607485832.18 2020-12-09T03:50:33Z- sync is 1.19, coherence is 2.00 2020-12-09T03:50:33Z- handleDvl() - RDI_Pathfinder msg: 1607485833.40 epoch sec; seqNo:101 2020-12-09T03:50:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.43 , 96.82 , 66.57 , 88.18 2020-12-09T03:50:33Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , 0.34 , 0.51 2020-12-09T03:50:33Z- waiting for 1607485834.37, time is 1607485833.40 2020-12-09T03:50:33Z- sync is 0.04, coherence is 2.00 2020-12-09T03:50:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485833.41 epoch sec; seqNo:245; 4061742.96 north; 594364.08 east 2020-12-09T03:50:33Z- waiting for 1607485834.37, time is 1607485833.40 2020-12-09T03:50:33Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:33Z- AHRS_M2 msg: 1607485833.77 epoch sec; seqNo:232 2020-12-09T03:50:33Z- AHRS_M2 msg: 4.04 phi; -0.17 theta; -0.23 psi 2020-12-09T03:50:33Z- waiting for 1607485834.37, time is 1607485833.40 2020-12-09T03:50:33Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:33Z- handleDepth()-Depth_Keller msg: 7.49 epoch sec; seqNo:1607485833773; depth 0.00 2020-12-09T03:50:33Z- waiting for 1607485834.37, time is 1607485833.40 2020-12-09T03:50:33Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485833.80 epoch sec; seqNo:246; 4061742.96 north; 594364.08 east 2020-12-09T03:50:33Z- waiting for 1607485834.37, time is 1607485833.40 2020-12-09T03:50:33Z- sync is 0.40, coherence is 2.00 2020-12-09T03:50:33Z- AHRS_M2 msg: 1607485834.17 epoch sec; seqNo:233 2020-12-09T03:50:34Z- AHRS_M2 msg: 4.03 phi; -0.17 theta; -0.24 psi 2020-12-09T03:50:34Z- waiting for 1607485834.37, time is 1607485833.40 2020-12-09T03:50:34Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:34Z- handleDepth()-Depth_Keller msg: 7.56 epoch sec; seqNo:1607485834186; depth 0.00 2020-12-09T03:50:34Z- waiting for 1607485834.37, time is 1607485833.40 2020-12-09T03:50:34Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:34Z- handleDvl() - RDI_Pathfinder msg: 1607485834.21 epoch sec; seqNo:102 2020-12-09T03:50:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.21 , 104.39 , 68.21 , 87.09 2020-12-09T03:50:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , 0.23 , 0.43 2020-12-09T03:50:34Z- waiting for 1607485834.37, time is 1607485834.21 2020-12-09T03:50:34Z- sync is 0.04, coherence is 2.00 2020-12-09T03:50:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485834.22 epoch sec; seqNo:247; 4061742.96 north; 594364.08 east 2020-12-09T03:50:34Z- waiting for 1607485834.37, time is 1607485834.21 2020-12-09T03:50:34Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:34Z- AHRS_M2 msg: 1607485834.58 epoch sec; seqNo:234 2020-12-09T03:50:34Z- AHRS_M2 msg: 4.02 phi; -0.18 theta; -0.25 psi 2020-12-09T03:50:34Z- waiting for 1607485834.37, time is 1607485834.21 2020-12-09T03:50:34Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:34Z- handleDepth()-Depth_Keller msg: 7.63 epoch sec; seqNo:1607485834582; depth 0.00 2020-12-09T03:50:34Z- waiting for 1607485834.37, time is 1607485834.21 2020-12-09T03:50:34Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485834.60 epoch sec; seqNo:248; 4061742.58 north; 594364.09 east 2020-12-09T03:50:34Z- waiting for 1607485834.37, time is 1607485834.21 2020-12-09T03:50:34Z- sync is 0.39, coherence is 2.00 2020-12-09T03:50:34Z- AHRS_M2 msg: 1607485834.98 epoch sec; seqNo:235 2020-12-09T03:50:34Z- AHRS_M2 msg: 4.01 phi; -0.18 theta; -0.25 psi 2020-12-09T03:50:34Z- waiting for 1607485834.37, time is 1607485834.21 2020-12-09T03:50:34Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:34Z- handleDepth()-Depth_Keller msg: 7.69 epoch sec; seqNo:1607485834986; depth 0.00 2020-12-09T03:50:34Z- waiting for 1607485834.37, time is 1607485834.21 2020-12-09T03:50:34Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485834.99 epoch sec; seqNo:249; 4061742.57 north; 594362.87 east 2020-12-09T03:50:34Z- waiting for 1607485834.37, time is 1607485834.21 2020-12-09T03:50:34Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:35Z- AHRS_M2 msg: 1607485835.39 epoch sec; seqNo:236 2020-12-09T03:50:35Z- AHRS_M2 msg: 4.01 phi; -0.18 theta; -0.26 psi 2020-12-09T03:50:35Z- waiting for 1607485834.37, time is 1607485834.21 2020-12-09T03:50:35Z- sync is 1.18, coherence is 2.00 2020-12-09T03:50:35Z- handleDepth()-Depth_Keller msg: 7.74 epoch sec; seqNo:1607485835390; depth 0.00 2020-12-09T03:50:35Z- waiting for 1607485834.37, time is 1607485834.21 2020-12-09T03:50:35Z- sync is 1.18, coherence is 2.00 2020-12-09T03:50:35Z- handleDvl() - RDI_Pathfinder msg: 1607485835.40 epoch sec; seqNo:103 2020-12-09T03:50:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.80 , 105.33 , 0.00 , 89.12 2020-12-09T03:50:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.60 , 0.02 , 0.34 2020-12-09T03:50:35Z- waiting for 1607485834.37, time is 1607485835.40 2020-12-09T03:50:35Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:35Z- LcmTrn::updateTrn() >>>> pose time 1607485835.39, meas time 1607485835.40 <<<< 2020-12-09T03:50:35Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485835.40 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:50:35Z- TerrainNav::motionUpdate() - currEstimate = (4061743, 594362.87, 7.74) 2020-12-09T03:50:35Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:50:35Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:50:35Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:50:35Z- TNavBF::mmse selected from filter -1 2020-12-09T03:50:35Z- variances([0], [2], and psi_berg) = 826.059542 833.195439 0.000000 2020-12-09T03:50:35Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:50:35Z- LcmTrn::cycle() - MLE : 4061703.07 594314.37 7.74 2020-12-09T03:50:35Z- LcmTrn::cycle() - MMSE : 4061742.57 594362.87 7.74 2020-12-09T03:50:35Z- LcmTrn::cycle() - COVAR: 826.06 833.20 27.82 0.00 2020-12-09T03:50:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485835.41 epoch sec; seqNo:250; 4061742.57 north; 594362.87 east 2020-12-09T03:50:35Z- waiting for 1607485838.40, time is 1607485835.40 2020-12-09T03:50:35Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:35Z- AHRS_M2 msg: 1607485835.79 epoch sec; seqNo:237 2020-12-09T03:50:35Z- AHRS_M2 msg: 4.00 phi; -0.18 theta; -0.26 psi 2020-12-09T03:50:35Z- waiting for 1607485838.40, time is 1607485835.40 2020-12-09T03:50:35Z- sync is 0.39, coherence is 2.00 2020-12-09T03:50:35Z- handleDepth()-Depth_Keller msg: 7.82 epoch sec; seqNo:1607485835823; depth 0.00 2020-12-09T03:50:35Z- waiting for 1607485838.40, time is 1607485835.40 2020-12-09T03:50:35Z- sync is 0.39, coherence is 2.00 2020-12-09T03:50:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485835.84 epoch sec; seqNo:251; 4061742.57 north; 594362.87 east 2020-12-09T03:50:35Z- waiting for 1607485838.40, time is 1607485835.40 2020-12-09T03:50:35Z- sync is 0.43, coherence is 2.00 2020-12-09T03:50:36Z- AHRS_M2 msg: 1607485836.19 epoch sec; seqNo:238 2020-12-09T03:50:36Z- AHRS_M2 msg: 4.00 phi; -0.18 theta; -0.27 psi 2020-12-09T03:50:36Z- waiting for 1607485838.40, time is 1607485835.40 2020-12-09T03:50:36Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:36Z- handleDepth()-Depth_Keller msg: 7.90 epoch sec; seqNo:1607485836196; depth 0.00 2020-12-09T03:50:36Z- waiting for 1607485838.40, time is 1607485835.40 2020-12-09T03:50:36Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:36Z- handleDvl() - RDI_Pathfinder msg: 1607485836.21 epoch sec; seqNo:104 2020-12-09T03:50:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.39 , 110.13 , 0.00 , 88.24 2020-12-09T03:50:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.52 , -0.22 , 0.27 2020-12-09T03:50:36Z- waiting for 1607485838.40, time is 1607485836.21 2020-12-09T03:50:36Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485836.24 epoch sec; seqNo:252; 4061742.19 north; 594362.87 east 2020-12-09T03:50:36Z- waiting for 1607485838.40, time is 1607485836.21 2020-12-09T03:50:36Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:36Z- AHRS_M2 msg: 1607485836.61 epoch sec; seqNo:239 2020-12-09T03:50:36Z- AHRS_M2 msg: 4.00 phi; -0.18 theta; -0.27 psi 2020-12-09T03:50:36Z- waiting for 1607485838.40, time is 1607485836.21 2020-12-09T03:50:36Z- sync is 0.40, coherence is 2.00 2020-12-09T03:50:36Z- handleDepth()-Depth_Keller msg: 7.93 epoch sec; seqNo:1607485836611; depth 0.00 2020-12-09T03:50:36Z- waiting for 1607485838.40, time is 1607485836.21 2020-12-09T03:50:36Z- sync is 0.40, coherence is 2.00 2020-12-09T03:50:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485836.63 epoch sec; seqNo:253; 4061742.19 north; 594362.87 east 2020-12-09T03:50:36Z- waiting for 1607485838.40, time is 1607485836.21 2020-12-09T03:50:36Z- sync is 0.42, coherence is 2.00 2020-12-09T03:50:36Z- AHRS_M2 msg: 1607485837.00 epoch sec; seqNo:240 2020-12-09T03:50:36Z- AHRS_M2 msg: 4.00 phi; -0.18 theta; -0.27 psi 2020-12-09T03:50:36Z- waiting for 1607485838.40, time is 1607485836.21 2020-12-09T03:50:36Z- sync is 0.80, coherence is 2.00 2020-12-09T03:50:36Z- handleDepth()-Depth_Keller msg: 8.00 epoch sec; seqNo:1607485837013; depth 0.00 2020-12-09T03:50:36Z- waiting for 1607485838.40, time is 1607485836.21 2020-12-09T03:50:36Z- sync is 0.80, coherence is 2.00 2020-12-09T03:50:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485837.02 epoch sec; seqNo:254; 4061741.81 north; 594362.88 east 2020-12-09T03:50:36Z- waiting for 1607485838.40, time is 1607485836.21 2020-12-09T03:50:36Z- sync is 0.82, coherence is 2.00 2020-12-09T03:50:37Z- AHRS_M2 msg: 1607485837.40 epoch sec; seqNo:241 2020-12-09T03:50:37Z- AHRS_M2 msg: 4.00 phi; -0.18 theta; -0.27 psi 2020-12-09T03:50:37Z- waiting for 1607485838.40, time is 1607485836.21 2020-12-09T03:50:37Z- sync is 1.20, coherence is 2.00 2020-12-09T03:50:37Z- handleDepth()-Depth_Keller msg: 8.04 epoch sec; seqNo:1607485837413; depth 0.00 2020-12-09T03:50:37Z- waiting for 1607485838.40, time is 1607485836.21 2020-12-09T03:50:37Z- sync is 1.20, coherence is 2.00 2020-12-09T03:50:37Z- handleDvl() - RDI_Pathfinder msg: 1607485837.43 epoch sec; seqNo:105 2020-12-09T03:50:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.39 , 109.99 , 79.60 , 88.11 2020-12-09T03:50:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.54 , -0.40 , 0.12 2020-12-09T03:50:37Z- waiting for 1607485838.40, time is 1607485837.43 2020-12-09T03:50:37Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485837.44 epoch sec; seqNo:255; 4061741.81 north; 594362.88 east 2020-12-09T03:50:37Z- waiting for 1607485838.40, time is 1607485837.43 2020-12-09T03:50:37Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:37Z- handleDepth()-Depth_Keller msg: 8.11 epoch sec; seqNo:1607485837829; depth 0.00 2020-12-09T03:50:37Z- waiting for 1607485838.40, time is 1607485837.43 2020-12-09T03:50:37Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485837.86 epoch sec; seqNo:256; 4061741.43 north; 594362.88 east 2020-12-09T03:50:37Z- waiting for 1607485838.40, time is 1607485837.43 2020-12-09T03:50:37Z- sync is 0.43, coherence is 2.00 2020-12-09T03:50:38Z- AHRS_M2 msg: 1607485838.21 epoch sec; seqNo:242 2020-12-09T03:50:38Z- AHRS_M2 msg: 4.00 phi; -0.18 theta; -0.26 psi 2020-12-09T03:50:38Z- waiting for 1607485838.40, time is 1607485837.43 2020-12-09T03:50:38Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:38Z- handleDepth()-Depth_Keller msg: 8.15 epoch sec; seqNo:1607485838219; depth 0.00 2020-12-09T03:50:38Z- waiting for 1607485838.40, time is 1607485837.43 2020-12-09T03:50:38Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:38Z- handleDvl() - RDI_Pathfinder msg: 1607485838.24 epoch sec; seqNo:106 2020-12-09T03:50:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.98 , 108.98 , 70.25 , 87.09 2020-12-09T03:50:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.67 , -0.54 , -0.17 2020-12-09T03:50:38Z- waiting for 1607485838.40, time is 1607485838.24 2020-12-09T03:50:38Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485838.28 epoch sec; seqNo:257; 4061741.05 north; 594362.88 east 2020-12-09T03:50:38Z- waiting for 1607485838.40, time is 1607485838.24 2020-12-09T03:50:38Z- sync is 0.04, coherence is 2.00 2020-12-09T03:50:38Z- AHRS_M2 msg: 1607485838.62 epoch sec; seqNo:243 2020-12-09T03:50:38Z- AHRS_M2 msg: 4.00 phi; -0.17 theta; -0.25 psi 2020-12-09T03:50:38Z- waiting for 1607485838.40, time is 1607485838.24 2020-12-09T03:50:38Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:38Z- handleDepth()-Depth_Keller msg: 8.21 epoch sec; seqNo:1607485838630; depth 0.00 2020-12-09T03:50:38Z- waiting for 1607485838.40, time is 1607485838.24 2020-12-09T03:50:38Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485838.66 epoch sec; seqNo:258; 4061740.67 north; 594362.89 east 2020-12-09T03:50:38Z- waiting for 1607485838.40, time is 1607485838.24 2020-12-09T03:50:38Z- sync is 0.42, coherence is 2.00 2020-12-09T03:50:38Z- AHRS_M2 msg: 1607485839.02 epoch sec; seqNo:244 2020-12-09T03:50:38Z- AHRS_M2 msg: 4.00 phi; -0.15 theta; -0.24 psi 2020-12-09T03:50:38Z- waiting for 1607485838.40, time is 1607485838.24 2020-12-09T03:50:38Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:38Z- handleDepth()-Depth_Keller msg: 8.26 epoch sec; seqNo:1607485839029; depth 0.00 2020-12-09T03:50:38Z- waiting for 1607485838.40, time is 1607485838.24 2020-12-09T03:50:38Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485839.08 epoch sec; seqNo:259; 4061740.28 north; 594361.67 east 2020-12-09T03:50:38Z- waiting for 1607485838.40, time is 1607485838.24 2020-12-09T03:50:38Z- sync is 0.83, coherence is 2.00 2020-12-09T03:50:39Z- AHRS_M2 msg: 1607485839.42 epoch sec; seqNo:245 2020-12-09T03:50:39Z- AHRS_M2 msg: 4.01 phi; -0.14 theta; -0.23 psi 2020-12-09T03:50:39Z- waiting for 1607485838.40, time is 1607485838.24 2020-12-09T03:50:39Z- sync is 1.18, coherence is 2.00 2020-12-09T03:50:39Z- handleDepth()-Depth_Keller msg: 8.31 epoch sec; seqNo:1607485839429; depth 0.00 2020-12-09T03:50:39Z- waiting for 1607485838.40, time is 1607485838.24 2020-12-09T03:50:39Z- sync is 1.18, coherence is 2.00 2020-12-09T03:50:39Z- handleDvl() - RDI_Pathfinder msg: 1607485839.44 epoch sec; seqNo:107 2020-12-09T03:50:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.98 , 105.60 , 70.65 , 86.15 2020-12-09T03:50:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.53 , -0.48 2020-12-09T03:50:39Z- waiting for 1607485838.40, time is 1607485839.44 2020-12-09T03:50:39Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:39Z- LcmTrn::updateTrn() >>>> pose time 1607485839.42, meas time 1607485839.44 <<<< 2020-12-09T03:50:39Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485839.44 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:50:39Z- TerrainNav::motionUpdate() - currEstimate = (4061740, 594361.67, 8.31) 2020-12-09T03:50:39Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:50:39Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:50:39Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:50:39Z- TNavBF::mmse selected from filter -1 2020-12-09T03:50:39Z- variances([0], [2], and psi_berg) = 825.689512 833.193200 0.000000 2020-12-09T03:50:39Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:50:39Z- LcmTrn::cycle() - MLE : 4061700.78 594314.17 8.31 2020-12-09T03:50:39Z- LcmTrn::cycle() - MMSE : 4061740.28 594361.67 8.31 2020-12-09T03:50:39Z- LcmTrn::cycle() - COVAR: 825.69 833.19 27.95 0.00 2020-12-09T03:50:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485839.47 epoch sec; seqNo:260; 4061739.90 north; 594361.68 east 2020-12-09T03:50:39Z- waiting for 1607485842.44, time is 1607485839.44 2020-12-09T03:50:39Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:39Z- AHRS_M2 msg: 1607485839.83 epoch sec; seqNo:246 2020-12-09T03:50:39Z- AHRS_M2 msg: 4.01 phi; -0.12 theta; -0.21 psi 2020-12-09T03:50:39Z- waiting for 1607485842.44, time is 1607485839.44 2020-12-09T03:50:39Z- sync is 0.39, coherence is 2.00 2020-12-09T03:50:39Z- handleDepth()-Depth_Keller msg: 8.36 epoch sec; seqNo:1607485839841; depth 0.00 2020-12-09T03:50:39Z- waiting for 1607485842.44, time is 1607485839.44 2020-12-09T03:50:39Z- sync is 0.39, coherence is 2.00 2020-12-09T03:50:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485839.86 epoch sec; seqNo:261; 4061739.52 north; 594361.68 east 2020-12-09T03:50:39Z- waiting for 1607485842.44, time is 1607485839.44 2020-12-09T03:50:39Z- sync is 0.41, coherence is 2.00 2020-12-09T03:50:40Z- AHRS_M2 msg: 1607485840.23 epoch sec; seqNo:247 2020-12-09T03:50:40Z- AHRS_M2 msg: 4.02 phi; -0.10 theta; -0.19 psi 2020-12-09T03:50:40Z- waiting for 1607485842.44, time is 1607485839.44 2020-12-09T03:50:40Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:40Z- handleDepth()-Depth_Keller msg: 8.42 epoch sec; seqNo:1607485840245; depth 0.00 2020-12-09T03:50:40Z- waiting for 1607485842.44, time is 1607485839.44 2020-12-09T03:50:40Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:40Z- handleDvl() - RDI_Pathfinder msg: 1607485840.26 epoch sec; seqNo:108 2020-12-09T03:50:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.57 , 99.59 , 70.65 , 82.57 2020-12-09T03:50:40Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.29 , -0.76 2020-12-09T03:50:40Z- waiting for 1607485842.44, time is 1607485840.26 2020-12-09T03:50:40Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485840.27 epoch sec; seqNo:262; 4061739.14 north; 594361.69 east 2020-12-09T03:50:40Z- waiting for 1607485842.44, time is 1607485840.26 2020-12-09T03:50:40Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:40Z- AHRS_M2 msg: 1607485840.64 epoch sec; seqNo:248 2020-12-09T03:50:40Z- AHRS_M2 msg: 4.02 phi; -0.08 theta; -0.17 psi 2020-12-09T03:50:40Z- waiting for 1607485842.44, time is 1607485840.26 2020-12-09T03:50:40Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:40Z- handleDepth()-Depth_Keller msg: 8.46 epoch sec; seqNo:1607485840658; depth 0.00 2020-12-09T03:50:40Z- waiting for 1607485842.44, time is 1607485840.26 2020-12-09T03:50:40Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485840.67 epoch sec; seqNo:263; 4061738.76 north; 594361.69 east 2020-12-09T03:50:40Z- waiting for 1607485842.44, time is 1607485840.26 2020-12-09T03:50:40Z- sync is 0.41, coherence is 2.00 2020-12-09T03:50:40Z- handleDepth()-Depth_Keller msg: 8.51 epoch sec; seqNo:1607485841061; depth 0.00 2020-12-09T03:50:40Z- waiting for 1607485842.44, time is 1607485840.26 2020-12-09T03:50:40Z- sync is 0.41, coherence is 2.00 2020-12-09T03:50:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485841.10 epoch sec; seqNo:264; 4061738.39 north; 594361.69 east 2020-12-09T03:50:40Z- waiting for 1607485842.44, time is 1607485840.26 2020-12-09T03:50:40Z- sync is 0.84, coherence is 2.00 2020-12-09T03:50:41Z- AHRS_M2 msg: 1607485841.45 epoch sec; seqNo:249 2020-12-09T03:50:41Z- AHRS_M2 msg: 4.03 phi; -0.04 theta; -0.14 psi 2020-12-09T03:50:41Z- waiting for 1607485842.44, time is 1607485840.26 2020-12-09T03:50:41Z- sync is 1.20, coherence is 2.00 2020-12-09T03:50:41Z- handleDepth()-Depth_Keller msg: 8.56 epoch sec; seqNo:1607485841459; depth 0.00 2020-12-09T03:50:41Z- waiting for 1607485842.44, time is 1607485840.26 2020-12-09T03:50:41Z- sync is 1.20, coherence is 2.00 2020-12-09T03:50:41Z- handleDvl() - RDI_Pathfinder msg: 1607485841.47 epoch sec; seqNo:109 2020-12-09T03:50:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.39 , 92.50 , 78.45 , 75.15 2020-12-09T03:50:41Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , 0.14 , -0.89 2020-12-09T03:50:41Z- waiting for 1607485842.44, time is 1607485841.47 2020-12-09T03:50:41Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485841.48 epoch sec; seqNo:265; 4061737.99 north; 594360.48 east 2020-12-09T03:50:41Z- waiting for 1607485842.44, time is 1607485841.47 2020-12-09T03:50:41Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:41Z- AHRS_M2 msg: 1607485841.85 epoch sec; seqNo:250 2020-12-09T03:50:41Z- AHRS_M2 msg: 4.03 phi; -0.02 theta; -0.12 psi 2020-12-09T03:50:41Z- waiting for 1607485842.44, time is 1607485841.47 2020-12-09T03:50:41Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:41Z- handleDepth()-Depth_Keller msg: 8.59 epoch sec; seqNo:1607485841854; depth 0.00 2020-12-09T03:50:41Z- waiting for 1607485842.44, time is 1607485841.47 2020-12-09T03:50:41Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485841.87 epoch sec; seqNo:266; 4061737.61 north; 594360.48 east 2020-12-09T03:50:41Z- waiting for 1607485842.44, time is 1607485841.47 2020-12-09T03:50:41Z- sync is 0.40, coherence is 2.00 2020-12-09T03:50:42Z- AHRS_M2 msg: 1607485842.25 epoch sec; seqNo:251 2020-12-09T03:50:42Z- AHRS_M2 msg: 4.03 phi; -0.00 theta; -0.11 psi 2020-12-09T03:50:42Z- waiting for 1607485842.44, time is 1607485841.47 2020-12-09T03:50:42Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:42Z- handleDepth()-Depth_Keller msg: 8.61 epoch sec; seqNo:1607485842261; depth 0.00 2020-12-09T03:50:42Z- waiting for 1607485842.44, time is 1607485841.47 2020-12-09T03:50:42Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:42Z- handleDvl() - RDI_Pathfinder msg: 1607485842.28 epoch sec; seqNo:110 2020-12-09T03:50:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.61 , 87.09 , 71.06 , 71.88 2020-12-09T03:50:42Z- handleDvl() - RDI_Pathfinder msg: velocities 1.24 , 0.56 , -0.75 2020-12-09T03:50:42Z- waiting for 1607485842.44, time is 1607485842.28 2020-12-09T03:50:42Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485842.31 epoch sec; seqNo:267; 4061737.61 north; 594360.48 east 2020-12-09T03:50:42Z- waiting for 1607485842.44, time is 1607485842.28 2020-12-09T03:50:42Z- sync is 0.04, coherence is 2.00 2020-12-09T03:50:42Z- AHRS_M2 msg: 1607485842.66 epoch sec; seqNo:252 2020-12-09T03:50:42Z- AHRS_M2 msg: 4.04 phi; 0.02 theta; -0.09 psi 2020-12-09T03:50:42Z- waiting for 1607485842.44, time is 1607485842.28 2020-12-09T03:50:42Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:42Z- handleDepth()-Depth_Keller msg: 8.64 epoch sec; seqNo:1607485842663; depth 0.00 2020-12-09T03:50:42Z- waiting for 1607485842.44, time is 1607485842.28 2020-12-09T03:50:42Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485842.68 epoch sec; seqNo:268; 4061737.60 north; 594359.26 east 2020-12-09T03:50:42Z- waiting for 1607485842.44, time is 1607485842.28 2020-12-09T03:50:42Z- sync is 0.40, coherence is 2.00 2020-12-09T03:50:42Z- AHRS_M2 msg: 1607485843.06 epoch sec; seqNo:253 2020-12-09T03:50:42Z- AHRS_M2 msg: 4.04 phi; 0.04 theta; -0.08 psi 2020-12-09T03:50:42Z- waiting for 1607485842.44, time is 1607485842.28 2020-12-09T03:50:42Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:42Z- handleDepth()-Depth_Keller msg: 8.67 epoch sec; seqNo:1607485843068; depth 0.00 2020-12-09T03:50:42Z- waiting for 1607485842.44, time is 1607485842.28 2020-12-09T03:50:42Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:42Z- handleDvl() - RDI_Pathfinder msg: 1607485843.09 epoch sec; seqNo:111 2020-12-09T03:50:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.84 , 88.18 , 73.51 , 69.02 2020-12-09T03:50:42Z- handleDvl() - RDI_Pathfinder msg: velocities 1.30 , 0.83 , -0.32 2020-12-09T03:50:42Z- waiting for 1607485842.44, time is 1607485843.09 2020-12-09T03:50:42Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:42Z- LcmTrn::updateTrn() >>>> pose time 1607485843.06, meas time 1607485843.09 <<<< 2020-12-09T03:50:42Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485843.09 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:50:42Z- TerrainNav::motionUpdate() - currEstimate = (4061738, 594359.26, 8.67) 2020-12-09T03:50:42Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:50:42Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:50:42Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:50:42Z- TNavBF::mmse selected from filter -1 2020-12-09T03:50:42Z- variances([0], [2], and psi_berg) = 825.257232 833.190637 0.000000 2020-12-09T03:50:42Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:50:42Z- LcmTrn::cycle() - MLE : 4061698.10 594408.76 8.67 2020-12-09T03:50:42Z- LcmTrn::cycle() - MMSE : 4061737.60 594359.26 8.67 2020-12-09T03:50:42Z- LcmTrn::cycle() - COVAR: 825.26 833.19 28.14 0.00 2020-12-09T03:50:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485843.11 epoch sec; seqNo:269; 4061737.22 north; 594359.27 east 2020-12-09T03:50:42Z- waiting for 1607485846.09, time is 1607485843.09 2020-12-09T03:50:42Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:43Z- AHRS_M2 msg: 1607485843.47 epoch sec; seqNo:254 2020-12-09T03:50:43Z- AHRS_M2 msg: 4.04 phi; 0.06 theta; -0.08 psi 2020-12-09T03:50:43Z- waiting for 1607485846.09, time is 1607485843.09 2020-12-09T03:50:43Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:43Z- handleDepth()-Depth_Keller msg: 8.66 epoch sec; seqNo:1607485843475; depth 0.00 2020-12-09T03:50:43Z- waiting for 1607485846.09, time is 1607485843.09 2020-12-09T03:50:43Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485843.52 epoch sec; seqNo:270; 4061737.21 north; 594358.05 east 2020-12-09T03:50:43Z- waiting for 1607485846.09, time is 1607485843.09 2020-12-09T03:50:43Z- sync is 0.43, coherence is 2.00 2020-12-09T03:50:43Z- AHRS_M2 msg: 1607485843.87 epoch sec; seqNo:255 2020-12-09T03:50:43Z- AHRS_M2 msg: 4.04 phi; 0.07 theta; -0.08 psi 2020-12-09T03:50:43Z- waiting for 1607485846.09, time is 1607485843.09 2020-12-09T03:50:43Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:43Z- handleDepth()-Depth_Keller msg: 8.68 epoch sec; seqNo:1607485843873; depth 0.00 2020-12-09T03:50:43Z- waiting for 1607485846.09, time is 1607485843.09 2020-12-09T03:50:43Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485843.92 epoch sec; seqNo:271; 4061737.21 north; 594358.05 east 2020-12-09T03:50:43Z- waiting for 1607485846.09, time is 1607485843.09 2020-12-09T03:50:43Z- sync is 0.82, coherence is 2.00 2020-12-09T03:50:44Z- AHRS_M2 msg: 1607485844.27 epoch sec; seqNo:256 2020-12-09T03:50:44Z- AHRS_M2 msg: 4.04 phi; 0.09 theta; -0.08 psi 2020-12-09T03:50:44Z- waiting for 1607485846.09, time is 1607485843.09 2020-12-09T03:50:44Z- sync is 1.18, coherence is 2.00 2020-12-09T03:50:44Z- handleDepth()-Depth_Keller msg: 8.68 epoch sec; seqNo:1607485844277; depth 0.00 2020-12-09T03:50:44Z- waiting for 1607485846.09, time is 1607485843.09 2020-12-09T03:50:44Z- sync is 1.18, coherence is 2.00 2020-12-09T03:50:44Z- handleDvl() - RDI_Pathfinder msg: 1607485844.32 epoch sec; seqNo:112 2020-12-09T03:50:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.43 , 87.09 , 82.77 , 66.57 2020-12-09T03:50:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.30 , 0.80 , 0.16 2020-12-09T03:50:44Z- waiting for 1607485846.09, time is 1607485844.32 2020-12-09T03:50:44Z- sync is 0.05, coherence is 2.00 2020-12-09T03:50:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485844.36 epoch sec; seqNo:272; 4061737.20 north; 594356.82 east 2020-12-09T03:50:44Z- waiting for 1607485846.09, time is 1607485844.32 2020-12-09T03:50:44Z- sync is 0.04, coherence is 2.00 2020-12-09T03:50:44Z- AHRS_M2 msg: 1607485844.68 epoch sec; seqNo:257 2020-12-09T03:50:44Z- AHRS_M2 msg: 4.03 phi; 0.10 theta; -0.08 psi 2020-12-09T03:50:44Z- waiting for 1607485846.09, time is 1607485844.32 2020-12-09T03:50:44Z- sync is 0.36, coherence is 2.00 2020-12-09T03:50:44Z- handleDepth()-Depth_Keller msg: 8.69 epoch sec; seqNo:1607485844685; depth 0.00 2020-12-09T03:50:44Z- waiting for 1607485846.09, time is 1607485844.32 2020-12-09T03:50:44Z- sync is 0.36, coherence is 2.00 2020-12-09T03:50:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485844.70 epoch sec; seqNo:273; 4061737.20 north; 594356.82 east 2020-12-09T03:50:44Z- waiting for 1607485846.09, time is 1607485844.32 2020-12-09T03:50:44Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:44Z- handleDepth()-Depth_Keller msg: 8.66 epoch sec; seqNo:1607485845133; depth 0.00 2020-12-09T03:50:44Z- waiting for 1607485846.09, time is 1607485844.32 2020-12-09T03:50:44Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:44Z- handleDvl() - RDI_Pathfinder msg: 1607485845.15 epoch sec; seqNo:113 2020-12-09T03:50:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.43 , 90.34 , 86.01 , 65.35 2020-12-09T03:50:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.20 , 0.62 , 0.51 2020-12-09T03:50:44Z- waiting for 1607485846.09, time is 1607485845.15 2020-12-09T03:50:44Z- sync is 0.44, coherence is 2.00 2020-12-09T03:50:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485845.16 epoch sec; seqNo:274; 4061736.80 north; 594355.61 east 2020-12-09T03:50:44Z- waiting for 1607485846.09, time is 1607485845.15 2020-12-09T03:50:44Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:45Z- AHRS_M2 msg: 1607485845.49 epoch sec; seqNo:258 2020-12-09T03:50:45Z- AHRS_M2 msg: 4.01 phi; 0.12 theta; -0.10 psi 2020-12-09T03:50:45Z- waiting for 1607485846.09, time is 1607485845.15 2020-12-09T03:50:45Z- sync is 0.35, coherence is 2.00 2020-12-09T03:50:45Z- handleDepth()-Depth_Keller msg: 8.66 epoch sec; seqNo:1607485845505; depth 0.00 2020-12-09T03:50:45Z- waiting for 1607485846.09, time is 1607485845.15 2020-12-09T03:50:45Z- sync is 0.35, coherence is 2.00 2020-12-09T03:50:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485845.54 epoch sec; seqNo:275; 4061736.80 north; 594355.61 east 2020-12-09T03:50:45Z- waiting for 1607485846.09, time is 1607485845.15 2020-12-09T03:50:45Z- sync is 0.39, coherence is 2.00 2020-12-09T03:50:45Z- AHRS_M2 msg: 1607485845.89 epoch sec; seqNo:259 2020-12-09T03:50:45Z- AHRS_M2 msg: 4.00 phi; 0.13 theta; -0.11 psi 2020-12-09T03:50:45Z- waiting for 1607485846.09, time is 1607485845.15 2020-12-09T03:50:45Z- sync is 0.75, coherence is 2.00 2020-12-09T03:50:45Z- handleDepth()-Depth_Keller msg: 8.63 epoch sec; seqNo:1607485845899; depth 0.00 2020-12-09T03:50:45Z- waiting for 1607485846.09, time is 1607485845.15 2020-12-09T03:50:45Z- sync is 0.75, coherence is 2.00 2020-12-09T03:50:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485845.91 epoch sec; seqNo:276; 4061736.79 north; 594354.39 east 2020-12-09T03:50:45Z- waiting for 1607485846.09, time is 1607485845.15 2020-12-09T03:50:45Z- sync is 0.76, coherence is 2.00 2020-12-09T03:50:46Z- AHRS_M2 msg: 1607485846.30 epoch sec; seqNo:260 2020-12-09T03:50:46Z- AHRS_M2 msg: 3.99 phi; 0.13 theta; -0.13 psi 2020-12-09T03:50:46Z- waiting for 1607485846.09, time is 1607485845.15 2020-12-09T03:50:46Z- sync is 1.15, coherence is 2.00 2020-12-09T03:50:46Z- handleDepth()-Depth_Keller msg: 8.61 epoch sec; seqNo:1607485846309; depth 0.00 2020-12-09T03:50:46Z- waiting for 1607485846.09, time is 1607485845.15 2020-12-09T03:50:46Z- sync is 1.15, coherence is 2.00 2020-12-09T03:50:46Z- handleDvl() - RDI_Pathfinder msg: 1607485846.32 epoch sec; seqNo:114 2020-12-09T03:50:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 93.58 , 89.26 , 64.94 2020-12-09T03:50:46Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , 0.31 , 0.65 2020-12-09T03:50:46Z- waiting for 1607485846.09, time is 1607485846.32 2020-12-09T03:50:46Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:46Z- LcmTrn::updateTrn() >>>> pose time 1607485846.30, meas time 1607485846.32 <<<< 2020-12-09T03:50:46Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485846.32 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:50:46Z- TerrainNav::motionUpdate() - currEstimate = (4061737, 594354.39, 8.61) 2020-12-09T03:50:46Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:50:46Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:50:46Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:50:46Z- TNavBF::mmse selected from filter -1 2020-12-09T03:50:46Z- variances([0], [2], and psi_berg) = 824.757997 833.187747 0.000000 2020-12-09T03:50:46Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:50:46Z- LcmTrn::cycle() - MLE : 4061698.29 594306.89 8.61 2020-12-09T03:50:46Z- LcmTrn::cycle() - MMSE : 4061736.79 594354.39 8.61 2020-12-09T03:50:46Z- LcmTrn::cycle() - COVAR: 824.76 833.19 28.39 0.00 2020-12-09T03:50:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485846.34 epoch sec; seqNo:277; 4061736.41 north; 594354.39 east 2020-12-09T03:50:46Z- waiting for 1607485849.32, time is 1607485846.32 2020-12-09T03:50:46Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:46Z- AHRS_M2 msg: 1607485846.70 epoch sec; seqNo:261 2020-12-09T03:50:46Z- AHRS_M2 msg: 3.99 phi; 0.13 theta; -0.14 psi 2020-12-09T03:50:46Z- waiting for 1607485849.32, time is 1607485846.32 2020-12-09T03:50:46Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:46Z- handleDepth()-Depth_Keller msg: 8.58 epoch sec; seqNo:1607485846709; depth 0.00 2020-12-09T03:50:46Z- waiting for 1607485849.32, time is 1607485846.32 2020-12-09T03:50:46Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485846.73 epoch sec; seqNo:278; 4061736.41 north; 594354.39 east 2020-12-09T03:50:46Z- waiting for 1607485849.32, time is 1607485846.32 2020-12-09T03:50:46Z- sync is 0.41, coherence is 2.00 2020-12-09T03:50:46Z- AHRS_M2 msg: 1607485847.11 epoch sec; seqNo:262 2020-12-09T03:50:46Z- AHRS_M2 msg: 3.99 phi; 0.13 theta; -0.15 psi 2020-12-09T03:50:46Z- waiting for 1607485849.32, time is 1607485846.32 2020-12-09T03:50:46Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:46Z- handleDepth()-Depth_Keller msg: 8.55 epoch sec; seqNo:1607485847111; depth 0.00 2020-12-09T03:50:46Z- waiting for 1607485849.32, time is 1607485846.32 2020-12-09T03:50:46Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:46Z- handleDvl() - RDI_Pathfinder msg: 1607485847.12 epoch sec; seqNo:115 2020-12-09T03:50:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.80 , 98.37 , 91.08 , 65.75 2020-12-09T03:50:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.02 , 0.61 2020-12-09T03:50:46Z- waiting for 1607485849.32, time is 1607485847.12 2020-12-09T03:50:46Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485847.15 epoch sec; seqNo:279; 4061736.02 north; 594353.18 east 2020-12-09T03:50:46Z- waiting for 1607485849.32, time is 1607485847.12 2020-12-09T03:50:46Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:47Z- AHRS_M2 msg: 1607485847.51 epoch sec; seqNo:263 2020-12-09T03:50:47Z- AHRS_M2 msg: 3.99 phi; 0.13 theta; -0.16 psi 2020-12-09T03:50:47Z- waiting for 1607485849.32, time is 1607485847.12 2020-12-09T03:50:47Z- sync is 0.39, coherence is 2.00 2020-12-09T03:50:47Z- handleDepth()-Depth_Keller msg: 8.51 epoch sec; seqNo:1607485847521; depth 0.00 2020-12-09T03:50:47Z- waiting for 1607485849.32, time is 1607485847.12 2020-12-09T03:50:47Z- sync is 0.39, coherence is 2.00 2020-12-09T03:50:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485847.54 epoch sec; seqNo:280; 4061735.64 north; 594353.18 east 2020-12-09T03:50:47Z- waiting for 1607485849.32, time is 1607485847.12 2020-12-09T03:50:47Z- sync is 0.41, coherence is 2.00 2020-12-09T03:50:47Z- AHRS_M2 msg: 1607485847.91 epoch sec; seqNo:264 2020-12-09T03:50:47Z- AHRS_M2 msg: 4.00 phi; 0.12 theta; -0.17 psi 2020-12-09T03:50:47Z- waiting for 1607485849.32, time is 1607485847.12 2020-12-09T03:50:47Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:47Z- handleDepth()-Depth_Keller msg: 8.47 epoch sec; seqNo:1607485847918; depth 0.00 2020-12-09T03:50:47Z- waiting for 1607485849.32, time is 1607485847.12 2020-12-09T03:50:47Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485847.94 epoch sec; seqNo:281; 4061735.64 north; 594353.18 east 2020-12-09T03:50:47Z- waiting for 1607485849.32, time is 1607485847.12 2020-12-09T03:50:47Z- sync is 0.81, coherence is 2.00 2020-12-09T03:50:48Z- AHRS_M2 msg: 1607485848.32 epoch sec; seqNo:265 2020-12-09T03:50:48Z- AHRS_M2 msg: 4.01 phi; 0.12 theta; -0.18 psi 2020-12-09T03:50:48Z- waiting for 1607485849.32, time is 1607485847.12 2020-12-09T03:50:48Z- sync is 1.20, coherence is 2.00 2020-12-09T03:50:48Z- handleDepth()-Depth_Keller msg: 8.42 epoch sec; seqNo:1607485848329; depth 0.00 2020-12-09T03:50:48Z- waiting for 1607485849.32, time is 1607485847.12 2020-12-09T03:50:48Z- sync is 1.20, coherence is 2.00 2020-12-09T03:50:48Z- handleDvl() - RDI_Pathfinder msg: 1607485848.37 epoch sec; seqNo:116 2020-12-09T03:50:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.21 , 96.75 , 93.51 , 67.80 2020-12-09T03:50:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.22 , 0.39 2020-12-09T03:50:48Z- waiting for 1607485849.32, time is 1607485848.37 2020-12-09T03:50:48Z- sync is 0.05, coherence is 2.00 2020-12-09T03:50:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485848.38 epoch sec; seqNo:282; 4061735.26 north; 594353.18 east 2020-12-09T03:50:48Z- waiting for 1607485849.32, time is 1607485848.37 2020-12-09T03:50:48Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:48Z- AHRS_M2 msg: 1607485848.72 epoch sec; seqNo:266 2020-12-09T03:50:48Z- AHRS_M2 msg: 4.02 phi; 0.11 theta; -0.18 psi 2020-12-09T03:50:48Z- waiting for 1607485849.32, time is 1607485848.37 2020-12-09T03:50:48Z- sync is 0.35, coherence is 2.00 2020-12-09T03:50:48Z- handleDepth()-Depth_Keller msg: 8.38 epoch sec; seqNo:1607485848726; depth 0.00 2020-12-09T03:50:48Z- waiting for 1607485849.32, time is 1607485848.37 2020-12-09T03:50:48Z- sync is 0.35, coherence is 2.00 2020-12-09T03:50:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485848.76 epoch sec; seqNo:283; 4061734.87 north; 594351.97 east 2020-12-09T03:50:48Z- waiting for 1607485849.32, time is 1607485848.37 2020-12-09T03:50:48Z- sync is 0.39, coherence is 2.00 2020-12-09T03:50:48Z- AHRS_M2 msg: 1607485849.13 epoch sec; seqNo:267 2020-12-09T03:50:48Z- AHRS_M2 msg: 4.03 phi; 0.11 theta; -0.18 psi 2020-12-09T03:50:48Z- waiting for 1607485849.32, time is 1607485848.37 2020-12-09T03:50:48Z- sync is 0.76, coherence is 2.00 2020-12-09T03:50:48Z- handleDepth()-Depth_Keller msg: 8.33 epoch sec; seqNo:1607485849132; depth 0.00 2020-12-09T03:50:48Z- waiting for 1607485849.32, time is 1607485848.37 2020-12-09T03:50:48Z- sync is 0.76, coherence is 2.00 2020-12-09T03:50:48Z- handleDvl() - RDI_Pathfinder msg: 1607485849.17 epoch sec; seqNo:117 2020-12-09T03:50:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.80 , 98.85 , 93.44 , 69.43 2020-12-09T03:50:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.28 , 0.10 2020-12-09T03:50:48Z- waiting for 1607485849.32, time is 1607485849.17 2020-12-09T03:50:48Z- sync is 0.04, coherence is 2.00 2020-12-09T03:50:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485849.18 epoch sec; seqNo:284; 4061734.49 north; 594351.97 east 2020-12-09T03:50:48Z- waiting for 1607485849.32, time is 1607485849.17 2020-12-09T03:50:48Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:49Z- AHRS_M2 msg: 1607485849.53 epoch sec; seqNo:268 2020-12-09T03:50:49Z- AHRS_M2 msg: 4.04 phi; 0.10 theta; -0.18 psi 2020-12-09T03:50:49Z- waiting for 1607485849.32, time is 1607485849.17 2020-12-09T03:50:49Z- sync is 0.36, coherence is 2.00 2020-12-09T03:50:49Z- handleDepth()-Depth_Keller msg: 8.28 epoch sec; seqNo:1607485849541; depth 0.00 2020-12-09T03:50:49Z- waiting for 1607485849.32, time is 1607485849.17 2020-12-09T03:50:49Z- sync is 0.36, coherence is 2.00 2020-12-09T03:50:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485849.58 epoch sec; seqNo:285; 4061734.49 north; 594351.97 east 2020-12-09T03:50:49Z- waiting for 1607485849.32, time is 1607485849.17 2020-12-09T03:50:49Z- sync is 0.41, coherence is 2.00 2020-12-09T03:50:49Z- AHRS_M2 msg: 1607485849.93 epoch sec; seqNo:269 2020-12-09T03:50:49Z- AHRS_M2 msg: 4.05 phi; 0.10 theta; -0.17 psi 2020-12-09T03:50:49Z- waiting for 1607485849.32, time is 1607485849.17 2020-12-09T03:50:49Z- sync is 0.76, coherence is 2.00 2020-12-09T03:50:49Z- handleDepth()-Depth_Keller msg: 8.24 epoch sec; seqNo:1607485849937; depth 0.00 2020-12-09T03:50:49Z- waiting for 1607485849.32, time is 1607485849.17 2020-12-09T03:50:49Z- sync is 0.76, coherence is 2.00 2020-12-09T03:50:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485849.95 epoch sec; seqNo:286; 4061734.11 north; 594351.98 east 2020-12-09T03:50:49Z- waiting for 1607485849.32, time is 1607485849.17 2020-12-09T03:50:49Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:50Z- AHRS_M2 msg: 1607485850.35 epoch sec; seqNo:270 2020-12-09T03:50:50Z- AHRS_M2 msg: 4.06 phi; 0.09 theta; -0.17 psi 2020-12-09T03:50:50Z- waiting for 1607485849.32, time is 1607485849.17 2020-12-09T03:50:50Z- sync is 1.18, coherence is 2.00 2020-12-09T03:50:50Z- handleDepth()-Depth_Keller msg: 8.19 epoch sec; seqNo:1607485850349; depth 0.00 2020-12-09T03:50:50Z- waiting for 1607485849.32, time is 1607485849.17 2020-12-09T03:50:50Z- sync is 1.18, coherence is 2.00 2020-12-09T03:50:50Z- handleDvl() - RDI_Pathfinder msg: 1607485850.37 epoch sec; seqNo:118 2020-12-09T03:50:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.80 , 97.16 , 0.00 , 67.80 2020-12-09T03:50:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.16 , -0.14 2020-12-09T03:50:50Z- waiting for 1607485849.32, time is 1607485850.37 2020-12-09T03:50:50Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:50Z- LcmTrn::updateTrn() >>>> pose time 1607485850.35, meas time 1607485850.37 <<<< 2020-12-09T03:50:50Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485850.37 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:50:50Z- TerrainNav::motionUpdate() - currEstimate = (4061734, 594351.98, 8.19) 2020-12-09T03:50:50Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:50:50Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:50:50Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:50:50Z- TNavBF::mmse selected from filter -1 2020-12-09T03:50:50Z- variances([0], [2], and psi_berg) = 824.338250 833.185383 0.000000 2020-12-09T03:50:50Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:50:50Z- LcmTrn::cycle() - MLE : 4061695.61 594304.48 8.19 2020-12-09T03:50:50Z- LcmTrn::cycle() - MMSE : 4061734.11 594351.98 8.19 2020-12-09T03:50:50Z- LcmTrn::cycle() - COVAR: 824.34 833.19 28.57 0.00 2020-12-09T03:50:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485850.38 epoch sec; seqNo:287; 4061733.73 north; 594351.98 east 2020-12-09T03:50:50Z- waiting for 1607485853.37, time is 1607485850.37 2020-12-09T03:50:50Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:50Z- AHRS_M2 msg: 1607485850.74 epoch sec; seqNo:271 2020-12-09T03:50:50Z- AHRS_M2 msg: 4.07 phi; 0.09 theta; -0.16 psi 2020-12-09T03:50:50Z- waiting for 1607485853.37, time is 1607485850.37 2020-12-09T03:50:50Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:50Z- handleDepth()-Depth_Keller msg: 8.17 epoch sec; seqNo:1607485850755; depth 0.00 2020-12-09T03:50:50Z- waiting for 1607485853.37, time is 1607485850.37 2020-12-09T03:50:50Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485850.77 epoch sec; seqNo:288; 4061733.73 north; 594351.98 east 2020-12-09T03:50:50Z- waiting for 1607485853.37, time is 1607485850.37 2020-12-09T03:50:50Z- sync is 0.40, coherence is 2.00 2020-12-09T03:50:50Z- AHRS_M2 msg: 1607485851.14 epoch sec; seqNo:272 2020-12-09T03:50:50Z- AHRS_M2 msg: 4.08 phi; 0.09 theta; -0.15 psi 2020-12-09T03:50:50Z- waiting for 1607485853.37, time is 1607485850.37 2020-12-09T03:50:50Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:50Z- handleDepth()-Depth_Keller msg: 8.12 epoch sec; seqNo:1607485851149; depth 0.00 2020-12-09T03:50:50Z- waiting for 1607485853.37, time is 1607485850.37 2020-12-09T03:50:50Z- sync is 0.78, coherence is 2.00 2020-12-09T03:50:50Z- handleDvl() - RDI_Pathfinder msg: 1607485851.16 epoch sec; seqNo:119 2020-12-09T03:50:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.21 , 96.82 , 90.34 , 68.21 2020-12-09T03:50:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.05 , -0.21 2020-12-09T03:50:50Z- waiting for 1607485853.37, time is 1607485851.16 2020-12-09T03:50:50Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485851.19 epoch sec; seqNo:289; 4061733.34 north; 594350.76 east 2020-12-09T03:50:51Z- waiting for 1607485853.37, time is 1607485851.16 2020-12-09T03:50:51Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:51Z- AHRS_M2 msg: 1607485851.55 epoch sec; seqNo:273 2020-12-09T03:50:51Z- AHRS_M2 msg: 4.09 phi; 0.09 theta; -0.14 psi 2020-12-09T03:50:51Z- waiting for 1607485853.37, time is 1607485851.16 2020-12-09T03:50:51Z- sync is 0.39, coherence is 2.00 2020-12-09T03:50:51Z- handleDepth()-Depth_Keller msg: 8.08 epoch sec; seqNo:1607485851555; depth 0.00 2020-12-09T03:50:51Z- waiting for 1607485853.37, time is 1607485851.16 2020-12-09T03:50:51Z- sync is 0.39, coherence is 2.00 2020-12-09T03:50:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485851.57 epoch sec; seqNo:290; 4061732.96 north; 594350.77 east 2020-12-09T03:50:51Z- waiting for 1607485853.37, time is 1607485851.16 2020-12-09T03:50:51Z- sync is 0.41, coherence is 2.00 2020-12-09T03:50:51Z- AHRS_M2 msg: 1607485851.95 epoch sec; seqNo:274 2020-12-09T03:50:51Z- AHRS_M2 msg: 4.09 phi; 0.08 theta; -0.14 psi 2020-12-09T03:50:51Z- waiting for 1607485853.37, time is 1607485851.16 2020-12-09T03:50:51Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:51Z- handleDepth()-Depth_Keller msg: 8.05 epoch sec; seqNo:1607485851959; depth 0.00 2020-12-09T03:50:51Z- waiting for 1607485853.37, time is 1607485851.16 2020-12-09T03:50:51Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485851.97 epoch sec; seqNo:291; 4061732.96 north; 594350.77 east 2020-12-09T03:50:51Z- waiting for 1607485853.37, time is 1607485851.16 2020-12-09T03:50:51Z- sync is 0.81, coherence is 2.00 2020-12-09T03:50:52Z- AHRS_M2 msg: 1607485852.36 epoch sec; seqNo:275 2020-12-09T03:50:52Z- AHRS_M2 msg: 4.09 phi; 0.08 theta; -0.14 psi 2020-12-09T03:50:52Z- waiting for 1607485853.37, time is 1607485851.16 2020-12-09T03:50:52Z- sync is 1.20, coherence is 2.00 2020-12-09T03:50:52Z- handleDepth()-Depth_Keller msg: 7.99 epoch sec; seqNo:1607485852375; depth 0.00 2020-12-09T03:50:52Z- waiting for 1607485853.37, time is 1607485851.16 2020-12-09T03:50:52Z- sync is 1.20, coherence is 2.00 2020-12-09T03:50:52Z- handleDvl() - RDI_Pathfinder msg: 1607485852.39 epoch sec; seqNo:120 2020-12-09T03:50:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.61 , 97.83 , 89.19 , 68.21 2020-12-09T03:50:52Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.17 , -0.07 2020-12-09T03:50:52Z- waiting for 1607485853.37, time is 1607485852.39 2020-12-09T03:50:52Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485852.40 epoch sec; seqNo:292; 4061732.58 north; 594350.77 east 2020-12-09T03:50:52Z- waiting for 1607485853.37, time is 1607485852.39 2020-12-09T03:50:52Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:52Z- AHRS_M2 msg: 1607485852.76 epoch sec; seqNo:276 2020-12-09T03:50:52Z- AHRS_M2 msg: 4.08 phi; 0.07 theta; -0.14 psi 2020-12-09T03:50:52Z- waiting for 1607485853.37, time is 1607485852.39 2020-12-09T03:50:52Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:52Z- handleDepth()-Depth_Keller msg: 7.96 epoch sec; seqNo:1607485852765; depth 0.00 2020-12-09T03:50:52Z- waiting for 1607485853.37, time is 1607485852.39 2020-12-09T03:50:52Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485852.79 epoch sec; seqNo:293; 4061732.57 north; 594349.55 east 2020-12-09T03:50:52Z- waiting for 1607485853.37, time is 1607485852.39 2020-12-09T03:50:52Z- sync is 0.40, coherence is 2.00 2020-12-09T03:50:52Z- AHRS_M2 msg: 1607485853.16 epoch sec; seqNo:277 2020-12-09T03:50:52Z- AHRS_M2 msg: 4.08 phi; 0.07 theta; -0.14 psi 2020-12-09T03:50:52Z- waiting for 1607485853.37, time is 1607485852.39 2020-12-09T03:50:52Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:52Z- handleDepth()-Depth_Keller msg: 7.94 epoch sec; seqNo:1607485853169; depth 0.00 2020-12-09T03:50:52Z- waiting for 1607485853.37, time is 1607485852.39 2020-12-09T03:50:52Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:52Z- handleDvl() - RDI_Pathfinder msg: 1607485853.18 epoch sec; seqNo:121 2020-12-09T03:50:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.80 , 95.67 , 89.19 , 69.02 2020-12-09T03:50:52Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.11 , 0.06 2020-12-09T03:50:52Z- waiting for 1607485853.37, time is 1607485853.18 2020-12-09T03:50:52Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485853.21 epoch sec; seqNo:294; 4061732.19 north; 594349.56 east 2020-12-09T03:50:53Z- waiting for 1607485853.37, time is 1607485853.18 2020-12-09T03:50:53Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:53Z- AHRS_M2 msg: 1607485853.57 epoch sec; seqNo:278 2020-12-09T03:50:53Z- AHRS_M2 msg: 4.07 phi; 0.06 theta; -0.15 psi 2020-12-09T03:50:53Z- waiting for 1607485853.37, time is 1607485853.18 2020-12-09T03:50:53Z- sync is 0.39, coherence is 2.00 2020-12-09T03:50:53Z- handleDepth()-Depth_Keller msg: 7.90 epoch sec; seqNo:1607485853581; depth 0.00 2020-12-09T03:50:53Z- waiting for 1607485853.37, time is 1607485853.18 2020-12-09T03:50:53Z- sync is 0.39, coherence is 2.00 2020-12-09T03:50:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485853.62 epoch sec; seqNo:295; 4061732.19 north; 594349.56 east 2020-12-09T03:50:53Z- waiting for 1607485853.37, time is 1607485853.18 2020-12-09T03:50:53Z- sync is 0.44, coherence is 2.00 2020-12-09T03:50:53Z- AHRS_M2 msg: 1607485853.98 epoch sec; seqNo:279 2020-12-09T03:50:53Z- AHRS_M2 msg: 4.07 phi; 0.05 theta; -0.17 psi 2020-12-09T03:50:53Z- waiting for 1607485853.37, time is 1607485853.18 2020-12-09T03:50:53Z- sync is 0.80, coherence is 2.00 2020-12-09T03:50:53Z- handleDepth()-Depth_Keller msg: 7.86 epoch sec; seqNo:1607485853980; depth 0.00 2020-12-09T03:50:53Z- waiting for 1607485853.37, time is 1607485853.18 2020-12-09T03:50:53Z- sync is 0.80, coherence is 2.00 2020-12-09T03:50:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485854.01 epoch sec; seqNo:296; 4061731.80 north; 594348.34 east 2020-12-09T03:50:53Z- waiting for 1607485853.37, time is 1607485853.18 2020-12-09T03:50:53Z- sync is 0.83, coherence is 2.00 2020-12-09T03:50:54Z- AHRS_M2 msg: 1607485854.38 epoch sec; seqNo:280 2020-12-09T03:50:54Z- AHRS_M2 msg: 4.07 phi; 0.05 theta; -0.18 psi 2020-12-09T03:50:54Z- waiting for 1607485853.37, time is 1607485853.18 2020-12-09T03:50:54Z- sync is 1.20, coherence is 2.00 2020-12-09T03:50:54Z- handleDepth()-Depth_Keller msg: 7.85 epoch sec; seqNo:1607485854389; depth 0.00 2020-12-09T03:50:54Z- waiting for 1607485853.37, time is 1607485853.18 2020-12-09T03:50:54Z- sync is 1.20, coherence is 2.00 2020-12-09T03:50:54Z- handleDvl() - RDI_Pathfinder msg: 1607485854.41 epoch sec; seqNo:122 2020-12-09T03:50:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.98 , 96.82 , 89.26 , 70.25 2020-12-09T03:50:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.05 , 0.12 2020-12-09T03:50:54Z- waiting for 1607485853.37, time is 1607485854.41 2020-12-09T03:50:54Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:54Z- LcmTrn::updateTrn() >>>> pose time 1607485854.38, meas time 1607485854.41 <<<< 2020-12-09T03:50:54Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485854.41 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:50:54Z- TerrainNav::motionUpdate() - currEstimate = (4061732, 594348.34, 7.85) 2020-12-09T03:50:54Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:50:54Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:50:54Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:50:54Z- TNavBF::mmse selected from filter -1 2020-12-09T03:50:54Z- variances([0], [2], and psi_berg) = 823.885277 833.182888 0.000000 2020-12-09T03:50:54Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:50:54Z- LcmTrn::cycle() - MLE : 4061693.30 594300.84 7.85 2020-12-09T03:50:54Z- LcmTrn::cycle() - MMSE : 4061731.80 594348.34 7.85 2020-12-09T03:50:54Z- LcmTrn::cycle() - COVAR: 823.89 833.18 28.79 0.00 2020-12-09T03:50:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485854.46 epoch sec; seqNo:297; 4061731.42 north; 594348.35 east 2020-12-09T03:50:54Z- waiting for 1607485857.41, time is 1607485854.41 2020-12-09T03:50:54Z- sync is 0.04, coherence is 2.00 2020-12-09T03:50:54Z- AHRS_M2 msg: 1607485854.78 epoch sec; seqNo:281 2020-12-09T03:50:54Z- AHRS_M2 msg: 4.07 phi; 0.04 theta; -0.19 psi 2020-12-09T03:50:54Z- waiting for 1607485857.41, time is 1607485854.41 2020-12-09T03:50:54Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:54Z- handleDepth()-Depth_Keller msg: 7.81 epoch sec; seqNo:1607485854785; depth 0.00 2020-12-09T03:50:54Z- waiting for 1607485857.41, time is 1607485854.41 2020-12-09T03:50:54Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485854.82 epoch sec; seqNo:298; 4061731.42 north; 594348.35 east 2020-12-09T03:50:54Z- waiting for 1607485857.41, time is 1607485854.41 2020-12-09T03:50:54Z- sync is 0.41, coherence is 2.00 2020-12-09T03:50:55Z- AHRS_M2 msg: 1607485855.18 epoch sec; seqNo:282 2020-12-09T03:50:55Z- AHRS_M2 msg: 4.08 phi; 0.04 theta; -0.19 psi 2020-12-09T03:50:55Z- waiting for 1607485857.41, time is 1607485854.41 2020-12-09T03:50:55Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:55Z- handleDepth()-Depth_Keller msg: 7.78 epoch sec; seqNo:1607485855193; depth 0.00 2020-12-09T03:50:55Z- waiting for 1607485857.41, time is 1607485854.41 2020-12-09T03:50:55Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:55Z- handleDvl() - RDI_Pathfinder msg: 1607485855.21 epoch sec; seqNo:123 2020-12-09T03:50:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.57 , 96.75 , 89.19 , 71.47 2020-12-09T03:50:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.06 , 0.08 2020-12-09T03:50:55Z- waiting for 1607485857.41, time is 1607485855.21 2020-12-09T03:50:55Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485855.23 epoch sec; seqNo:299; 4061731.04 north; 594348.35 east 2020-12-09T03:50:55Z- waiting for 1607485857.41, time is 1607485855.21 2020-12-09T03:50:55Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:55Z- AHRS_M2 msg: 1607485855.59 epoch sec; seqNo:283 2020-12-09T03:50:55Z- AHRS_M2 msg: 4.08 phi; 0.03 theta; -0.20 psi 2020-12-09T03:50:55Z- waiting for 1607485857.41, time is 1607485855.21 2020-12-09T03:50:55Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:55Z- handleDepth()-Depth_Keller msg: 7.74 epoch sec; seqNo:1607485855596; depth 0.00 2020-12-09T03:50:55Z- waiting for 1607485857.41, time is 1607485855.21 2020-12-09T03:50:55Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485855.62 epoch sec; seqNo:300; 4061731.03 north; 594347.13 east 2020-12-09T03:50:55Z- waiting for 1607485857.41, time is 1607485855.21 2020-12-09T03:50:55Z- sync is 0.41, coherence is 2.00 2020-12-09T03:50:55Z- AHRS_M2 msg: 1607485855.99 epoch sec; seqNo:284 2020-12-09T03:50:55Z- AHRS_M2 msg: 4.09 phi; 0.03 theta; -0.20 psi 2020-12-09T03:50:55Z- waiting for 1607485857.41, time is 1607485855.21 2020-12-09T03:50:55Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:55Z- handleDepth()-Depth_Keller msg: 7.73 epoch sec; seqNo:1607485856007; depth 0.00 2020-12-09T03:50:55Z- waiting for 1607485857.41, time is 1607485855.21 2020-12-09T03:50:55Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485856.02 epoch sec; seqNo:301; 4061730.65 north; 594347.13 east 2020-12-09T03:50:55Z- waiting for 1607485857.41, time is 1607485855.21 2020-12-09T03:50:55Z- sync is 0.81, coherence is 2.00 2020-12-09T03:50:56Z- AHRS_M2 msg: 1607485856.40 epoch sec; seqNo:285 2020-12-09T03:50:56Z- AHRS_M2 msg: 4.09 phi; 0.02 theta; -0.19 psi 2020-12-09T03:50:56Z- waiting for 1607485857.41, time is 1607485855.21 2020-12-09T03:50:56Z- sync is 1.19, coherence is 2.00 2020-12-09T03:50:56Z- handleDepth()-Depth_Keller msg: 7.70 epoch sec; seqNo:1607485856401; depth 0.00 2020-12-09T03:50:56Z- waiting for 1607485857.41, time is 1607485855.21 2020-12-09T03:50:56Z- sync is 1.19, coherence is 2.00 2020-12-09T03:50:56Z- handleDvl() - RDI_Pathfinder msg: 1607485856.41 epoch sec; seqNo:124 2020-12-09T03:50:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.57 , 96.75 , 90.26 , 71.46 2020-12-09T03:50:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.01 , -0.03 2020-12-09T03:50:56Z- waiting for 1607485857.41, time is 1607485856.41 2020-12-09T03:50:56Z- sync is 0.02, coherence is 2.00 2020-12-09T03:50:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485856.43 epoch sec; seqNo:302; 4061730.65 north; 594347.13 east 2020-12-09T03:50:56Z- waiting for 1607485857.41, time is 1607485856.41 2020-12-09T03:50:56Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:56Z- AHRS_M2 msg: 1607485856.80 epoch sec; seqNo:286 2020-12-09T03:50:56Z- AHRS_M2 msg: 4.10 phi; 0.01 theta; -0.19 psi 2020-12-09T03:50:56Z- waiting for 1607485857.41, time is 1607485856.41 2020-12-09T03:50:56Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:56Z- handleDepth()-Depth_Keller msg: 7.69 epoch sec; seqNo:1607485856808; depth 0.00 2020-12-09T03:50:56Z- waiting for 1607485857.41, time is 1607485856.41 2020-12-09T03:50:56Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485856.82 epoch sec; seqNo:303; 4061730.27 north; 594347.14 east 2020-12-09T03:50:56Z- waiting for 1607485857.41, time is 1607485856.41 2020-12-09T03:50:56Z- sync is 0.41, coherence is 2.00 2020-12-09T03:50:57Z- AHRS_M2 msg: 1607485857.20 epoch sec; seqNo:287 2020-12-09T03:50:57Z- AHRS_M2 msg: 4.11 phi; 0.00 theta; -0.19 psi 2020-12-09T03:50:57Z- waiting for 1607485857.41, time is 1607485856.41 2020-12-09T03:50:57Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:57Z- handleDepth()-Depth_Keller msg: 7.67 epoch sec; seqNo:1607485857223; depth 0.00 2020-12-09T03:50:57Z- waiting for 1607485857.41, time is 1607485856.41 2020-12-09T03:50:57Z- sync is 0.79, coherence is 2.00 2020-12-09T03:50:57Z- handleDvl() - RDI_Pathfinder msg: 1607485857.24 epoch sec; seqNo:125 2020-12-09T03:50:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.57 , 97.83 , 87.02 , 72.69 2020-12-09T03:50:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , 0.11 , -0.12 2020-12-09T03:50:57Z- waiting for 1607485857.41, time is 1607485857.24 2020-12-09T03:50:57Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485857.25 epoch sec; seqNo:304; 4061730.25 north; 594345.92 east 2020-12-09T03:50:57Z- waiting for 1607485857.41, time is 1607485857.24 2020-12-09T03:50:57Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:57Z- AHRS_M2 msg: 1607485857.61 epoch sec; seqNo:288 2020-12-09T03:50:57Z- AHRS_M2 msg: 4.12 phi; -0.00 theta; -0.19 psi 2020-12-09T03:50:57Z- waiting for 1607485857.41, time is 1607485857.24 2020-12-09T03:50:57Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:57Z- handleDepth()-Depth_Keller msg: 7.64 epoch sec; seqNo:1607485857618; depth 0.00 2020-12-09T03:50:57Z- waiting for 1607485857.41, time is 1607485857.24 2020-12-09T03:50:57Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485857.63 epoch sec; seqNo:305; 4061729.88 north; 594345.92 east 2020-12-09T03:50:57Z- waiting for 1607485857.41, time is 1607485857.24 2020-12-09T03:50:57Z- sync is 0.39, coherence is 2.00 2020-12-09T03:50:57Z- AHRS_M2 msg: 1607485858.04 epoch sec; seqNo:289 2020-12-09T03:50:57Z- AHRS_M2 msg: 4.13 phi; -0.01 theta; -0.19 psi 2020-12-09T03:50:57Z- waiting for 1607485857.41, time is 1607485857.24 2020-12-09T03:50:57Z- sync is 0.80, coherence is 2.00 2020-12-09T03:50:57Z- handleDepth()-Depth_Keller msg: 7.62 epoch sec; seqNo:1607485858048; depth 0.00 2020-12-09T03:50:57Z- waiting for 1607485857.41, time is 1607485857.24 2020-12-09T03:50:57Z- sync is 0.80, coherence is 2.00 2020-12-09T03:50:57Z- handleDvl() - RDI_Pathfinder msg: 1607485858.07 epoch sec; seqNo:126 2020-12-09T03:50:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.97 , 96.75 , 0.00 , 73.92 2020-12-09T03:50:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , 0.14 , -0.22 2020-12-09T03:50:57Z- waiting for 1607485857.41, time is 1607485858.07 2020-12-09T03:50:57Z- sync is 0.03, coherence is 2.00 2020-12-09T03:50:57Z- LcmTrn::updateTrn() >>>> pose time 1607485858.04, meas time 1607485858.07 <<<< 2020-12-09T03:50:57Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485858.07 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:50:57Z- TerrainNav::motionUpdate() - currEstimate = (4061730, 594345.92, 7.62) 2020-12-09T03:50:57Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:50:57Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:50:57Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:50:57Z- TNavBF::mmse selected from filter -1 2020-12-09T03:50:57Z- variances([0], [2], and psi_berg) = 823.507159 833.180857 0.000000 2020-12-09T03:50:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:50:57Z- LcmTrn::cycle() - MLE : 4061691.38 594298.42 7.62 2020-12-09T03:50:57Z- LcmTrn::cycle() - MMSE : 4061729.88 594345.92 7.62 2020-12-09T03:50:57Z- LcmTrn::cycle() - COVAR: 823.51 833.18 28.95 0.00 2020-12-09T03:50:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485858.08 epoch sec; seqNo:306; 4061729.88 north; 594345.92 east 2020-12-09T03:50:57Z- waiting for 1607485861.07, time is 1607485858.07 2020-12-09T03:50:57Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:58Z- AHRS_M2 msg: 1607485858.41 epoch sec; seqNo:290 2020-12-09T03:50:58Z- AHRS_M2 msg: 4.14 phi; -0.02 theta; -0.19 psi 2020-12-09T03:50:58Z- waiting for 1607485861.07, time is 1607485858.07 2020-12-09T03:50:58Z- sync is 0.35, coherence is 2.00 2020-12-09T03:50:58Z- handleDepth()-Depth_Keller msg: 7.60 epoch sec; seqNo:1607485858424; depth 0.00 2020-12-09T03:50:58Z- waiting for 1607485861.07, time is 1607485858.07 2020-12-09T03:50:58Z- sync is 0.35, coherence is 2.00 2020-12-09T03:50:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485858.44 epoch sec; seqNo:307; 4061729.50 north; 594345.93 east 2020-12-09T03:50:58Z- waiting for 1607485861.07, time is 1607485858.07 2020-12-09T03:50:58Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:58Z- handleDepth()-Depth_Keller msg: 7.59 epoch sec; seqNo:1607485858845; depth 0.00 2020-12-09T03:50:58Z- waiting for 1607485861.07, time is 1607485858.07 2020-12-09T03:50:58Z- sync is 0.37, coherence is 2.00 2020-12-09T03:50:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485858.88 epoch sec; seqNo:308; 4061729.48 north; 594344.71 east 2020-12-09T03:50:58Z- waiting for 1607485861.07, time is 1607485858.07 2020-12-09T03:50:58Z- sync is 0.81, coherence is 2.00 2020-12-09T03:50:59Z- AHRS_M2 msg: 1607485859.22 epoch sec; seqNo:291 2020-12-09T03:50:59Z- AHRS_M2 msg: 4.14 phi; -0.03 theta; -0.19 psi 2020-12-09T03:50:59Z- waiting for 1607485861.07, time is 1607485858.07 2020-12-09T03:50:59Z- sync is 1.16, coherence is 2.00 2020-12-09T03:50:59Z- handleDepth()-Depth_Keller msg: 7.59 epoch sec; seqNo:1607485859230; depth 0.00 2020-12-09T03:50:59Z- waiting for 1607485861.07, time is 1607485858.07 2020-12-09T03:50:59Z- sync is 1.16, coherence is 2.00 2020-12-09T03:50:59Z- handleDvl() - RDI_Pathfinder msg: 1607485859.26 epoch sec; seqNo:127 2020-12-09T03:50:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.20 , 96.82 , 83.85 , 78.45 2020-12-09T03:50:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.15 , -0.24 2020-12-09T03:50:59Z- waiting for 1607485861.07, time is 1607485859.26 2020-12-09T03:50:59Z- sync is 0.04, coherence is 2.00 2020-12-09T03:50:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485859.28 epoch sec; seqNo:309; 4061729.48 north; 594344.71 east 2020-12-09T03:50:59Z- waiting for 1607485861.07, time is 1607485859.26 2020-12-09T03:50:59Z- sync is 0.01, coherence is 2.00 2020-12-09T03:50:59Z- AHRS_M2 msg: 1607485859.64 epoch sec; seqNo:292 2020-12-09T03:50:59Z- AHRS_M2 msg: 4.14 phi; -0.04 theta; -0.20 psi 2020-12-09T03:50:59Z- waiting for 1607485861.07, time is 1607485859.26 2020-12-09T03:50:59Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:59Z- handleDepth()-Depth_Keller msg: 7.57 epoch sec; seqNo:1607485859643; depth 0.00 2020-12-09T03:50:59Z- waiting for 1607485861.07, time is 1607485859.26 2020-12-09T03:50:59Z- sync is 0.38, coherence is 2.00 2020-12-09T03:50:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485859.68 epoch sec; seqNo:310; 4061729.10 north; 594344.71 east 2020-12-09T03:50:59Z- waiting for 1607485861.07, time is 1607485859.26 2020-12-09T03:50:59Z- sync is 0.42, coherence is 2.00 2020-12-09T03:50:59Z- AHRS_M2 msg: 1607485860.04 epoch sec; seqNo:293 2020-12-09T03:50:59Z- AHRS_M2 msg: 4.14 phi; -0.05 theta; -0.20 psi 2020-12-09T03:50:59Z- waiting for 1607485861.07, time is 1607485859.26 2020-12-09T03:50:59Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:59Z- handleDepth()-Depth_Keller msg: 7.56 epoch sec; seqNo:1607485860045; depth 0.00 2020-12-09T03:50:59Z- waiting for 1607485861.07, time is 1607485859.26 2020-12-09T03:50:59Z- sync is 0.77, coherence is 2.00 2020-12-09T03:50:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485860.08 epoch sec; seqNo:311; 4061729.10 north; 594344.71 east 2020-12-09T03:50:59Z- waiting for 1607485861.07, time is 1607485859.26 2020-12-09T03:50:59Z- sync is 0.82, coherence is 2.00 2020-12-09T03:51:00Z- AHRS_M2 msg: 1607485860.44 epoch sec; seqNo:294 2020-12-09T03:51:00Z- AHRS_M2 msg: 4.15 phi; -0.05 theta; -0.21 psi 2020-12-09T03:51:00Z- waiting for 1607485861.07, time is 1607485859.26 2020-12-09T03:51:00Z- sync is 1.17, coherence is 2.00 2020-12-09T03:51:00Z- handleDepth()-Depth_Keller msg: 7.55 epoch sec; seqNo:1607485860461; depth 0.00 2020-12-09T03:51:00Z- waiting for 1607485861.07, time is 1607485859.26 2020-12-09T03:51:00Z- sync is 1.17, coherence is 2.00 2020-12-09T03:51:00Z- handleDvl() - RDI_Pathfinder msg: 1607485860.47 epoch sec; seqNo:128 2020-12-09T03:51:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.57 , 99.92 , 84.79 , 75.14 2020-12-09T03:51:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.16 , -0.21 2020-12-09T03:51:00Z- waiting for 1607485861.07, time is 1607485860.47 2020-12-09T03:51:00Z- sync is 0.04, coherence is 2.00 2020-12-09T03:51:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485860.49 epoch sec; seqNo:312; 4061728.71 north; 594343.49 east 2020-12-09T03:51:00Z- waiting for 1607485861.07, time is 1607485860.47 2020-12-09T03:51:00Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:00Z- AHRS_M2 msg: 1607485860.85 epoch sec; seqNo:295 2020-12-09T03:51:00Z- AHRS_M2 msg: 4.15 phi; -0.06 theta; -0.21 psi 2020-12-09T03:51:00Z- waiting for 1607485861.07, time is 1607485860.47 2020-12-09T03:51:00Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:00Z- handleDepth()-Depth_Keller msg: 7.55 epoch sec; seqNo:1607485860859; depth 0.00 2020-12-09T03:51:00Z- waiting for 1607485861.07, time is 1607485860.47 2020-12-09T03:51:00Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485860.89 epoch sec; seqNo:313; 4061728.71 north; 594343.49 east 2020-12-09T03:51:00Z- waiting for 1607485861.07, time is 1607485860.47 2020-12-09T03:51:00Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:01Z- AHRS_M2 msg: 1607485861.25 epoch sec; seqNo:296 2020-12-09T03:51:01Z- AHRS_M2 msg: 4.15 phi; -0.07 theta; -0.22 psi 2020-12-09T03:51:01Z- waiting for 1607485861.07, time is 1607485860.47 2020-12-09T03:51:01Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:01Z- handleDepth()-Depth_Keller msg: 7.56 epoch sec; seqNo:1607485861250; depth 0.00 2020-12-09T03:51:01Z- waiting for 1607485861.07, time is 1607485860.47 2020-12-09T03:51:01Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:01Z- handleDvl() - RDI_Pathfinder msg: 1607485861.27 epoch sec; seqNo:129 2020-12-09T03:51:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.97 , 96.68 , 79.63 , 77.18 2020-12-09T03:51:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , 0.14 , -0.19 2020-12-09T03:51:01Z- waiting for 1607485861.07, time is 1607485861.27 2020-12-09T03:51:01Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:01Z- LcmTrn::updateTrn() >>>> pose time 1607485861.25, meas time 1607485861.27 <<<< 2020-12-09T03:51:01Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485861.27 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:51:01Z- TerrainNav::motionUpdate() - currEstimate = (4061729, 594343.49, 7.56) 2020-12-09T03:51:01Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:51:01Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:51:01Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:51:01Z- TNavBF::mmse selected from filter -1 2020-12-09T03:51:01Z- variances([0], [2], and psi_berg) = 823.158329 833.179019 0.000000 2020-12-09T03:51:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:51:01Z- LcmTrn::cycle() - MLE : 4061691.21 594294.99 7.56 2020-12-09T03:51:01Z- LcmTrn::cycle() - MMSE : 4061728.71 594343.49 7.56 2020-12-09T03:51:01Z- LcmTrn::cycle() - COVAR: 823.16 833.18 29.09 0.00 2020-12-09T03:51:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485861.30 epoch sec; seqNo:314; 4061728.33 north; 594343.50 east 2020-12-09T03:51:01Z- waiting for 1607485864.27, time is 1607485861.27 2020-12-09T03:51:01Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:01Z- AHRS_M2 msg: 1607485861.65 epoch sec; seqNo:297 2020-12-09T03:51:01Z- AHRS_M2 msg: 4.16 phi; -0.08 theta; -0.22 psi 2020-12-09T03:51:01Z- waiting for 1607485864.27, time is 1607485861.27 2020-12-09T03:51:01Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:01Z- handleDepth()-Depth_Keller msg: 7.57 epoch sec; seqNo:1607485861662; depth 0.00 2020-12-09T03:51:01Z- waiting for 1607485864.27, time is 1607485861.27 2020-12-09T03:51:01Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485861.68 epoch sec; seqNo:315; 4061728.32 north; 594342.28 east 2020-12-09T03:51:01Z- waiting for 1607485864.27, time is 1607485861.27 2020-12-09T03:51:01Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:01Z- handleDepth()-Depth_Keller msg: 7.59 epoch sec; seqNo:1607485862069; depth 0.00 2020-12-09T03:51:01Z- waiting for 1607485864.27, time is 1607485861.27 2020-12-09T03:51:01Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485862.10 epoch sec; seqNo:316; 4061727.94 north; 594342.28 east 2020-12-09T03:51:01Z- waiting for 1607485864.27, time is 1607485861.27 2020-12-09T03:51:01Z- sync is 0.83, coherence is 2.00 2020-12-09T03:51:02Z- AHRS_M2 msg: 1607485862.46 epoch sec; seqNo:298 2020-12-09T03:51:02Z- AHRS_M2 msg: 4.17 phi; -0.10 theta; -0.22 psi 2020-12-09T03:51:02Z- waiting for 1607485864.27, time is 1607485861.27 2020-12-09T03:51:02Z- sync is 1.20, coherence is 2.00 2020-12-09T03:51:02Z- handleDepth()-Depth_Keller msg: 7.60 epoch sec; seqNo:1607485862486; depth 0.00 2020-12-09T03:51:02Z- waiting for 1607485864.27, time is 1607485861.27 2020-12-09T03:51:02Z- sync is 1.20, coherence is 2.00 2020-12-09T03:51:02Z- handleDvl() - RDI_Pathfinder msg: 1607485862.50 epoch sec; seqNo:130 2020-12-09T03:51:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.16 , 100.06 , 81.69 , 78.41 2020-12-09T03:51:02Z- handleDvl() - RDI_Pathfinder msg: velocities 1.23 , 0.18 , -0.20 2020-12-09T03:51:02Z- waiting for 1607485864.27, time is 1607485862.50 2020-12-09T03:51:02Z- sync is 0.04, coherence is 2.00 2020-12-09T03:51:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485862.51 epoch sec; seqNo:317; 4061727.94 north; 594342.28 east 2020-12-09T03:51:02Z- waiting for 1607485864.27, time is 1607485862.50 2020-12-09T03:51:02Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:02Z- AHRS_M2 msg: 1607485862.86 epoch sec; seqNo:299 2020-12-09T03:51:02Z- AHRS_M2 msg: 4.16 phi; -0.10 theta; -0.21 psi 2020-12-09T03:51:02Z- waiting for 1607485864.27, time is 1607485862.50 2020-12-09T03:51:02Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:02Z- handleDepth()-Depth_Keller msg: 7.62 epoch sec; seqNo:1607485862868; depth 0.00 2020-12-09T03:51:02Z- waiting for 1607485864.27, time is 1607485862.50 2020-12-09T03:51:02Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485862.88 epoch sec; seqNo:318; 4061727.55 north; 594341.07 east 2020-12-09T03:51:02Z- waiting for 1607485864.27, time is 1607485862.50 2020-12-09T03:51:02Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:03Z- AHRS_M2 msg: 1607485863.27 epoch sec; seqNo:300 2020-12-09T03:51:03Z- AHRS_M2 msg: 4.16 phi; -0.11 theta; -0.21 psi 2020-12-09T03:51:03Z- waiting for 1607485864.27, time is 1607485862.50 2020-12-09T03:51:03Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:03Z- handleDepth()-Depth_Keller msg: 7.64 epoch sec; seqNo:1607485863273; depth 0.00 2020-12-09T03:51:03Z- waiting for 1607485864.27, time is 1607485862.50 2020-12-09T03:51:03Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:03Z- handleDvl() - RDI_Pathfinder msg: 1607485863.29 epoch sec; seqNo:131 2020-12-09T03:51:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.16 , 96.68 , 77.18 , 0.00 2020-12-09T03:51:03Z- handleDvl() - RDI_Pathfinder msg: velocities 1.36 , 0.28 , -0.12 2020-12-09T03:51:03Z- waiting for 1607485864.27, time is 1607485863.29 2020-12-09T03:51:03Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485863.30 epoch sec; seqNo:319; 4061727.55 north; 594341.07 east 2020-12-09T03:51:03Z- waiting for 1607485864.27, time is 1607485863.29 2020-12-09T03:51:03Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:03Z- AHRS_M2 msg: 1607485863.67 epoch sec; seqNo:301 2020-12-09T03:51:03Z- AHRS_M2 msg: 4.15 phi; -0.11 theta; -0.21 psi 2020-12-09T03:51:03Z- waiting for 1607485864.27, time is 1607485863.29 2020-12-09T03:51:03Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:03Z- handleDepth()-Depth_Keller msg: 7.67 epoch sec; seqNo:1607485863674; depth 0.00 2020-12-09T03:51:03Z- waiting for 1607485864.27, time is 1607485863.29 2020-12-09T03:51:03Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485863.70 epoch sec; seqNo:320; 4061727.16 north; 594339.85 east 2020-12-09T03:51:03Z- waiting for 1607485864.27, time is 1607485863.29 2020-12-09T03:51:03Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:03Z- AHRS_M2 msg: 1607485864.09 epoch sec; seqNo:302 2020-12-09T03:51:03Z- AHRS_M2 msg: 4.14 phi; -0.12 theta; -0.21 psi 2020-12-09T03:51:03Z- waiting for 1607485864.27, time is 1607485863.29 2020-12-09T03:51:03Z- sync is 0.80, coherence is 2.00 2020-12-09T03:51:03Z- handleDepth()-Depth_Keller msg: 7.69 epoch sec; seqNo:1607485864118; depth 0.00 2020-12-09T03:51:03Z- waiting for 1607485864.27, time is 1607485863.29 2020-12-09T03:51:03Z- sync is 0.80, coherence is 2.00 2020-12-09T03:51:03Z- handleDvl() - RDI_Pathfinder msg: 1607485864.15 epoch sec; seqNo:132 2020-12-09T03:51:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.16 , 96.82 , 0.00 , 82.77 2020-12-09T03:51:03Z- handleDvl() - RDI_Pathfinder msg: velocities 1.36 , 0.36 , 0.08 2020-12-09T03:51:03Z- waiting for 1607485864.27, time is 1607485864.15 2020-12-09T03:51:03Z- sync is 0.06, coherence is 2.00 2020-12-09T03:51:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485864.17 epoch sec; seqNo:321; 4061727.16 north; 594339.85 east 2020-12-09T03:51:03Z- waiting for 1607485864.27, time is 1607485864.15 2020-12-09T03:51:03Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:04Z- AHRS_M2 msg: 1607485864.48 epoch sec; seqNo:303 2020-12-09T03:51:04Z- AHRS_M2 msg: 4.13 phi; -0.12 theta; -0.21 psi 2020-12-09T03:51:04Z- waiting for 1607485864.27, time is 1607485864.15 2020-12-09T03:51:04Z- sync is 0.33, coherence is 2.00 2020-12-09T03:51:04Z- handleDepth()-Depth_Keller msg: 7.76 epoch sec; seqNo:1607485864489; depth 0.00 2020-12-09T03:51:04Z- waiting for 1607485864.27, time is 1607485864.15 2020-12-09T03:51:04Z- sync is 0.33, coherence is 2.00 2020-12-09T03:51:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485864.53 epoch sec; seqNo:322; 4061726.76 north; 594338.63 east 2020-12-09T03:51:04Z- waiting for 1607485864.27, time is 1607485864.15 2020-12-09T03:51:04Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:04Z- AHRS_M2 msg: 1607485864.88 epoch sec; seqNo:304 2020-12-09T03:51:04Z- AHRS_M2 msg: 4.12 phi; -0.13 theta; -0.22 psi 2020-12-09T03:51:04Z- waiting for 1607485864.27, time is 1607485864.15 2020-12-09T03:51:04Z- sync is 0.74, coherence is 2.00 2020-12-09T03:51:04Z- handleDepth()-Depth_Keller msg: 7.78 epoch sec; seqNo:1607485864889; depth 0.00 2020-12-09T03:51:04Z- waiting for 1607485864.27, time is 1607485864.15 2020-12-09T03:51:04Z- sync is 0.74, coherence is 2.00 2020-12-09T03:51:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485864.92 epoch sec; seqNo:323; 4061726.76 north; 594338.63 east 2020-12-09T03:51:04Z- waiting for 1607485864.27, time is 1607485864.15 2020-12-09T03:51:04Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:05Z- AHRS_M2 msg: 1607485865.28 epoch sec; seqNo:305 2020-12-09T03:51:05Z- AHRS_M2 msg: 4.11 phi; -0.13 theta; -0.22 psi 2020-12-09T03:51:05Z- waiting for 1607485864.27, time is 1607485864.15 2020-12-09T03:51:05Z- sync is 1.14, coherence is 2.00 2020-12-09T03:51:05Z- handleDepth()-Depth_Keller msg: 7.82 epoch sec; seqNo:1607485865289; depth 0.00 2020-12-09T03:51:05Z- waiting for 1607485864.27, time is 1607485864.15 2020-12-09T03:51:05Z- sync is 1.14, coherence is 2.00 2020-12-09T03:51:05Z- handleDvl() - RDI_Pathfinder msg: 1607485865.32 epoch sec; seqNo:133 2020-12-09T03:51:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.75 , 101.00 , 77.59 , 84.79 2020-12-09T03:51:05Z- handleDvl() - RDI_Pathfinder msg: velocities 1.35 , 0.38 , 0.23 2020-12-09T03:51:05Z- waiting for 1607485864.27, time is 1607485865.32 2020-12-09T03:51:05Z- sync is 0.04, coherence is 2.00 2020-12-09T03:51:05Z- LcmTrn::updateTrn() >>>> pose time 1607485865.28, meas time 1607485865.32 <<<< 2020-12-09T03:51:05Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485865.32 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:51:05Z- TerrainNav::motionUpdate() - currEstimate = (4061727, 594338.63, 7.82) 2020-12-09T03:51:05Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:51:05Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:51:05Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:51:05Z- TNavBF::mmse selected from filter -1 2020-12-09T03:51:05Z- variances([0], [2], and psi_berg) = 822.677077 833.176531 0.000000 2020-12-09T03:51:05Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:51:05Z- LcmTrn::cycle() - MLE : 4061689.26 594290.13 7.82 2020-12-09T03:51:05Z- LcmTrn::cycle() - MMSE : 4061726.76 594338.63 7.82 2020-12-09T03:51:05Z- LcmTrn::cycle() - COVAR: 822.68 833.18 29.35 0.00 2020-12-09T03:51:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485865.33 epoch sec; seqNo:324; 4061726.39 north; 594338.64 east 2020-12-09T03:51:05Z- waiting for 1607485868.32, time is 1607485865.32 2020-12-09T03:51:05Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:05Z- AHRS_M2 msg: 1607485865.69 epoch sec; seqNo:306 2020-12-09T03:51:05Z- AHRS_M2 msg: 4.10 phi; -0.13 theta; -0.23 psi 2020-12-09T03:51:05Z- waiting for 1607485868.32, time is 1607485865.32 2020-12-09T03:51:05Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:05Z- handleDepth()-Depth_Keller msg: 7.88 epoch sec; seqNo:1607485865699; depth 0.00 2020-12-09T03:51:05Z- waiting for 1607485868.32, time is 1607485865.32 2020-12-09T03:51:05Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485865.71 epoch sec; seqNo:325; 4061726.37 north; 594337.42 east 2020-12-09T03:51:05Z- waiting for 1607485868.32, time is 1607485865.32 2020-12-09T03:51:05Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:05Z- AHRS_M2 msg: 1607485866.10 epoch sec; seqNo:307 2020-12-09T03:51:05Z- AHRS_M2 msg: 4.09 phi; -0.14 theta; -0.24 psi 2020-12-09T03:51:05Z- waiting for 1607485868.32, time is 1607485865.32 2020-12-09T03:51:05Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:05Z- handleDepth()-Depth_Keller msg: 7.92 epoch sec; seqNo:1607485866100; depth 0.00 2020-12-09T03:51:05Z- waiting for 1607485868.32, time is 1607485865.32 2020-12-09T03:51:05Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:05Z- handleDvl() - RDI_Pathfinder msg: 1607485866.12 epoch sec; seqNo:134 2020-12-09T03:51:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.34 , 100.80 , 77.18 , 0.00 2020-12-09T03:51:05Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.28 , 0.35 2020-12-09T03:51:05Z- waiting for 1607485868.32, time is 1607485866.12 2020-12-09T03:51:05Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485866.13 epoch sec; seqNo:326; 4061725.99 north; 594337.42 east 2020-12-09T03:51:05Z- waiting for 1607485868.32, time is 1607485866.12 2020-12-09T03:51:05Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:06Z- AHRS_M2 msg: 1607485866.50 epoch sec; seqNo:308 2020-12-09T03:51:06Z- AHRS_M2 msg: 4.08 phi; -0.15 theta; -0.24 psi 2020-12-09T03:51:06Z- waiting for 1607485868.32, time is 1607485866.12 2020-12-09T03:51:06Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:06Z- handleDepth()-Depth_Keller msg: 7.98 epoch sec; seqNo:1607485866511; depth 0.00 2020-12-09T03:51:06Z- waiting for 1607485868.32, time is 1607485866.12 2020-12-09T03:51:06Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485866.52 epoch sec; seqNo:327; 4061725.99 north; 594337.42 east 2020-12-09T03:51:06Z- waiting for 1607485868.32, time is 1607485866.12 2020-12-09T03:51:06Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:06Z- AHRS_M2 msg: 1607485866.91 epoch sec; seqNo:309 2020-12-09T03:51:06Z- AHRS_M2 msg: 4.07 phi; -0.16 theta; -0.25 psi 2020-12-09T03:51:06Z- waiting for 1607485868.32, time is 1607485866.12 2020-12-09T03:51:06Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:06Z- handleDepth()-Depth_Keller msg: 8.04 epoch sec; seqNo:1607485866915; depth 0.00 2020-12-09T03:51:06Z- waiting for 1607485868.32, time is 1607485866.12 2020-12-09T03:51:06Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485866.93 epoch sec; seqNo:328; 4061725.98 north; 594336.20 east 2020-12-09T03:51:06Z- waiting for 1607485868.32, time is 1607485866.12 2020-12-09T03:51:06Z- sync is 0.81, coherence is 2.00 2020-12-09T03:51:07Z- AHRS_M2 msg: 1607485867.30 epoch sec; seqNo:310 2020-12-09T03:51:07Z- AHRS_M2 msg: 4.06 phi; -0.17 theta; -0.26 psi 2020-12-09T03:51:07Z- waiting for 1607485868.32, time is 1607485866.12 2020-12-09T03:51:07Z- sync is 1.19, coherence is 2.00 2020-12-09T03:51:07Z- handleDepth()-Depth_Keller msg: 8.12 epoch sec; seqNo:1607485867312; depth 0.00 2020-12-09T03:51:07Z- waiting for 1607485868.32, time is 1607485866.12 2020-12-09T03:51:07Z- sync is 1.19, coherence is 2.00 2020-12-09T03:51:07Z- handleDvl() - RDI_Pathfinder msg: 1607485867.33 epoch sec; seqNo:135 2020-12-09T03:51:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.34 , 96.75 , 78.41 , 87.02 2020-12-09T03:51:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.22 , 0.36 2020-12-09T03:51:07Z- waiting for 1607485868.32, time is 1607485867.33 2020-12-09T03:51:07Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485867.34 epoch sec; seqNo:329; 4061725.98 north; 594336.20 east 2020-12-09T03:51:07Z- waiting for 1607485868.32, time is 1607485867.33 2020-12-09T03:51:07Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:07Z- AHRS_M2 msg: 1607485867.71 epoch sec; seqNo:311 2020-12-09T03:51:07Z- AHRS_M2 msg: 4.05 phi; -0.18 theta; -0.28 psi 2020-12-09T03:51:07Z- waiting for 1607485868.32, time is 1607485867.33 2020-12-09T03:51:07Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:07Z- handleDepth()-Depth_Keller msg: 8.16 epoch sec; seqNo:1607485867713; depth 0.00 2020-12-09T03:51:07Z- waiting for 1607485868.32, time is 1607485867.33 2020-12-09T03:51:07Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485867.74 epoch sec; seqNo:330; 4061725.60 north; 594336.20 east 2020-12-09T03:51:07Z- waiting for 1607485868.32, time is 1607485867.33 2020-12-09T03:51:07Z- sync is 0.42, coherence is 2.00 2020-12-09T03:51:07Z- AHRS_M2 msg: 1607485868.13 epoch sec; seqNo:312 2020-12-09T03:51:07Z- AHRS_M2 msg: 4.06 phi; -0.19 theta; -0.29 psi 2020-12-09T03:51:07Z- waiting for 1607485868.32, time is 1607485867.33 2020-12-09T03:51:07Z- sync is 0.80, coherence is 2.00 2020-12-09T03:51:07Z- handleDepth()-Depth_Keller msg: 8.20 epoch sec; seqNo:1607485868135; depth 0.00 2020-12-09T03:51:07Z- waiting for 1607485868.32, time is 1607485867.33 2020-12-09T03:51:07Z- sync is 0.80, coherence is 2.00 2020-12-09T03:51:07Z- handleDvl() - RDI_Pathfinder msg: 1607485868.16 epoch sec; seqNo:136 2020-12-09T03:51:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.52 , 107.49 , 78.00 , 89.12 2020-12-09T03:51:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.68 , 0.14 , 0.24 2020-12-09T03:51:07Z- waiting for 1607485868.32, time is 1607485868.16 2020-12-09T03:51:07Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485868.17 epoch sec; seqNo:331; 4061725.59 north; 594334.98 east 2020-12-09T03:51:07Z- waiting for 1607485868.32, time is 1607485868.16 2020-12-09T03:51:07Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:08Z- AHRS_M2 msg: 1607485868.52 epoch sec; seqNo:313 2020-12-09T03:51:08Z- AHRS_M2 msg: 4.06 phi; -0.19 theta; -0.29 psi 2020-12-09T03:51:08Z- waiting for 1607485868.32, time is 1607485868.16 2020-12-09T03:51:08Z- sync is 0.36, coherence is 2.00 2020-12-09T03:51:08Z- handleDepth()-Depth_Keller msg: 8.27 epoch sec; seqNo:1607485868525; depth 0.00 2020-12-09T03:51:08Z- waiting for 1607485868.32, time is 1607485868.16 2020-12-09T03:51:08Z- sync is 0.36, coherence is 2.00 2020-12-09T03:51:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485868.54 epoch sec; seqNo:332; 4061725.59 north; 594334.98 east 2020-12-09T03:51:08Z- waiting for 1607485868.32, time is 1607485868.16 2020-12-09T03:51:08Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:08Z- AHRS_M2 msg: 1607485868.93 epoch sec; seqNo:314 2020-12-09T03:51:08Z- AHRS_M2 msg: 4.07 phi; -0.20 theta; -0.29 psi 2020-12-09T03:51:08Z- waiting for 1607485868.32, time is 1607485868.16 2020-12-09T03:51:08Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:08Z- handleDepth()-Depth_Keller msg: 8.31 epoch sec; seqNo:1607485868937; depth 0.00 2020-12-09T03:51:08Z- waiting for 1607485868.32, time is 1607485868.16 2020-12-09T03:51:08Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485868.95 epoch sec; seqNo:333; 4061725.59 north; 594334.98 east 2020-12-09T03:51:08Z- waiting for 1607485868.32, time is 1607485868.16 2020-12-09T03:51:08Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:09Z- AHRS_M2 msg: 1607485869.33 epoch sec; seqNo:315 2020-12-09T03:51:09Z- AHRS_M2 msg: 4.07 phi; -0.20 theta; -0.29 psi 2020-12-09T03:51:09Z- waiting for 1607485868.32, time is 1607485868.16 2020-12-09T03:51:09Z- sync is 1.17, coherence is 2.00 2020-12-09T03:51:09Z- handleDepth()-Depth_Keller msg: 8.38 epoch sec; seqNo:1607485869329; depth 0.00 2020-12-09T03:51:09Z- waiting for 1607485868.32, time is 1607485868.16 2020-12-09T03:51:09Z- sync is 1.17, coherence is 2.00 2020-12-09T03:51:09Z- handleDvl() - RDI_Pathfinder msg: 1607485869.36 epoch sec; seqNo:137 2020-12-09T03:51:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.93 , 107.89 , 82.36 , 90.87 2020-12-09T03:51:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.62 , 0.08 , 0.07 2020-12-09T03:51:09Z- waiting for 1607485868.32, time is 1607485869.36 2020-12-09T03:51:09Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:09Z- LcmTrn::updateTrn() >>>> pose time 1607485869.33, meas time 1607485869.36 <<<< 2020-12-09T03:51:09Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485869.36 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:51:09Z- TerrainNav::motionUpdate() - currEstimate = (4061726, 594334.98, 8.38) 2020-12-09T03:51:09Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:51:09Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:51:09Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:51:09Z- TNavBF::mmse selected from filter -1 2020-12-09T03:51:09Z- variances([0], [2], and psi_berg) = 822.271434 833.174486 0.000000 2020-12-09T03:51:09Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:51:09Z- LcmTrn::cycle() - MLE : 4061688.09 594287.48 8.38 2020-12-09T03:51:09Z- LcmTrn::cycle() - MMSE : 4061725.59 594334.98 8.38 2020-12-09T03:51:09Z- LcmTrn::cycle() - COVAR: 822.27 833.17 29.55 0.00 2020-12-09T03:51:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485869.37 epoch sec; seqNo:334; 4061725.21 north; 594334.99 east 2020-12-09T03:51:09Z- waiting for 1607485872.36, time is 1607485869.36 2020-12-09T03:51:09Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:09Z- AHRS_M2 msg: 1607485869.73 epoch sec; seqNo:316 2020-12-09T03:51:09Z- AHRS_M2 msg: 4.07 phi; -0.20 theta; -0.28 psi 2020-12-09T03:51:09Z- waiting for 1607485872.36, time is 1607485869.36 2020-12-09T03:51:09Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:09Z- handleDepth()-Depth_Keller msg: 8.42 epoch sec; seqNo:1607485869733; depth 0.00 2020-12-09T03:51:09Z- waiting for 1607485872.36, time is 1607485869.36 2020-12-09T03:51:09Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485869.77 epoch sec; seqNo:335; 4061725.21 north; 594334.99 east 2020-12-09T03:51:09Z- waiting for 1607485872.36, time is 1607485869.36 2020-12-09T03:51:09Z- sync is 0.42, coherence is 2.00 2020-12-09T03:51:09Z- AHRS_M2 msg: 1607485870.15 epoch sec; seqNo:317 2020-12-09T03:51:09Z- AHRS_M2 msg: 4.07 phi; -0.20 theta; -0.28 psi 2020-12-09T03:51:09Z- waiting for 1607485872.36, time is 1607485869.36 2020-12-09T03:51:09Z- sync is 0.80, coherence is 2.00 2020-12-09T03:51:09Z- handleDepth()-Depth_Keller msg: 8.49 epoch sec; seqNo:1607485870159; depth 0.00 2020-12-09T03:51:09Z- waiting for 1607485872.36, time is 1607485869.36 2020-12-09T03:51:09Z- sync is 0.80, coherence is 2.00 2020-12-09T03:51:10Z- handleDvl() - RDI_Pathfinder msg: 1607485870.19 epoch sec; seqNo:138 2020-12-09T03:51:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.52 , 108.97 , 78.00 , 93.17 2020-12-09T03:51:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , 0.06 , -0.01 2020-12-09T03:51:10Z- waiting for 1607485872.36, time is 1607485870.19 2020-12-09T03:51:10Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485870.20 epoch sec; seqNo:336; 4061725.20 north; 594333.77 east 2020-12-09T03:51:10Z- waiting for 1607485872.36, time is 1607485870.19 2020-12-09T03:51:10Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:10Z- AHRS_M2 msg: 1607485870.55 epoch sec; seqNo:318 2020-12-09T03:51:10Z- AHRS_M2 msg: 4.07 phi; -0.20 theta; -0.27 psi 2020-12-09T03:51:10Z- waiting for 1607485872.36, time is 1607485870.19 2020-12-09T03:51:10Z- sync is 0.36, coherence is 2.00 2020-12-09T03:51:10Z- handleDepth()-Depth_Keller msg: 8.56 epoch sec; seqNo:1607485870549; depth 0.00 2020-12-09T03:51:10Z- waiting for 1607485872.36, time is 1607485870.19 2020-12-09T03:51:10Z- sync is 0.36, coherence is 2.00 2020-12-09T03:51:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485870.58 epoch sec; seqNo:337; 4061724.82 north; 594333.77 east 2020-12-09T03:51:10Z- waiting for 1607485872.36, time is 1607485870.19 2020-12-09T03:51:10Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:10Z- AHRS_M2 msg: 1607485870.94 epoch sec; seqNo:319 2020-12-09T03:51:10Z- AHRS_M2 msg: 4.07 phi; -0.20 theta; -0.26 psi 2020-12-09T03:51:10Z- waiting for 1607485872.36, time is 1607485870.19 2020-12-09T03:51:10Z- sync is 0.75, coherence is 2.00 2020-12-09T03:51:10Z- handleDepth()-Depth_Keller msg: 8.63 epoch sec; seqNo:1607485870944; depth 0.00 2020-12-09T03:51:10Z- waiting for 1607485872.36, time is 1607485870.19 2020-12-09T03:51:10Z- sync is 0.75, coherence is 2.00 2020-12-09T03:51:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485870.97 epoch sec; seqNo:338; 4061724.82 north; 594333.77 east 2020-12-09T03:51:10Z- waiting for 1607485872.36, time is 1607485870.19 2020-12-09T03:51:10Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:11Z- AHRS_M2 msg: 1607485871.35 epoch sec; seqNo:320 2020-12-09T03:51:11Z- AHRS_M2 msg: 4.06 phi; -0.20 theta; -0.26 psi 2020-12-09T03:51:11Z- waiting for 1607485872.36, time is 1607485870.19 2020-12-09T03:51:11Z- sync is 1.16, coherence is 2.00 2020-12-09T03:51:11Z- handleDepth()-Depth_Keller msg: 8.67 epoch sec; seqNo:1607485871349; depth 0.00 2020-12-09T03:51:11Z- waiting for 1607485872.36, time is 1607485870.19 2020-12-09T03:51:11Z- sync is 1.16, coherence is 2.00 2020-12-09T03:51:11Z- handleDvl() - RDI_Pathfinder msg: 1607485871.36 epoch sec; seqNo:139 2020-12-09T03:51:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.57 , 106.61 , 76.77 , 92.02 2020-12-09T03:51:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , 0.00 , -0.05 2020-12-09T03:51:11Z- waiting for 1607485872.36, time is 1607485871.36 2020-12-09T03:51:11Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485871.39 epoch sec; seqNo:339; 4061724.44 north; 594333.78 east 2020-12-09T03:51:11Z- waiting for 1607485872.36, time is 1607485871.36 2020-12-09T03:51:11Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:11Z- AHRS_M2 msg: 1607485871.75 epoch sec; seqNo:321 2020-12-09T03:51:11Z- AHRS_M2 msg: 4.06 phi; -0.20 theta; -0.25 psi 2020-12-09T03:51:11Z- waiting for 1607485872.36, time is 1607485871.36 2020-12-09T03:51:11Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:11Z- handleDepth()-Depth_Keller msg: 8.74 epoch sec; seqNo:1607485871753; depth 0.00 2020-12-09T03:51:11Z- waiting for 1607485872.36, time is 1607485871.36 2020-12-09T03:51:11Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485871.77 epoch sec; seqNo:340; 4061724.44 north; 594333.78 east 2020-12-09T03:51:11Z- waiting for 1607485872.36, time is 1607485871.36 2020-12-09T03:51:11Z- sync is 0.40, coherence is 2.00 2020-12-09T03:51:11Z- AHRS_M2 msg: 1607485872.15 epoch sec; seqNo:322 2020-12-09T03:51:11Z- AHRS_M2 msg: 4.06 phi; -0.21 theta; -0.25 psi 2020-12-09T03:51:11Z- waiting for 1607485872.36, time is 1607485871.36 2020-12-09T03:51:11Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:11Z- handleDepth()-Depth_Keller msg: 8.81 epoch sec; seqNo:1607485872159; depth 0.00 2020-12-09T03:51:11Z- waiting for 1607485872.36, time is 1607485871.36 2020-12-09T03:51:11Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:11Z- handleDvl() - RDI_Pathfinder msg: 1607485872.17 epoch sec; seqNo:140 2020-12-09T03:51:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.75 , 96.88 , 75.96 , 98.10 2020-12-09T03:51:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.02 , -0.09 2020-12-09T03:51:11Z- waiting for 1607485872.36, time is 1607485872.17 2020-12-09T03:51:11Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485872.18 epoch sec; seqNo:341; 4061724.05 north; 594332.56 east 2020-12-09T03:51:11Z- waiting for 1607485872.36, time is 1607485872.17 2020-12-09T03:51:11Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:12Z- AHRS_M2 msg: 1607485872.56 epoch sec; seqNo:323 2020-12-09T03:51:12Z- AHRS_M2 msg: 4.05 phi; -0.21 theta; -0.25 psi 2020-12-09T03:51:12Z- waiting for 1607485872.36, time is 1607485872.17 2020-12-09T03:51:12Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:12Z- handleDepth()-Depth_Keller msg: 8.87 epoch sec; seqNo:1607485872576; depth 0.00 2020-12-09T03:51:12Z- waiting for 1607485872.36, time is 1607485872.17 2020-12-09T03:51:12Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485872.59 epoch sec; seqNo:342; 4061724.05 north; 594332.56 east 2020-12-09T03:51:12Z- waiting for 1607485872.36, time is 1607485872.17 2020-12-09T03:51:12Z- sync is 0.42, coherence is 2.00 2020-12-09T03:51:12Z- AHRS_M2 msg: 1607485872.96 epoch sec; seqNo:324 2020-12-09T03:51:12Z- AHRS_M2 msg: 4.05 phi; -0.21 theta; -0.25 psi 2020-12-09T03:51:12Z- waiting for 1607485872.36, time is 1607485872.17 2020-12-09T03:51:12Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:12Z- handleDepth()-Depth_Keller msg: 8.93 epoch sec; seqNo:1607485872967; depth 0.00 2020-12-09T03:51:12Z- waiting for 1607485872.36, time is 1607485872.17 2020-12-09T03:51:12Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485872.98 epoch sec; seqNo:343; 4061723.67 north; 594332.56 east 2020-12-09T03:51:12Z- waiting for 1607485872.36, time is 1607485872.17 2020-12-09T03:51:12Z- sync is 0.81, coherence is 2.00 2020-12-09T03:51:13Z- AHRS_M2 msg: 1607485873.37 epoch sec; seqNo:325 2020-12-09T03:51:13Z- AHRS_M2 msg: 4.05 phi; -0.21 theta; -0.25 psi 2020-12-09T03:51:13Z- waiting for 1607485872.36, time is 1607485872.17 2020-12-09T03:51:13Z- sync is 1.19, coherence is 2.00 2020-12-09T03:51:13Z- handleDepth()-Depth_Keller msg: 9.01 epoch sec; seqNo:1607485873374; depth 0.00 2020-12-09T03:51:13Z- waiting for 1607485872.36, time is 1607485872.17 2020-12-09T03:51:13Z- sync is 1.19, coherence is 2.00 2020-12-09T03:51:13Z- handleDvl() - RDI_Pathfinder msg: 1607485873.39 epoch sec; seqNo:141 2020-12-09T03:51:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.75 , 104.31 , 78.78 , 90.94 2020-12-09T03:51:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.05 , -0.14 2020-12-09T03:51:13Z- waiting for 1607485872.36, time is 1607485873.39 2020-12-09T03:51:13Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:13Z- LcmTrn::updateTrn() >>>> pose time 1607485873.37, meas time 1607485873.39 <<<< 2020-12-09T03:51:13Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485873.39 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:51:13Z- TerrainNav::motionUpdate() - currEstimate = (4061724, 594332.56, 9.01) 2020-12-09T03:51:13Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:51:13Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:51:13Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:51:13Z- TNavBF::mmse selected from filter -1 2020-12-09T03:51:13Z- variances([0], [2], and psi_berg) = 821.911820 833.172711 0.000000 2020-12-09T03:51:13Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:51:13Z- LcmTrn::cycle() - MLE : 4061686.17 594382.06 9.01 2020-12-09T03:51:13Z- LcmTrn::cycle() - MMSE : 4061723.67 594332.56 9.01 2020-12-09T03:51:13Z- LcmTrn::cycle() - COVAR: 821.91 833.17 29.71 0.00 2020-12-09T03:51:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485873.40 epoch sec; seqNo:344; 4061723.29 north; 594332.57 east 2020-12-09T03:51:13Z- waiting for 1607485876.39, time is 1607485873.39 2020-12-09T03:51:13Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:13Z- AHRS_M2 msg: 1607485873.77 epoch sec; seqNo:326 2020-12-09T03:51:13Z- AHRS_M2 msg: 4.04 phi; -0.20 theta; -0.25 psi 2020-12-09T03:51:13Z- waiting for 1607485876.39, time is 1607485873.39 2020-12-09T03:51:13Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:13Z- handleDepth()-Depth_Keller msg: 9.08 epoch sec; seqNo:1607485873776; depth 0.00 2020-12-09T03:51:13Z- waiting for 1607485876.39, time is 1607485873.39 2020-12-09T03:51:13Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485873.79 epoch sec; seqNo:345; 4061723.29 north; 594332.57 east 2020-12-09T03:51:13Z- waiting for 1607485876.39, time is 1607485873.39 2020-12-09T03:51:13Z- sync is 0.40, coherence is 2.00 2020-12-09T03:51:13Z- AHRS_M2 msg: 1607485874.17 epoch sec; seqNo:327 2020-12-09T03:51:13Z- AHRS_M2 msg: 4.04 phi; -0.20 theta; -0.25 psi 2020-12-09T03:51:13Z- waiting for 1607485876.39, time is 1607485873.39 2020-12-09T03:51:13Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:13Z- handleDepth()-Depth_Keller msg: 9.14 epoch sec; seqNo:1607485874181; depth 0.00 2020-12-09T03:51:13Z- waiting for 1607485876.39, time is 1607485873.39 2020-12-09T03:51:13Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:14Z- handleDvl() - RDI_Pathfinder msg: 1607485874.20 epoch sec; seqNo:142 2020-12-09T03:51:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.34 , 96.95 , 75.14 , 90.87 2020-12-09T03:51:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.05 , -0.13 2020-12-09T03:51:14Z- waiting for 1607485876.39, time is 1607485874.20 2020-12-09T03:51:14Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485874.21 epoch sec; seqNo:346; 4061722.90 north; 594331.35 east 2020-12-09T03:51:14Z- waiting for 1607485876.39, time is 1607485874.20 2020-12-09T03:51:14Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:14Z- AHRS_M2 msg: 1607485874.58 epoch sec; seqNo:328 2020-12-09T03:51:14Z- AHRS_M2 msg: 4.03 phi; -0.20 theta; -0.25 psi 2020-12-09T03:51:14Z- waiting for 1607485876.39, time is 1607485874.20 2020-12-09T03:51:14Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:14Z- handleDepth()-Depth_Keller msg: 9.21 epoch sec; seqNo:1607485874582; depth 0.00 2020-12-09T03:51:14Z- waiting for 1607485876.39, time is 1607485874.20 2020-12-09T03:51:14Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485874.63 epoch sec; seqNo:347; 4061722.52 north; 594331.36 east 2020-12-09T03:51:14Z- waiting for 1607485876.39, time is 1607485874.20 2020-12-09T03:51:14Z- sync is 0.43, coherence is 2.00 2020-12-09T03:51:14Z- AHRS_M2 msg: 1607485874.98 epoch sec; seqNo:329 2020-12-09T03:51:14Z- AHRS_M2 msg: 4.03 phi; -0.20 theta; -0.25 psi 2020-12-09T03:51:14Z- waiting for 1607485876.39, time is 1607485874.20 2020-12-09T03:51:14Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:14Z- handleDepth()-Depth_Keller msg: 9.29 epoch sec; seqNo:1607485874986; depth 0.00 2020-12-09T03:51:14Z- waiting for 1607485876.39, time is 1607485874.20 2020-12-09T03:51:14Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485875.01 epoch sec; seqNo:348; 4061722.14 north; 594331.36 east 2020-12-09T03:51:14Z- waiting for 1607485876.39, time is 1607485874.20 2020-12-09T03:51:14Z- sync is 0.81, coherence is 2.00 2020-12-09T03:51:15Z- AHRS_M2 msg: 1607485875.38 epoch sec; seqNo:330 2020-12-09T03:51:15Z- AHRS_M2 msg: 4.03 phi; -0.20 theta; -0.25 psi 2020-12-09T03:51:15Z- waiting for 1607485876.39, time is 1607485874.20 2020-12-09T03:51:15Z- sync is 1.18, coherence is 2.00 2020-12-09T03:51:15Z- handleDepth()-Depth_Keller msg: 9.35 epoch sec; seqNo:1607485875389; depth 0.00 2020-12-09T03:51:15Z- waiting for 1607485876.39, time is 1607485874.20 2020-12-09T03:51:15Z- sync is 1.18, coherence is 2.00 2020-12-09T03:51:15Z- handleDvl() - RDI_Pathfinder msg: 1607485875.43 epoch sec; seqNo:143 2020-12-09T03:51:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.93 , 103.16 , 74.73 , 90.20 2020-12-09T03:51:15Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , 0.00 , -0.08 2020-12-09T03:51:15Z- waiting for 1607485876.39, time is 1607485875.43 2020-12-09T03:51:15Z- sync is 0.04, coherence is 2.00 2020-12-09T03:51:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485875.44 epoch sec; seqNo:349; 4061722.14 north; 594331.36 east 2020-12-09T03:51:15Z- waiting for 1607485876.39, time is 1607485875.43 2020-12-09T03:51:15Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:15Z- AHRS_M2 msg: 1607485875.79 epoch sec; seqNo:331 2020-12-09T03:51:15Z- AHRS_M2 msg: 4.02 phi; -0.20 theta; -0.24 psi 2020-12-09T03:51:15Z- waiting for 1607485876.39, time is 1607485875.43 2020-12-09T03:51:15Z- sync is 0.36, coherence is 2.00 2020-12-09T03:51:15Z- handleDepth()-Depth_Keller msg: 9.42 epoch sec; seqNo:1607485875794; depth 0.00 2020-12-09T03:51:15Z- waiting for 1607485876.39, time is 1607485875.43 2020-12-09T03:51:15Z- sync is 0.36, coherence is 2.00 2020-12-09T03:51:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485875.85 epoch sec; seqNo:350; 4061721.75 north; 594330.14 east 2020-12-09T03:51:15Z- waiting for 1607485876.39, time is 1607485875.43 2020-12-09T03:51:15Z- sync is 0.42, coherence is 2.00 2020-12-09T03:51:16Z- AHRS_M2 msg: 1607485876.19 epoch sec; seqNo:332 2020-12-09T03:51:16Z- AHRS_M2 msg: 4.02 phi; -0.20 theta; -0.24 psi 2020-12-09T03:51:16Z- waiting for 1607485876.39, time is 1607485875.43 2020-12-09T03:51:16Z- sync is 0.76, coherence is 2.00 2020-12-09T03:51:16Z- handleDepth()-Depth_Keller msg: 9.49 epoch sec; seqNo:1607485876197; depth 0.00 2020-12-09T03:51:16Z- waiting for 1607485876.39, time is 1607485875.43 2020-12-09T03:51:16Z- sync is 0.76, coherence is 2.00 2020-12-09T03:51:16Z- handleDvl() - RDI_Pathfinder msg: 1607485876.21 epoch sec; seqNo:144 2020-12-09T03:51:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.93 , 101.95 , 74.73 , 88.58 2020-12-09T03:51:16Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.03 , -0.10 2020-12-09T03:51:16Z- waiting for 1607485876.39, time is 1607485876.21 2020-12-09T03:51:16Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485876.22 epoch sec; seqNo:351; 4061721.37 north; 594330.15 east 2020-12-09T03:51:16Z- waiting for 1607485876.39, time is 1607485876.21 2020-12-09T03:51:16Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:16Z- AHRS_M2 msg: 1607485876.60 epoch sec; seqNo:333 2020-12-09T03:51:16Z- AHRS_M2 msg: 4.02 phi; -0.20 theta; -0.24 psi 2020-12-09T03:51:16Z- waiting for 1607485876.39, time is 1607485876.21 2020-12-09T03:51:16Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:16Z- handleDepth()-Depth_Keller msg: 9.56 epoch sec; seqNo:1607485876610; depth 0.00 2020-12-09T03:51:16Z- waiting for 1607485876.39, time is 1607485876.21 2020-12-09T03:51:16Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485876.63 epoch sec; seqNo:352; 4061720.99 north; 594330.15 east 2020-12-09T03:51:16Z- waiting for 1607485876.39, time is 1607485876.21 2020-12-09T03:51:16Z- sync is 0.42, coherence is 2.00 2020-12-09T03:51:16Z- AHRS_M2 msg: 1607485877.00 epoch sec; seqNo:334 2020-12-09T03:51:16Z- AHRS_M2 msg: 4.02 phi; -0.20 theta; -0.24 psi 2020-12-09T03:51:16Z- waiting for 1607485876.39, time is 1607485876.21 2020-12-09T03:51:16Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:16Z- handleDepth()-Depth_Keller msg: 9.62 epoch sec; seqNo:1607485877007; depth 0.00 2020-12-09T03:51:16Z- waiting for 1607485876.39, time is 1607485876.21 2020-12-09T03:51:16Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485877.03 epoch sec; seqNo:353; 4061720.97 north; 594328.93 east 2020-12-09T03:51:16Z- waiting for 1607485876.39, time is 1607485876.21 2020-12-09T03:51:16Z- sync is 0.82, coherence is 2.00 2020-12-09T03:51:17Z- handleDepth()-Depth_Keller msg: 9.70 epoch sec; seqNo:1607485877425; depth 0.00 2020-12-09T03:51:17Z- waiting for 1607485876.39, time is 1607485876.21 2020-12-09T03:51:17Z- sync is 0.82, coherence is 2.00 2020-12-09T03:51:17Z- handleDvl() - RDI_Pathfinder msg: 1607485877.45 epoch sec; seqNo:145 2020-12-09T03:51:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.52 , 100.80 , 74.32 , 88.64 2020-12-09T03:51:17Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.15 , -0.12 2020-12-09T03:51:17Z- waiting for 1607485876.39, time is 1607485877.45 2020-12-09T03:51:17Z- sync is 0.42, coherence is 2.00 2020-12-09T03:51:17Z- LcmTrn::updateTrn() >>>> pose time 1607485877.03, meas time 1607485877.45 <<<< 2020-12-09T03:51:17Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485877.45 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:51:17Z- TerrainNav::motionUpdate() - currEstimate = (4061721, 594328.93, 9.70) 2020-12-09T03:51:17Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:51:17Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:51:17Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:51:17Z- TNavBF::mmse selected from filter -1 2020-12-09T03:51:17Z- variances([0], [2], and psi_berg) = 821.481593 833.170626 0.000000 2020-12-09T03:51:17Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:51:17Z- LcmTrn::cycle() - MLE : 4061684.47 594279.43 9.70 2020-12-09T03:51:17Z- LcmTrn::cycle() - MMSE : 4061720.97 594328.93 9.70 2020-12-09T03:51:17Z- LcmTrn::cycle() - COVAR: 821.48 833.17 29.94 0.00 2020-12-09T03:51:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485877.47 epoch sec; seqNo:354; 4061720.60 north; 594328.94 east 2020-12-09T03:51:17Z- waiting for 1607485880.45, time is 1607485877.45 2020-12-09T03:51:17Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:17Z- AHRS_M2 msg: 1607485877.81 epoch sec; seqNo:335 2020-12-09T03:51:17Z- AHRS_M2 msg: 4.01 phi; -0.19 theta; -0.23 psi 2020-12-09T03:51:17Z- waiting for 1607485880.45, time is 1607485877.45 2020-12-09T03:51:17Z- sync is 0.36, coherence is 2.00 2020-12-09T03:51:17Z- handleDepth()-Depth_Keller msg: 9.76 epoch sec; seqNo:1607485877817; depth 0.00 2020-12-09T03:51:17Z- waiting for 1607485880.45, time is 1607485877.45 2020-12-09T03:51:17Z- sync is 0.36, coherence is 2.00 2020-12-09T03:51:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485877.83 epoch sec; seqNo:355; 4061720.22 north; 594328.94 east 2020-12-09T03:51:17Z- waiting for 1607485880.45, time is 1607485877.45 2020-12-09T03:51:17Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:18Z- AHRS_M2 msg: 1607485878.22 epoch sec; seqNo:336 2020-12-09T03:51:18Z- AHRS_M2 msg: 4.00 phi; -0.19 theta; -0.22 psi 2020-12-09T03:51:18Z- waiting for 1607485880.45, time is 1607485877.45 2020-12-09T03:51:18Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:18Z- handleDepth()-Depth_Keller msg: 9.82 epoch sec; seqNo:1607485878223; depth 0.00 2020-12-09T03:51:18Z- waiting for 1607485880.45, time is 1607485877.45 2020-12-09T03:51:18Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:18Z- handleDvl() - RDI_Pathfinder msg: 1607485878.24 epoch sec; seqNo:146 2020-12-09T03:51:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.66 , 103.16 , 73.09 , 88.03 2020-12-09T03:51:18Z- handleDvl() - RDI_Pathfinder msg: velocities 1.13 , 0.17 , -0.12 2020-12-09T03:51:18Z- waiting for 1607485880.45, time is 1607485878.24 2020-12-09T03:51:18Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485878.25 epoch sec; seqNo:356; 4061720.22 north; 594328.94 east 2020-12-09T03:51:18Z- waiting for 1607485880.45, time is 1607485878.24 2020-12-09T03:51:18Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:18Z- AHRS_M2 msg: 1607485878.62 epoch sec; seqNo:337 2020-12-09T03:51:18Z- AHRS_M2 msg: 4.00 phi; -0.19 theta; -0.21 psi 2020-12-09T03:51:18Z- waiting for 1607485880.45, time is 1607485878.24 2020-12-09T03:51:18Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:18Z- handleDepth()-Depth_Keller msg: 9.88 epoch sec; seqNo:1607485878627; depth 0.00 2020-12-09T03:51:18Z- waiting for 1607485880.45, time is 1607485878.24 2020-12-09T03:51:18Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485878.66 epoch sec; seqNo:357; 4061719.82 north; 594327.72 east 2020-12-09T03:51:18Z- waiting for 1607485880.45, time is 1607485878.24 2020-12-09T03:51:18Z- sync is 0.42, coherence is 2.00 2020-12-09T03:51:18Z- AHRS_M2 msg: 1607485879.02 epoch sec; seqNo:338 2020-12-09T03:51:18Z- AHRS_M2 msg: 4.00 phi; -0.19 theta; -0.21 psi 2020-12-09T03:51:18Z- waiting for 1607485880.45, time is 1607485878.24 2020-12-09T03:51:18Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:18Z- handleDepth()-Depth_Keller msg: 9.95 epoch sec; seqNo:1607485879024; depth 0.00 2020-12-09T03:51:18Z- waiting for 1607485880.45, time is 1607485878.24 2020-12-09T03:51:18Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485879.04 epoch sec; seqNo:358; 4061719.45 north; 594327.73 east 2020-12-09T03:51:18Z- waiting for 1607485880.45, time is 1607485878.24 2020-12-09T03:51:18Z- sync is 0.81, coherence is 2.00 2020-12-09T03:51:19Z- AHRS_M2 msg: 1607485879.43 epoch sec; seqNo:339 2020-12-09T03:51:19Z- AHRS_M2 msg: 4.00 phi; -0.19 theta; -0.20 psi 2020-12-09T03:51:19Z- waiting for 1607485880.45, time is 1607485878.24 2020-12-09T03:51:19Z- sync is 1.19, coherence is 2.00 2020-12-09T03:51:19Z- handleDepth()-Depth_Keller msg: 10.03 epoch sec; seqNo:1607485879441; depth 0.00 2020-12-09T03:51:19Z- waiting for 1607485880.45, time is 1607485878.24 2020-12-09T03:51:19Z- sync is 1.19, coherence is 2.00 2020-12-09T03:51:19Z- handleDvl() - RDI_Pathfinder msg: 1607485879.45 epoch sec; seqNo:147 2020-12-09T03:51:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.66 , 98.83 , 73.50 , 86.95 2020-12-09T03:51:19Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , 0.20 , -0.07 2020-12-09T03:51:19Z- waiting for 1607485880.45, time is 1607485879.45 2020-12-09T03:51:19Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485879.47 epoch sec; seqNo:359; 4061719.45 north; 594327.73 east 2020-12-09T03:51:19Z- waiting for 1607485880.45, time is 1607485879.45 2020-12-09T03:51:19Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:19Z- AHRS_M2 msg: 1607485879.84 epoch sec; seqNo:340 2020-12-09T03:51:19Z- AHRS_M2 msg: 4.01 phi; -0.18 theta; -0.19 psi 2020-12-09T03:51:19Z- waiting for 1607485880.45, time is 1607485879.45 2020-12-09T03:51:19Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:19Z- handleDepth()-Depth_Keller msg: 10.10 epoch sec; seqNo:1607485879839; depth 0.00 2020-12-09T03:51:19Z- waiting for 1607485880.45, time is 1607485879.45 2020-12-09T03:51:19Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485879.87 epoch sec; seqNo:360; 4061719.05 north; 594326.51 east 2020-12-09T03:51:19Z- waiting for 1607485880.45, time is 1607485879.45 2020-12-09T03:51:19Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:20Z- AHRS_M2 msg: 1607485880.23 epoch sec; seqNo:341 2020-12-09T03:51:20Z- AHRS_M2 msg: 4.01 phi; -0.18 theta; -0.19 psi 2020-12-09T03:51:20Z- waiting for 1607485880.45, time is 1607485879.45 2020-12-09T03:51:20Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:20Z- handleDepth()-Depth_Keller msg: 10.17 epoch sec; seqNo:1607485880240; depth 0.00 2020-12-09T03:51:20Z- waiting for 1607485880.45, time is 1607485879.45 2020-12-09T03:51:20Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:20Z- handleDvl() - RDI_Pathfinder msg: 1607485880.27 epoch sec; seqNo:148 2020-12-09T03:51:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.88 , 96.81 , 72.68 , 86.01 2020-12-09T03:51:20Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , 0.25 , -0.04 2020-12-09T03:51:20Z- waiting for 1607485880.45, time is 1607485880.27 2020-12-09T03:51:20Z- sync is 0.04, coherence is 2.00 2020-12-09T03:51:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485880.29 epoch sec; seqNo:361; 4061719.05 north; 594326.51 east 2020-12-09T03:51:20Z- waiting for 1607485880.45, time is 1607485880.27 2020-12-09T03:51:20Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:20Z- AHRS_M2 msg: 1607485880.64 epoch sec; seqNo:342 2020-12-09T03:51:20Z- AHRS_M2 msg: 4.02 phi; -0.18 theta; -0.18 psi 2020-12-09T03:51:20Z- waiting for 1607485880.45, time is 1607485880.27 2020-12-09T03:51:20Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:20Z- handleDepth()-Depth_Keller msg: 10.23 epoch sec; seqNo:1607485880650; depth 0.00 2020-12-09T03:51:20Z- waiting for 1607485880.45, time is 1607485880.27 2020-12-09T03:51:20Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485880.68 epoch sec; seqNo:362; 4061718.67 north; 594326.52 east 2020-12-09T03:51:20Z- waiting for 1607485880.45, time is 1607485880.27 2020-12-09T03:51:20Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:20Z- AHRS_M2 msg: 1607485881.04 epoch sec; seqNo:343 2020-12-09T03:51:20Z- AHRS_M2 msg: 4.02 phi; -0.18 theta; -0.18 psi 2020-12-09T03:51:20Z- waiting for 1607485880.45, time is 1607485880.27 2020-12-09T03:51:20Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:20Z- handleDepth()-Depth_Keller msg: 10.31 epoch sec; seqNo:1607485881045; depth 0.00 2020-12-09T03:51:20Z- waiting for 1607485880.45, time is 1607485880.27 2020-12-09T03:51:20Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485881.08 epoch sec; seqNo:363; 4061718.28 north; 594325.30 east 2020-12-09T03:51:20Z- waiting for 1607485880.45, time is 1607485880.27 2020-12-09T03:51:20Z- sync is 0.81, coherence is 2.00 2020-12-09T03:51:21Z- AHRS_M2 msg: 1607485881.45 epoch sec; seqNo:344 2020-12-09T03:51:21Z- AHRS_M2 msg: 4.02 phi; -0.18 theta; -0.17 psi 2020-12-09T03:51:21Z- waiting for 1607485880.45, time is 1607485880.27 2020-12-09T03:51:21Z- sync is 1.17, coherence is 2.00 2020-12-09T03:51:21Z- handleDepth()-Depth_Keller msg: 10.38 epoch sec; seqNo:1607485881453; depth 0.00 2020-12-09T03:51:21Z- waiting for 1607485880.45, time is 1607485880.27 2020-12-09T03:51:21Z- sync is 1.17, coherence is 2.00 2020-12-09T03:51:21Z- handleDvl() - RDI_Pathfinder msg: 1607485881.47 epoch sec; seqNo:149 2020-12-09T03:51:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.47 , 96.81 , 72.28 , 84.93 2020-12-09T03:51:21Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , 0.31 , -0.01 2020-12-09T03:51:21Z- waiting for 1607485880.45, time is 1607485881.47 2020-12-09T03:51:21Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:21Z- LcmTrn::updateTrn() >>>> pose time 1607485881.45, meas time 1607485881.47 <<<< 2020-12-09T03:51:21Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485881.47 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:51:21Z- TerrainNav::motionUpdate() - currEstimate = (4061718, 594325.30, 10.38) 2020-12-09T03:51:21Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:51:21Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:51:21Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:51:21Z- TNavBF::mmse selected from filter -1 2020-12-09T03:51:21Z- variances([0], [2], and psi_berg) = 821.057019 833.168613 0.000000 2020-12-09T03:51:21Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:51:21Z- LcmTrn::cycle() - MLE : 4061681.78 594275.80 10.38 2020-12-09T03:51:21Z- LcmTrn::cycle() - MMSE : 4061718.28 594325.30 10.38 2020-12-09T03:51:21Z- LcmTrn::cycle() - COVAR: 821.06 833.17 30.17 0.00 2020-12-09T03:51:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485881.49 epoch sec; seqNo:364; 4061718.28 north; 594325.30 east 2020-12-09T03:51:21Z- waiting for 1607485884.47, time is 1607485881.47 2020-12-09T03:51:21Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:21Z- AHRS_M2 msg: 1607485881.85 epoch sec; seqNo:345 2020-12-09T03:51:21Z- AHRS_M2 msg: 4.02 phi; -0.18 theta; -0.17 psi 2020-12-09T03:51:21Z- waiting for 1607485884.47, time is 1607485881.47 2020-12-09T03:51:21Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:21Z- handleDepth()-Depth_Keller msg: 10.44 epoch sec; seqNo:1607485881857; depth 0.00 2020-12-09T03:51:21Z- waiting for 1607485884.47, time is 1607485881.47 2020-12-09T03:51:21Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485881.88 epoch sec; seqNo:365; 4061717.90 north; 594325.31 east 2020-12-09T03:51:21Z- waiting for 1607485884.47, time is 1607485881.47 2020-12-09T03:51:21Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:22Z- AHRS_M2 msg: 1607485882.25 epoch sec; seqNo:346 2020-12-09T03:51:22Z- AHRS_M2 msg: 4.02 phi; -0.17 theta; -0.16 psi 2020-12-09T03:51:22Z- waiting for 1607485884.47, time is 1607485881.47 2020-12-09T03:51:22Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:22Z- handleDepth()-Depth_Keller msg: 10.50 epoch sec; seqNo:1607485882257; depth 0.00 2020-12-09T03:51:22Z- waiting for 1607485884.47, time is 1607485881.47 2020-12-09T03:51:22Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:22Z- handleDvl() - RDI_Pathfinder msg: 1607485882.27 epoch sec; seqNo:150 2020-12-09T03:51:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.88 , 94.65 , 72.28 , 83.85 2020-12-09T03:51:22Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , 0.38 , 0.05 2020-12-09T03:51:22Z- waiting for 1607485884.47, time is 1607485882.27 2020-12-09T03:51:22Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485882.30 epoch sec; seqNo:366; 4061717.89 north; 594324.08 east 2020-12-09T03:51:22Z- waiting for 1607485884.47, time is 1607485882.27 2020-12-09T03:51:22Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:22Z- AHRS_M2 msg: 1607485882.66 epoch sec; seqNo:347 2020-12-09T03:51:22Z- AHRS_M2 msg: 4.01 phi; -0.17 theta; -0.16 psi 2020-12-09T03:51:22Z- waiting for 1607485884.47, time is 1607485882.27 2020-12-09T03:51:22Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:22Z- handleDepth()-Depth_Keller msg: 10.57 epoch sec; seqNo:1607485882669; depth 0.00 2020-12-09T03:51:22Z- waiting for 1607485884.47, time is 1607485882.27 2020-12-09T03:51:22Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485882.68 epoch sec; seqNo:367; 4061717.89 north; 594324.08 east 2020-12-09T03:51:22Z- waiting for 1607485884.47, time is 1607485882.27 2020-12-09T03:51:22Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:22Z- AHRS_M2 msg: 1607485883.07 epoch sec; seqNo:348 2020-12-09T03:51:22Z- AHRS_M2 msg: 4.01 phi; -0.17 theta; -0.16 psi 2020-12-09T03:51:22Z- waiting for 1607485884.47, time is 1607485882.27 2020-12-09T03:51:22Z- sync is 0.80, coherence is 2.00 2020-12-09T03:51:22Z- handleDepth()-Depth_Keller msg: 10.65 epoch sec; seqNo:1607485883071; depth 0.00 2020-12-09T03:51:22Z- waiting for 1607485884.47, time is 1607485882.27 2020-12-09T03:51:22Z- sync is 0.80, coherence is 2.00 2020-12-09T03:51:22Z- handleDvl() - RDI_Pathfinder msg: 1607485883.08 epoch sec; seqNo:151 2020-12-09T03:51:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.29 , 94.65 , 73.09 , 79.62 2020-12-09T03:51:22Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.35 , 0.13 2020-12-09T03:51:22Z- waiting for 1607485884.47, time is 1607485883.08 2020-12-09T03:51:22Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485883.09 epoch sec; seqNo:368; 4061717.51 north; 594324.09 east 2020-12-09T03:51:22Z- waiting for 1607485884.47, time is 1607485883.08 2020-12-09T03:51:22Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:23Z- AHRS_M2 msg: 1607485883.48 epoch sec; seqNo:349 2020-12-09T03:51:23Z- AHRS_M2 msg: 4.00 phi; -0.17 theta; -0.16 psi 2020-12-09T03:51:23Z- waiting for 1607485884.47, time is 1607485883.08 2020-12-09T03:51:23Z- sync is 0.40, coherence is 2.00 2020-12-09T03:51:23Z- handleDepth()-Depth_Keller msg: 10.72 epoch sec; seqNo:1607485883487; depth 0.00 2020-12-09T03:51:23Z- waiting for 1607485884.47, time is 1607485883.08 2020-12-09T03:51:23Z- sync is 0.40, coherence is 2.00 2020-12-09T03:51:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485883.50 epoch sec; seqNo:369; 4061717.50 north; 594322.87 east 2020-12-09T03:51:23Z- waiting for 1607485884.47, time is 1607485883.08 2020-12-09T03:51:23Z- sync is 0.42, coherence is 2.00 2020-12-09T03:51:23Z- AHRS_M2 msg: 1607485883.87 epoch sec; seqNo:350 2020-12-09T03:51:23Z- AHRS_M2 msg: 4.00 phi; -0.17 theta; -0.17 psi 2020-12-09T03:51:23Z- waiting for 1607485884.47, time is 1607485883.08 2020-12-09T03:51:23Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:23Z- handleDepth()-Depth_Keller msg: 10.79 epoch sec; seqNo:1607485883873; depth 0.00 2020-12-09T03:51:23Z- waiting for 1607485884.47, time is 1607485883.08 2020-12-09T03:51:23Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485883.88 epoch sec; seqNo:370; 4061717.12 north; 594322.87 east 2020-12-09T03:51:23Z- waiting for 1607485884.47, time is 1607485883.08 2020-12-09T03:51:23Z- sync is 0.80, coherence is 2.00 2020-12-09T03:51:24Z- AHRS_M2 msg: 1607485884.27 epoch sec; seqNo:351 2020-12-09T03:51:24Z- AHRS_M2 msg: 4.00 phi; -0.17 theta; -0.17 psi 2020-12-09T03:51:24Z- waiting for 1607485884.47, time is 1607485883.08 2020-12-09T03:51:24Z- sync is 1.19, coherence is 2.00 2020-12-09T03:51:24Z- handleDepth()-Depth_Keller msg: 10.84 epoch sec; seqNo:1607485884278; depth 0.00 2020-12-09T03:51:24Z- waiting for 1607485884.47, time is 1607485883.08 2020-12-09T03:51:24Z- sync is 1.19, coherence is 2.00 2020-12-09T03:51:24Z- handleDvl() - RDI_Pathfinder msg: 1607485884.29 epoch sec; seqNo:152 2020-12-09T03:51:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.07 , 94.65 , 73.09 , 79.22 2020-12-09T03:51:24Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.26 , 0.19 2020-12-09T03:51:24Z- waiting for 1607485884.47, time is 1607485884.29 2020-12-09T03:51:24Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485884.30 epoch sec; seqNo:371; 4061717.12 north; 594322.87 east 2020-12-09T03:51:24Z- waiting for 1607485884.47, time is 1607485884.29 2020-12-09T03:51:24Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:24Z- AHRS_M2 msg: 1607485884.68 epoch sec; seqNo:352 2020-12-09T03:51:24Z- AHRS_M2 msg: 4.01 phi; -0.17 theta; -0.17 psi 2020-12-09T03:51:24Z- waiting for 1607485884.47, time is 1607485884.29 2020-12-09T03:51:24Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:24Z- handleDepth()-Depth_Keller msg: 10.92 epoch sec; seqNo:1607485884683; depth 0.00 2020-12-09T03:51:24Z- waiting for 1607485884.47, time is 1607485884.29 2020-12-09T03:51:24Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485884.70 epoch sec; seqNo:372; 4061716.73 north; 594321.66 east 2020-12-09T03:51:24Z- waiting for 1607485884.47, time is 1607485884.29 2020-12-09T03:51:24Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:24Z- AHRS_M2 msg: 1607485885.08 epoch sec; seqNo:353 2020-12-09T03:51:24Z- AHRS_M2 msg: 4.01 phi; -0.17 theta; -0.18 psi 2020-12-09T03:51:24Z- waiting for 1607485884.47, time is 1607485884.29 2020-12-09T03:51:24Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:24Z- handleDepth()-Depth_Keller msg: 10.99 epoch sec; seqNo:1607485885101; depth 0.00 2020-12-09T03:51:24Z- waiting for 1607485884.47, time is 1607485884.29 2020-12-09T03:51:24Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:24Z- handleDvl() - RDI_Pathfinder msg: 1607485885.13 epoch sec; seqNo:153 2020-12-09T03:51:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.66 , 97.89 , 73.91 , 79.62 2020-12-09T03:51:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.16 , 0.17 2020-12-09T03:51:24Z- waiting for 1607485884.47, time is 1607485885.13 2020-12-09T03:51:24Z- sync is 0.04, coherence is 2.00 2020-12-09T03:51:24Z- LcmTrn::updateTrn() >>>> pose time 1607485885.08, meas time 1607485885.13 <<<< 2020-12-09T03:51:24Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485885.13 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:51:24Z- TerrainNav::motionUpdate() - currEstimate = (4061717, 594321.66, 10.99) 2020-12-09T03:51:24Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:51:24Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:51:24Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:51:24Z- TNavBF::mmse selected from filter -1 2020-12-09T03:51:24Z- variances([0], [2], and psi_berg) = 820.664670 833.166793 0.000000 2020-12-09T03:51:24Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:51:24Z- LcmTrn::cycle() - MLE : 4061680.23 594272.16 10.99 2020-12-09T03:51:24Z- LcmTrn::cycle() - MMSE : 4061716.73 594321.66 10.99 2020-12-09T03:51:24Z- LcmTrn::cycle() - COVAR: 820.66 833.17 30.37 0.00 2020-12-09T03:51:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485885.14 epoch sec; seqNo:373; 4061716.73 north; 594321.66 east 2020-12-09T03:51:24Z- waiting for 1607485888.13, time is 1607485885.13 2020-12-09T03:51:24Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:25Z- AHRS_M2 msg: 1607485885.48 epoch sec; seqNo:354 2020-12-09T03:51:25Z- AHRS_M2 msg: 4.02 phi; -0.17 theta; -0.18 psi 2020-12-09T03:51:25Z- waiting for 1607485888.13, time is 1607485885.13 2020-12-09T03:51:25Z- sync is 0.36, coherence is 2.00 2020-12-09T03:51:25Z- handleDepth()-Depth_Keller msg: 11.06 epoch sec; seqNo:1607485885494; depth 0.00 2020-12-09T03:51:25Z- waiting for 1607485888.13, time is 1607485885.13 2020-12-09T03:51:25Z- sync is 0.36, coherence is 2.00 2020-12-09T03:51:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485885.54 epoch sec; seqNo:374; 4061716.35 north; 594321.66 east 2020-12-09T03:51:25Z- waiting for 1607485888.13, time is 1607485885.13 2020-12-09T03:51:25Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:25Z- AHRS_M2 msg: 1607485885.89 epoch sec; seqNo:355 2020-12-09T03:51:25Z- AHRS_M2 msg: 4.03 phi; -0.17 theta; -0.18 psi 2020-12-09T03:51:25Z- waiting for 1607485888.13, time is 1607485885.13 2020-12-09T03:51:25Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:25Z- handleDepth()-Depth_Keller msg: 11.11 epoch sec; seqNo:1607485885898; depth 0.00 2020-12-09T03:51:25Z- waiting for 1607485888.13, time is 1607485885.13 2020-12-09T03:51:25Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485885.93 epoch sec; seqNo:375; 4061716.33 north; 594320.44 east 2020-12-09T03:51:25Z- waiting for 1607485888.13, time is 1607485885.13 2020-12-09T03:51:25Z- sync is 0.80, coherence is 2.00 2020-12-09T03:51:26Z- AHRS_M2 msg: 1607485886.30 epoch sec; seqNo:356 2020-12-09T03:51:26Z- AHRS_M2 msg: 4.04 phi; -0.17 theta; -0.18 psi 2020-12-09T03:51:26Z- waiting for 1607485888.13, time is 1607485885.13 2020-12-09T03:51:26Z- sync is 1.17, coherence is 2.00 2020-12-09T03:51:26Z- handleDepth()-Depth_Keller msg: 11.17 epoch sec; seqNo:1607485886306; depth 0.00 2020-12-09T03:51:26Z- waiting for 1607485888.13, time is 1607485885.13 2020-12-09T03:51:26Z- sync is 1.17, coherence is 2.00 2020-12-09T03:51:26Z- handleDvl() - RDI_Pathfinder msg: 1607485886.33 epoch sec; seqNo:154 2020-12-09T03:51:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.07 , 97.89 , 73.09 , 79.62 2020-12-09T03:51:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.16 , 0.11 2020-12-09T03:51:26Z- waiting for 1607485888.13, time is 1607485886.33 2020-12-09T03:51:26Z- sync is 0.04, coherence is 2.00 2020-12-09T03:51:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485886.35 epoch sec; seqNo:376; 4061716.33 north; 594320.44 east 2020-12-09T03:51:26Z- waiting for 1607485888.13, time is 1607485886.33 2020-12-09T03:51:26Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:26Z- AHRS_M2 msg: 1607485886.70 epoch sec; seqNo:357 2020-12-09T03:51:26Z- AHRS_M2 msg: 4.04 phi; -0.17 theta; -0.18 psi 2020-12-09T03:51:26Z- waiting for 1607485888.13, time is 1607485886.33 2020-12-09T03:51:26Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:26Z- handleDepth()-Depth_Keller msg: 11.23 epoch sec; seqNo:1607485886713; depth 0.00 2020-12-09T03:51:26Z- waiting for 1607485888.13, time is 1607485886.33 2020-12-09T03:51:26Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485886.73 epoch sec; seqNo:377; 4061715.96 north; 594320.44 east 2020-12-09T03:51:26Z- waiting for 1607485888.13, time is 1607485886.33 2020-12-09T03:51:26Z- sync is 0.40, coherence is 2.00 2020-12-09T03:51:26Z- AHRS_M2 msg: 1607485887.12 epoch sec; seqNo:358 2020-12-09T03:51:26Z- AHRS_M2 msg: 4.05 phi; -0.17 theta; -0.18 psi 2020-12-09T03:51:26Z- waiting for 1607485888.13, time is 1607485886.33 2020-12-09T03:51:26Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:26Z- handleDepth()-Depth_Keller msg: 11.30 epoch sec; seqNo:1607485887129; depth 0.00 2020-12-09T03:51:26Z- waiting for 1607485888.13, time is 1607485886.33 2020-12-09T03:51:26Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:26Z- handleDvl() - RDI_Pathfinder msg: 1607485887.15 epoch sec; seqNo:155 2020-12-09T03:51:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.29 , 96.81 , 73.50 , 83.85 2020-12-09T03:51:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.11 , 0.04 2020-12-09T03:51:26Z- waiting for 1607485888.13, time is 1607485887.15 2020-12-09T03:51:26Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485887.16 epoch sec; seqNo:378; 4061715.96 north; 594320.44 east 2020-12-09T03:51:26Z- waiting for 1607485888.13, time is 1607485887.15 2020-12-09T03:51:26Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:27Z- AHRS_M2 msg: 1607485887.51 epoch sec; seqNo:359 2020-12-09T03:51:27Z- AHRS_M2 msg: 4.05 phi; -0.17 theta; -0.18 psi 2020-12-09T03:51:27Z- waiting for 1607485888.13, time is 1607485887.15 2020-12-09T03:51:27Z- sync is 0.36, coherence is 2.00 2020-12-09T03:51:27Z- handleDepth()-Depth_Keller msg: 11.35 epoch sec; seqNo:1607485887525; depth 0.00 2020-12-09T03:51:27Z- waiting for 1607485888.13, time is 1607485887.15 2020-12-09T03:51:27Z- sync is 0.36, coherence is 2.00 2020-12-09T03:51:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485887.54 epoch sec; seqNo:379; 4061715.56 north; 594319.23 east 2020-12-09T03:51:27Z- waiting for 1607485888.13, time is 1607485887.15 2020-12-09T03:51:27Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:27Z- AHRS_M2 msg: 1607485887.92 epoch sec; seqNo:360 2020-12-09T03:51:27Z- AHRS_M2 msg: 4.05 phi; -0.16 theta; -0.18 psi 2020-12-09T03:51:27Z- waiting for 1607485888.13, time is 1607485887.15 2020-12-09T03:51:27Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:27Z- handleDepth()-Depth_Keller msg: 11.41 epoch sec; seqNo:1607485887925; depth 0.00 2020-12-09T03:51:27Z- waiting for 1607485888.13, time is 1607485887.15 2020-12-09T03:51:27Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485887.94 epoch sec; seqNo:380; 4061715.56 north; 594319.23 east 2020-12-09T03:51:27Z- waiting for 1607485888.13, time is 1607485887.15 2020-12-09T03:51:27Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:28Z- AHRS_M2 msg: 1607485888.32 epoch sec; seqNo:361 2020-12-09T03:51:28Z- AHRS_M2 msg: 4.05 phi; -0.16 theta; -0.18 psi 2020-12-09T03:51:28Z- waiting for 1607485888.13, time is 1607485887.15 2020-12-09T03:51:28Z- sync is 1.17, coherence is 2.00 2020-12-09T03:51:28Z- handleDepth()-Depth_Keller msg: 11.47 epoch sec; seqNo:1607485888321; depth 0.00 2020-12-09T03:51:28Z- waiting for 1607485888.13, time is 1607485887.15 2020-12-09T03:51:28Z- sync is 1.17, coherence is 2.00 2020-12-09T03:51:28Z- handleDvl() - RDI_Pathfinder msg: 1607485888.35 epoch sec; seqNo:156 2020-12-09T03:51:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.70 , 94.65 , 78.44 , 83.85 2020-12-09T03:51:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.09 , 0.05 2020-12-09T03:51:28Z- waiting for 1607485888.13, time is 1607485888.35 2020-12-09T03:51:28Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:28Z- LcmTrn::updateTrn() >>>> pose time 1607485888.32, meas time 1607485888.35 <<<< 2020-12-09T03:51:28Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485888.35 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:51:28Z- TerrainNav::motionUpdate() - currEstimate = (4061716, 594319.23, 11.47) 2020-12-09T03:51:28Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:51:28Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:51:28Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:51:28Z- TNavBF::mmse selected from filter -1 2020-12-09T03:51:28Z- variances([0], [2], and psi_berg) = 820.345110 833.165339 0.000000 2020-12-09T03:51:28Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:51:28Z- LcmTrn::cycle() - MLE : 4061679.06 594269.73 11.47 2020-12-09T03:51:28Z- LcmTrn::cycle() - MMSE : 4061715.56 594319.23 11.47 2020-12-09T03:51:28Z- LcmTrn::cycle() - COVAR: 820.35 833.17 30.51 0.00 2020-12-09T03:51:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485888.37 epoch sec; seqNo:381; 4061715.18 north; 594319.23 east 2020-12-09T03:51:28Z- waiting for 1607485891.35, time is 1607485888.35 2020-12-09T03:51:28Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:28Z- AHRS_M2 msg: 1607485888.72 epoch sec; seqNo:362 2020-12-09T03:51:28Z- AHRS_M2 msg: 4.05 phi; -0.16 theta; -0.18 psi 2020-12-09T03:51:28Z- waiting for 1607485891.35, time is 1607485888.35 2020-12-09T03:51:28Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:28Z- handleDepth()-Depth_Keller msg: 11.53 epoch sec; seqNo:1607485888725; depth 0.00 2020-12-09T03:51:28Z- waiting for 1607485891.35, time is 1607485888.35 2020-12-09T03:51:28Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485888.74 epoch sec; seqNo:382; 4061715.18 north; 594319.23 east 2020-12-09T03:51:28Z- waiting for 1607485891.35, time is 1607485888.35 2020-12-09T03:51:28Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:28Z- AHRS_M2 msg: 1607485889.13 epoch sec; seqNo:363 2020-12-09T03:51:28Z- AHRS_M2 msg: 4.05 phi; -0.16 theta; -0.18 psi 2020-12-09T03:51:28Z- waiting for 1607485891.35, time is 1607485888.35 2020-12-09T03:51:28Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:28Z- handleDepth()-Depth_Keller msg: 11.59 epoch sec; seqNo:1607485889139; depth 0.00 2020-12-09T03:51:28Z- waiting for 1607485891.35, time is 1607485888.35 2020-12-09T03:51:28Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:28Z- handleDvl() - RDI_Pathfinder msg: 1607485889.16 epoch sec; seqNo:157 2020-12-09T03:51:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.70 , 95.73 , 73.50 , 83.85 2020-12-09T03:51:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.02 , 0.08 2020-12-09T03:51:28Z- waiting for 1607485891.35, time is 1607485889.16 2020-12-09T03:51:28Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485889.18 epoch sec; seqNo:383; 4061714.79 north; 594318.02 east 2020-12-09T03:51:28Z- waiting for 1607485891.35, time is 1607485889.16 2020-12-09T03:51:28Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:29Z- AHRS_M2 msg: 1607485889.53 epoch sec; seqNo:364 2020-12-09T03:51:29Z- AHRS_M2 msg: 4.05 phi; -0.16 theta; -0.19 psi 2020-12-09T03:51:29Z- waiting for 1607485891.35, time is 1607485889.16 2020-12-09T03:51:29Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:29Z- handleDepth()-Depth_Keller msg: 11.64 epoch sec; seqNo:1607485889539; depth 0.00 2020-12-09T03:51:29Z- waiting for 1607485891.35, time is 1607485889.16 2020-12-09T03:51:29Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485889.55 epoch sec; seqNo:384; 4061714.79 north; 594318.02 east 2020-12-09T03:51:29Z- waiting for 1607485891.35, time is 1607485889.16 2020-12-09T03:51:29Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:29Z- AHRS_M2 msg: 1607485889.93 epoch sec; seqNo:365 2020-12-09T03:51:29Z- AHRS_M2 msg: 4.05 phi; -0.16 theta; -0.19 psi 2020-12-09T03:51:29Z- waiting for 1607485891.35, time is 1607485889.16 2020-12-09T03:51:29Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:29Z- handleDepth()-Depth_Keller msg: 11.67 epoch sec; seqNo:1607485889937; depth 0.00 2020-12-09T03:51:29Z- waiting for 1607485891.35, time is 1607485889.16 2020-12-09T03:51:29Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485889.95 epoch sec; seqNo:385; 4061714.41 north; 594318.02 east 2020-12-09T03:51:29Z- waiting for 1607485891.35, time is 1607485889.16 2020-12-09T03:51:29Z- sync is 0.80, coherence is 2.00 2020-12-09T03:51:30Z- AHRS_M2 msg: 1607485890.34 epoch sec; seqNo:366 2020-12-09T03:51:30Z- AHRS_M2 msg: 4.05 phi; -0.16 theta; -0.20 psi 2020-12-09T03:51:30Z- waiting for 1607485891.35, time is 1607485889.16 2020-12-09T03:51:30Z- sync is 1.18, coherence is 2.00 2020-12-09T03:51:30Z- handleDepth()-Depth_Keller msg: 11.73 epoch sec; seqNo:1607485890341; depth 0.00 2020-12-09T03:51:30Z- waiting for 1607485891.35, time is 1607485889.16 2020-12-09T03:51:30Z- sync is 1.18, coherence is 2.00 2020-12-09T03:51:30Z- handleDvl() - RDI_Pathfinder msg: 1607485890.37 epoch sec; seqNo:158 2020-12-09T03:51:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.29 , 97.89 , 74.32 , 84.93 2020-12-09T03:51:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.08 , 0.06 2020-12-09T03:51:30Z- waiting for 1607485891.35, time is 1607485890.37 2020-12-09T03:51:30Z- sync is 0.04, coherence is 2.00 2020-12-09T03:51:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485890.39 epoch sec; seqNo:386; 4061714.03 north; 594318.02 east 2020-12-09T03:51:30Z- waiting for 1607485891.35, time is 1607485890.37 2020-12-09T03:51:30Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:30Z- AHRS_M2 msg: 1607485890.74 epoch sec; seqNo:367 2020-12-09T03:51:30Z- AHRS_M2 msg: 4.06 phi; -0.16 theta; -0.21 psi 2020-12-09T03:51:30Z- waiting for 1607485891.35, time is 1607485890.37 2020-12-09T03:51:30Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:30Z- handleDepth()-Depth_Keller msg: 11.78 epoch sec; seqNo:1607485890747; depth 0.00 2020-12-09T03:51:30Z- waiting for 1607485891.35, time is 1607485890.37 2020-12-09T03:51:30Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485890.79 epoch sec; seqNo:387; 4061714.02 north; 594316.80 east 2020-12-09T03:51:30Z- waiting for 1607485891.35, time is 1607485890.37 2020-12-09T03:51:30Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:30Z- AHRS_M2 msg: 1607485891.15 epoch sec; seqNo:368 2020-12-09T03:51:30Z- AHRS_M2 msg: 4.06 phi; -0.16 theta; -0.21 psi 2020-12-09T03:51:30Z- waiting for 1607485891.35, time is 1607485890.37 2020-12-09T03:51:30Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:30Z- handleDepth()-Depth_Keller msg: 11.83 epoch sec; seqNo:1607485891157; depth 0.00 2020-12-09T03:51:30Z- waiting for 1607485891.35, time is 1607485890.37 2020-12-09T03:51:30Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:30Z- handleDvl() - RDI_Pathfinder msg: 1607485891.18 epoch sec; seqNo:159 2020-12-09T03:51:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.88 , 96.81 , 74.32 , 84.93 2020-12-09T03:51:30Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.10 , 0.02 2020-12-09T03:51:30Z- waiting for 1607485891.35, time is 1607485891.18 2020-12-09T03:51:30Z- sync is 0.04, coherence is 2.00 2020-12-09T03:51:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485891.21 epoch sec; seqNo:388; 4061713.64 north; 594316.81 east 2020-12-09T03:51:31Z- waiting for 1607485891.35, time is 1607485891.18 2020-12-09T03:51:31Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:31Z- AHRS_M2 msg: 1607485891.55 epoch sec; seqNo:369 2020-12-09T03:51:31Z- AHRS_M2 msg: 4.06 phi; -0.16 theta; -0.21 psi 2020-12-09T03:51:31Z- waiting for 1607485891.35, time is 1607485891.18 2020-12-09T03:51:31Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:31Z- handleDepth()-Depth_Keller msg: 11.89 epoch sec; seqNo:1607485891554; depth 0.00 2020-12-09T03:51:31Z- waiting for 1607485891.35, time is 1607485891.18 2020-12-09T03:51:31Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485891.58 epoch sec; seqNo:389; 4061713.26 north; 594316.81 east 2020-12-09T03:51:31Z- waiting for 1607485891.35, time is 1607485891.18 2020-12-09T03:51:31Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:31Z- AHRS_M2 msg: 1607485891.95 epoch sec; seqNo:370 2020-12-09T03:51:31Z- AHRS_M2 msg: 4.06 phi; -0.16 theta; -0.21 psi 2020-12-09T03:51:31Z- waiting for 1607485891.35, time is 1607485891.18 2020-12-09T03:51:31Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:31Z- handleDepth()-Depth_Keller msg: 11.94 epoch sec; seqNo:1607485891957; depth 0.00 2020-12-09T03:51:31Z- waiting for 1607485891.35, time is 1607485891.18 2020-12-09T03:51:31Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485891.99 epoch sec; seqNo:390; 4061713.26 north; 594316.81 east 2020-12-09T03:51:31Z- waiting for 1607485891.35, time is 1607485891.18 2020-12-09T03:51:31Z- sync is 0.80, coherence is 2.00 2020-12-09T03:51:32Z- AHRS_M2 msg: 1607485892.36 epoch sec; seqNo:371 2020-12-09T03:51:32Z- AHRS_M2 msg: 4.06 phi; -0.16 theta; -0.21 psi 2020-12-09T03:51:32Z- waiting for 1607485891.35, time is 1607485891.18 2020-12-09T03:51:32Z- sync is 1.17, coherence is 2.00 2020-12-09T03:51:32Z- handleDepth()-Depth_Keller msg: 11.99 epoch sec; seqNo:1607485892362; depth 0.00 2020-12-09T03:51:32Z- waiting for 1607485891.35, time is 1607485891.18 2020-12-09T03:51:32Z- sync is 1.17, coherence is 2.00 2020-12-09T03:51:32Z- handleDvl() - RDI_Pathfinder msg: 1607485892.37 epoch sec; seqNo:160 2020-12-09T03:51:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.52 , 97.89 , 73.91 , 79.22 2020-12-09T03:51:32Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.17 , -0.01 2020-12-09T03:51:32Z- waiting for 1607485891.35, time is 1607485892.37 2020-12-09T03:51:32Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:32Z- LcmTrn::updateTrn() >>>> pose time 1607485892.36, meas time 1607485892.37 <<<< 2020-12-09T03:51:32Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485892.37 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:51:32Z- TerrainNav::motionUpdate() - currEstimate = (4061713, 594316.81, 11.99) 2020-12-09T03:51:32Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:51:32Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:51:32Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:51:32Z- TNavBF::mmse selected from filter -1 2020-12-09T03:51:32Z- variances([0], [2], and psi_berg) = 819.992858 833.163761 0.000000 2020-12-09T03:51:32Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:51:32Z- LcmTrn::cycle() - MLE : 4061676.76 594268.31 11.99 2020-12-09T03:51:32Z- LcmTrn::cycle() - MMSE : 4061713.26 594316.81 11.99 2020-12-09T03:51:32Z- LcmTrn::cycle() - COVAR: 819.99 833.16 30.68 0.00 2020-12-09T03:51:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485892.39 epoch sec; seqNo:391; 4061712.88 north; 594316.82 east 2020-12-09T03:51:32Z- waiting for 1607485895.37, time is 1607485892.37 2020-12-09T03:51:32Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:32Z- AHRS_M2 msg: 1607485892.76 epoch sec; seqNo:372 2020-12-09T03:51:32Z- AHRS_M2 msg: 4.06 phi; -0.16 theta; -0.21 psi 2020-12-09T03:51:32Z- waiting for 1607485895.37, time is 1607485892.37 2020-12-09T03:51:32Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:32Z- handleDepth()-Depth_Keller msg: 12.05 epoch sec; seqNo:1607485892773; depth 0.00 2020-12-09T03:51:32Z- waiting for 1607485895.37, time is 1607485892.37 2020-12-09T03:51:32Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485892.79 epoch sec; seqNo:392; 4061712.49 north; 594315.60 east 2020-12-09T03:51:32Z- waiting for 1607485895.37, time is 1607485892.37 2020-12-09T03:51:32Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:32Z- AHRS_M2 msg: 1607485893.16 epoch sec; seqNo:373 2020-12-09T03:51:32Z- AHRS_M2 msg: 4.06 phi; -0.16 theta; -0.21 psi 2020-12-09T03:51:32Z- waiting for 1607485895.37, time is 1607485892.37 2020-12-09T03:51:32Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:32Z- handleDepth()-Depth_Keller msg: 12.11 epoch sec; seqNo:1607485893168; depth 0.00 2020-12-09T03:51:32Z- waiting for 1607485895.37, time is 1607485892.37 2020-12-09T03:51:32Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:32Z- handleDvl() - RDI_Pathfinder msg: 1607485893.18 epoch sec; seqNo:161 2020-12-09T03:51:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.70 , 97.89 , 73.91 , 78.40 2020-12-09T03:51:32Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.14 , -0.06 2020-12-09T03:51:32Z- waiting for 1607485895.37, time is 1607485893.18 2020-12-09T03:51:32Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485893.20 epoch sec; seqNo:393; 4061712.11 north; 594315.61 east 2020-12-09T03:51:33Z- waiting for 1607485895.37, time is 1607485893.18 2020-12-09T03:51:33Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:33Z- AHRS_M2 msg: 1607485893.57 epoch sec; seqNo:374 2020-12-09T03:51:33Z- AHRS_M2 msg: 4.07 phi; -0.16 theta; -0.21 psi 2020-12-09T03:51:33Z- waiting for 1607485895.37, time is 1607485893.18 2020-12-09T03:51:33Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:33Z- handleDepth()-Depth_Keller msg: 12.16 epoch sec; seqNo:1607485893574; depth 0.00 2020-12-09T03:51:33Z- waiting for 1607485895.37, time is 1607485893.18 2020-12-09T03:51:33Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485893.59 epoch sec; seqNo:394; 4061711.73 north; 594315.61 east 2020-12-09T03:51:33Z- waiting for 1607485895.37, time is 1607485893.18 2020-12-09T03:51:33Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:33Z- AHRS_M2 msg: 1607485893.97 epoch sec; seqNo:375 2020-12-09T03:51:33Z- AHRS_M2 msg: 4.07 phi; -0.16 theta; -0.21 psi 2020-12-09T03:51:33Z- waiting for 1607485895.37, time is 1607485893.18 2020-12-09T03:51:33Z- sync is 0.80, coherence is 2.00 2020-12-09T03:51:33Z- handleDepth()-Depth_Keller msg: 12.21 epoch sec; seqNo:1607485893983; depth 0.00 2020-12-09T03:51:33Z- waiting for 1607485895.37, time is 1607485893.18 2020-12-09T03:51:33Z- sync is 0.80, coherence is 2.00 2020-12-09T03:51:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485894.00 epoch sec; seqNo:395; 4061711.72 north; 594314.39 east 2020-12-09T03:51:33Z- waiting for 1607485895.37, time is 1607485893.18 2020-12-09T03:51:33Z- sync is 0.82, coherence is 2.00 2020-12-09T03:51:34Z- AHRS_M2 msg: 1607485894.38 epoch sec; seqNo:376 2020-12-09T03:51:34Z- AHRS_M2 msg: 4.07 phi; -0.16 theta; -0.21 psi 2020-12-09T03:51:34Z- waiting for 1607485895.37, time is 1607485893.18 2020-12-09T03:51:34Z- sync is 1.20, coherence is 2.00 2020-12-09T03:51:34Z- handleDepth()-Depth_Keller msg: 12.26 epoch sec; seqNo:1607485894393; depth 0.00 2020-12-09T03:51:34Z- waiting for 1607485895.37, time is 1607485893.18 2020-12-09T03:51:34Z- sync is 1.20, coherence is 2.00 2020-12-09T03:51:34Z- handleDvl() - RDI_Pathfinder msg: 1607485894.41 epoch sec; seqNo:162 2020-12-09T03:51:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.11 , 96.81 , 73.50 , 82.76 2020-12-09T03:51:34Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.08 , -0.15 2020-12-09T03:51:34Z- waiting for 1607485895.37, time is 1607485894.41 2020-12-09T03:51:34Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485894.42 epoch sec; seqNo:396; 4061711.34 north; 594314.39 east 2020-12-09T03:51:34Z- waiting for 1607485895.37, time is 1607485894.41 2020-12-09T03:51:34Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:34Z- AHRS_M2 msg: 1607485894.78 epoch sec; seqNo:377 2020-12-09T03:51:34Z- AHRS_M2 msg: 4.07 phi; -0.16 theta; -0.21 psi 2020-12-09T03:51:34Z- waiting for 1607485895.37, time is 1607485894.41 2020-12-09T03:51:34Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:34Z- handleDepth()-Depth_Keller msg: 12.30 epoch sec; seqNo:1607485894785; depth 0.00 2020-12-09T03:51:34Z- waiting for 1607485895.37, time is 1607485894.41 2020-12-09T03:51:34Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485894.81 epoch sec; seqNo:397; 4061710.96 north; 594314.40 east 2020-12-09T03:51:34Z- waiting for 1607485895.37, time is 1607485894.41 2020-12-09T03:51:34Z- sync is 0.40, coherence is 2.00 2020-12-09T03:51:34Z- AHRS_M2 msg: 1607485895.19 epoch sec; seqNo:378 2020-12-09T03:51:34Z- AHRS_M2 msg: 4.08 phi; -0.16 theta; -0.21 psi 2020-12-09T03:51:34Z- waiting for 1607485895.37, time is 1607485894.41 2020-12-09T03:51:34Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:34Z- handleDepth()-Depth_Keller msg: 12.36 epoch sec; seqNo:1607485895192; depth 0.00 2020-12-09T03:51:34Z- waiting for 1607485895.37, time is 1607485894.41 2020-12-09T03:51:34Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:35Z- handleDvl() - RDI_Pathfinder msg: 1607485895.20 epoch sec; seqNo:163 2020-12-09T03:51:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.70 , 96.81 , 73.91 , 0.00 2020-12-09T03:51:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.04 , -0.25 2020-12-09T03:51:35Z- waiting for 1607485895.37, time is 1607485895.20 2020-12-09T03:51:35Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485895.23 epoch sec; seqNo:398; 4061710.58 north; 594314.40 east 2020-12-09T03:51:35Z- waiting for 1607485895.37, time is 1607485895.20 2020-12-09T03:51:35Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:35Z- AHRS_M2 msg: 1607485895.59 epoch sec; seqNo:379 2020-12-09T03:51:35Z- AHRS_M2 msg: 4.08 phi; -0.16 theta; -0.21 psi 2020-12-09T03:51:35Z- waiting for 1607485895.37, time is 1607485895.20 2020-12-09T03:51:35Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:35Z- handleDepth()-Depth_Keller msg: 12.43 epoch sec; seqNo:1607485895600; depth 0.00 2020-12-09T03:51:35Z- waiting for 1607485895.37, time is 1607485895.20 2020-12-09T03:51:35Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485895.64 epoch sec; seqNo:399; 4061710.57 north; 594313.18 east 2020-12-09T03:51:35Z- waiting for 1607485895.37, time is 1607485895.20 2020-12-09T03:51:35Z- sync is 0.44, coherence is 2.00 2020-12-09T03:51:35Z- AHRS_M2 msg: 1607485896.00 epoch sec; seqNo:380 2020-12-09T03:51:35Z- AHRS_M2 msg: 4.08 phi; -0.16 theta; -0.21 psi 2020-12-09T03:51:35Z- waiting for 1607485895.37, time is 1607485895.20 2020-12-09T03:51:35Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:35Z- handleDepth()-Depth_Keller msg: 12.46 epoch sec; seqNo:1607485896010; depth 0.00 2020-12-09T03:51:35Z- waiting for 1607485895.37, time is 1607485895.20 2020-12-09T03:51:35Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485896.06 epoch sec; seqNo:400; 4061710.19 north; 594313.19 east 2020-12-09T03:51:35Z- waiting for 1607485895.37, time is 1607485895.20 2020-12-09T03:51:35Z- sync is 0.86, coherence is 2.00 2020-12-09T03:51:36Z- AHRS_M2 msg: 1607485896.40 epoch sec; seqNo:381 2020-12-09T03:51:36Z- AHRS_M2 msg: 4.09 phi; -0.15 theta; -0.20 psi 2020-12-09T03:51:36Z- waiting for 1607485895.37, time is 1607485895.20 2020-12-09T03:51:36Z- sync is 1.20, coherence is 2.00 2020-12-09T03:51:36Z- handleDepth()-Depth_Keller msg: 12.53 epoch sec; seqNo:1607485896405; depth 0.00 2020-12-09T03:51:36Z- waiting for 1607485895.37, time is 1607485895.20 2020-12-09T03:51:36Z- sync is 1.20, coherence is 2.00 2020-12-09T03:51:36Z- handleDvl() - RDI_Pathfinder msg: 1607485896.44 epoch sec; seqNo:164 2020-12-09T03:51:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.52 , 94.65 , 73.09 , 76.77 2020-12-09T03:51:36Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.21 , -0.32 2020-12-09T03:51:36Z- waiting for 1607485895.37, time is 1607485896.44 2020-12-09T03:51:36Z- sync is 0.04, coherence is 2.00 2020-12-09T03:51:36Z- LcmTrn::updateTrn() >>>> pose time 1607485896.40, meas time 1607485896.44 <<<< 2020-12-09T03:51:36Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485896.44 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:51:36Z- TerrainNav::motionUpdate() - currEstimate = (4061710, 594313.19, 12.53) 2020-12-09T03:51:36Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:51:36Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:51:36Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:51:36Z- TNavBF::mmse selected from filter -1 2020-12-09T03:51:36Z- variances([0], [2], and psi_berg) = 819.576800 833.161929 0.000000 2020-12-09T03:51:36Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:51:36Z- LcmTrn::cycle() - MLE : 4061673.69 594264.69 12.53 2020-12-09T03:51:36Z- LcmTrn::cycle() - MMSE : 4061710.19 594313.19 12.53 2020-12-09T03:51:36Z- LcmTrn::cycle() - COVAR: 819.58 833.16 30.92 0.00 2020-12-09T03:51:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485896.45 epoch sec; seqNo:401; 4061709.81 north; 594313.19 east 2020-12-09T03:51:36Z- waiting for 1607485899.44, time is 1607485896.44 2020-12-09T03:51:36Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:36Z- AHRS_M2 msg: 1607485896.80 epoch sec; seqNo:382 2020-12-09T03:51:36Z- AHRS_M2 msg: 4.09 phi; -0.15 theta; -0.20 psi 2020-12-09T03:51:36Z- waiting for 1607485899.44, time is 1607485896.44 2020-12-09T03:51:36Z- sync is 0.36, coherence is 2.00 2020-12-09T03:51:36Z- handleDepth()-Depth_Keller msg: 12.60 epoch sec; seqNo:1607485896810; depth 0.00 2020-12-09T03:51:36Z- waiting for 1607485899.44, time is 1607485896.44 2020-12-09T03:51:36Z- sync is 0.36, coherence is 2.00 2020-12-09T03:51:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485896.85 epoch sec; seqNo:402; 4061709.80 north; 594311.97 east 2020-12-09T03:51:36Z- waiting for 1607485899.44, time is 1607485896.44 2020-12-09T03:51:36Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:37Z- AHRS_M2 msg: 1607485897.21 epoch sec; seqNo:383 2020-12-09T03:51:37Z- AHRS_M2 msg: 4.09 phi; -0.15 theta; -0.19 psi 2020-12-09T03:51:37Z- waiting for 1607485899.44, time is 1607485896.44 2020-12-09T03:51:37Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:37Z- handleDepth()-Depth_Keller msg: 12.62 epoch sec; seqNo:1607485897216; depth 0.00 2020-12-09T03:51:37Z- waiting for 1607485899.44, time is 1607485896.44 2020-12-09T03:51:37Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:37Z- handleDvl() - RDI_Pathfinder msg: 1607485897.23 epoch sec; seqNo:165 2020-12-09T03:51:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.11 , 93.57 , 72.68 , 79.52 2020-12-09T03:51:37Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , 0.42 , -0.24 2020-12-09T03:51:37Z- waiting for 1607485899.44, time is 1607485897.23 2020-12-09T03:51:37Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485897.26 epoch sec; seqNo:403; 4061709.42 north; 594311.97 east 2020-12-09T03:51:37Z- waiting for 1607485899.44, time is 1607485897.23 2020-12-09T03:51:37Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:37Z- AHRS_M2 msg: 1607485897.62 epoch sec; seqNo:384 2020-12-09T03:51:37Z- AHRS_M2 msg: 4.08 phi; -0.15 theta; -0.19 psi 2020-12-09T03:51:37Z- waiting for 1607485899.44, time is 1607485897.23 2020-12-09T03:51:37Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:37Z- handleDepth()-Depth_Keller msg: 12.69 epoch sec; seqNo:1607485897623; depth 0.00 2020-12-09T03:51:37Z- waiting for 1607485899.44, time is 1607485897.23 2020-12-09T03:51:37Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485897.64 epoch sec; seqNo:404; 4061709.42 north; 594311.97 east 2020-12-09T03:51:37Z- waiting for 1607485899.44, time is 1607485897.23 2020-12-09T03:51:37Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:37Z- AHRS_M2 msg: 1607485898.02 epoch sec; seqNo:385 2020-12-09T03:51:37Z- AHRS_M2 msg: 4.08 phi; -0.15 theta; -0.18 psi 2020-12-09T03:51:37Z- waiting for 1607485899.44, time is 1607485897.23 2020-12-09T03:51:37Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:37Z- handleDepth()-Depth_Keller msg: 12.74 epoch sec; seqNo:1607485898046; depth 0.00 2020-12-09T03:51:37Z- waiting for 1607485899.44, time is 1607485897.23 2020-12-09T03:51:37Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:37Z- handleDvl() - RDI_Pathfinder msg: 1607485898.07 epoch sec; seqNo:166 2020-12-09T03:51:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.52 , 93.57 , 72.68 , 75.13 2020-12-09T03:51:37Z- handleDvl() - RDI_Pathfinder msg: velocities 1.13 , 0.55 , -0.05 2020-12-09T03:51:37Z- waiting for 1607485899.44, time is 1607485898.07 2020-12-09T03:51:37Z- sync is 0.05, coherence is 2.00 2020-12-09T03:51:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485898.09 epoch sec; seqNo:405; 4061709.41 north; 594310.75 east 2020-12-09T03:51:37Z- waiting for 1607485899.44, time is 1607485898.07 2020-12-09T03:51:37Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:38Z- AHRS_M2 msg: 1607485898.42 epoch sec; seqNo:386 2020-12-09T03:51:38Z- AHRS_M2 msg: 4.07 phi; -0.15 theta; -0.18 psi 2020-12-09T03:51:38Z- waiting for 1607485899.44, time is 1607485898.07 2020-12-09T03:51:38Z- sync is 0.35, coherence is 2.00 2020-12-09T03:51:38Z- handleDepth()-Depth_Keller msg: 12.82 epoch sec; seqNo:1607485898431; depth 0.00 2020-12-09T03:51:38Z- waiting for 1607485899.44, time is 1607485898.07 2020-12-09T03:51:38Z- sync is 0.35, coherence is 2.00 2020-12-09T03:51:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485898.45 epoch sec; seqNo:406; 4061709.03 north; 594310.76 east 2020-12-09T03:51:38Z- waiting for 1607485899.44, time is 1607485898.07 2020-12-09T03:51:38Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:38Z- AHRS_M2 msg: 1607485898.82 epoch sec; seqNo:387 2020-12-09T03:51:38Z- AHRS_M2 msg: 4.06 phi; -0.15 theta; -0.18 psi 2020-12-09T03:51:38Z- waiting for 1607485899.44, time is 1607485898.07 2020-12-09T03:51:38Z- sync is 0.75, coherence is 2.00 2020-12-09T03:51:38Z- handleDepth()-Depth_Keller msg: 12.87 epoch sec; seqNo:1607485898830; depth 0.00 2020-12-09T03:51:38Z- waiting for 1607485899.44, time is 1607485898.07 2020-12-09T03:51:38Z- sync is 0.75, coherence is 2.00 2020-12-09T03:51:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485898.84 epoch sec; seqNo:407; 4061709.02 north; 594309.54 east 2020-12-09T03:51:38Z- waiting for 1607485899.44, time is 1607485898.07 2020-12-09T03:51:38Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:39Z- AHRS_M2 msg: 1607485899.23 epoch sec; seqNo:388 2020-12-09T03:51:39Z- AHRS_M2 msg: 4.05 phi; -0.15 theta; -0.19 psi 2020-12-09T03:51:39Z- waiting for 1607485899.44, time is 1607485898.07 2020-12-09T03:51:39Z- sync is 1.16, coherence is 2.00 2020-12-09T03:51:39Z- handleDepth()-Depth_Keller msg: 12.91 epoch sec; seqNo:1607485899237; depth 0.00 2020-12-09T03:51:39Z- waiting for 1607485899.44, time is 1607485898.07 2020-12-09T03:51:39Z- sync is 1.16, coherence is 2.00 2020-12-09T03:51:39Z- handleDvl() - RDI_Pathfinder msg: 1607485899.25 epoch sec; seqNo:167 2020-12-09T03:51:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.33 , 92.49 , 73.09 , 73.09 2020-12-09T03:51:39Z- handleDvl() - RDI_Pathfinder msg: velocities 1.15 , 0.56 , 0.19 2020-12-09T03:51:39Z- waiting for 1607485899.44, time is 1607485899.25 2020-12-09T03:51:39Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485899.26 epoch sec; seqNo:408; 4061709.02 north; 594309.54 east 2020-12-09T03:51:39Z- waiting for 1607485899.44, time is 1607485899.25 2020-12-09T03:51:39Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:39Z- AHRS_M2 msg: 1607485899.63 epoch sec; seqNo:389 2020-12-09T03:51:39Z- AHRS_M2 msg: 4.04 phi; -0.15 theta; -0.19 psi 2020-12-09T03:51:39Z- waiting for 1607485899.44, time is 1607485899.25 2020-12-09T03:51:39Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:39Z- handleDepth()-Depth_Keller msg: 12.98 epoch sec; seqNo:1607485899647; depth 0.00 2020-12-09T03:51:39Z- waiting for 1607485899.44, time is 1607485899.25 2020-12-09T03:51:39Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485899.67 epoch sec; seqNo:409; 4061709.02 north; 594309.54 east 2020-12-09T03:51:39Z- waiting for 1607485899.44, time is 1607485899.25 2020-12-09T03:51:39Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:39Z- AHRS_M2 msg: 1607485900.06 epoch sec; seqNo:390 2020-12-09T03:51:39Z- AHRS_M2 msg: 4.03 phi; -0.15 theta; -0.20 psi 2020-12-09T03:51:39Z- waiting for 1607485899.44, time is 1607485899.25 2020-12-09T03:51:39Z- sync is 0.81, coherence is 2.00 2020-12-09T03:51:39Z- handleDepth()-Depth_Keller msg: 13.03 epoch sec; seqNo:1607485900062; depth 0.00 2020-12-09T03:51:39Z- waiting for 1607485899.44, time is 1607485899.25 2020-12-09T03:51:39Z- sync is 0.81, coherence is 2.00 2020-12-09T03:51:39Z- handleDvl() - RDI_Pathfinder msg: 1607485900.07 epoch sec; seqNo:168 2020-12-09T03:51:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.52 , 93.57 , 74.32 , 74.72 2020-12-09T03:51:39Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , 0.37 , 0.35 2020-12-09T03:51:39Z- waiting for 1607485899.44, time is 1607485900.07 2020-12-09T03:51:39Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:39Z- LcmTrn::updateTrn() >>>> pose time 1607485900.06, meas time 1607485900.07 <<<< 2020-12-09T03:51:39Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485900.07 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:51:39Z- TerrainNav::motionUpdate() - currEstimate = (4061709, 594309.54, 13.03) 2020-12-09T03:51:39Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:51:39Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:51:39Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:51:39Z- TNavBF::mmse selected from filter -1 2020-12-09T03:51:39Z- variances([0], [2], and psi_berg) = 819.207815 833.160338 0.000000 2020-12-09T03:51:39Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:51:39Z- LcmTrn::cycle() - MLE : 4061672.52 594263.04 13.03 2020-12-09T03:51:39Z- LcmTrn::cycle() - MMSE : 4061709.02 594309.54 13.03 2020-12-09T03:51:39Z- LcmTrn::cycle() - COVAR: 819.21 833.16 31.11 0.00 2020-12-09T03:51:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485900.09 epoch sec; seqNo:410; 4061708.62 north; 594308.32 east 2020-12-09T03:51:39Z- waiting for 1607485903.07, time is 1607485900.07 2020-12-09T03:51:39Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:40Z- AHRS_M2 msg: 1607485900.43 epoch sec; seqNo:391 2020-12-09T03:51:40Z- AHRS_M2 msg: 4.03 phi; -0.15 theta; -0.20 psi 2020-12-09T03:51:40Z- waiting for 1607485903.07, time is 1607485900.07 2020-12-09T03:51:40Z- sync is 0.36, coherence is 2.00 2020-12-09T03:51:40Z- handleDepth()-Depth_Keller msg: 13.07 epoch sec; seqNo:1607485900441; depth 0.00 2020-12-09T03:51:40Z- waiting for 1607485903.07, time is 1607485900.07 2020-12-09T03:51:40Z- sync is 0.36, coherence is 2.00 2020-12-09T03:51:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485900.46 epoch sec; seqNo:411; 4061708.62 north; 594308.32 east 2020-12-09T03:51:40Z- waiting for 1607485903.07, time is 1607485900.07 2020-12-09T03:51:40Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:40Z- AHRS_M2 msg: 1607485900.85 epoch sec; seqNo:392 2020-12-09T03:51:40Z- AHRS_M2 msg: 4.02 phi; -0.15 theta; -0.21 psi 2020-12-09T03:51:40Z- waiting for 1607485903.07, time is 1607485900.07 2020-12-09T03:51:40Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:40Z- handleDepth()-Depth_Keller msg: 13.14 epoch sec; seqNo:1607485900870; depth 0.00 2020-12-09T03:51:40Z- waiting for 1607485903.07, time is 1607485900.07 2020-12-09T03:51:40Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485900.91 epoch sec; seqNo:412; 4061708.62 north; 594308.32 east 2020-12-09T03:51:40Z- waiting for 1607485903.07, time is 1607485900.07 2020-12-09T03:51:40Z- sync is 0.84, coherence is 2.00 2020-12-09T03:51:41Z- AHRS_M2 msg: 1607485901.24 epoch sec; seqNo:393 2020-12-09T03:51:41Z- AHRS_M2 msg: 4.02 phi; -0.15 theta; -0.22 psi 2020-12-09T03:51:41Z- waiting for 1607485903.07, time is 1607485900.07 2020-12-09T03:51:41Z- sync is 1.17, coherence is 2.00 2020-12-09T03:51:41Z- handleDepth()-Depth_Keller msg: 13.18 epoch sec; seqNo:1607485901250; depth 0.00 2020-12-09T03:51:41Z- waiting for 1607485903.07, time is 1607485900.07 2020-12-09T03:51:41Z- sync is 1.17, coherence is 2.00 2020-12-09T03:51:41Z- handleDvl() - RDI_Pathfinder msg: 1607485901.28 epoch sec; seqNo:169 2020-12-09T03:51:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.93 , 97.89 , 78.44 , 75.54 2020-12-09T03:51:41Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.19 , 0.38 2020-12-09T03:51:41Z- waiting for 1607485903.07, time is 1607485901.28 2020-12-09T03:51:41Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485901.29 epoch sec; seqNo:413; 4061708.23 north; 594307.10 east 2020-12-09T03:51:41Z- waiting for 1607485903.07, time is 1607485901.28 2020-12-09T03:51:41Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:41Z- AHRS_M2 msg: 1607485901.65 epoch sec; seqNo:394 2020-12-09T03:51:41Z- AHRS_M2 msg: 4.02 phi; -0.16 theta; -0.22 psi 2020-12-09T03:51:41Z- waiting for 1607485903.07, time is 1607485901.28 2020-12-09T03:51:41Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:41Z- handleDepth()-Depth_Keller msg: 13.24 epoch sec; seqNo:1607485901654; depth 0.00 2020-12-09T03:51:41Z- waiting for 1607485903.07, time is 1607485901.28 2020-12-09T03:51:41Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485901.69 epoch sec; seqNo:414; 4061708.23 north; 594307.10 east 2020-12-09T03:51:41Z- waiting for 1607485903.07, time is 1607485901.28 2020-12-09T03:51:41Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:41Z- AHRS_M2 msg: 1607485902.05 epoch sec; seqNo:395 2020-12-09T03:51:41Z- AHRS_M2 msg: 4.02 phi; -0.16 theta; -0.22 psi 2020-12-09T03:51:41Z- waiting for 1607485903.07, time is 1607485901.28 2020-12-09T03:51:41Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:41Z- handleDepth()-Depth_Keller msg: 13.30 epoch sec; seqNo:1607485902057; depth 0.00 2020-12-09T03:51:41Z- waiting for 1607485903.07, time is 1607485901.28 2020-12-09T03:51:41Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485902.12 epoch sec; seqNo:415; 4061707.85 north; 594307.11 east 2020-12-09T03:51:41Z- waiting for 1607485903.07, time is 1607485901.28 2020-12-09T03:51:41Z- sync is 0.85, coherence is 2.00 2020-12-09T03:51:42Z- AHRS_M2 msg: 1607485902.46 epoch sec; seqNo:396 2020-12-09T03:51:42Z- AHRS_M2 msg: 4.02 phi; -0.16 theta; -0.22 psi 2020-12-09T03:51:42Z- waiting for 1607485903.07, time is 1607485901.28 2020-12-09T03:51:42Z- sync is 1.18, coherence is 2.00 2020-12-09T03:51:42Z- handleDepth()-Depth_Keller msg: 13.36 epoch sec; seqNo:1607485902464; depth 0.00 2020-12-09T03:51:42Z- waiting for 1607485903.07, time is 1607485901.28 2020-12-09T03:51:42Z- sync is 1.18, coherence is 2.00 2020-12-09T03:51:42Z- handleDvl() - RDI_Pathfinder msg: 1607485902.48 epoch sec; seqNo:170 2020-12-09T03:51:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.51 , 98.97 , 78.45 , 76.35 2020-12-09T03:51:42Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.04 , 0.29 2020-12-09T03:51:42Z- waiting for 1607485903.07, time is 1607485902.48 2020-12-09T03:51:42Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485902.50 epoch sec; seqNo:416; 4061707.84 north; 594305.89 east 2020-12-09T03:51:42Z- waiting for 1607485903.07, time is 1607485902.48 2020-12-09T03:51:42Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:42Z- AHRS_M2 msg: 1607485902.86 epoch sec; seqNo:397 2020-12-09T03:51:42Z- AHRS_M2 msg: 4.03 phi; -0.16 theta; -0.22 psi 2020-12-09T03:51:42Z- waiting for 1607485903.07, time is 1607485902.48 2020-12-09T03:51:42Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:42Z- handleDepth()-Depth_Keller msg: 13.41 epoch sec; seqNo:1607485902865; depth 0.00 2020-12-09T03:51:42Z- waiting for 1607485903.07, time is 1607485902.48 2020-12-09T03:51:42Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485902.88 epoch sec; seqNo:417; 4061707.46 north; 594305.89 east 2020-12-09T03:51:42Z- waiting for 1607485903.07, time is 1607485902.48 2020-12-09T03:51:42Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:43Z- AHRS_M2 msg: 1607485903.26 epoch sec; seqNo:398 2020-12-09T03:51:43Z- AHRS_M2 msg: 4.04 phi; -0.16 theta; -0.22 psi 2020-12-09T03:51:43Z- waiting for 1607485903.07, time is 1607485902.48 2020-12-09T03:51:43Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:43Z- handleDepth()-Depth_Keller msg: 13.46 epoch sec; seqNo:1607485903273; depth 0.00 2020-12-09T03:51:43Z- waiting for 1607485903.07, time is 1607485902.48 2020-12-09T03:51:43Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:43Z- handleDvl() - RDI_Pathfinder msg: 1607485903.29 epoch sec; seqNo:171 2020-12-09T03:51:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.92 , 96.81 , 75.94 , 76.76 2020-12-09T03:51:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.17 , 0.16 2020-12-09T03:51:43Z- waiting for 1607485903.07, time is 1607485903.29 2020-12-09T03:51:43Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:43Z- LcmTrn::updateTrn() >>>> pose time 1607485903.26, meas time 1607485903.29 <<<< 2020-12-09T03:51:43Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485903.29 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:51:43Z- TerrainNav::motionUpdate() - currEstimate = (4061707, 594305.89, 13.46) 2020-12-09T03:51:43Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:51:43Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:51:43Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:51:43Z- TNavBF::mmse selected from filter -1 2020-12-09T03:51:43Z- variances([0], [2], and psi_berg) = 818.836807 833.158765 0.000000 2020-12-09T03:51:43Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:51:43Z- LcmTrn::cycle() - MLE : 4061670.96 594259.39 13.46 2020-12-09T03:51:43Z- LcmTrn::cycle() - MMSE : 4061707.46 594305.89 13.46 2020-12-09T03:51:43Z- LcmTrn::cycle() - COVAR: 818.84 833.16 31.32 0.00 2020-12-09T03:51:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485903.31 epoch sec; seqNo:418; 4061707.08 north; 594305.90 east 2020-12-09T03:51:43Z- waiting for 1607485906.29, time is 1607485903.29 2020-12-09T03:51:43Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:43Z- AHRS_M2 msg: 1607485903.67 epoch sec; seqNo:399 2020-12-09T03:51:43Z- AHRS_M2 msg: 4.04 phi; -0.16 theta; -0.22 psi 2020-12-09T03:51:43Z- waiting for 1607485906.29, time is 1607485903.29 2020-12-09T03:51:43Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:43Z- handleDepth()-Depth_Keller msg: 13.52 epoch sec; seqNo:1607485903673; depth 0.00 2020-12-09T03:51:43Z- waiting for 1607485906.29, time is 1607485903.29 2020-12-09T03:51:43Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485903.69 epoch sec; seqNo:419; 4061707.08 north; 594305.90 east 2020-12-09T03:51:43Z- waiting for 1607485906.29, time is 1607485903.29 2020-12-09T03:51:43Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:43Z- AHRS_M2 msg: 1607485904.07 epoch sec; seqNo:400 2020-12-09T03:51:43Z- AHRS_M2 msg: 4.05 phi; -0.16 theta; -0.22 psi 2020-12-09T03:51:43Z- waiting for 1607485906.29, time is 1607485903.29 2020-12-09T03:51:43Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:43Z- handleDepth()-Depth_Keller msg: 13.56 epoch sec; seqNo:1607485904085; depth 0.00 2020-12-09T03:51:43Z- waiting for 1607485906.29, time is 1607485903.29 2020-12-09T03:51:43Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:43Z- handleDvl() - RDI_Pathfinder msg: 1607485904.10 epoch sec; seqNo:172 2020-12-09T03:51:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.33 , 97.89 , 75.13 , 0.00 2020-12-09T03:51:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.26 , 0.02 2020-12-09T03:51:43Z- waiting for 1607485906.29, time is 1607485904.10 2020-12-09T03:51:43Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485904.11 epoch sec; seqNo:420; 4061706.70 north; 594305.90 east 2020-12-09T03:51:43Z- waiting for 1607485906.29, time is 1607485904.10 2020-12-09T03:51:43Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:44Z- AHRS_M2 msg: 1607485904.48 epoch sec; seqNo:401 2020-12-09T03:51:44Z- AHRS_M2 msg: 4.05 phi; -0.16 theta; -0.21 psi 2020-12-09T03:51:44Z- waiting for 1607485906.29, time is 1607485904.10 2020-12-09T03:51:44Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:44Z- handleDepth()-Depth_Keller msg: 13.62 epoch sec; seqNo:1607485904483; depth 0.00 2020-12-09T03:51:44Z- waiting for 1607485906.29, time is 1607485904.10 2020-12-09T03:51:44Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485904.50 epoch sec; seqNo:421; 4061706.31 north; 594304.68 east 2020-12-09T03:51:44Z- waiting for 1607485906.29, time is 1607485904.10 2020-12-09T03:51:44Z- sync is 0.40, coherence is 2.00 2020-12-09T03:51:44Z- AHRS_M2 msg: 1607485904.88 epoch sec; seqNo:402 2020-12-09T03:51:44Z- AHRS_M2 msg: 4.06 phi; -0.16 theta; -0.21 psi 2020-12-09T03:51:44Z- waiting for 1607485906.29, time is 1607485904.10 2020-12-09T03:51:44Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:44Z- handleDepth()-Depth_Keller msg: 13.67 epoch sec; seqNo:1607485904885; depth 0.00 2020-12-09T03:51:44Z- waiting for 1607485906.29, time is 1607485904.10 2020-12-09T03:51:44Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485904.89 epoch sec; seqNo:422; 4061705.93 north; 594304.69 east 2020-12-09T03:51:44Z- waiting for 1607485906.29, time is 1607485904.10 2020-12-09T03:51:44Z- sync is 0.80, coherence is 2.00 2020-12-09T03:51:45Z- AHRS_M2 msg: 1607485905.29 epoch sec; seqNo:403 2020-12-09T03:51:45Z- AHRS_M2 msg: 4.06 phi; -0.16 theta; -0.21 psi 2020-12-09T03:51:45Z- waiting for 1607485906.29, time is 1607485904.10 2020-12-09T03:51:45Z- sync is 1.19, coherence is 2.00 2020-12-09T03:51:45Z- handleDepth()-Depth_Keller msg: 13.73 epoch sec; seqNo:1607485905295; depth 0.00 2020-12-09T03:51:45Z- waiting for 1607485906.29, time is 1607485904.10 2020-12-09T03:51:45Z- sync is 1.19, coherence is 2.00 2020-12-09T03:51:45Z- handleDvl() - RDI_Pathfinder msg: 1607485905.31 epoch sec; seqNo:173 2020-12-09T03:51:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.74 , 96.81 , 74.31 , 0.00 2020-12-09T03:51:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.21 , -0.06 2020-12-09T03:51:45Z- waiting for 1607485906.29, time is 1607485905.31 2020-12-09T03:51:45Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485905.34 epoch sec; seqNo:423; 4061705.55 north; 594304.69 east 2020-12-09T03:51:45Z- waiting for 1607485906.29, time is 1607485905.31 2020-12-09T03:51:45Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:45Z- AHRS_M2 msg: 1607485905.69 epoch sec; seqNo:404 2020-12-09T03:51:45Z- AHRS_M2 msg: 4.07 phi; -0.16 theta; -0.21 psi 2020-12-09T03:51:45Z- waiting for 1607485906.29, time is 1607485905.31 2020-12-09T03:51:45Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:45Z- handleDepth()-Depth_Keller msg: 13.79 epoch sec; seqNo:1607485905695; depth 0.00 2020-12-09T03:51:45Z- waiting for 1607485906.29, time is 1607485905.31 2020-12-09T03:51:45Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485905.71 epoch sec; seqNo:424; 4061705.55 north; 594304.69 east 2020-12-09T03:51:45Z- waiting for 1607485906.29, time is 1607485905.31 2020-12-09T03:51:45Z- sync is 0.40, coherence is 2.00 2020-12-09T03:51:45Z- AHRS_M2 msg: 1607485906.09 epoch sec; seqNo:405 2020-12-09T03:51:45Z- AHRS_M2 msg: 4.07 phi; -0.16 theta; -0.21 psi 2020-12-09T03:51:45Z- waiting for 1607485906.29, time is 1607485905.31 2020-12-09T03:51:45Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:45Z- handleDepth()-Depth_Keller msg: 13.84 epoch sec; seqNo:1607485906107; depth 0.00 2020-12-09T03:51:45Z- waiting for 1607485906.29, time is 1607485905.31 2020-12-09T03:51:45Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:45Z- handleDvl() - RDI_Pathfinder msg: 1607485906.13 epoch sec; seqNo:174 2020-12-09T03:51:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.33 , 94.65 , 74.31 , 74.72 2020-12-09T03:51:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.06 , -0.11 2020-12-09T03:51:45Z- waiting for 1607485906.29, time is 1607485906.13 2020-12-09T03:51:45Z- sync is 0.04, coherence is 2.00 2020-12-09T03:51:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485906.14 epoch sec; seqNo:425; 4061705.17 north; 594304.70 east 2020-12-09T03:51:45Z- waiting for 1607485906.29, time is 1607485906.13 2020-12-09T03:51:45Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:46Z- AHRS_M2 msg: 1607485906.50 epoch sec; seqNo:406 2020-12-09T03:51:46Z- AHRS_M2 msg: 4.08 phi; -0.16 theta; -0.21 psi 2020-12-09T03:51:46Z- waiting for 1607485906.29, time is 1607485906.13 2020-12-09T03:51:46Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:46Z- handleDepth()-Depth_Keller msg: 13.89 epoch sec; seqNo:1607485906502; depth 0.00 2020-12-09T03:51:46Z- waiting for 1607485906.29, time is 1607485906.13 2020-12-09T03:51:46Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485906.54 epoch sec; seqNo:426; 4061704.78 north; 594303.48 east 2020-12-09T03:51:46Z- waiting for 1607485906.29, time is 1607485906.13 2020-12-09T03:51:46Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:46Z- AHRS_M2 msg: 1607485906.90 epoch sec; seqNo:407 2020-12-09T03:51:46Z- AHRS_M2 msg: 4.08 phi; -0.16 theta; -0.20 psi 2020-12-09T03:51:46Z- waiting for 1607485906.29, time is 1607485906.13 2020-12-09T03:51:46Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:46Z- handleDepth()-Depth_Keller msg: 13.94 epoch sec; seqNo:1607485906905; depth 0.00 2020-12-09T03:51:46Z- waiting for 1607485906.29, time is 1607485906.13 2020-12-09T03:51:46Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485906.94 epoch sec; seqNo:427; 4061704.78 north; 594303.48 east 2020-12-09T03:51:46Z- waiting for 1607485906.29, time is 1607485906.13 2020-12-09T03:51:46Z- sync is 0.81, coherence is 2.00 2020-12-09T03:51:47Z- AHRS_M2 msg: 1607485907.31 epoch sec; seqNo:408 2020-12-09T03:51:47Z- AHRS_M2 msg: 4.08 phi; -0.16 theta; -0.20 psi 2020-12-09T03:51:47Z- waiting for 1607485906.29, time is 1607485906.13 2020-12-09T03:51:47Z- sync is 1.17, coherence is 2.00 2020-12-09T03:51:47Z- handleDepth()-Depth_Keller msg: 13.99 epoch sec; seqNo:1607485907313; depth 0.00 2020-12-09T03:51:47Z- waiting for 1607485906.29, time is 1607485906.13 2020-12-09T03:51:47Z- sync is 1.17, coherence is 2.00 2020-12-09T03:51:47Z- handleDvl() - RDI_Pathfinder msg: 1607485907.35 epoch sec; seqNo:175 2020-12-09T03:51:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.74 , 94.65 , 73.49 , 0.00 2020-12-09T03:51:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.01 , -0.16 2020-12-09T03:51:47Z- waiting for 1607485906.29, time is 1607485907.35 2020-12-09T03:51:47Z- sync is 0.04, coherence is 2.00 2020-12-09T03:51:47Z- LcmTrn::updateTrn() >>>> pose time 1607485907.31, meas time 1607485907.35 <<<< 2020-12-09T03:51:47Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485907.35 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:51:47Z- TerrainNav::motionUpdate() - currEstimate = (4061705, 594303.48, 13.99) 2020-12-09T03:51:47Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:51:47Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:51:47Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:51:47Z- TNavBF::mmse selected from filter -1 2020-12-09T03:51:47Z- variances([0], [2], and psi_berg) = 818.486868 833.157308 0.000000 2020-12-09T03:51:47Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:51:47Z- LcmTrn::cycle() - MLE : 4061669.28 594253.98 13.99 2020-12-09T03:51:47Z- LcmTrn::cycle() - MMSE : 4061704.78 594303.48 13.99 2020-12-09T03:51:47Z- LcmTrn::cycle() - COVAR: 818.49 833.16 31.50 0.00 2020-12-09T03:51:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485907.36 epoch sec; seqNo:428; 4061704.40 north; 594303.49 east 2020-12-09T03:51:47Z- waiting for 1607485910.35, time is 1607485907.35 2020-12-09T03:51:47Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:47Z- AHRS_M2 msg: 1607485907.71 epoch sec; seqNo:409 2020-12-09T03:51:47Z- AHRS_M2 msg: 4.08 phi; -0.16 theta; -0.20 psi 2020-12-09T03:51:47Z- waiting for 1607485910.35, time is 1607485907.35 2020-12-09T03:51:47Z- sync is 0.36, coherence is 2.00 2020-12-09T03:51:47Z- handleDepth()-Depth_Keller msg: 14.05 epoch sec; seqNo:1607485907713; depth 0.00 2020-12-09T03:51:47Z- waiting for 1607485910.35, time is 1607485907.35 2020-12-09T03:51:47Z- sync is 0.36, coherence is 2.00 2020-12-09T03:51:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485907.73 epoch sec; seqNo:429; 4061704.02 north; 594303.49 east 2020-12-09T03:51:47Z- waiting for 1607485910.35, time is 1607485907.35 2020-12-09T03:51:47Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:47Z- AHRS_M2 msg: 1607485908.11 epoch sec; seqNo:410 2020-12-09T03:51:47Z- AHRS_M2 msg: 4.08 phi; -0.16 theta; -0.20 psi 2020-12-09T03:51:47Z- waiting for 1607485910.35, time is 1607485907.35 2020-12-09T03:51:47Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:47Z- handleDepth()-Depth_Keller msg: 14.09 epoch sec; seqNo:1607485908117; depth 0.00 2020-12-09T03:51:47Z- waiting for 1607485910.35, time is 1607485907.35 2020-12-09T03:51:47Z- sync is 0.77, coherence is 2.00 2020-12-09T03:51:47Z- handleDvl() - RDI_Pathfinder msg: 1607485908.13 epoch sec; seqNo:176 2020-12-09T03:51:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.33 , 93.57 , 73.49 , 74.72 2020-12-09T03:51:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.08 , -0.15 2020-12-09T03:51:47Z- waiting for 1607485910.35, time is 1607485908.13 2020-12-09T03:51:47Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485908.14 epoch sec; seqNo:430; 4061704.01 north; 594302.27 east 2020-12-09T03:51:47Z- waiting for 1607485910.35, time is 1607485908.13 2020-12-09T03:51:47Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:48Z- AHRS_M2 msg: 1607485908.52 epoch sec; seqNo:411 2020-12-09T03:51:48Z- AHRS_M2 msg: 4.07 phi; -0.16 theta; -0.20 psi 2020-12-09T03:51:48Z- waiting for 1607485910.35, time is 1607485908.13 2020-12-09T03:51:48Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:48Z- handleDepth()-Depth_Keller msg: 14.15 epoch sec; seqNo:1607485908524; depth 0.00 2020-12-09T03:51:48Z- waiting for 1607485910.35, time is 1607485908.13 2020-12-09T03:51:48Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485908.54 epoch sec; seqNo:431; 4061703.63 north; 594302.27 east 2020-12-09T03:51:48Z- waiting for 1607485910.35, time is 1607485908.13 2020-12-09T03:51:48Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:48Z- AHRS_M2 msg: 1607485908.92 epoch sec; seqNo:412 2020-12-09T03:51:48Z- AHRS_M2 msg: 4.07 phi; -0.16 theta; -0.20 psi 2020-12-09T03:51:48Z- waiting for 1607485910.35, time is 1607485908.13 2020-12-09T03:51:48Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:48Z- handleDepth()-Depth_Keller msg: 14.19 epoch sec; seqNo:1607485908935; depth 0.00 2020-12-09T03:51:48Z- waiting for 1607485910.35, time is 1607485908.13 2020-12-09T03:51:48Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485908.94 epoch sec; seqNo:432; 4061703.63 north; 594302.27 east 2020-12-09T03:51:48Z- waiting for 1607485910.35, time is 1607485908.13 2020-12-09T03:51:48Z- sync is 0.82, coherence is 2.00 2020-12-09T03:51:49Z- AHRS_M2 msg: 1607485909.33 epoch sec; seqNo:413 2020-12-09T03:51:49Z- AHRS_M2 msg: 4.07 phi; -0.16 theta; -0.20 psi 2020-12-09T03:51:49Z- waiting for 1607485910.35, time is 1607485908.13 2020-12-09T03:51:49Z- sync is 1.20, coherence is 2.00 2020-12-09T03:51:49Z- handleDepth()-Depth_Keller msg: 14.24 epoch sec; seqNo:1607485909329; depth 0.00 2020-12-09T03:51:49Z- waiting for 1607485910.35, time is 1607485908.13 2020-12-09T03:51:49Z- sync is 1.20, coherence is 2.00 2020-12-09T03:51:49Z- handleDvl() - RDI_Pathfinder msg: 1607485909.34 epoch sec; seqNo:177 2020-12-09T03:51:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T03:51:49Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:51:49Z- waiting for 1607485910.35, time is 1607485909.34 2020-12-09T03:51:49Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485909.37 epoch sec; seqNo:433; 4061703.24 north; 594301.06 east 2020-12-09T03:51:49Z- waiting for 1607485910.35, time is 1607485909.34 2020-12-09T03:51:49Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:49Z- AHRS_M2 msg: 1607485909.73 epoch sec; seqNo:414 2020-12-09T03:51:49Z- AHRS_M2 msg: 4.07 phi; -0.16 theta; -0.20 psi 2020-12-09T03:51:49Z- waiting for 1607485910.35, time is 1607485909.34 2020-12-09T03:51:49Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:49Z- handleDepth()-Depth_Keller msg: 14.30 epoch sec; seqNo:1607485909733; depth 0.00 2020-12-09T03:51:49Z- waiting for 1607485910.35, time is 1607485909.34 2020-12-09T03:51:49Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485909.75 epoch sec; seqNo:434; 4061703.24 north; 594301.06 east 2020-12-09T03:51:49Z- waiting for 1607485910.35, time is 1607485909.34 2020-12-09T03:51:49Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:49Z- handleDepth()-Depth_Keller msg: 14.35 epoch sec; seqNo:1607485910153; depth 0.00 2020-12-09T03:51:49Z- waiting for 1607485910.35, time is 1607485909.34 2020-12-09T03:51:49Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:49Z- handleDvl() - RDI_Pathfinder msg: 1607485910.17 epoch sec; seqNo:178 2020-12-09T03:51:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.10 , 97.49 , 72.68 , 74.72 2020-12-09T03:51:49Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.12 , 0.01 2020-12-09T03:51:49Z- waiting for 1607485910.35, time is 1607485910.17 2020-12-09T03:51:49Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485910.18 epoch sec; seqNo:435; 4061702.86 north; 594301.06 east 2020-12-09T03:51:49Z- waiting for 1607485910.35, time is 1607485910.17 2020-12-09T03:51:49Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:50Z- AHRS_M2 msg: 1607485910.54 epoch sec; seqNo:415 2020-12-09T03:51:50Z- AHRS_M2 msg: 4.07 phi; -0.16 theta; -0.20 psi 2020-12-09T03:51:50Z- waiting for 1607485910.35, time is 1607485910.17 2020-12-09T03:51:50Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:50Z- handleDepth()-Depth_Keller msg: 14.41 epoch sec; seqNo:1607485910545; depth 0.00 2020-12-09T03:51:50Z- waiting for 1607485910.35, time is 1607485910.17 2020-12-09T03:51:50Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485910.57 epoch sec; seqNo:436; 4061702.48 north; 594301.07 east 2020-12-09T03:51:50Z- waiting for 1607485910.35, time is 1607485910.17 2020-12-09T03:51:50Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:50Z- AHRS_M2 msg: 1607485910.94 epoch sec; seqNo:416 2020-12-09T03:51:50Z- AHRS_M2 msg: 4.07 phi; -0.16 theta; -0.20 psi 2020-12-09T03:51:50Z- waiting for 1607485910.35, time is 1607485910.17 2020-12-09T03:51:50Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:50Z- handleDepth()-Depth_Keller msg: 14.45 epoch sec; seqNo:1607485910946; depth 0.00 2020-12-09T03:51:50Z- waiting for 1607485910.35, time is 1607485910.17 2020-12-09T03:51:50Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485910.96 epoch sec; seqNo:437; 4061702.47 north; 594299.85 east 2020-12-09T03:51:50Z- waiting for 1607485910.35, time is 1607485910.17 2020-12-09T03:51:50Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:51Z- AHRS_M2 msg: 1607485911.35 epoch sec; seqNo:417 2020-12-09T03:51:51Z- AHRS_M2 msg: 4.07 phi; -0.17 theta; -0.20 psi 2020-12-09T03:51:51Z- waiting for 1607485910.35, time is 1607485910.17 2020-12-09T03:51:51Z- sync is 1.18, coherence is 2.00 2020-12-09T03:51:51Z- handleDepth()-Depth_Keller msg: 14.49 epoch sec; seqNo:1607485911359; depth 0.00 2020-12-09T03:51:51Z- waiting for 1607485910.35, time is 1607485910.17 2020-12-09T03:51:51Z- sync is 1.18, coherence is 2.00 2020-12-09T03:51:51Z- handleDvl() - RDI_Pathfinder msg: 1607485911.39 epoch sec; seqNo:179 2020-12-09T03:51:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.14 , 94.65 , 73.49 , 80.61 2020-12-09T03:51:51Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.08 , 0.03 2020-12-09T03:51:51Z- waiting for 1607485910.35, time is 1607485911.39 2020-12-09T03:51:51Z- sync is 0.05, coherence is 2.00 2020-12-09T03:51:51Z- LcmTrn::updateTrn() >>>> pose time 1607485911.35, meas time 1607485911.39 <<<< 2020-12-09T03:51:51Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485911.39 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:51:51Z- TerrainNav::motionUpdate() - currEstimate = (4061702, 594299.85, 14.49) 2020-12-09T03:51:51Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:51:51Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:51:51Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:51:51Z- TNavBF::mmse selected from filter -1 2020-12-09T03:51:51Z- variances([0], [2], and psi_berg) = 818.108179 833.155756 0.000000 2020-12-09T03:51:51Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:51:51Z- LcmTrn::cycle() - MLE : 4061666.97 594250.35 14.49 2020-12-09T03:51:51Z- LcmTrn::cycle() - MMSE : 4061702.47 594299.85 14.49 2020-12-09T03:51:51Z- LcmTrn::cycle() - COVAR: 818.11 833.16 31.72 0.00 2020-12-09T03:51:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485911.41 epoch sec; seqNo:438; 4061702.09 north; 594299.85 east 2020-12-09T03:51:51Z- waiting for 1607485914.39, time is 1607485911.39 2020-12-09T03:51:51Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:51Z- AHRS_M2 msg: 1607485911.75 epoch sec; seqNo:418 2020-12-09T03:51:51Z- AHRS_M2 msg: 4.07 phi; -0.17 theta; -0.20 psi 2020-12-09T03:51:51Z- waiting for 1607485914.39, time is 1607485911.39 2020-12-09T03:51:51Z- sync is 0.35, coherence is 2.00 2020-12-09T03:51:51Z- handleDepth()-Depth_Keller msg: 14.56 epoch sec; seqNo:1607485911755; depth 0.00 2020-12-09T03:51:51Z- waiting for 1607485914.39, time is 1607485911.39 2020-12-09T03:51:51Z- sync is 0.35, coherence is 2.00 2020-12-09T03:51:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485911.79 epoch sec; seqNo:439; 4061702.09 north; 594299.85 east 2020-12-09T03:51:51Z- waiting for 1607485914.39, time is 1607485911.39 2020-12-09T03:51:51Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:51Z- AHRS_M2 msg: 1607485912.15 epoch sec; seqNo:419 2020-12-09T03:51:51Z- AHRS_M2 msg: 4.07 phi; -0.17 theta; -0.20 psi 2020-12-09T03:51:51Z- waiting for 1607485914.39, time is 1607485911.39 2020-12-09T03:51:51Z- sync is 0.76, coherence is 2.00 2020-12-09T03:51:51Z- handleDepth()-Depth_Keller msg: 14.60 epoch sec; seqNo:1607485912157; depth 0.00 2020-12-09T03:51:51Z- waiting for 1607485914.39, time is 1607485911.39 2020-12-09T03:51:51Z- sync is 0.76, coherence is 2.00 2020-12-09T03:51:51Z- handleDvl() - RDI_Pathfinder msg: 1607485912.18 epoch sec; seqNo:180 2020-12-09T03:51:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.92 , 94.65 , 73.08 , 74.72 2020-12-09T03:51:51Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.07 , -0.02 2020-12-09T03:51:51Z- waiting for 1607485914.39, time is 1607485912.18 2020-12-09T03:51:51Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485912.19 epoch sec; seqNo:440; 4061701.70 north; 594298.63 east 2020-12-09T03:51:51Z- waiting for 1607485914.39, time is 1607485912.18 2020-12-09T03:51:51Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:52Z- AHRS_M2 msg: 1607485912.56 epoch sec; seqNo:420 2020-12-09T03:51:52Z- AHRS_M2 msg: 4.07 phi; -0.17 theta; -0.20 psi 2020-12-09T03:51:52Z- waiting for 1607485914.39, time is 1607485912.18 2020-12-09T03:51:52Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:52Z- handleDepth()-Depth_Keller msg: 14.66 epoch sec; seqNo:1607485912565; depth 0.00 2020-12-09T03:51:52Z- waiting for 1607485914.39, time is 1607485912.18 2020-12-09T03:51:52Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485912.62 epoch sec; seqNo:441; 4061701.32 north; 594298.64 east 2020-12-09T03:51:52Z- waiting for 1607485914.39, time is 1607485912.18 2020-12-09T03:51:52Z- sync is 0.44, coherence is 2.00 2020-12-09T03:51:52Z- AHRS_M2 msg: 1607485912.96 epoch sec; seqNo:421 2020-12-09T03:51:52Z- AHRS_M2 msg: 4.08 phi; -0.17 theta; -0.20 psi 2020-12-09T03:51:52Z- waiting for 1607485914.39, time is 1607485912.18 2020-12-09T03:51:52Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:52Z- handleDepth()-Depth_Keller msg: 14.73 epoch sec; seqNo:1607485912965; depth 0.00 2020-12-09T03:51:52Z- waiting for 1607485914.39, time is 1607485912.18 2020-12-09T03:51:52Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485912.98 epoch sec; seqNo:442; 4061701.32 north; 594298.64 east 2020-12-09T03:51:52Z- waiting for 1607485914.39, time is 1607485912.18 2020-12-09T03:51:52Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:53Z- AHRS_M2 msg: 1607485913.36 epoch sec; seqNo:422 2020-12-09T03:51:53Z- AHRS_M2 msg: 4.08 phi; -0.17 theta; -0.21 psi 2020-12-09T03:51:53Z- waiting for 1607485914.39, time is 1607485912.18 2020-12-09T03:51:53Z- sync is 1.18, coherence is 2.00 2020-12-09T03:51:53Z- handleDepth()-Depth_Keller msg: 14.79 epoch sec; seqNo:1607485913371; depth 0.00 2020-12-09T03:51:53Z- waiting for 1607485914.39, time is 1607485912.18 2020-12-09T03:51:53Z- sync is 1.18, coherence is 2.00 2020-12-09T03:51:53Z- handleDvl() - RDI_Pathfinder msg: 1607485913.39 epoch sec; seqNo:181 2020-12-09T03:51:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.14 , 93.57 , 72.68 , 73.90 2020-12-09T03:51:53Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , 0.06 , -0.10 2020-12-09T03:51:53Z- waiting for 1607485914.39, time is 1607485913.39 2020-12-09T03:51:53Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485913.40 epoch sec; seqNo:443; 4061700.94 north; 594298.64 east 2020-12-09T03:51:53Z- waiting for 1607485914.39, time is 1607485913.39 2020-12-09T03:51:53Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:53Z- AHRS_M2 msg: 1607485913.77 epoch sec; seqNo:423 2020-12-09T03:51:53Z- AHRS_M2 msg: 4.08 phi; -0.17 theta; -0.21 psi 2020-12-09T03:51:53Z- waiting for 1607485914.39, time is 1607485913.39 2020-12-09T03:51:53Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:53Z- handleDepth()-Depth_Keller msg: 14.85 epoch sec; seqNo:1607485913773; depth 0.00 2020-12-09T03:51:53Z- waiting for 1607485914.39, time is 1607485913.39 2020-12-09T03:51:53Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485913.80 epoch sec; seqNo:444; 4061700.55 north; 594297.43 east 2020-12-09T03:51:53Z- waiting for 1607485914.39, time is 1607485913.39 2020-12-09T03:51:53Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:53Z- AHRS_M2 msg: 1607485914.17 epoch sec; seqNo:424 2020-12-09T03:51:53Z- AHRS_M2 msg: 4.09 phi; -0.17 theta; -0.20 psi 2020-12-09T03:51:53Z- waiting for 1607485914.39, time is 1607485913.39 2020-12-09T03:51:53Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:53Z- handleDepth()-Depth_Keller msg: 14.91 epoch sec; seqNo:1607485914182; depth 0.00 2020-12-09T03:51:53Z- waiting for 1607485914.39, time is 1607485913.39 2020-12-09T03:51:53Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:54Z- handleDvl() - RDI_Pathfinder msg: 1607485914.19 epoch sec; seqNo:182 2020-12-09T03:51:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.14 , 97.89 , 72.27 , 72.27 2020-12-09T03:51:54Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , 0.09 , -0.15 2020-12-09T03:51:54Z- waiting for 1607485914.39, time is 1607485914.19 2020-12-09T03:51:54Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485914.22 epoch sec; seqNo:445; 4061700.55 north; 594297.43 east 2020-12-09T03:51:54Z- waiting for 1607485914.39, time is 1607485914.19 2020-12-09T03:51:54Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:54Z- AHRS_M2 msg: 1607485914.60 epoch sec; seqNo:425 2020-12-09T03:51:54Z- AHRS_M2 msg: 4.09 phi; -0.18 theta; -0.20 psi 2020-12-09T03:51:54Z- waiting for 1607485914.39, time is 1607485914.19 2020-12-09T03:51:54Z- sync is 0.40, coherence is 2.00 2020-12-09T03:51:54Z- handleDepth()-Depth_Keller msg: 14.98 epoch sec; seqNo:1607485914601; depth 0.00 2020-12-09T03:51:54Z- waiting for 1607485914.39, time is 1607485914.19 2020-12-09T03:51:54Z- sync is 0.40, coherence is 2.00 2020-12-09T03:51:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485914.62 epoch sec; seqNo:446; 4061700.17 north; 594297.43 east 2020-12-09T03:51:54Z- waiting for 1607485914.39, time is 1607485914.19 2020-12-09T03:51:54Z- sync is 0.43, coherence is 2.00 2020-12-09T03:51:54Z- AHRS_M2 msg: 1607485914.98 epoch sec; seqNo:426 2020-12-09T03:51:54Z- AHRS_M2 msg: 4.09 phi; -0.18 theta; -0.20 psi 2020-12-09T03:51:54Z- waiting for 1607485914.39, time is 1607485914.19 2020-12-09T03:51:54Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:54Z- handleDepth()-Depth_Keller msg: 15.04 epoch sec; seqNo:1607485914986; depth 0.00 2020-12-09T03:51:54Z- waiting for 1607485914.39, time is 1607485914.19 2020-12-09T03:51:54Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485915.00 epoch sec; seqNo:447; 4061700.15 north; 594296.21 east 2020-12-09T03:51:54Z- waiting for 1607485914.39, time is 1607485914.19 2020-12-09T03:51:54Z- sync is 0.80, coherence is 2.00 2020-12-09T03:51:55Z- AHRS_M2 msg: 1607485915.38 epoch sec; seqNo:427 2020-12-09T03:51:55Z- AHRS_M2 msg: 4.09 phi; -0.18 theta; -0.20 psi 2020-12-09T03:51:55Z- waiting for 1607485914.39, time is 1607485914.19 2020-12-09T03:51:55Z- sync is 1.19, coherence is 2.00 2020-12-09T03:51:55Z- handleDepth()-Depth_Keller msg: 15.09 epoch sec; seqNo:1607485915389; depth 0.00 2020-12-09T03:51:55Z- waiting for 1607485914.39, time is 1607485914.19 2020-12-09T03:51:55Z- sync is 1.19, coherence is 2.00 2020-12-09T03:51:55Z- handleDvl() - RDI_Pathfinder msg: 1607485915.40 epoch sec; seqNo:183 2020-12-09T03:51:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.55 , 92.49 , 71.86 , 74.31 2020-12-09T03:51:55Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.26 , -0.12 2020-12-09T03:51:55Z- waiting for 1607485914.39, time is 1607485915.40 2020-12-09T03:51:55Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:55Z- LcmTrn::updateTrn() >>>> pose time 1607485915.38, meas time 1607485915.40 <<<< 2020-12-09T03:51:55Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485915.40 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:51:55Z- TerrainNav::motionUpdate() - currEstimate = (4061700, 594296.21, 15.09) 2020-12-09T03:51:55Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:51:55Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:51:55Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:51:55Z- TNavBF::mmse selected from filter -1 2020-12-09T03:51:55Z- variances([0], [2], and psi_berg) = 817.733717 833.154249 0.000000 2020-12-09T03:51:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:51:55Z- LcmTrn::cycle() - MLE : 4061664.65 594246.71 15.09 2020-12-09T03:51:55Z- LcmTrn::cycle() - MMSE : 4061700.15 594296.21 15.09 2020-12-09T03:51:55Z- LcmTrn::cycle() - COVAR: 817.73 833.15 31.94 0.00 2020-12-09T03:51:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485915.41 epoch sec; seqNo:448; 4061699.78 north; 594296.21 east 2020-12-09T03:51:55Z- waiting for 1607485918.40, time is 1607485915.40 2020-12-09T03:51:55Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:55Z- AHRS_M2 msg: 1607485915.79 epoch sec; seqNo:428 2020-12-09T03:51:55Z- AHRS_M2 msg: 4.08 phi; -0.18 theta; -0.20 psi 2020-12-09T03:51:55Z- waiting for 1607485918.40, time is 1607485915.40 2020-12-09T03:51:55Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:55Z- handleDepth()-Depth_Keller msg: 15.18 epoch sec; seqNo:1607485915801; depth 0.00 2020-12-09T03:51:55Z- waiting for 1607485918.40, time is 1607485915.40 2020-12-09T03:51:55Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485915.81 epoch sec; seqNo:449; 4061699.78 north; 594296.21 east 2020-12-09T03:51:55Z- waiting for 1607485918.40, time is 1607485915.40 2020-12-09T03:51:55Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:55Z- AHRS_M2 msg: 1607485916.19 epoch sec; seqNo:429 2020-12-09T03:51:55Z- AHRS_M2 msg: 4.08 phi; -0.18 theta; -0.20 psi 2020-12-09T03:51:55Z- waiting for 1607485918.40, time is 1607485915.40 2020-12-09T03:51:55Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:55Z- handleDepth()-Depth_Keller msg: 15.24 epoch sec; seqNo:1607485916197; depth 0.00 2020-12-09T03:51:55Z- waiting for 1607485918.40, time is 1607485915.40 2020-12-09T03:51:55Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:56Z- handleDvl() - RDI_Pathfinder msg: 1607485916.22 epoch sec; seqNo:184 2020-12-09T03:51:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.55 , 92.49 , 72.27 , 73.08 2020-12-09T03:51:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.33 , 0.03 2020-12-09T03:51:56Z- waiting for 1607485918.40, time is 1607485916.22 2020-12-09T03:51:56Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485916.23 epoch sec; seqNo:450; 4061699.38 north; 594295.00 east 2020-12-09T03:51:56Z- waiting for 1607485918.40, time is 1607485916.22 2020-12-09T03:51:56Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:56Z- AHRS_M2 msg: 1607485916.60 epoch sec; seqNo:430 2020-12-09T03:51:56Z- AHRS_M2 msg: 4.07 phi; -0.18 theta; -0.20 psi 2020-12-09T03:51:56Z- waiting for 1607485918.40, time is 1607485916.22 2020-12-09T03:51:56Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:56Z- handleDepth()-Depth_Keller msg: 15.30 epoch sec; seqNo:1607485916609; depth 0.00 2020-12-09T03:51:56Z- waiting for 1607485918.40, time is 1607485916.22 2020-12-09T03:51:56Z- sync is 0.38, coherence is 2.00 2020-12-09T03:51:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485916.66 epoch sec; seqNo:451; 4061699.38 north; 594295.00 east 2020-12-09T03:51:56Z- waiting for 1607485918.40, time is 1607485916.22 2020-12-09T03:51:56Z- sync is 0.44, coherence is 2.00 2020-12-09T03:51:56Z- AHRS_M2 msg: 1607485917.01 epoch sec; seqNo:431 2020-12-09T03:51:56Z- AHRS_M2 msg: 4.07 phi; -0.19 theta; -0.19 psi 2020-12-09T03:51:56Z- waiting for 1607485918.40, time is 1607485916.22 2020-12-09T03:51:56Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:56Z- handleDepth()-Depth_Keller msg: 15.39 epoch sec; seqNo:1607485917009; depth 0.00 2020-12-09T03:51:56Z- waiting for 1607485918.40, time is 1607485916.22 2020-12-09T03:51:56Z- sync is 0.79, coherence is 2.00 2020-12-09T03:51:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485917.07 epoch sec; seqNo:452; 4061699.00 north; 594295.00 east 2020-12-09T03:51:56Z- waiting for 1607485918.40, time is 1607485916.22 2020-12-09T03:51:56Z- sync is 0.85, coherence is 2.00 2020-12-09T03:51:57Z- AHRS_M2 msg: 1607485917.41 epoch sec; seqNo:432 2020-12-09T03:51:57Z- AHRS_M2 msg: 4.06 phi; -0.19 theta; -0.19 psi 2020-12-09T03:51:57Z- waiting for 1607485918.40, time is 1607485916.22 2020-12-09T03:51:57Z- sync is 1.19, coherence is 2.00 2020-12-09T03:51:57Z- handleDepth()-Depth_Keller msg: 15.45 epoch sec; seqNo:1607485917411; depth 0.00 2020-12-09T03:51:57Z- waiting for 1607485918.40, time is 1607485916.22 2020-12-09T03:51:57Z- sync is 1.19, coherence is 2.00 2020-12-09T03:51:57Z- handleDvl() - RDI_Pathfinder msg: 1607485917.43 epoch sec; seqNo:185 2020-12-09T03:51:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.55 , 92.49 , 71.86 , 74.31 2020-12-09T03:51:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.35 , 0.21 2020-12-09T03:51:57Z- waiting for 1607485918.40, time is 1607485917.43 2020-12-09T03:51:57Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485917.45 epoch sec; seqNo:453; 4061698.99 north; 594293.78 east 2020-12-09T03:51:57Z- waiting for 1607485918.40, time is 1607485917.43 2020-12-09T03:51:57Z- sync is 0.01, coherence is 2.00 2020-12-09T03:51:57Z- AHRS_M2 msg: 1607485917.81 epoch sec; seqNo:433 2020-12-09T03:51:57Z- AHRS_M2 msg: 4.05 phi; -0.19 theta; -0.19 psi 2020-12-09T03:51:57Z- waiting for 1607485918.40, time is 1607485917.43 2020-12-09T03:51:57Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:57Z- handleDepth()-Depth_Keller msg: 15.51 epoch sec; seqNo:1607485917817; depth 0.00 2020-12-09T03:51:57Z- waiting for 1607485918.40, time is 1607485917.43 2020-12-09T03:51:57Z- sync is 0.37, coherence is 2.00 2020-12-09T03:51:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485917.85 epoch sec; seqNo:454; 4061698.99 north; 594293.78 east 2020-12-09T03:51:57Z- waiting for 1607485918.40, time is 1607485917.43 2020-12-09T03:51:57Z- sync is 0.41, coherence is 2.00 2020-12-09T03:51:58Z- AHRS_M2 msg: 1607485918.21 epoch sec; seqNo:434 2020-12-09T03:51:58Z- AHRS_M2 msg: 4.04 phi; -0.19 theta; -0.20 psi 2020-12-09T03:51:58Z- waiting for 1607485918.40, time is 1607485917.43 2020-12-09T03:51:58Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:58Z- handleDepth()-Depth_Keller msg: 15.59 epoch sec; seqNo:1607485918221; depth 0.00 2020-12-09T03:51:58Z- waiting for 1607485918.40, time is 1607485917.43 2020-12-09T03:51:58Z- sync is 0.78, coherence is 2.00 2020-12-09T03:51:58Z- handleDvl() - RDI_Pathfinder msg: 1607485918.23 epoch sec; seqNo:186 2020-12-09T03:51:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.55 , 92.49 , 71.86 , 75.13 2020-12-09T03:51:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.24 , 0.37 2020-12-09T03:51:58Z- waiting for 1607485918.40, time is 1607485918.23 2020-12-09T03:51:58Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485918.26 epoch sec; seqNo:455; 4061698.61 north; 594293.79 east 2020-12-09T03:51:58Z- waiting for 1607485918.40, time is 1607485918.23 2020-12-09T03:51:58Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:58Z- AHRS_M2 msg: 1607485918.62 epoch sec; seqNo:435 2020-12-09T03:51:58Z- AHRS_M2 msg: 4.04 phi; -0.19 theta; -0.20 psi 2020-12-09T03:51:58Z- waiting for 1607485918.40, time is 1607485918.23 2020-12-09T03:51:58Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:58Z- handleDepth()-Depth_Keller msg: 15.66 epoch sec; seqNo:1607485918627; depth 0.00 2020-12-09T03:51:58Z- waiting for 1607485918.40, time is 1607485918.23 2020-12-09T03:51:58Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485918.65 epoch sec; seqNo:456; 4061698.60 north; 594292.57 east 2020-12-09T03:51:58Z- waiting for 1607485918.40, time is 1607485918.23 2020-12-09T03:51:58Z- sync is 0.42, coherence is 2.00 2020-12-09T03:51:58Z- AHRS_M2 msg: 1607485919.03 epoch sec; seqNo:436 2020-12-09T03:51:58Z- AHRS_M2 msg: 4.03 phi; -0.19 theta; -0.20 psi 2020-12-09T03:51:58Z- waiting for 1607485918.40, time is 1607485918.23 2020-12-09T03:51:58Z- sync is 0.80, coherence is 2.00 2020-12-09T03:51:58Z- handleDepth()-Depth_Keller msg: 15.71 epoch sec; seqNo:1607485919049; depth 0.00 2020-12-09T03:51:58Z- waiting for 1607485918.40, time is 1607485918.23 2020-12-09T03:51:58Z- sync is 0.80, coherence is 2.00 2020-12-09T03:51:58Z- handleDvl() - RDI_Pathfinder msg: 1607485919.07 epoch sec; seqNo:187 2020-12-09T03:51:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.74 , 93.57 , 72.68 , 76.35 2020-12-09T03:51:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.03 , 0.45 2020-12-09T03:51:58Z- waiting for 1607485918.40, time is 1607485919.07 2020-12-09T03:51:58Z- sync is 0.03, coherence is 2.00 2020-12-09T03:51:58Z- LcmTrn::updateTrn() >>>> pose time 1607485919.03, meas time 1607485919.07 <<<< 2020-12-09T03:51:58Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485919.07 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:51:58Z- TerrainNav::motionUpdate() - currEstimate = (4061699, 594292.57, 15.71) 2020-12-09T03:51:58Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:51:58Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:51:58Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:51:58Z- TNavBF::mmse selected from filter -1 2020-12-09T03:51:58Z- variances([0], [2], and psi_berg) = 817.378598 833.152844 0.000000 2020-12-09T03:51:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:51:58Z- LcmTrn::cycle() - MLE : 4061663.10 594244.07 15.71 2020-12-09T03:51:58Z- LcmTrn::cycle() - MMSE : 4061698.60 594292.57 15.71 2020-12-09T03:51:58Z- LcmTrn::cycle() - COVAR: 817.38 833.15 32.14 0.00 2020-12-09T03:51:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485919.09 epoch sec; seqNo:457; 4061698.22 north; 594292.57 east 2020-12-09T03:51:58Z- waiting for 1607485922.07, time is 1607485919.07 2020-12-09T03:51:58Z- sync is 0.02, coherence is 2.00 2020-12-09T03:51:59Z- AHRS_M2 msg: 1607485919.42 epoch sec; seqNo:437 2020-12-09T03:51:59Z- AHRS_M2 msg: 4.03 phi; -0.19 theta; -0.21 psi 2020-12-09T03:51:59Z- waiting for 1607485922.07, time is 1607485919.07 2020-12-09T03:51:59Z- sync is 0.36, coherence is 2.00 2020-12-09T03:51:59Z- handleDepth()-Depth_Keller msg: 15.80 epoch sec; seqNo:1607485919442; depth 0.00 2020-12-09T03:51:59Z- waiting for 1607485922.07, time is 1607485919.07 2020-12-09T03:51:59Z- sync is 0.36, coherence is 2.00 2020-12-09T03:51:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485919.45 epoch sec; seqNo:458; 4061698.22 north; 594292.57 east 2020-12-09T03:51:59Z- waiting for 1607485922.07, time is 1607485919.07 2020-12-09T03:51:59Z- sync is 0.39, coherence is 2.00 2020-12-09T03:51:59Z- AHRS_M2 msg: 1607485919.83 epoch sec; seqNo:438 2020-12-09T03:51:59Z- AHRS_M2 msg: 4.03 phi; -0.20 theta; -0.21 psi 2020-12-09T03:51:59Z- waiting for 1607485922.07, time is 1607485919.07 2020-12-09T03:51:59Z- sync is 0.76, coherence is 2.00 2020-12-09T03:51:59Z- handleDepth()-Depth_Keller msg: 15.87 epoch sec; seqNo:1607485919837; depth 0.00 2020-12-09T03:51:59Z- waiting for 1607485922.07, time is 1607485919.07 2020-12-09T03:51:59Z- sync is 0.76, coherence is 2.00 2020-12-09T03:51:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485919.85 epoch sec; seqNo:459; 4061697.83 north; 594291.35 east 2020-12-09T03:51:59Z- waiting for 1607485922.07, time is 1607485919.07 2020-12-09T03:51:59Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:00Z- AHRS_M2 msg: 1607485920.23 epoch sec; seqNo:439 2020-12-09T03:52:00Z- AHRS_M2 msg: 4.03 phi; -0.20 theta; -0.22 psi 2020-12-09T03:52:00Z- waiting for 1607485922.07, time is 1607485919.07 2020-12-09T03:52:00Z- sync is 1.16, coherence is 2.00 2020-12-09T03:52:00Z- handleDepth()-Depth_Keller msg: 15.93 epoch sec; seqNo:1607485920238; depth 0.00 2020-12-09T03:52:00Z- waiting for 1607485922.07, time is 1607485919.07 2020-12-09T03:52:00Z- sync is 1.16, coherence is 2.00 2020-12-09T03:52:00Z- handleDvl() - RDI_Pathfinder msg: 1607485920.25 epoch sec; seqNo:188 2020-12-09T03:52:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.73 , 94.65 , 72.67 , 77.98 2020-12-09T03:52:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.18 , 0.39 2020-12-09T03:52:00Z- waiting for 1607485922.07, time is 1607485920.25 2020-12-09T03:52:00Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485920.26 epoch sec; seqNo:460; 4061697.83 north; 594291.35 east 2020-12-09T03:52:00Z- waiting for 1607485922.07, time is 1607485920.25 2020-12-09T03:52:00Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:00Z- AHRS_M2 msg: 1607485920.64 epoch sec; seqNo:440 2020-12-09T03:52:00Z- AHRS_M2 msg: 4.03 phi; -0.20 theta; -0.22 psi 2020-12-09T03:52:00Z- waiting for 1607485922.07, time is 1607485920.25 2020-12-09T03:52:00Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:00Z- handleDepth()-Depth_Keller msg: 16.00 epoch sec; seqNo:1607485920659; depth 0.00 2020-12-09T03:52:00Z- waiting for 1607485922.07, time is 1607485920.25 2020-12-09T03:52:00Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485920.68 epoch sec; seqNo:461; 4061697.45 north; 594291.36 east 2020-12-09T03:52:00Z- waiting for 1607485922.07, time is 1607485920.25 2020-12-09T03:52:00Z- sync is 0.43, coherence is 2.00 2020-12-09T03:52:00Z- AHRS_M2 msg: 1607485921.04 epoch sec; seqNo:441 2020-12-09T03:52:00Z- AHRS_M2 msg: 4.04 phi; -0.21 theta; -0.22 psi 2020-12-09T03:52:00Z- waiting for 1607485922.07, time is 1607485920.25 2020-12-09T03:52:00Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:00Z- handleDepth()-Depth_Keller msg: 16.06 epoch sec; seqNo:1607485921045; depth 0.00 2020-12-09T03:52:00Z- waiting for 1607485922.07, time is 1607485920.25 2020-12-09T03:52:00Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485921.06 epoch sec; seqNo:462; 4061697.07 north; 594291.36 east 2020-12-09T03:52:00Z- waiting for 1607485922.07, time is 1607485920.25 2020-12-09T03:52:00Z- sync is 0.81, coherence is 2.00 2020-12-09T03:52:01Z- AHRS_M2 msg: 1607485921.45 epoch sec; seqNo:442 2020-12-09T03:52:01Z- AHRS_M2 msg: 4.04 phi; -0.21 theta; -0.22 psi 2020-12-09T03:52:01Z- waiting for 1607485922.07, time is 1607485920.25 2020-12-09T03:52:01Z- sync is 1.20, coherence is 2.00 2020-12-09T03:52:01Z- handleDepth()-Depth_Keller msg: 16.14 epoch sec; seqNo:1607485921457; depth 0.00 2020-12-09T03:52:01Z- waiting for 1607485922.07, time is 1607485920.25 2020-12-09T03:52:01Z- sync is 1.20, coherence is 2.00 2020-12-09T03:52:01Z- handleDvl() - RDI_Pathfinder msg: 1607485921.47 epoch sec; seqNo:189 2020-12-09T03:52:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.73 , 96.81 , 72.67 , 86.01 2020-12-09T03:52:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.36 , 0.22 2020-12-09T03:52:01Z- waiting for 1607485922.07, time is 1607485921.47 2020-12-09T03:52:01Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485921.50 epoch sec; seqNo:463; 4061697.07 north; 594291.36 east 2020-12-09T03:52:01Z- waiting for 1607485922.07, time is 1607485921.47 2020-12-09T03:52:01Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:01Z- AHRS_M2 msg: 1607485921.85 epoch sec; seqNo:443 2020-12-09T03:52:01Z- AHRS_M2 msg: 4.05 phi; -0.21 theta; -0.22 psi 2020-12-09T03:52:01Z- waiting for 1607485922.07, time is 1607485921.47 2020-12-09T03:52:01Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:01Z- handleDepth()-Depth_Keller msg: 16.20 epoch sec; seqNo:1607485921861; depth 0.00 2020-12-09T03:52:01Z- waiting for 1607485922.07, time is 1607485921.47 2020-12-09T03:52:01Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485921.90 epoch sec; seqNo:464; 4061696.69 north; 594291.37 east 2020-12-09T03:52:01Z- waiting for 1607485922.07, time is 1607485921.47 2020-12-09T03:52:01Z- sync is 0.43, coherence is 2.00 2020-12-09T03:52:02Z- AHRS_M2 msg: 1607485922.25 epoch sec; seqNo:444 2020-12-09T03:52:02Z- AHRS_M2 msg: 4.06 phi; -0.21 theta; -0.22 psi 2020-12-09T03:52:02Z- waiting for 1607485922.07, time is 1607485921.47 2020-12-09T03:52:02Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:02Z- handleDepth()-Depth_Keller msg: 16.28 epoch sec; seqNo:1607485922257; depth 0.00 2020-12-09T03:52:02Z- waiting for 1607485922.07, time is 1607485921.47 2020-12-09T03:52:02Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:02Z- handleDvl() - RDI_Pathfinder msg: 1607485922.28 epoch sec; seqNo:190 2020-12-09T03:52:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.73 , 96.81 , 78.45 , 79.20 2020-12-09T03:52:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.36 , -0.04 2020-12-09T03:52:02Z- waiting for 1607485922.07, time is 1607485922.28 2020-12-09T03:52:02Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:02Z- LcmTrn::updateTrn() >>>> pose time 1607485922.25, meas time 1607485922.28 <<<< 2020-12-09T03:52:02Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485922.28 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:52:02Z- TerrainNav::motionUpdate() - currEstimate = (4061697, 594291.37, 16.28) 2020-12-09T03:52:02Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:52:02Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:52:02Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:52:02Z- TNavBF::mmse selected from filter -1 2020-12-09T03:52:02Z- variances([0], [2], and psi_berg) = 817.113588 833.151812 0.000000 2020-12-09T03:52:02Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:52:02Z- LcmTrn::cycle() - MLE : 4061661.19 594242.87 16.28 2020-12-09T03:52:02Z- LcmTrn::cycle() - MMSE : 4061696.69 594291.37 16.28 2020-12-09T03:52:02Z- LcmTrn::cycle() - COVAR: 817.11 833.15 32.26 0.00 2020-12-09T03:52:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485922.29 epoch sec; seqNo:465; 4061696.30 north; 594290.15 east 2020-12-09T03:52:02Z- waiting for 1607485925.28, time is 1607485922.28 2020-12-09T03:52:02Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:02Z- AHRS_M2 msg: 1607485922.66 epoch sec; seqNo:445 2020-12-09T03:52:02Z- AHRS_M2 msg: 4.07 phi; -0.22 theta; -0.21 psi 2020-12-09T03:52:02Z- waiting for 1607485925.28, time is 1607485922.28 2020-12-09T03:52:02Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:02Z- handleDepth()-Depth_Keller msg: 16.33 epoch sec; seqNo:1607485922662; depth 0.00 2020-12-09T03:52:02Z- waiting for 1607485925.28, time is 1607485922.28 2020-12-09T03:52:02Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485922.71 epoch sec; seqNo:466; 4061695.92 north; 594290.15 east 2020-12-09T03:52:02Z- waiting for 1607485925.28, time is 1607485922.28 2020-12-09T03:52:02Z- sync is 0.43, coherence is 2.00 2020-12-09T03:52:02Z- AHRS_M2 msg: 1607485923.07 epoch sec; seqNo:446 2020-12-09T03:52:02Z- AHRS_M2 msg: 4.08 phi; -0.22 theta; -0.21 psi 2020-12-09T03:52:02Z- waiting for 1607485925.28, time is 1607485922.28 2020-12-09T03:52:02Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:02Z- handleDepth()-Depth_Keller msg: 16.41 epoch sec; seqNo:1607485923076; depth 0.00 2020-12-09T03:52:02Z- waiting for 1607485925.28, time is 1607485922.28 2020-12-09T03:52:02Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:02Z- handleDvl() - RDI_Pathfinder msg: 1607485923.11 epoch sec; seqNo:191 2020-12-09T03:52:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.73 , 97.89 , 71.85 , 77.98 2020-12-09T03:52:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.27 , -0.29 2020-12-09T03:52:02Z- waiting for 1607485925.28, time is 1607485923.11 2020-12-09T03:52:02Z- sync is 0.04, coherence is 2.00 2020-12-09T03:52:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485923.12 epoch sec; seqNo:467; 4061695.54 north; 594290.16 east 2020-12-09T03:52:02Z- waiting for 1607485925.28, time is 1607485923.11 2020-12-09T03:52:02Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:03Z- handleDepth()-Depth_Keller msg: 16.46 epoch sec; seqNo:1607485923489; depth 0.00 2020-12-09T03:52:03Z- waiting for 1607485925.28, time is 1607485923.11 2020-12-09T03:52:03Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485923.50 epoch sec; seqNo:468; 4061695.54 north; 594290.16 east 2020-12-09T03:52:03Z- waiting for 1607485925.28, time is 1607485923.11 2020-12-09T03:52:03Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:03Z- AHRS_M2 msg: 1607485923.87 epoch sec; seqNo:447 2020-12-09T03:52:03Z- AHRS_M2 msg: 4.10 phi; -0.22 theta; -0.19 psi 2020-12-09T03:52:03Z- waiting for 1607485925.28, time is 1607485923.11 2020-12-09T03:52:03Z- sync is 0.76, coherence is 2.00 2020-12-09T03:52:03Z- handleDepth()-Depth_Keller msg: 16.52 epoch sec; seqNo:1607485923876; depth 0.00 2020-12-09T03:52:03Z- waiting for 1607485925.28, time is 1607485923.11 2020-12-09T03:52:03Z- sync is 0.76, coherence is 2.00 2020-12-09T03:52:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485923.89 epoch sec; seqNo:469; 4061695.16 north; 594290.16 east 2020-12-09T03:52:03Z- waiting for 1607485925.28, time is 1607485923.11 2020-12-09T03:52:03Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:04Z- AHRS_M2 msg: 1607485924.27 epoch sec; seqNo:448 2020-12-09T03:52:04Z- AHRS_M2 msg: 4.11 phi; -0.22 theta; -0.18 psi 2020-12-09T03:52:04Z- waiting for 1607485925.28, time is 1607485923.11 2020-12-09T03:52:04Z- sync is 1.16, coherence is 2.00 2020-12-09T03:52:04Z- handleDepth()-Depth_Keller msg: 16.59 epoch sec; seqNo:1607485924277; depth 0.00 2020-12-09T03:52:04Z- waiting for 1607485925.28, time is 1607485923.11 2020-12-09T03:52:04Z- sync is 1.16, coherence is 2.00 2020-12-09T03:52:04Z- handleDvl() - RDI_Pathfinder msg: 1607485924.29 epoch sec; seqNo:192 2020-12-09T03:52:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.73 , 97.89 , 70.22 , 81.69 2020-12-09T03:52:04Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.09 , -0.42 2020-12-09T03:52:04Z- waiting for 1607485925.28, time is 1607485924.29 2020-12-09T03:52:04Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485924.31 epoch sec; seqNo:470; 4061694.77 north; 594288.95 east 2020-12-09T03:52:04Z- waiting for 1607485925.28, time is 1607485924.29 2020-12-09T03:52:04Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:04Z- AHRS_M2 msg: 1607485924.68 epoch sec; seqNo:449 2020-12-09T03:52:04Z- AHRS_M2 msg: 4.11 phi; -0.21 theta; -0.17 psi 2020-12-09T03:52:04Z- waiting for 1607485925.28, time is 1607485924.29 2020-12-09T03:52:04Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:04Z- handleDepth()-Depth_Keller msg: 16.65 epoch sec; seqNo:1607485924686; depth 0.00 2020-12-09T03:52:04Z- waiting for 1607485925.28, time is 1607485924.29 2020-12-09T03:52:04Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485924.70 epoch sec; seqNo:471; 4061694.39 north; 594288.95 east 2020-12-09T03:52:04Z- waiting for 1607485925.28, time is 1607485924.29 2020-12-09T03:52:04Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:04Z- AHRS_M2 msg: 1607485925.09 epoch sec; seqNo:450 2020-12-09T03:52:04Z- AHRS_M2 msg: 4.12 phi; -0.21 theta; -0.17 psi 2020-12-09T03:52:04Z- waiting for 1607485925.28, time is 1607485924.29 2020-12-09T03:52:04Z- sync is 0.80, coherence is 2.00 2020-12-09T03:52:04Z- handleDepth()-Depth_Keller msg: 16.70 epoch sec; seqNo:1607485925091; depth 0.00 2020-12-09T03:52:04Z- waiting for 1607485925.28, time is 1607485924.29 2020-12-09T03:52:04Z- sync is 0.80, coherence is 2.00 2020-12-09T03:52:04Z- handleDvl() - RDI_Pathfinder msg: 1607485925.10 epoch sec; seqNo:193 2020-12-09T03:52:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.54 , 90.33 , 69.81 , 76.34 2020-12-09T03:52:04Z- handleDvl() - RDI_Pathfinder msg: velocities 1.13 , 0.14 , -0.37 2020-12-09T03:52:04Z- waiting for 1607485925.28, time is 1607485925.10 2020-12-09T03:52:04Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485925.12 epoch sec; seqNo:472; 4061694.01 north; 594288.95 east 2020-12-09T03:52:04Z- waiting for 1607485925.28, time is 1607485925.10 2020-12-09T03:52:04Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:05Z- AHRS_M2 msg: 1607485925.48 epoch sec; seqNo:451 2020-12-09T03:52:05Z- AHRS_M2 msg: 4.13 phi; -0.21 theta; -0.16 psi 2020-12-09T03:52:05Z- waiting for 1607485925.28, time is 1607485925.10 2020-12-09T03:52:05Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:05Z- handleDepth()-Depth_Keller msg: 16.78 epoch sec; seqNo:1607485925493; depth 0.00 2020-12-09T03:52:05Z- waiting for 1607485925.28, time is 1607485925.10 2020-12-09T03:52:05Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485925.51 epoch sec; seqNo:473; 4061694.00 north; 594287.73 east 2020-12-09T03:52:05Z- waiting for 1607485925.28, time is 1607485925.10 2020-12-09T03:52:05Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:05Z- AHRS_M2 msg: 1607485925.91 epoch sec; seqNo:452 2020-12-09T03:52:05Z- AHRS_M2 msg: 4.13 phi; -0.21 theta; -0.16 psi 2020-12-09T03:52:05Z- waiting for 1607485925.28, time is 1607485925.10 2020-12-09T03:52:05Z- sync is 0.80, coherence is 2.00 2020-12-09T03:52:05Z- handleDepth()-Depth_Keller msg: 16.83 epoch sec; seqNo:1607485925924; depth 0.00 2020-12-09T03:52:05Z- waiting for 1607485925.28, time is 1607485925.10 2020-12-09T03:52:05Z- sync is 0.80, coherence is 2.00 2020-12-09T03:52:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485925.93 epoch sec; seqNo:474; 4061693.62 north; 594287.74 east 2020-12-09T03:52:05Z- waiting for 1607485925.28, time is 1607485925.10 2020-12-09T03:52:05Z- sync is 0.83, coherence is 2.00 2020-12-09T03:52:06Z- AHRS_M2 msg: 1607485926.29 epoch sec; seqNo:453 2020-12-09T03:52:06Z- AHRS_M2 msg: 4.13 phi; -0.21 theta; -0.16 psi 2020-12-09T03:52:06Z- waiting for 1607485925.28, time is 1607485925.10 2020-12-09T03:52:06Z- sync is 1.19, coherence is 2.00 2020-12-09T03:52:06Z- handleDepth()-Depth_Keller msg: 16.91 epoch sec; seqNo:1607485926297; depth 0.00 2020-12-09T03:52:06Z- waiting for 1607485925.28, time is 1607485925.10 2020-12-09T03:52:06Z- sync is 1.19, coherence is 2.00 2020-12-09T03:52:06Z- handleDvl() - RDI_Pathfinder msg: 1607485926.31 epoch sec; seqNo:194 2020-12-09T03:52:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.95 , 89.25 , 69.40 , 78.45 2020-12-09T03:52:06Z- handleDvl() - RDI_Pathfinder msg: velocities 1.20 , 0.30 , -0.19 2020-12-09T03:52:06Z- waiting for 1607485925.28, time is 1607485926.31 2020-12-09T03:52:06Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:06Z- LcmTrn::updateTrn() >>>> pose time 1607485926.29, meas time 1607485926.31 <<<< 2020-12-09T03:52:06Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485926.31 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:52:06Z- TerrainNav::motionUpdate() - currEstimate = (4061694, 594287.74, 16.91) 2020-12-09T03:52:06Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:52:06Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:52:06Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:52:06Z- TNavBF::mmse selected from filter -1 2020-12-09T03:52:06Z- variances([0], [2], and psi_berg) = 816.731646 833.150342 0.000000 2020-12-09T03:52:06Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:52:06Z- LcmTrn::cycle() - MLE : 4061658.12 594240.24 16.91 2020-12-09T03:52:06Z- LcmTrn::cycle() - MMSE : 4061693.62 594287.74 16.91 2020-12-09T03:52:06Z- LcmTrn::cycle() - COVAR: 816.73 833.15 32.50 0.00 2020-12-09T03:52:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485926.32 epoch sec; seqNo:475; 4061693.62 north; 594287.74 east 2020-12-09T03:52:06Z- waiting for 1607485929.31, time is 1607485926.31 2020-12-09T03:52:06Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:06Z- AHRS_M2 msg: 1607485926.70 epoch sec; seqNo:454 2020-12-09T03:52:06Z- AHRS_M2 msg: 4.12 phi; -0.21 theta; -0.16 psi 2020-12-09T03:52:06Z- waiting for 1607485929.31, time is 1607485926.31 2020-12-09T03:52:06Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:06Z- handleDepth()-Depth_Keller msg: 16.98 epoch sec; seqNo:1607485926717; depth 0.00 2020-12-09T03:52:06Z- waiting for 1607485929.31, time is 1607485926.31 2020-12-09T03:52:06Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485926.78 epoch sec; seqNo:476; 4061693.23 north; 594286.52 east 2020-12-09T03:52:06Z- waiting for 1607485929.31, time is 1607485926.31 2020-12-09T03:52:06Z- sync is 0.47, coherence is 2.00 2020-12-09T03:52:06Z- AHRS_M2 msg: 1607485927.13 epoch sec; seqNo:455 2020-12-09T03:52:06Z- AHRS_M2 msg: 4.12 phi; -0.21 theta; -0.17 psi 2020-12-09T03:52:06Z- waiting for 1607485929.31, time is 1607485926.31 2020-12-09T03:52:06Z- sync is 0.83, coherence is 2.00 2020-12-09T03:52:06Z- handleDepth()-Depth_Keller msg: 17.06 epoch sec; seqNo:1607485927141; depth 0.00 2020-12-09T03:52:06Z- waiting for 1607485929.31, time is 1607485926.31 2020-12-09T03:52:06Z- sync is 0.83, coherence is 2.00 2020-12-09T03:52:06Z- handleDvl() - RDI_Pathfinder msg: 1607485927.17 epoch sec; seqNo:195 2020-12-09T03:52:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.14 , 89.25 , 69.40 , 79.53 2020-12-09T03:52:06Z- handleDvl() - RDI_Pathfinder msg: velocities 1.19 , 0.35 , -0.00 2020-12-09T03:52:06Z- waiting for 1607485929.31, time is 1607485927.17 2020-12-09T03:52:06Z- sync is 0.04, coherence is 2.00 2020-12-09T03:52:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485927.18 epoch sec; seqNo:477; 4061693.23 north; 594286.52 east 2020-12-09T03:52:06Z- waiting for 1607485929.31, time is 1607485927.17 2020-12-09T03:52:06Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:07Z- AHRS_M2 msg: 1607485927.51 epoch sec; seqNo:456 2020-12-09T03:52:07Z- AHRS_M2 msg: 4.11 phi; -0.21 theta; -0.17 psi 2020-12-09T03:52:07Z- waiting for 1607485929.31, time is 1607485927.17 2020-12-09T03:52:07Z- sync is 0.33, coherence is 2.00 2020-12-09T03:52:07Z- handleDepth()-Depth_Keller msg: 17.15 epoch sec; seqNo:1607485927510; depth 0.00 2020-12-09T03:52:07Z- waiting for 1607485929.31, time is 1607485927.17 2020-12-09T03:52:07Z- sync is 0.33, coherence is 2.00 2020-12-09T03:52:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485927.55 epoch sec; seqNo:478; 4061692.85 north; 594286.53 east 2020-12-09T03:52:07Z- waiting for 1607485929.31, time is 1607485927.17 2020-12-09T03:52:07Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:07Z- AHRS_M2 msg: 1607485927.91 epoch sec; seqNo:457 2020-12-09T03:52:07Z- AHRS_M2 msg: 4.11 phi; -0.22 theta; -0.18 psi 2020-12-09T03:52:07Z- waiting for 1607485929.31, time is 1607485927.17 2020-12-09T03:52:07Z- sync is 0.74, coherence is 2.00 2020-12-09T03:52:07Z- handleDepth()-Depth_Keller msg: 17.21 epoch sec; seqNo:1607485927923; depth 0.00 2020-12-09T03:52:07Z- waiting for 1607485929.31, time is 1607485927.17 2020-12-09T03:52:07Z- sync is 0.74, coherence is 2.00 2020-12-09T03:52:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485927.96 epoch sec; seqNo:479; 4061692.83 north; 594285.31 east 2020-12-09T03:52:07Z- waiting for 1607485929.31, time is 1607485927.17 2020-12-09T03:52:07Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:08Z- AHRS_M2 msg: 1607485928.31 epoch sec; seqNo:458 2020-12-09T03:52:08Z- AHRS_M2 msg: 4.11 phi; -0.22 theta; -0.19 psi 2020-12-09T03:52:08Z- waiting for 1607485929.31, time is 1607485927.17 2020-12-09T03:52:08Z- sync is 1.14, coherence is 2.00 2020-12-09T03:52:08Z- handleDepth()-Depth_Keller msg: 17.29 epoch sec; seqNo:1607485928321; depth 0.00 2020-12-09T03:52:08Z- waiting for 1607485929.31, time is 1607485927.17 2020-12-09T03:52:08Z- sync is 1.14, coherence is 2.00 2020-12-09T03:52:08Z- handleDvl() - RDI_Pathfinder msg: 1607485928.35 epoch sec; seqNo:196 2020-12-09T03:52:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.32 , 91.41 , 69.81 , 80.61 2020-12-09T03:52:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.16 , 0.33 , 0.11 2020-12-09T03:52:08Z- waiting for 1607485929.31, time is 1607485928.35 2020-12-09T03:52:08Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485928.36 epoch sec; seqNo:480; 4061692.83 north; 594285.31 east 2020-12-09T03:52:08Z- waiting for 1607485929.31, time is 1607485928.35 2020-12-09T03:52:08Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:08Z- AHRS_M2 msg: 1607485928.72 epoch sec; seqNo:459 2020-12-09T03:52:08Z- AHRS_M2 msg: 4.11 phi; -0.22 theta; -0.19 psi 2020-12-09T03:52:08Z- waiting for 1607485929.31, time is 1607485928.35 2020-12-09T03:52:08Z- sync is 0.37, coherence is 2.00 2020-12-09T03:52:08Z- handleDepth()-Depth_Keller msg: 17.36 epoch sec; seqNo:1607485928721; depth 0.00 2020-12-09T03:52:08Z- waiting for 1607485929.31, time is 1607485928.35 2020-12-09T03:52:08Z- sync is 0.37, coherence is 2.00 2020-12-09T03:52:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485928.74 epoch sec; seqNo:481; 4061692.44 north; 594284.09 east 2020-12-09T03:52:08Z- waiting for 1607485929.31, time is 1607485928.35 2020-12-09T03:52:08Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:08Z- AHRS_M2 msg: 1607485929.14 epoch sec; seqNo:460 2020-12-09T03:52:08Z- AHRS_M2 msg: 4.11 phi; -0.22 theta; -0.20 psi 2020-12-09T03:52:08Z- waiting for 1607485929.31, time is 1607485928.35 2020-12-09T03:52:08Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:08Z- handleDepth()-Depth_Keller msg: 17.43 epoch sec; seqNo:1607485929141; depth 0.00 2020-12-09T03:52:08Z- waiting for 1607485929.31, time is 1607485928.35 2020-12-09T03:52:08Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:08Z- handleDvl() - RDI_Pathfinder msg: 1607485929.17 epoch sec; seqNo:197 2020-12-09T03:52:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.91 , 90.33 , 69.40 , 82.77 2020-12-09T03:52:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , 0.32 , 0.15 2020-12-09T03:52:08Z- waiting for 1607485929.31, time is 1607485929.17 2020-12-09T03:52:08Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485929.18 epoch sec; seqNo:482; 4061692.44 north; 594284.09 east 2020-12-09T03:52:08Z- waiting for 1607485929.31, time is 1607485929.17 2020-12-09T03:52:08Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:09Z- AHRS_M2 msg: 1607485929.53 epoch sec; seqNo:461 2020-12-09T03:52:09Z- AHRS_M2 msg: 4.12 phi; -0.22 theta; -0.20 psi 2020-12-09T03:52:09Z- waiting for 1607485929.31, time is 1607485929.17 2020-12-09T03:52:09Z- sync is 0.36, coherence is 2.00 2020-12-09T03:52:09Z- handleDepth()-Depth_Keller msg: 17.53 epoch sec; seqNo:1607485929530; depth 0.00 2020-12-09T03:52:09Z- waiting for 1607485929.31, time is 1607485929.17 2020-12-09T03:52:09Z- sync is 0.36, coherence is 2.00 2020-12-09T03:52:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485929.54 epoch sec; seqNo:483; 4061692.44 north; 594284.09 east 2020-12-09T03:52:09Z- waiting for 1607485929.31, time is 1607485929.17 2020-12-09T03:52:09Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:09Z- AHRS_M2 msg: 1607485929.93 epoch sec; seqNo:462 2020-12-09T03:52:09Z- AHRS_M2 msg: 4.12 phi; -0.22 theta; -0.21 psi 2020-12-09T03:52:09Z- waiting for 1607485929.31, time is 1607485929.17 2020-12-09T03:52:09Z- sync is 0.76, coherence is 2.00 2020-12-09T03:52:09Z- handleDepth()-Depth_Keller msg: 17.59 epoch sec; seqNo:1607485929937; depth 0.00 2020-12-09T03:52:09Z- waiting for 1607485929.31, time is 1607485929.17 2020-12-09T03:52:09Z- sync is 0.76, coherence is 2.00 2020-12-09T03:52:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485929.96 epoch sec; seqNo:484; 4061692.05 north; 594282.87 east 2020-12-09T03:52:09Z- waiting for 1607485929.31, time is 1607485929.17 2020-12-09T03:52:09Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:10Z- AHRS_M2 msg: 1607485930.33 epoch sec; seqNo:463 2020-12-09T03:52:10Z- AHRS_M2 msg: 4.12 phi; -0.22 theta; -0.21 psi 2020-12-09T03:52:10Z- waiting for 1607485929.31, time is 1607485929.17 2020-12-09T03:52:10Z- sync is 1.17, coherence is 2.00 2020-12-09T03:52:10Z- handleDepth()-Depth_Keller msg: 17.66 epoch sec; seqNo:1607485930338; depth 0.00 2020-12-09T03:52:10Z- waiting for 1607485929.31, time is 1607485929.17 2020-12-09T03:52:10Z- sync is 1.17, coherence is 2.00 2020-12-09T03:52:10Z- handleDvl() - RDI_Pathfinder msg: 1607485930.36 epoch sec; seqNo:198 2020-12-09T03:52:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.50 , 90.33 , 69.81 , 82.77 2020-12-09T03:52:10Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , 0.20 , 0.17 2020-12-09T03:52:10Z- waiting for 1607485929.31, time is 1607485930.36 2020-12-09T03:52:10Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:10Z- LcmTrn::updateTrn() >>>> pose time 1607485930.33, meas time 1607485930.36 <<<< 2020-12-09T03:52:10Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485930.36 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:52:10Z- TerrainNav::motionUpdate() - currEstimate = (4061692, 594282.87, 17.66) 2020-12-09T03:52:10Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:52:10Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:52:10Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:52:10Z- TNavBF::mmse selected from filter -1 2020-12-09T03:52:10Z- variances([0], [2], and psi_berg) = 816.339945 833.148860 0.000000 2020-12-09T03:52:10Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:52:10Z- LcmTrn::cycle() - MLE : 4061656.55 594235.37 17.66 2020-12-09T03:52:10Z- LcmTrn::cycle() - MMSE : 4061692.05 594282.87 17.66 2020-12-09T03:52:10Z- LcmTrn::cycle() - COVAR: 816.34 833.15 32.76 0.00 2020-12-09T03:52:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485930.38 epoch sec; seqNo:485; 4061692.05 north; 594282.87 east 2020-12-09T03:52:10Z- waiting for 1607485933.36, time is 1607485930.36 2020-12-09T03:52:10Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:10Z- AHRS_M2 msg: 1607485930.74 epoch sec; seqNo:464 2020-12-09T03:52:10Z- AHRS_M2 msg: 4.12 phi; -0.22 theta; -0.21 psi 2020-12-09T03:52:10Z- waiting for 1607485933.36, time is 1607485930.36 2020-12-09T03:52:10Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:10Z- handleDepth()-Depth_Keller msg: 17.76 epoch sec; seqNo:1607485930741; depth 0.00 2020-12-09T03:52:10Z- waiting for 1607485933.36, time is 1607485930.36 2020-12-09T03:52:10Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485930.75 epoch sec; seqNo:486; 4061691.67 north; 594282.88 east 2020-12-09T03:52:10Z- waiting for 1607485933.36, time is 1607485930.36 2020-12-09T03:52:10Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:10Z- AHRS_M2 msg: 1607485931.14 epoch sec; seqNo:465 2020-12-09T03:52:10Z- AHRS_M2 msg: 4.11 phi; -0.22 theta; -0.21 psi 2020-12-09T03:52:10Z- waiting for 1607485933.36, time is 1607485930.36 2020-12-09T03:52:10Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:10Z- handleDepth()-Depth_Keller msg: 17.83 epoch sec; seqNo:1607485931148; depth 0.00 2020-12-09T03:52:10Z- waiting for 1607485933.36, time is 1607485930.36 2020-12-09T03:52:10Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:10Z- handleDvl() - RDI_Pathfinder msg: 1607485931.16 epoch sec; seqNo:199 2020-12-09T03:52:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.50 , 92.49 , 68.99 , 82.77 2020-12-09T03:52:10Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , 0.20 , 0.23 2020-12-09T03:52:10Z- waiting for 1607485933.36, time is 1607485931.16 2020-12-09T03:52:10Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485931.18 epoch sec; seqNo:487; 4061691.66 north; 594281.66 east 2020-12-09T03:52:10Z- waiting for 1607485933.36, time is 1607485931.16 2020-12-09T03:52:10Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:11Z- AHRS_M2 msg: 1607485931.56 epoch sec; seqNo:466 2020-12-09T03:52:11Z- AHRS_M2 msg: 4.10 phi; -0.22 theta; -0.21 psi 2020-12-09T03:52:11Z- waiting for 1607485933.36, time is 1607485931.16 2020-12-09T03:52:11Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:11Z- handleDepth()-Depth_Keller msg: 17.92 epoch sec; seqNo:1607485931565; depth 0.00 2020-12-09T03:52:11Z- waiting for 1607485933.36, time is 1607485931.16 2020-12-09T03:52:11Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485931.58 epoch sec; seqNo:488; 4061691.28 north; 594281.66 east 2020-12-09T03:52:11Z- waiting for 1607485933.36, time is 1607485931.16 2020-12-09T03:52:11Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:11Z- AHRS_M2 msg: 1607485931.95 epoch sec; seqNo:467 2020-12-09T03:52:11Z- AHRS_M2 msg: 4.10 phi; -0.23 theta; -0.21 psi 2020-12-09T03:52:11Z- waiting for 1607485933.36, time is 1607485931.16 2020-12-09T03:52:11Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:11Z- handleDepth()-Depth_Keller msg: 18.00 epoch sec; seqNo:1607485931957; depth 0.00 2020-12-09T03:52:11Z- waiting for 1607485933.36, time is 1607485931.16 2020-12-09T03:52:11Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485931.98 epoch sec; seqNo:489; 4061691.28 north; 594281.66 east 2020-12-09T03:52:11Z- waiting for 1607485933.36, time is 1607485931.16 2020-12-09T03:52:11Z- sync is 0.82, coherence is 2.00 2020-12-09T03:52:12Z- AHRS_M2 msg: 1607485932.36 epoch sec; seqNo:468 2020-12-09T03:52:12Z- AHRS_M2 msg: 4.09 phi; -0.23 theta; -0.22 psi 2020-12-09T03:52:12Z- waiting for 1607485933.36, time is 1607485931.16 2020-12-09T03:52:12Z- sync is 1.19, coherence is 2.00 2020-12-09T03:52:12Z- handleDepth()-Depth_Keller msg: 18.09 epoch sec; seqNo:1607485932365; depth 0.00 2020-12-09T03:52:12Z- waiting for 1607485933.36, time is 1607485931.16 2020-12-09T03:52:12Z- sync is 1.19, coherence is 2.00 2020-12-09T03:52:12Z- handleDvl() - RDI_Pathfinder msg: 1607485932.39 epoch sec; seqNo:200 2020-12-09T03:52:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.69 , 92.49 , 69.40 , 84.93 2020-12-09T03:52:12Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , 0.12 , 0.28 2020-12-09T03:52:12Z- waiting for 1607485933.36, time is 1607485932.39 2020-12-09T03:52:12Z- sync is 0.04, coherence is 2.00 2020-12-09T03:52:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485932.41 epoch sec; seqNo:490; 4061691.27 north; 594280.44 east 2020-12-09T03:52:12Z- waiting for 1607485933.36, time is 1607485932.39 2020-12-09T03:52:12Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:12Z- AHRS_M2 msg: 1607485932.76 epoch sec; seqNo:469 2020-12-09T03:52:12Z- AHRS_M2 msg: 4.09 phi; -0.23 theta; -0.22 psi 2020-12-09T03:52:12Z- waiting for 1607485933.36, time is 1607485932.39 2020-12-09T03:52:12Z- sync is 0.36, coherence is 2.00 2020-12-09T03:52:12Z- handleDepth()-Depth_Keller msg: 18.19 epoch sec; seqNo:1607485932769; depth 0.00 2020-12-09T03:52:12Z- waiting for 1607485933.36, time is 1607485932.39 2020-12-09T03:52:12Z- sync is 0.36, coherence is 2.00 2020-12-09T03:52:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485932.81 epoch sec; seqNo:491; 4061690.89 north; 594280.45 east 2020-12-09T03:52:12Z- waiting for 1607485933.36, time is 1607485932.39 2020-12-09T03:52:12Z- sync is 0.42, coherence is 2.00 2020-12-09T03:52:12Z- AHRS_M2 msg: 1607485933.16 epoch sec; seqNo:470 2020-12-09T03:52:12Z- AHRS_M2 msg: 4.08 phi; -0.23 theta; -0.23 psi 2020-12-09T03:52:12Z- waiting for 1607485933.36, time is 1607485932.39 2020-12-09T03:52:12Z- sync is 0.77, coherence is 2.00 2020-12-09T03:52:12Z- handleDepth()-Depth_Keller msg: 18.27 epoch sec; seqNo:1607485933166; depth 0.00 2020-12-09T03:52:12Z- waiting for 1607485933.36, time is 1607485932.39 2020-12-09T03:52:12Z- sync is 0.77, coherence is 2.00 2020-12-09T03:52:12Z- handleDvl() - RDI_Pathfinder msg: 1607485933.19 epoch sec; seqNo:201 2020-12-09T03:52:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.69 , 97.89 , 104.37 , 0.00 2020-12-09T03:52:12Z- handleDvl() - RDI_Pathfinder msg: velocities 2.18 , 0.04 , 0.29 2020-12-09T03:52:12Z- waiting for 1607485933.36, time is 1607485933.19 2020-12-09T03:52:12Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485933.20 epoch sec; seqNo:492; 4061690.51 north; 594280.45 east 2020-12-09T03:52:12Z- waiting for 1607485933.36, time is 1607485933.19 2020-12-09T03:52:12Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:13Z- AHRS_M2 msg: 1607485933.59 epoch sec; seqNo:471 2020-12-09T03:52:13Z- AHRS_M2 msg: 4.08 phi; -0.23 theta; -0.23 psi 2020-12-09T03:52:13Z- waiting for 1607485933.36, time is 1607485933.19 2020-12-09T03:52:13Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:13Z- handleDepth()-Depth_Keller msg: 18.35 epoch sec; seqNo:1607485933598; depth 0.00 2020-12-09T03:52:13Z- waiting for 1607485933.36, time is 1607485933.19 2020-12-09T03:52:13Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485933.64 epoch sec; seqNo:493; 4061690.12 north; 594279.23 east 2020-12-09T03:52:13Z- waiting for 1607485933.36, time is 1607485933.19 2020-12-09T03:52:13Z- sync is 0.45, coherence is 2.00 2020-12-09T03:52:13Z- AHRS_M2 msg: 1607485933.97 epoch sec; seqNo:472 2020-12-09T03:52:13Z- AHRS_M2 msg: 4.08 phi; -0.23 theta; -0.24 psi 2020-12-09T03:52:13Z- waiting for 1607485933.36, time is 1607485933.19 2020-12-09T03:52:13Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:13Z- handleDepth()-Depth_Keller msg: 18.42 epoch sec; seqNo:1607485933975; depth 0.00 2020-12-09T03:52:13Z- waiting for 1607485933.36, time is 1607485933.19 2020-12-09T03:52:13Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485933.98 epoch sec; seqNo:494; 4061689.72 north; 594278.02 east 2020-12-09T03:52:13Z- waiting for 1607485933.36, time is 1607485933.19 2020-12-09T03:52:13Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:14Z- AHRS_M2 msg: 1607485934.37 epoch sec; seqNo:473 2020-12-09T03:52:14Z- AHRS_M2 msg: 4.07 phi; -0.23 theta; -0.24 psi 2020-12-09T03:52:14Z- waiting for 1607485933.36, time is 1607485933.19 2020-12-09T03:52:14Z- sync is 1.18, coherence is 2.00 2020-12-09T03:52:14Z- handleDepth()-Depth_Keller msg: 18.52 epoch sec; seqNo:1607485934378; depth 0.00 2020-12-09T03:52:14Z- waiting for 1607485933.36, time is 1607485933.19 2020-12-09T03:52:14Z- sync is 1.18, coherence is 2.00 2020-12-09T03:52:14Z- handleDvl() - RDI_Pathfinder msg: 1607485934.39 epoch sec; seqNo:202 2020-12-09T03:52:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.87 , 95.39 , 69.40 , 85.67 2020-12-09T03:52:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.10 , 0.28 2020-12-09T03:52:14Z- waiting for 1607485933.36, time is 1607485934.39 2020-12-09T03:52:14Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:14Z- LcmTrn::updateTrn() >>>> pose time 1607485934.37, meas time 1607485934.39 <<<< 2020-12-09T03:52:14Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485934.39 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:52:14Z- TerrainNav::motionUpdate() - currEstimate = (4061690, 594278.02, 18.52) 2020-12-09T03:52:14Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:52:14Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:52:14Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:52:14Z- TNavBF::mmse selected from filter -1 2020-12-09T03:52:14Z- variances([0], [2], and psi_berg) = 815.942441 833.147382 0.000000 2020-12-09T03:52:14Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:52:14Z- LcmTrn::cycle() - MLE : 4061654.22 594230.52 18.52 2020-12-09T03:52:14Z- LcmTrn::cycle() - MMSE : 4061689.72 594278.02 18.52 2020-12-09T03:52:14Z- LcmTrn::cycle() - COVAR: 815.94 833.15 33.03 0.00 2020-12-09T03:52:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485934.40 epoch sec; seqNo:495; 4061689.34 north; 594278.02 east 2020-12-09T03:52:14Z- waiting for 1607485937.39, time is 1607485934.39 2020-12-09T03:52:14Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:14Z- AHRS_M2 msg: 1607485934.78 epoch sec; seqNo:474 2020-12-09T03:52:14Z- AHRS_M2 msg: 4.07 phi; -0.24 theta; -0.25 psi 2020-12-09T03:52:14Z- waiting for 1607485937.39, time is 1607485934.39 2020-12-09T03:52:14Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:14Z- handleDepth()-Depth_Keller msg: 18.60 epoch sec; seqNo:1607485934781; depth 0.00 2020-12-09T03:52:14Z- waiting for 1607485937.39, time is 1607485934.39 2020-12-09T03:52:14Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485934.80 epoch sec; seqNo:496; 4061688.97 north; 594278.03 east 2020-12-09T03:52:14Z- waiting for 1607485937.39, time is 1607485934.39 2020-12-09T03:52:14Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:14Z- AHRS_M2 msg: 1607485935.18 epoch sec; seqNo:475 2020-12-09T03:52:14Z- AHRS_M2 msg: 4.08 phi; -0.24 theta; -0.25 psi 2020-12-09T03:52:14Z- waiting for 1607485937.39, time is 1607485934.39 2020-12-09T03:52:14Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:14Z- handleDepth()-Depth_Keller msg: 18.69 epoch sec; seqNo:1607485935185; depth 0.00 2020-12-09T03:52:14Z- waiting for 1607485937.39, time is 1607485934.39 2020-12-09T03:52:14Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:14Z- handleDvl() - RDI_Pathfinder msg: 1607485935.20 epoch sec; seqNo:203 2020-12-09T03:52:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.28 , 94.65 , 69.40 , 0.00 2020-12-09T03:52:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.20 , 0.19 2020-12-09T03:52:14Z- waiting for 1607485937.39, time is 1607485935.20 2020-12-09T03:52:14Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485935.22 epoch sec; seqNo:497; 4061688.97 north; 594278.03 east 2020-12-09T03:52:15Z- waiting for 1607485937.39, time is 1607485935.20 2020-12-09T03:52:15Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:15Z- AHRS_M2 msg: 1607485935.58 epoch sec; seqNo:476 2020-12-09T03:52:15Z- AHRS_M2 msg: 4.08 phi; -0.24 theta; -0.25 psi 2020-12-09T03:52:15Z- waiting for 1607485937.39, time is 1607485935.20 2020-12-09T03:52:15Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:15Z- handleDepth()-Depth_Keller msg: 18.76 epoch sec; seqNo:1607485935589; depth 0.00 2020-12-09T03:52:15Z- waiting for 1607485937.39, time is 1607485935.20 2020-12-09T03:52:15Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485935.60 epoch sec; seqNo:498; 4061688.59 north; 594278.03 east 2020-12-09T03:52:15Z- waiting for 1607485937.39, time is 1607485935.20 2020-12-09T03:52:15Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:15Z- handleDepth()-Depth_Keller msg: 18.83 epoch sec; seqNo:1607485936017; depth 0.00 2020-12-09T03:52:15Z- waiting for 1607485937.39, time is 1607485935.20 2020-12-09T03:52:15Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485936.07 epoch sec; seqNo:499; 4061688.19 north; 594276.81 east 2020-12-09T03:52:15Z- waiting for 1607485937.39, time is 1607485935.20 2020-12-09T03:52:15Z- sync is 0.87, coherence is 2.00 2020-12-09T03:52:16Z- AHRS_M2 msg: 1607485936.39 epoch sec; seqNo:477 2020-12-09T03:52:16Z- AHRS_M2 msg: 4.08 phi; -0.24 theta; -0.25 psi 2020-12-09T03:52:16Z- waiting for 1607485937.39, time is 1607485935.20 2020-12-09T03:52:16Z- sync is 1.19, coherence is 2.00 2020-12-09T03:52:16Z- handleDepth()-Depth_Keller msg: 18.91 epoch sec; seqNo:1607485936398; depth 0.00 2020-12-09T03:52:16Z- waiting for 1607485937.39, time is 1607485935.20 2020-12-09T03:52:16Z- sync is 1.19, coherence is 2.00 2020-12-09T03:52:16Z- handleDvl() - RDI_Pathfinder msg: 1607485936.42 epoch sec; seqNo:204 2020-12-09T03:52:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.28 , 97.89 , 69.81 , 0.00 2020-12-09T03:52:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.25 , 0.03 2020-12-09T03:52:16Z- waiting for 1607485937.39, time is 1607485936.42 2020-12-09T03:52:16Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485936.43 epoch sec; seqNo:500; 4061688.19 north; 594276.81 east 2020-12-09T03:52:16Z- waiting for 1607485937.39, time is 1607485936.42 2020-12-09T03:52:16Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:16Z- AHRS_M2 msg: 1607485936.80 epoch sec; seqNo:478 2020-12-09T03:52:16Z- AHRS_M2 msg: 4.09 phi; -0.25 theta; -0.25 psi 2020-12-09T03:52:16Z- waiting for 1607485937.39, time is 1607485936.42 2020-12-09T03:52:16Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:16Z- handleDepth()-Depth_Keller msg: 19.00 epoch sec; seqNo:1607485936801; depth 0.00 2020-12-09T03:52:16Z- waiting for 1607485937.39, time is 1607485936.42 2020-12-09T03:52:16Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485936.81 epoch sec; seqNo:501; 4061687.82 north; 594276.82 east 2020-12-09T03:52:16Z- waiting for 1607485937.39, time is 1607485936.42 2020-12-09T03:52:16Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:17Z- handleDepth()-Depth_Keller msg: 19.07 epoch sec; seqNo:1607485937221; depth 0.00 2020-12-09T03:52:17Z- waiting for 1607485937.39, time is 1607485936.42 2020-12-09T03:52:17Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:17Z- handleDvl() - RDI_Pathfinder msg: 1607485937.23 epoch sec; seqNo:205 2020-12-09T03:52:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.28 , 95.73 , 69.81 , 87.09 2020-12-09T03:52:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.27 , -0.16 2020-12-09T03:52:17Z- waiting for 1607485937.39, time is 1607485937.23 2020-12-09T03:52:17Z- sync is 0.42, coherence is 2.00 2020-12-09T03:52:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485937.25 epoch sec; seqNo:502; 4061687.44 north; 594276.82 east 2020-12-09T03:52:17Z- waiting for 1607485937.39, time is 1607485937.23 2020-12-09T03:52:17Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:17Z- handleAhrs() - platform_orientation item not found in ahrs msg 2020-12-09T03:52:17Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2020-12-09T03:52:17Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2020-12-09T03:52:17Z- AHRS_M2 msg: 1607485937.60 epoch sec; seqNo:479 2020-12-09T03:52:17Z- AHRS_M2 msg: 4.09 phi; -0.25 theta; -0.25 psi 2020-12-09T03:52:17Z- waiting for 1607485937.39, time is 1607485937.23 2020-12-09T03:52:17Z- sync is 0.36, coherence is 2.00 2020-12-09T03:52:17Z- handleDepth()-Depth_Keller msg: 19.14 epoch sec; seqNo:1607485937629; depth 0.00 2020-12-09T03:52:17Z- waiting for 1607485937.39, time is 1607485937.23 2020-12-09T03:52:17Z- sync is 0.36, coherence is 2.00 2020-12-09T03:52:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485937.64 epoch sec; seqNo:503; 4061687.44 north; 594276.82 east 2020-12-09T03:52:17Z- waiting for 1607485937.39, time is 1607485937.23 2020-12-09T03:52:17Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:17Z- AHRS_M2 msg: 1607485938.01 epoch sec; seqNo:480 2020-12-09T03:52:17Z- AHRS_M2 msg: 4.10 phi; -0.25 theta; -0.25 psi 2020-12-09T03:52:17Z- waiting for 1607485937.39, time is 1607485937.23 2020-12-09T03:52:17Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:17Z- handleDepth()-Depth_Keller msg: 19.20 epoch sec; seqNo:1607485938020; depth 0.00 2020-12-09T03:52:17Z- waiting for 1607485937.39, time is 1607485937.23 2020-12-09T03:52:17Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485938.04 epoch sec; seqNo:504; 4061687.06 north; 594276.83 east 2020-12-09T03:52:17Z- waiting for 1607485937.39, time is 1607485937.23 2020-12-09T03:52:17Z- sync is 0.80, coherence is 2.00 2020-12-09T03:52:18Z- AHRS_M2 msg: 1607485938.41 epoch sec; seqNo:481 2020-12-09T03:52:18Z- AHRS_M2 msg: 4.11 phi; -0.25 theta; -0.25 psi 2020-12-09T03:52:18Z- waiting for 1607485937.39, time is 1607485937.23 2020-12-09T03:52:18Z- sync is 1.18, coherence is 2.00 2020-12-09T03:52:18Z- handleDepth()-Depth_Keller msg: 19.30 epoch sec; seqNo:1607485938417; depth 0.00 2020-12-09T03:52:18Z- waiting for 1607485937.39, time is 1607485937.23 2020-12-09T03:52:18Z- sync is 1.18, coherence is 2.00 2020-12-09T03:52:18Z- handleDvl() - RDI_Pathfinder msg: 1607485938.43 epoch sec; seqNo:206 2020-12-09T03:52:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.87 , 97.89 , 67.77 , 87.09 2020-12-09T03:52:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.17 , -0.33 2020-12-09T03:52:18Z- waiting for 1607485937.39, time is 1607485938.43 2020-12-09T03:52:18Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:18Z- LcmTrn::updateTrn() >>>> pose time 1607485938.41, meas time 1607485938.43 <<<< 2020-12-09T03:52:18Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485938.43 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:52:18Z- TerrainNav::motionUpdate() - currEstimate = (4061687, 594276.83, 19.30) 2020-12-09T03:52:18Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:52:18Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:52:18Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:52:18Z- TNavBF::mmse selected from filter -1 2020-12-09T03:52:18Z- variances([0], [2], and psi_berg) = 815.653115 833.146324 0.000000 2020-12-09T03:52:18Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:52:18Z- LcmTrn::cycle() - MLE : 4061652.56 594228.33 19.30 2020-12-09T03:52:18Z- LcmTrn::cycle() - MMSE : 4061687.06 594276.83 19.30 2020-12-09T03:52:18Z- LcmTrn::cycle() - COVAR: 815.65 833.15 33.18 0.00 2020-12-09T03:52:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485938.46 epoch sec; seqNo:505; 4061686.67 north; 594275.61 east 2020-12-09T03:52:18Z- waiting for 1607485941.43, time is 1607485938.43 2020-12-09T03:52:18Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:18Z- AHRS_M2 msg: 1607485938.82 epoch sec; seqNo:482 2020-12-09T03:52:18Z- AHRS_M2 msg: 4.12 phi; -0.24 theta; -0.24 psi 2020-12-09T03:52:18Z- waiting for 1607485941.43, time is 1607485938.43 2020-12-09T03:52:18Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:18Z- handleDepth()-Depth_Keller msg: 19.34 epoch sec; seqNo:1607485938829; depth 0.00 2020-12-09T03:52:18Z- waiting for 1607485941.43, time is 1607485938.43 2020-12-09T03:52:18Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485938.84 epoch sec; seqNo:506; 4061686.29 north; 594275.61 east 2020-12-09T03:52:18Z- waiting for 1607485941.43, time is 1607485938.43 2020-12-09T03:52:18Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:19Z- AHRS_M2 msg: 1607485939.22 epoch sec; seqNo:483 2020-12-09T03:52:19Z- AHRS_M2 msg: 4.12 phi; -0.24 theta; -0.23 psi 2020-12-09T03:52:19Z- waiting for 1607485941.43, time is 1607485938.43 2020-12-09T03:52:19Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:19Z- handleDepth()-Depth_Keller msg: 19.44 epoch sec; seqNo:1607485939237; depth 0.00 2020-12-09T03:52:19Z- waiting for 1607485941.43, time is 1607485938.43 2020-12-09T03:52:19Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:19Z- handleDvl() - RDI_Pathfinder msg: 1607485939.25 epoch sec; seqNo:207 2020-12-09T03:52:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.46 , 92.49 , 67.36 , 84.93 2020-12-09T03:52:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.07 , -0.39 2020-12-09T03:52:19Z- waiting for 1607485941.43, time is 1607485939.25 2020-12-09T03:52:19Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485939.26 epoch sec; seqNo:507; 4061686.29 north; 594275.61 east 2020-12-09T03:52:19Z- waiting for 1607485941.43, time is 1607485939.25 2020-12-09T03:52:19Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:19Z- AHRS_M2 msg: 1607485939.63 epoch sec; seqNo:484 2020-12-09T03:52:19Z- AHRS_M2 msg: 4.13 phi; -0.24 theta; -0.22 psi 2020-12-09T03:52:19Z- waiting for 1607485941.43, time is 1607485939.25 2020-12-09T03:52:19Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:19Z- handleDepth()-Depth_Keller msg: 19.50 epoch sec; seqNo:1607485939637; depth 0.00 2020-12-09T03:52:19Z- waiting for 1607485941.43, time is 1607485939.25 2020-12-09T03:52:19Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485939.66 epoch sec; seqNo:508; 4061685.91 north; 594275.62 east 2020-12-09T03:52:19Z- waiting for 1607485941.43, time is 1607485939.25 2020-12-09T03:52:19Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:19Z- AHRS_M2 msg: 1607485940.03 epoch sec; seqNo:485 2020-12-09T03:52:19Z- AHRS_M2 msg: 4.13 phi; -0.24 theta; -0.21 psi 2020-12-09T03:52:19Z- waiting for 1607485941.43, time is 1607485939.25 2020-12-09T03:52:19Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:19Z- handleDepth()-Depth_Keller msg: 19.57 epoch sec; seqNo:1607485940032; depth 0.00 2020-12-09T03:52:19Z- waiting for 1607485941.43, time is 1607485939.25 2020-12-09T03:52:19Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485940.04 epoch sec; seqNo:509; 4061685.52 north; 594274.40 east 2020-12-09T03:52:19Z- waiting for 1607485941.43, time is 1607485939.25 2020-12-09T03:52:19Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:20Z- AHRS_M2 msg: 1607485940.43 epoch sec; seqNo:486 2020-12-09T03:52:20Z- AHRS_M2 msg: 4.13 phi; -0.23 theta; -0.21 psi 2020-12-09T03:52:20Z- waiting for 1607485941.43, time is 1607485939.25 2020-12-09T03:52:20Z- sync is 1.18, coherence is 2.00 2020-12-09T03:52:20Z- handleDepth()-Depth_Keller msg: 19.63 epoch sec; seqNo:1607485940437; depth 0.00 2020-12-09T03:52:20Z- waiting for 1607485941.43, time is 1607485939.25 2020-12-09T03:52:20Z- sync is 1.18, coherence is 2.00 2020-12-09T03:52:20Z- handleDvl() - RDI_Pathfinder msg: 1607485940.45 epoch sec; seqNo:208 2020-12-09T03:52:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.87 , 90.33 , 66.95 , 84.93 2020-12-09T03:52:20Z- handleDvl() - RDI_Pathfinder msg: velocities 1.16 , 0.08 , -0.34 2020-12-09T03:52:20Z- waiting for 1607485941.43, time is 1607485940.45 2020-12-09T03:52:20Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485940.46 epoch sec; seqNo:510; 4061685.14 north; 594274.41 east 2020-12-09T03:52:20Z- waiting for 1607485941.43, time is 1607485940.45 2020-12-09T03:52:20Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:20Z- AHRS_M2 msg: 1607485940.84 epoch sec; seqNo:487 2020-12-09T03:52:20Z- AHRS_M2 msg: 4.13 phi; -0.23 theta; -0.20 psi 2020-12-09T03:52:20Z- waiting for 1607485941.43, time is 1607485940.45 2020-12-09T03:52:20Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:20Z- handleDepth()-Depth_Keller msg: 19.71 epoch sec; seqNo:1607485940849; depth 0.00 2020-12-09T03:52:20Z- waiting for 1607485941.43, time is 1607485940.45 2020-12-09T03:52:20Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485940.86 epoch sec; seqNo:511; 4061685.14 north; 594274.41 east 2020-12-09T03:52:20Z- waiting for 1607485941.43, time is 1607485940.45 2020-12-09T03:52:20Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:21Z- AHRS_M2 msg: 1607485941.24 epoch sec; seqNo:488 2020-12-09T03:52:21Z- AHRS_M2 msg: 4.13 phi; -0.22 theta; -0.19 psi 2020-12-09T03:52:21Z- waiting for 1607485941.43, time is 1607485940.45 2020-12-09T03:52:21Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:21Z- handleDepth()-Depth_Keller msg: 19.79 epoch sec; seqNo:1607485941249; depth 0.00 2020-12-09T03:52:21Z- waiting for 1607485941.43, time is 1607485940.45 2020-12-09T03:52:21Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:21Z- handleDvl() - RDI_Pathfinder msg: 1607485941.27 epoch sec; seqNo:209 2020-12-09T03:52:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.50 , 88.17 , 66.14 , 79.61 2020-12-09T03:52:21Z- handleDvl() - RDI_Pathfinder msg: velocities 1.30 , 0.23 , -0.17 2020-12-09T03:52:21Z- waiting for 1607485941.43, time is 1607485941.27 2020-12-09T03:52:21Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485941.28 epoch sec; seqNo:512; 4061684.74 north; 594273.19 east 2020-12-09T03:52:21Z- waiting for 1607485941.43, time is 1607485941.27 2020-12-09T03:52:21Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:21Z- AHRS_M2 msg: 1607485941.65 epoch sec; seqNo:489 2020-12-09T03:52:21Z- AHRS_M2 msg: 4.13 phi; -0.22 theta; -0.19 psi 2020-12-09T03:52:21Z- waiting for 1607485941.43, time is 1607485941.27 2020-12-09T03:52:21Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:21Z- handleDepth()-Depth_Keller msg: 19.87 epoch sec; seqNo:1607485941651; depth 0.00 2020-12-09T03:52:21Z- waiting for 1607485941.43, time is 1607485941.27 2020-12-09T03:52:21Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485941.66 epoch sec; seqNo:513; 4061684.74 north; 594273.19 east 2020-12-09T03:52:21Z- waiting for 1607485941.43, time is 1607485941.27 2020-12-09T03:52:21Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:21Z- AHRS_M2 msg: 1607485942.05 epoch sec; seqNo:490 2020-12-09T03:52:21Z- AHRS_M2 msg: 4.12 phi; -0.22 theta; -0.18 psi 2020-12-09T03:52:21Z- waiting for 1607485941.43, time is 1607485941.27 2020-12-09T03:52:21Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:21Z- handleDepth()-Depth_Keller msg: 19.96 epoch sec; seqNo:1607485942061; depth 0.00 2020-12-09T03:52:21Z- waiting for 1607485941.43, time is 1607485941.27 2020-12-09T03:52:21Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485942.07 epoch sec; seqNo:514; 4061684.37 north; 594273.19 east 2020-12-09T03:52:21Z- waiting for 1607485941.43, time is 1607485941.27 2020-12-09T03:52:21Z- sync is 0.80, coherence is 2.00 2020-12-09T03:52:22Z- AHRS_M2 msg: 1607485942.45 epoch sec; seqNo:491 2020-12-09T03:52:22Z- AHRS_M2 msg: 4.11 phi; -0.22 theta; -0.18 psi 2020-12-09T03:52:22Z- waiting for 1607485941.43, time is 1607485941.27 2020-12-09T03:52:22Z- sync is 1.18, coherence is 2.00 2020-12-09T03:52:22Z- handleDepth()-Depth_Keller msg: 20.05 epoch sec; seqNo:1607485942458; depth 0.00 2020-12-09T03:52:22Z- waiting for 1607485941.43, time is 1607485941.27 2020-12-09T03:52:22Z- sync is 1.18, coherence is 2.00 2020-12-09T03:52:22Z- handleDvl() - RDI_Pathfinder msg: 1607485942.48 epoch sec; seqNo:210 2020-12-09T03:52:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.09 , 87.08 , 65.72 , 82.76 2020-12-09T03:52:22Z- handleDvl() - RDI_Pathfinder msg: velocities 1.32 , 0.31 , 0.02 2020-12-09T03:52:22Z- waiting for 1607485941.43, time is 1607485942.48 2020-12-09T03:52:22Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:22Z- LcmTrn::updateTrn() >>>> pose time 1607485942.45, meas time 1607485942.48 <<<< 2020-12-09T03:52:22Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485942.48 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:52:22Z- TerrainNav::motionUpdate() - currEstimate = (4061684, 594273.19, 20.05) 2020-12-09T03:52:22Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:52:22Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:52:22Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:52:22Z- TNavBF::mmse selected from filter -1 2020-12-09T03:52:22Z- variances([0], [2], and psi_berg) = 815.296032 833.145035 0.000000 2020-12-09T03:52:22Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:52:22Z- LcmTrn::cycle() - MLE : 4061649.87 594224.69 20.05 2020-12-09T03:52:22Z- LcmTrn::cycle() - MMSE : 4061684.37 594273.19 20.05 2020-12-09T03:52:22Z- LcmTrn::cycle() - COVAR: 815.30 833.15 33.41 0.00 2020-12-09T03:52:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485942.49 epoch sec; seqNo:515; 4061683.97 north; 594271.98 east 2020-12-09T03:52:22Z- waiting for 1607485945.48, time is 1607485942.48 2020-12-09T03:52:22Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:22Z- AHRS_M2 msg: 1607485942.86 epoch sec; seqNo:492 2020-12-09T03:52:22Z- AHRS_M2 msg: 4.11 phi; -0.22 theta; -0.18 psi 2020-12-09T03:52:22Z- waiting for 1607485945.48, time is 1607485942.48 2020-12-09T03:52:22Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:22Z- handleDepth()-Depth_Keller msg: 20.12 epoch sec; seqNo:1607485942869; depth 0.00 2020-12-09T03:52:22Z- waiting for 1607485945.48, time is 1607485942.48 2020-12-09T03:52:22Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485942.89 epoch sec; seqNo:516; 4061683.97 north; 594271.98 east 2020-12-09T03:52:22Z- waiting for 1607485945.48, time is 1607485942.48 2020-12-09T03:52:22Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:23Z- AHRS_M2 msg: 1607485943.26 epoch sec; seqNo:493 2020-12-09T03:52:23Z- AHRS_M2 msg: 4.10 phi; -0.22 theta; -0.19 psi 2020-12-09T03:52:23Z- waiting for 1607485945.48, time is 1607485942.48 2020-12-09T03:52:23Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:23Z- handleDepth()-Depth_Keller msg: 20.21 epoch sec; seqNo:1607485943265; depth 0.00 2020-12-09T03:52:23Z- waiting for 1607485945.48, time is 1607485942.48 2020-12-09T03:52:23Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:23Z- handleDvl() - RDI_Pathfinder msg: 1607485943.28 epoch sec; seqNo:211 2020-12-09T03:52:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.68 , 88.16 , 66.13 , 81.68 2020-12-09T03:52:23Z- handleDvl() - RDI_Pathfinder msg: velocities 1.30 , 0.34 , 0.20 2020-12-09T03:52:23Z- waiting for 1607485945.48, time is 1607485943.28 2020-12-09T03:52:23Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485943.29 epoch sec; seqNo:517; 4061683.58 north; 594270.76 east 2020-12-09T03:52:23Z- waiting for 1607485945.48, time is 1607485943.28 2020-12-09T03:52:23Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:23Z- AHRS_M2 msg: 1607485943.67 epoch sec; seqNo:494 2020-12-09T03:52:23Z- AHRS_M2 msg: 4.09 phi; -0.22 theta; -0.19 psi 2020-12-09T03:52:23Z- waiting for 1607485945.48, time is 1607485943.28 2020-12-09T03:52:23Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:23Z- handleDepth()-Depth_Keller msg: 20.30 epoch sec; seqNo:1607485943676; depth 0.00 2020-12-09T03:52:23Z- waiting for 1607485945.48, time is 1607485943.28 2020-12-09T03:52:23Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485943.69 epoch sec; seqNo:518; 4061683.58 north; 594270.76 east 2020-12-09T03:52:23Z- waiting for 1607485945.48, time is 1607485943.28 2020-12-09T03:52:23Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:23Z- AHRS_M2 msg: 1607485944.07 epoch sec; seqNo:495 2020-12-09T03:52:23Z- AHRS_M2 msg: 4.09 phi; -0.22 theta; -0.20 psi 2020-12-09T03:52:23Z- waiting for 1607485945.48, time is 1607485943.28 2020-12-09T03:52:23Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:23Z- handleDepth()-Depth_Keller msg: 20.39 epoch sec; seqNo:1607485944088; depth 0.00 2020-12-09T03:52:23Z- waiting for 1607485945.48, time is 1607485943.28 2020-12-09T03:52:23Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485944.11 epoch sec; seqNo:519; 4061683.58 north; 594270.76 east 2020-12-09T03:52:23Z- waiting for 1607485945.48, time is 1607485943.28 2020-12-09T03:52:23Z- sync is 0.84, coherence is 2.00 2020-12-09T03:52:24Z- AHRS_M2 msg: 1607485944.47 epoch sec; seqNo:496 2020-12-09T03:52:24Z- AHRS_M2 msg: 4.08 phi; -0.22 theta; -0.20 psi 2020-12-09T03:52:24Z- waiting for 1607485945.48, time is 1607485943.28 2020-12-09T03:52:24Z- sync is 1.19, coherence is 2.00 2020-12-09T03:52:24Z- handleDepth()-Depth_Keller msg: 20.47 epoch sec; seqNo:1607485944477; depth 0.00 2020-12-09T03:52:24Z- waiting for 1607485945.48, time is 1607485943.28 2020-12-09T03:52:24Z- sync is 1.19, coherence is 2.00 2020-12-09T03:52:24Z- handleDvl() - RDI_Pathfinder msg: 1607485944.50 epoch sec; seqNo:212 2020-12-09T03:52:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.68 , 89.24 , 66.54 , 82.76 2020-12-09T03:52:24Z- handleDvl() - RDI_Pathfinder msg: velocities 1.20 , 0.28 , 0.29 2020-12-09T03:52:24Z- waiting for 1607485945.48, time is 1607485944.50 2020-12-09T03:52:24Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485944.51 epoch sec; seqNo:520; 4061683.19 north; 594269.55 east 2020-12-09T03:52:24Z- waiting for 1607485945.48, time is 1607485944.50 2020-12-09T03:52:24Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:24Z- AHRS_M2 msg: 1607485944.88 epoch sec; seqNo:497 2020-12-09T03:52:24Z- AHRS_M2 msg: 4.07 phi; -0.23 theta; -0.20 psi 2020-12-09T03:52:24Z- waiting for 1607485945.48, time is 1607485944.50 2020-12-09T03:52:24Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:24Z- handleDepth()-Depth_Keller msg: 20.55 epoch sec; seqNo:1607485944881; depth 0.00 2020-12-09T03:52:24Z- waiting for 1607485945.48, time is 1607485944.50 2020-12-09T03:52:24Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485944.90 epoch sec; seqNo:521; 4061683.19 north; 594269.55 east 2020-12-09T03:52:24Z- waiting for 1607485945.48, time is 1607485944.50 2020-12-09T03:52:24Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:25Z- AHRS_M2 msg: 1607485945.28 epoch sec; seqNo:498 2020-12-09T03:52:25Z- AHRS_M2 msg: 4.07 phi; -0.23 theta; -0.21 psi 2020-12-09T03:52:25Z- waiting for 1607485945.48, time is 1607485944.50 2020-12-09T03:52:25Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:25Z- handleDepth()-Depth_Keller msg: 20.64 epoch sec; seqNo:1607485945286; depth 0.00 2020-12-09T03:52:25Z- waiting for 1607485945.48, time is 1607485944.50 2020-12-09T03:52:25Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:25Z- handleDvl() - RDI_Pathfinder msg: 1607485945.30 epoch sec; seqNo:213 2020-12-09T03:52:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.09 , 0.00 , 66.54 , 83.84 2020-12-09T03:52:25Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.23 , 0.33 2020-12-09T03:52:25Z- waiting for 1607485945.48, time is 1607485945.30 2020-12-09T03:52:25Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485945.31 epoch sec; seqNo:522; 4061682.80 north; 594268.33 east 2020-12-09T03:52:25Z- waiting for 1607485945.48, time is 1607485945.30 2020-12-09T03:52:25Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:25Z- AHRS_M2 msg: 1607485945.68 epoch sec; seqNo:499 2020-12-09T03:52:25Z- AHRS_M2 msg: 4.07 phi; -0.23 theta; -0.21 psi 2020-12-09T03:52:25Z- waiting for 1607485945.48, time is 1607485945.30 2020-12-09T03:52:25Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:25Z- handleDepth()-Depth_Keller msg: 20.73 epoch sec; seqNo:1607485945689; depth 0.00 2020-12-09T03:52:25Z- waiting for 1607485945.48, time is 1607485945.30 2020-12-09T03:52:25Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485945.71 epoch sec; seqNo:523; 4061682.80 north; 594268.33 east 2020-12-09T03:52:25Z- waiting for 1607485945.48, time is 1607485945.30 2020-12-09T03:52:25Z- sync is 0.42, coherence is 2.00 2020-12-09T03:52:25Z- AHRS_M2 msg: 1607485946.09 epoch sec; seqNo:500 2020-12-09T03:52:25Z- AHRS_M2 msg: 4.07 phi; -0.23 theta; -0.22 psi 2020-12-09T03:52:25Z- waiting for 1607485945.48, time is 1607485945.30 2020-12-09T03:52:25Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:25Z- handleDepth()-Depth_Keller msg: 20.83 epoch sec; seqNo:1607485946093; depth 0.00 2020-12-09T03:52:25Z- waiting for 1607485945.48, time is 1607485945.30 2020-12-09T03:52:25Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:25Z- handleDvl() - RDI_Pathfinder msg: 1607485946.10 epoch sec; seqNo:214 2020-12-09T03:52:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.50 , 91.40 , 66.54 , 0.00 2020-12-09T03:52:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.10 , 0.31 2020-12-09T03:52:25Z- waiting for 1607485945.48, time is 1607485946.10 2020-12-09T03:52:25Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:25Z- LcmTrn::updateTrn() >>>> pose time 1607485946.09, meas time 1607485946.10 <<<< 2020-12-09T03:52:25Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485946.10 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:52:25Z- TerrainNav::motionUpdate() - currEstimate = (4061683, 594268.33, 20.83) 2020-12-09T03:52:25Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:52:25Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:52:25Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:52:25Z- TNavBF::mmse selected from filter -1 2020-12-09T03:52:25Z- variances([0], [2], and psi_berg) = 814.920190 833.143699 0.000000 2020-12-09T03:52:25Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:52:25Z- LcmTrn::cycle() - MLE : 4061648.30 594219.83 20.83 2020-12-09T03:52:25Z- LcmTrn::cycle() - MMSE : 4061682.80 594268.33 20.83 2020-12-09T03:52:25Z- LcmTrn::cycle() - COVAR: 814.92 833.14 33.67 0.00 2020-12-09T03:52:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485946.13 epoch sec; seqNo:524; 4061682.80 north; 594268.33 east 2020-12-09T03:52:25Z- waiting for 1607485949.10, time is 1607485946.10 2020-12-09T03:52:25Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:26Z- AHRS_M2 msg: 1607485946.49 epoch sec; seqNo:501 2020-12-09T03:52:26Z- AHRS_M2 msg: 4.07 phi; -0.24 theta; -0.22 psi 2020-12-09T03:52:26Z- waiting for 1607485949.10, time is 1607485946.10 2020-12-09T03:52:26Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:26Z- handleDepth()-Depth_Keller msg: 20.92 epoch sec; seqNo:1607485946498; depth 0.00 2020-12-09T03:52:26Z- waiting for 1607485949.10, time is 1607485946.10 2020-12-09T03:52:26Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485946.51 epoch sec; seqNo:525; 4061682.42 north; 594268.33 east 2020-12-09T03:52:26Z- waiting for 1607485949.10, time is 1607485946.10 2020-12-09T03:52:26Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:26Z- AHRS_M2 msg: 1607485946.90 epoch sec; seqNo:502 2020-12-09T03:52:26Z- AHRS_M2 msg: 4.07 phi; -0.24 theta; -0.23 psi 2020-12-09T03:52:26Z- waiting for 1607485949.10, time is 1607485946.10 2020-12-09T03:52:26Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:26Z- handleDepth()-Depth_Keller msg: 21.00 epoch sec; seqNo:1607485946911; depth 0.00 2020-12-09T03:52:26Z- waiting for 1607485949.10, time is 1607485946.10 2020-12-09T03:52:26Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485946.92 epoch sec; seqNo:526; 4061682.40 north; 594267.11 east 2020-12-09T03:52:26Z- waiting for 1607485949.10, time is 1607485946.10 2020-12-09T03:52:26Z- sync is 0.82, coherence is 2.00 2020-12-09T03:52:27Z- AHRS_M2 msg: 1607485947.30 epoch sec; seqNo:503 2020-12-09T03:52:27Z- AHRS_M2 msg: 4.08 phi; -0.24 theta; -0.23 psi 2020-12-09T03:52:27Z- waiting for 1607485949.10, time is 1607485946.10 2020-12-09T03:52:27Z- sync is 1.20, coherence is 2.00 2020-12-09T03:52:27Z- handleDepth()-Depth_Keller msg: 21.09 epoch sec; seqNo:1607485947305; depth 0.00 2020-12-09T03:52:27Z- waiting for 1607485949.10, time is 1607485946.10 2020-12-09T03:52:27Z- sync is 1.20, coherence is 2.00 2020-12-09T03:52:27Z- handleDvl() - RDI_Pathfinder msg: 1607485947.32 epoch sec; seqNo:215 2020-12-09T03:52:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.91 , 90.32 , 66.54 , 0.00 2020-12-09T03:52:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , 0.04 , 0.21 2020-12-09T03:52:27Z- waiting for 1607485949.10, time is 1607485947.32 2020-12-09T03:52:27Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485947.34 epoch sec; seqNo:527; 4061682.03 north; 594267.12 east 2020-12-09T03:52:27Z- waiting for 1607485949.10, time is 1607485947.32 2020-12-09T03:52:27Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:27Z- AHRS_M2 msg: 1607485947.70 epoch sec; seqNo:504 2020-12-09T03:52:27Z- AHRS_M2 msg: 4.08 phi; -0.24 theta; -0.23 psi 2020-12-09T03:52:27Z- waiting for 1607485949.10, time is 1607485947.32 2020-12-09T03:52:27Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:27Z- handleDepth()-Depth_Keller msg: 21.19 epoch sec; seqNo:1607485947717; depth 0.00 2020-12-09T03:52:27Z- waiting for 1607485949.10, time is 1607485947.32 2020-12-09T03:52:27Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485947.73 epoch sec; seqNo:528; 4061682.03 north; 594267.12 east 2020-12-09T03:52:27Z- waiting for 1607485949.10, time is 1607485947.32 2020-12-09T03:52:27Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:27Z- AHRS_M2 msg: 1607485948.15 epoch sec; seqNo:505 2020-12-09T03:52:27Z- AHRS_M2 msg: 4.09 phi; -0.24 theta; -0.23 psi 2020-12-09T03:52:27Z- waiting for 1607485949.10, time is 1607485947.32 2020-12-09T03:52:27Z- sync is 0.83, coherence is 2.00 2020-12-09T03:52:27Z- handleDepth()-Depth_Keller msg: 21.26 epoch sec; seqNo:1607485948154; depth 0.00 2020-12-09T03:52:27Z- waiting for 1607485949.10, time is 1607485947.32 2020-12-09T03:52:27Z- sync is 0.83, coherence is 2.00 2020-12-09T03:52:27Z- handleDvl() - RDI_Pathfinder msg: 1607485948.18 epoch sec; seqNo:216 2020-12-09T03:52:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.50 , 90.32 , 66.95 , 87.08 2020-12-09T03:52:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.01 , 0.11 2020-12-09T03:52:27Z- waiting for 1607485949.10, time is 1607485948.18 2020-12-09T03:52:27Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485948.19 epoch sec; seqNo:529; 4061681.65 north; 594267.12 east 2020-12-09T03:52:27Z- waiting for 1607485949.10, time is 1607485948.18 2020-12-09T03:52:27Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:28Z- handleDepth()-Depth_Keller msg: 21.36 epoch sec; seqNo:1607485948537; depth 0.00 2020-12-09T03:52:28Z- waiting for 1607485949.10, time is 1607485948.18 2020-12-09T03:52:28Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485948.55 epoch sec; seqNo:530; 4061681.65 north; 594267.12 east 2020-12-09T03:52:28Z- waiting for 1607485949.10, time is 1607485948.18 2020-12-09T03:52:28Z- sync is 0.37, coherence is 2.00 2020-12-09T03:52:28Z- AHRS_M2 msg: 1607485948.92 epoch sec; seqNo:506 2020-12-09T03:52:28Z- AHRS_M2 msg: 4.10 phi; -0.24 theta; -0.23 psi 2020-12-09T03:52:28Z- waiting for 1607485949.10, time is 1607485948.18 2020-12-09T03:52:28Z- sync is 0.74, coherence is 2.00 2020-12-09T03:52:28Z- handleDepth()-Depth_Keller msg: 21.42 epoch sec; seqNo:1607485948929; depth 0.00 2020-12-09T03:52:28Z- waiting for 1607485949.10, time is 1607485948.18 2020-12-09T03:52:28Z- sync is 0.74, coherence is 2.00 2020-12-09T03:52:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485948.94 epoch sec; seqNo:531; 4061681.63 north; 594265.90 east 2020-12-09T03:52:28Z- waiting for 1607485949.10, time is 1607485948.18 2020-12-09T03:52:28Z- sync is 0.76, coherence is 2.00 2020-12-09T03:52:29Z- AHRS_M2 msg: 1607485949.33 epoch sec; seqNo:507 2020-12-09T03:52:29Z- AHRS_M2 msg: 4.10 phi; -0.24 theta; -0.22 psi 2020-12-09T03:52:29Z- waiting for 1607485949.10, time is 1607485948.18 2020-12-09T03:52:29Z- sync is 1.15, coherence is 2.00 2020-12-09T03:52:29Z- handleDepth()-Depth_Keller msg: 21.52 epoch sec; seqNo:1607485949332; depth 0.00 2020-12-09T03:52:29Z- waiting for 1607485949.10, time is 1607485948.18 2020-12-09T03:52:29Z- sync is 1.15, coherence is 2.00 2020-12-09T03:52:29Z- handleDvl() - RDI_Pathfinder msg: 1607485949.34 epoch sec; seqNo:217 2020-12-09T03:52:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.50 , 90.32 , 66.54 , 87.08 2020-12-09T03:52:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.04 , 0.02 2020-12-09T03:52:29Z- waiting for 1607485949.10, time is 1607485949.34 2020-12-09T03:52:29Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:29Z- LcmTrn::updateTrn() >>>> pose time 1607485949.33, meas time 1607485949.34 <<<< 2020-12-09T03:52:29Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485949.34 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:52:29Z- TerrainNav::motionUpdate() - currEstimate = (4061682, 594265.90, 21.52) 2020-12-09T03:52:29Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:52:29Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:52:29Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:52:29Z- TNavBF::mmse selected from filter -1 2020-12-09T03:52:29Z- variances([0], [2], and psi_berg) = 814.650330 833.142754 0.000000 2020-12-09T03:52:29Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:52:29Z- LcmTrn::cycle() - MLE : 4061647.13 594217.40 21.52 2020-12-09T03:52:29Z- LcmTrn::cycle() - MMSE : 4061681.63 594265.90 21.52 2020-12-09T03:52:29Z- LcmTrn::cycle() - COVAR: 814.65 833.14 33.81 0.00 2020-12-09T03:52:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485949.36 epoch sec; seqNo:532; 4061681.25 north; 594265.91 east 2020-12-09T03:52:29Z- waiting for 1607485952.34, time is 1607485949.34 2020-12-09T03:52:29Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:29Z- AHRS_M2 msg: 1607485949.74 epoch sec; seqNo:508 2020-12-09T03:52:29Z- AHRS_M2 msg: 4.11 phi; -0.24 theta; -0.22 psi 2020-12-09T03:52:29Z- waiting for 1607485952.34, time is 1607485949.34 2020-12-09T03:52:29Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:29Z- handleDepth()-Depth_Keller msg: 21.60 epoch sec; seqNo:1607485949744; depth 0.00 2020-12-09T03:52:29Z- waiting for 1607485952.34, time is 1607485949.34 2020-12-09T03:52:29Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485949.76 epoch sec; seqNo:533; 4061681.25 north; 594265.91 east 2020-12-09T03:52:29Z- waiting for 1607485952.34, time is 1607485949.34 2020-12-09T03:52:29Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:29Z- AHRS_M2 msg: 1607485950.15 epoch sec; seqNo:509 2020-12-09T03:52:29Z- AHRS_M2 msg: 4.11 phi; -0.24 theta; -0.22 psi 2020-12-09T03:52:29Z- waiting for 1607485952.34, time is 1607485949.34 2020-12-09T03:52:29Z- sync is 0.80, coherence is 2.00 2020-12-09T03:52:29Z- handleDepth()-Depth_Keller msg: 21.68 epoch sec; seqNo:1607485950153; depth 0.00 2020-12-09T03:52:29Z- waiting for 1607485952.34, time is 1607485949.34 2020-12-09T03:52:29Z- sync is 0.80, coherence is 2.00 2020-12-09T03:52:29Z- handleDvl() - RDI_Pathfinder msg: 1607485950.16 epoch sec; seqNo:218 2020-12-09T03:52:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.31 , 90.32 , 65.72 , 86.00 2020-12-09T03:52:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.05 , -0.04 2020-12-09T03:52:29Z- waiting for 1607485952.34, time is 1607485950.16 2020-12-09T03:52:29Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485950.18 epoch sec; seqNo:534; 4061680.88 north; 594265.91 east 2020-12-09T03:52:29Z- waiting for 1607485952.34, time is 1607485950.16 2020-12-09T03:52:29Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:30Z- AHRS_M2 msg: 1607485950.54 epoch sec; seqNo:510 2020-12-09T03:52:30Z- AHRS_M2 msg: 4.11 phi; -0.24 theta; -0.22 psi 2020-12-09T03:52:30Z- waiting for 1607485952.34, time is 1607485950.16 2020-12-09T03:52:30Z- sync is 0.37, coherence is 2.00 2020-12-09T03:52:30Z- handleDepth()-Depth_Keller msg: 21.77 epoch sec; seqNo:1607485950542; depth 0.00 2020-12-09T03:52:30Z- waiting for 1607485952.34, time is 1607485950.16 2020-12-09T03:52:30Z- sync is 0.37, coherence is 2.00 2020-12-09T03:52:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485950.55 epoch sec; seqNo:535; 4061680.48 north; 594264.69 east 2020-12-09T03:52:30Z- waiting for 1607485952.34, time is 1607485950.16 2020-12-09T03:52:30Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:30Z- handleDepth()-Depth_Keller msg: 21.83 epoch sec; seqNo:1607485950957; depth 0.00 2020-12-09T03:52:30Z- waiting for 1607485952.34, time is 1607485950.16 2020-12-09T03:52:30Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485950.97 epoch sec; seqNo:536; 4061680.48 north; 594264.69 east 2020-12-09T03:52:30Z- waiting for 1607485952.34, time is 1607485950.16 2020-12-09T03:52:30Z- sync is 0.81, coherence is 2.00 2020-12-09T03:52:31Z- AHRS_M2 msg: 1607485951.35 epoch sec; seqNo:511 2020-12-09T03:52:31Z- AHRS_M2 msg: 4.11 phi; -0.24 theta; -0.22 psi 2020-12-09T03:52:31Z- waiting for 1607485952.34, time is 1607485950.16 2020-12-09T03:52:31Z- sync is 1.18, coherence is 2.00 2020-12-09T03:52:31Z- handleDepth()-Depth_Keller msg: 21.91 epoch sec; seqNo:1607485951351; depth 0.00 2020-12-09T03:52:31Z- waiting for 1607485952.34, time is 1607485950.16 2020-12-09T03:52:31Z- sync is 1.18, coherence is 2.00 2020-12-09T03:52:31Z- handleDvl() - RDI_Pathfinder msg: 1607485951.36 epoch sec; seqNo:219 2020-12-09T03:52:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.50 , 90.32 , 65.31 , 87.08 2020-12-09T03:52:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.08 , -0.09 2020-12-09T03:52:31Z- waiting for 1607485952.34, time is 1607485951.36 2020-12-09T03:52:31Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485951.38 epoch sec; seqNo:537; 4061680.10 north; 594264.70 east 2020-12-09T03:52:31Z- waiting for 1607485952.34, time is 1607485951.36 2020-12-09T03:52:31Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:31Z- AHRS_M2 msg: 1607485951.75 epoch sec; seqNo:512 2020-12-09T03:52:31Z- AHRS_M2 msg: 4.12 phi; -0.24 theta; -0.22 psi 2020-12-09T03:52:31Z- waiting for 1607485952.34, time is 1607485951.36 2020-12-09T03:52:31Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:31Z- handleDepth()-Depth_Keller msg: 22.00 epoch sec; seqNo:1607485951753; depth 0.00 2020-12-09T03:52:31Z- waiting for 1607485952.34, time is 1607485951.36 2020-12-09T03:52:31Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T03:52:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T03:52:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T03:52:31Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T03:52:31Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T03:52:31Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T03:52:31Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T03:52:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T03:52:31Z- handleDvl() - RDI_Pathfinder msg: 1607485951.76 epoch sec; seqNo:220 2020-12-09T03:52:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T03:52:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.08 , -0.09 2020-12-09T03:52:31Z- waiting for 1607485952.34, time is 1607485951.76 2020-12-09T03:52:31Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485951.79 epoch sec; seqNo:538; 4061680.10 north; 594264.70 east 2020-12-09T03:52:31Z- waiting for 1607485952.34, time is 1607485951.76 2020-12-09T03:52:31Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:31Z- AHRS_M2 msg: 1607485952.15 epoch sec; seqNo:513 2020-12-09T03:52:31Z- AHRS_M2 msg: 4.12 phi; -0.24 theta; -0.23 psi 2020-12-09T03:52:31Z- waiting for 1607485952.34, time is 1607485951.76 2020-12-09T03:52:31Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:31Z- handleDepth()-Depth_Keller msg: 22.08 epoch sec; seqNo:1607485952159; depth 0.00 2020-12-09T03:52:31Z- waiting for 1607485952.34, time is 1607485951.76 2020-12-09T03:52:31Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:31Z- handleDvl() - RDI_Pathfinder msg: 1607485952.17 epoch sec; seqNo:221 2020-12-09T03:52:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.09 , 90.32 , 65.72 , 86.00 2020-12-09T03:52:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.10 , -0.14 2020-12-09T03:52:31Z- waiting for 1607485952.34, time is 1607485952.17 2020-12-09T03:52:31Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485952.20 epoch sec; seqNo:539; 4061679.73 north; 594264.70 east 2020-12-09T03:52:31Z- waiting for 1607485952.34, time is 1607485952.17 2020-12-09T03:52:31Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:32Z- AHRS_M2 msg: 1607485952.56 epoch sec; seqNo:514 2020-12-09T03:52:32Z- AHRS_M2 msg: 4.12 phi; -0.24 theta; -0.23 psi 2020-12-09T03:52:32Z- waiting for 1607485952.34, time is 1607485952.17 2020-12-09T03:52:32Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:32Z- handleDepth()-Depth_Keller msg: 22.15 epoch sec; seqNo:1607485952565; depth 0.00 2020-12-09T03:52:32Z- waiting for 1607485952.34, time is 1607485952.17 2020-12-09T03:52:32Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485952.58 epoch sec; seqNo:540; 4061679.33 north; 594263.49 east 2020-12-09T03:52:32Z- waiting for 1607485952.34, time is 1607485952.17 2020-12-09T03:52:32Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:32Z- AHRS_M2 msg: 1607485952.96 epoch sec; seqNo:515 2020-12-09T03:52:32Z- AHRS_M2 msg: 4.12 phi; -0.24 theta; -0.23 psi 2020-12-09T03:52:32Z- waiting for 1607485952.34, time is 1607485952.17 2020-12-09T03:52:32Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:32Z- handleDepth()-Depth_Keller msg: 22.21 epoch sec; seqNo:1607485952973; depth 0.00 2020-12-09T03:52:32Z- waiting for 1607485952.34, time is 1607485952.17 2020-12-09T03:52:32Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485952.98 epoch sec; seqNo:541; 4061679.33 north; 594263.49 east 2020-12-09T03:52:32Z- waiting for 1607485952.34, time is 1607485952.17 2020-12-09T03:52:32Z- sync is 0.81, coherence is 2.00 2020-12-09T03:52:33Z- AHRS_M2 msg: 1607485953.37 epoch sec; seqNo:516 2020-12-09T03:52:33Z- AHRS_M2 msg: 4.12 phi; -0.23 theta; -0.23 psi 2020-12-09T03:52:33Z- waiting for 1607485952.34, time is 1607485952.17 2020-12-09T03:52:33Z- sync is 1.20, coherence is 2.00 2020-12-09T03:52:33Z- handleDepth()-Depth_Keller msg: 22.28 epoch sec; seqNo:1607485953382; depth 0.00 2020-12-09T03:52:33Z- waiting for 1607485952.34, time is 1607485952.17 2020-12-09T03:52:33Z- sync is 1.20, coherence is 2.00 2020-12-09T03:52:33Z- handleDvl() - RDI_Pathfinder msg: 1607485953.39 epoch sec; seqNo:222 2020-12-09T03:52:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.09 , 89.24 , 64.91 , 86.00 2020-12-09T03:52:33Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.11 , -0.17 2020-12-09T03:52:33Z- waiting for 1607485952.34, time is 1607485953.39 2020-12-09T03:52:33Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:33Z- LcmTrn::updateTrn() >>>> pose time 1607485953.37, meas time 1607485953.39 <<<< 2020-12-09T03:52:33Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485953.39 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:52:33Z- TerrainNav::motionUpdate() - currEstimate = (4061679, 594263.49, 22.28) 2020-12-09T03:52:33Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:52:33Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:52:33Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:52:33Z- TNavBF::mmse selected from filter -1 2020-12-09T03:52:33Z- variances([0], [2], and psi_berg) = 814.352248 833.141722 0.000000 2020-12-09T03:52:33Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:52:33Z- LcmTrn::cycle() - MLE : 4061644.83 594215.99 22.28 2020-12-09T03:52:33Z- LcmTrn::cycle() - MMSE : 4061679.33 594263.49 22.28 2020-12-09T03:52:33Z- LcmTrn::cycle() - COVAR: 814.35 833.14 33.98 0.00 2020-12-09T03:52:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485953.41 epoch sec; seqNo:542; 4061678.95 north; 594263.49 east 2020-12-09T03:52:33Z- waiting for 1607485956.39, time is 1607485953.39 2020-12-09T03:52:33Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:33Z- AHRS_M2 msg: 1607485953.77 epoch sec; seqNo:517 2020-12-09T03:52:33Z- AHRS_M2 msg: 4.12 phi; -0.23 theta; -0.23 psi 2020-12-09T03:52:33Z- waiting for 1607485956.39, time is 1607485953.39 2020-12-09T03:52:33Z- sync is 0.37, coherence is 2.00 2020-12-09T03:52:33Z- handleDepth()-Depth_Keller msg: 22.37 epoch sec; seqNo:1607485953778; depth 0.00 2020-12-09T03:52:33Z- waiting for 1607485956.39, time is 1607485953.39 2020-12-09T03:52:33Z- sync is 0.37, coherence is 2.00 2020-12-09T03:52:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485953.81 epoch sec; seqNo:543; 4061678.58 north; 594263.49 east 2020-12-09T03:52:33Z- waiting for 1607485956.39, time is 1607485953.39 2020-12-09T03:52:33Z- sync is 0.42, coherence is 2.00 2020-12-09T03:52:33Z- AHRS_M2 msg: 1607485954.17 epoch sec; seqNo:518 2020-12-09T03:52:33Z- AHRS_M2 msg: 4.12 phi; -0.23 theta; -0.23 psi 2020-12-09T03:52:33Z- waiting for 1607485956.39, time is 1607485953.39 2020-12-09T03:52:33Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:33Z- handleDepth()-Depth_Keller msg: 22.46 epoch sec; seqNo:1607485954183; depth 0.00 2020-12-09T03:52:33Z- waiting for 1607485956.39, time is 1607485953.39 2020-12-09T03:52:33Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:33Z- handleDvl() - RDI_Pathfinder msg: 1607485954.19 epoch sec; seqNo:223 2020-12-09T03:52:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.68 , 88.16 , 64.91 , 86.00 2020-12-09T03:52:33Z- handleDvl() - RDI_Pathfinder msg: velocities 1.17 , -0.07 , -0.17 2020-12-09T03:52:33Z- waiting for 1607485956.39, time is 1607485954.19 2020-12-09T03:52:33Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485954.21 epoch sec; seqNo:544; 4061678.18 north; 594262.28 east 2020-12-09T03:52:33Z- waiting for 1607485956.39, time is 1607485954.19 2020-12-09T03:52:33Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:34Z- AHRS_M2 msg: 1607485954.58 epoch sec; seqNo:519 2020-12-09T03:52:34Z- AHRS_M2 msg: 4.12 phi; -0.23 theta; -0.23 psi 2020-12-09T03:52:34Z- waiting for 1607485956.39, time is 1607485954.19 2020-12-09T03:52:34Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:34Z- handleDepth()-Depth_Keller msg: 22.52 epoch sec; seqNo:1607485954595; depth 0.00 2020-12-09T03:52:34Z- waiting for 1607485956.39, time is 1607485954.19 2020-12-09T03:52:34Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485954.61 epoch sec; seqNo:545; 4061678.18 north; 594262.28 east 2020-12-09T03:52:34Z- waiting for 1607485956.39, time is 1607485954.19 2020-12-09T03:52:34Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:34Z- AHRS_M2 msg: 1607485954.98 epoch sec; seqNo:520 2020-12-09T03:52:34Z- AHRS_M2 msg: 4.12 phi; -0.23 theta; -0.23 psi 2020-12-09T03:52:34Z- waiting for 1607485956.39, time is 1607485954.19 2020-12-09T03:52:34Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:34Z- handleDepth()-Depth_Keller msg: 22.59 epoch sec; seqNo:1607485954985; depth 0.00 2020-12-09T03:52:34Z- waiting for 1607485956.39, time is 1607485954.19 2020-12-09T03:52:34Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485954.99 epoch sec; seqNo:546; 4061677.80 north; 594262.28 east 2020-12-09T03:52:34Z- waiting for 1607485956.39, time is 1607485954.19 2020-12-09T03:52:34Z- sync is 0.80, coherence is 2.00 2020-12-09T03:52:35Z- AHRS_M2 msg: 1607485955.39 epoch sec; seqNo:521 2020-12-09T03:52:35Z- AHRS_M2 msg: 4.12 phi; -0.23 theta; -0.22 psi 2020-12-09T03:52:35Z- waiting for 1607485956.39, time is 1607485954.19 2020-12-09T03:52:35Z- sync is 1.20, coherence is 2.00 2020-12-09T03:52:35Z- handleDepth()-Depth_Keller msg: 22.68 epoch sec; seqNo:1607485955398; depth 0.00 2020-12-09T03:52:35Z- waiting for 1607485956.39, time is 1607485954.19 2020-12-09T03:52:35Z- sync is 1.20, coherence is 2.00 2020-12-09T03:52:35Z- handleDvl() - RDI_Pathfinder msg: 1607485955.41 epoch sec; seqNo:224 2020-12-09T03:52:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.68 , 88.16 , 64.50 , 84.92 2020-12-09T03:52:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.19 , 0.01 , -0.12 2020-12-09T03:52:35Z- waiting for 1607485956.39, time is 1607485955.41 2020-12-09T03:52:35Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485955.44 epoch sec; seqNo:547; 4061677.41 north; 594261.07 east 2020-12-09T03:52:35Z- waiting for 1607485956.39, time is 1607485955.41 2020-12-09T03:52:35Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:35Z- AHRS_M2 msg: 1607485955.80 epoch sec; seqNo:522 2020-12-09T03:52:35Z- AHRS_M2 msg: 4.11 phi; -0.23 theta; -0.22 psi 2020-12-09T03:52:35Z- waiting for 1607485956.39, time is 1607485955.41 2020-12-09T03:52:35Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:35Z- handleDepth()-Depth_Keller msg: 22.75 epoch sec; seqNo:1607485955799; depth 0.00 2020-12-09T03:52:35Z- waiting for 1607485956.39, time is 1607485955.41 2020-12-09T03:52:35Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485955.81 epoch sec; seqNo:548; 4061677.03 north; 594261.07 east 2020-12-09T03:52:35Z- waiting for 1607485956.39, time is 1607485955.41 2020-12-09T03:52:35Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:35Z- AHRS_M2 msg: 1607485956.19 epoch sec; seqNo:523 2020-12-09T03:52:35Z- AHRS_M2 msg: 4.11 phi; -0.23 theta; -0.22 psi 2020-12-09T03:52:35Z- waiting for 1607485956.39, time is 1607485955.41 2020-12-09T03:52:35Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:35Z- handleDepth()-Depth_Keller msg: 22.82 epoch sec; seqNo:1607485956197; depth 0.00 2020-12-09T03:52:35Z- waiting for 1607485956.39, time is 1607485955.41 2020-12-09T03:52:35Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:36Z- handleDvl() - RDI_Pathfinder msg: 1607485956.22 epoch sec; seqNo:225 2020-12-09T03:52:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.27 , 87.08 , 64.09 , 83.84 2020-12-09T03:52:36Z- handleDvl() - RDI_Pathfinder msg: velocities 1.18 , 0.07 , -0.03 2020-12-09T03:52:36Z- waiting for 1607485956.39, time is 1607485956.22 2020-12-09T03:52:36Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485956.23 epoch sec; seqNo:549; 4061677.03 north; 594261.07 east 2020-12-09T03:52:36Z- waiting for 1607485956.39, time is 1607485956.22 2020-12-09T03:52:36Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:36Z- AHRS_M2 msg: 1607485956.60 epoch sec; seqNo:524 2020-12-09T03:52:36Z- AHRS_M2 msg: 4.10 phi; -0.23 theta; -0.22 psi 2020-12-09T03:52:36Z- waiting for 1607485956.39, time is 1607485956.22 2020-12-09T03:52:36Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:36Z- handleDepth()-Depth_Keller msg: 22.92 epoch sec; seqNo:1607485956601; depth 0.00 2020-12-09T03:52:36Z- waiting for 1607485956.39, time is 1607485956.22 2020-12-09T03:52:36Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485956.62 epoch sec; seqNo:550; 4061676.64 north; 594259.85 east 2020-12-09T03:52:36Z- waiting for 1607485956.39, time is 1607485956.22 2020-12-09T03:52:36Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:36Z- AHRS_M2 msg: 1607485957.00 epoch sec; seqNo:525 2020-12-09T03:52:36Z- AHRS_M2 msg: 4.09 phi; -0.23 theta; -0.22 psi 2020-12-09T03:52:36Z- waiting for 1607485956.39, time is 1607485956.22 2020-12-09T03:52:36Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:36Z- handleDepth()-Depth_Keller msg: 22.99 epoch sec; seqNo:1607485957006; depth 0.00 2020-12-09T03:52:36Z- waiting for 1607485956.39, time is 1607485956.22 2020-12-09T03:52:36Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485957.02 epoch sec; seqNo:551; 4061676.26 north; 594259.86 east 2020-12-09T03:52:36Z- waiting for 1607485956.39, time is 1607485956.22 2020-12-09T03:52:36Z- sync is 0.80, coherence is 2.00 2020-12-09T03:52:37Z- AHRS_M2 msg: 1607485957.41 epoch sec; seqNo:526 2020-12-09T03:52:37Z- AHRS_M2 msg: 4.09 phi; -0.23 theta; -0.22 psi 2020-12-09T03:52:37Z- waiting for 1607485956.39, time is 1607485956.22 2020-12-09T03:52:37Z- sync is 1.19, coherence is 2.00 2020-12-09T03:52:37Z- handleDepth()-Depth_Keller msg: 23.07 epoch sec; seqNo:1607485957414; depth 0.00 2020-12-09T03:52:37Z- waiting for 1607485956.39, time is 1607485956.22 2020-12-09T03:52:37Z- sync is 1.19, coherence is 2.00 2020-12-09T03:52:37Z- handleDvl() - RDI_Pathfinder msg: 1607485957.43 epoch sec; seqNo:226 2020-12-09T03:52:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.87 , 87.08 , 64.09 , 83.84 2020-12-09T03:52:37Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , 0.15 , 0.10 2020-12-09T03:52:37Z- waiting for 1607485956.39, time is 1607485957.43 2020-12-09T03:52:37Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:37Z- LcmTrn::updateTrn() >>>> pose time 1607485957.41, meas time 1607485957.43 <<<< 2020-12-09T03:52:37Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485957.43 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:52:37Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594259.86, 23.07) 2020-12-09T03:52:37Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:52:37Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:52:37Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:52:37Z- TNavBF::mmse selected from filter -1 2020-12-09T03:52:37Z- variances([0], [2], and psi_berg) = 813.999377 833.140514 0.000000 2020-12-09T03:52:37Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:52:37Z- LcmTrn::cycle() - MLE : 4061641.76 594212.36 23.07 2020-12-09T03:52:37Z- LcmTrn::cycle() - MMSE : 4061676.26 594259.86 23.07 2020-12-09T03:52:37Z- LcmTrn::cycle() - COVAR: 814.00 833.14 34.22 0.00 2020-12-09T03:52:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485957.44 epoch sec; seqNo:552; 4061676.26 north; 594259.86 east 2020-12-09T03:52:37Z- waiting for 1607485960.43, time is 1607485957.43 2020-12-09T03:52:37Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:37Z- AHRS_M2 msg: 1607485957.81 epoch sec; seqNo:527 2020-12-09T03:52:37Z- AHRS_M2 msg: 4.08 phi; -0.23 theta; -0.22 psi 2020-12-09T03:52:37Z- waiting for 1607485960.43, time is 1607485957.43 2020-12-09T03:52:37Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:37Z- handleDepth()-Depth_Keller msg: 23.17 epoch sec; seqNo:1607485957813; depth 0.00 2020-12-09T03:52:37Z- waiting for 1607485960.43, time is 1607485957.43 2020-12-09T03:52:37Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485957.83 epoch sec; seqNo:553; 4061675.87 north; 594258.64 east 2020-12-09T03:52:37Z- waiting for 1607485960.43, time is 1607485957.43 2020-12-09T03:52:37Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:38Z- AHRS_M2 msg: 1607485958.21 epoch sec; seqNo:528 2020-12-09T03:52:38Z- AHRS_M2 msg: 4.08 phi; -0.23 theta; -0.23 psi 2020-12-09T03:52:38Z- waiting for 1607485960.43, time is 1607485957.43 2020-12-09T03:52:38Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:38Z- handleDepth()-Depth_Keller msg: 23.24 epoch sec; seqNo:1607485958217; depth 0.00 2020-12-09T03:52:38Z- waiting for 1607485960.43, time is 1607485957.43 2020-12-09T03:52:38Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:38Z- handleDvl() - RDI_Pathfinder msg: 1607485958.23 epoch sec; seqNo:227 2020-12-09T03:52:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.27 , 163.76 , 63.68 , 0.00 2020-12-09T03:52:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.21 , 1.05 , -0.29 2020-12-09T03:52:38Z- waiting for 1607485960.43, time is 1607485958.23 2020-12-09T03:52:38Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485958.26 epoch sec; seqNo:554; 4061676.25 north; 594258.64 east 2020-12-09T03:52:38Z- waiting for 1607485960.43, time is 1607485958.23 2020-12-09T03:52:38Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:38Z- AHRS_M2 msg: 1607485958.62 epoch sec; seqNo:529 2020-12-09T03:52:38Z- AHRS_M2 msg: 4.07 phi; -0.23 theta; -0.23 psi 2020-12-09T03:52:38Z- waiting for 1607485960.43, time is 1607485958.23 2020-12-09T03:52:38Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:38Z- handleDepth()-Depth_Keller msg: 23.33 epoch sec; seqNo:1607485958625; depth 0.00 2020-12-09T03:52:38Z- waiting for 1607485960.43, time is 1607485958.23 2020-12-09T03:52:38Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485958.64 epoch sec; seqNo:555; 4061676.63 north; 594258.63 east 2020-12-09T03:52:38Z- waiting for 1607485960.43, time is 1607485958.23 2020-12-09T03:52:38Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:38Z- AHRS_M2 msg: 1607485959.02 epoch sec; seqNo:530 2020-12-09T03:52:38Z- AHRS_M2 msg: 4.07 phi; -0.24 theta; -0.23 psi 2020-12-09T03:52:38Z- waiting for 1607485960.43, time is 1607485958.23 2020-12-09T03:52:38Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:38Z- handleDepth()-Depth_Keller msg: 23.42 epoch sec; seqNo:1607485959033; depth 0.00 2020-12-09T03:52:38Z- waiting for 1607485960.43, time is 1607485958.23 2020-12-09T03:52:38Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485959.04 epoch sec; seqNo:556; 4061676.63 north; 594258.63 east 2020-12-09T03:52:38Z- waiting for 1607485960.43, time is 1607485958.23 2020-12-09T03:52:38Z- sync is 0.81, coherence is 2.00 2020-12-09T03:52:39Z- AHRS_M2 msg: 1607485959.43 epoch sec; seqNo:531 2020-12-09T03:52:39Z- AHRS_M2 msg: 4.06 phi; -0.24 theta; -0.23 psi 2020-12-09T03:52:39Z- waiting for 1607485960.43, time is 1607485958.23 2020-12-09T03:52:39Z- sync is 1.20, coherence is 2.00 2020-12-09T03:52:39Z- handleDepth()-Depth_Keller msg: 23.49 epoch sec; seqNo:1607485959433; depth 0.00 2020-12-09T03:52:39Z- waiting for 1607485960.43, time is 1607485958.23 2020-12-09T03:52:39Z- sync is 1.20, coherence is 2.00 2020-12-09T03:52:39Z- handleDvl() - RDI_Pathfinder msg: 1607485959.46 epoch sec; seqNo:228 2020-12-09T03:52:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.68 , 89.18 , 64.50 , 85.13 2020-12-09T03:52:39Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , 0.17 , 0.23 2020-12-09T03:52:39Z- waiting for 1607485960.43, time is 1607485959.46 2020-12-09T03:52:39Z- sync is 0.04, coherence is 2.00 2020-12-09T03:52:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485959.47 epoch sec; seqNo:557; 4061676.61 north; 594257.41 east 2020-12-09T03:52:39Z- waiting for 1607485960.43, time is 1607485959.46 2020-12-09T03:52:39Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:39Z- AHRS_M2 msg: 1607485959.83 epoch sec; seqNo:532 2020-12-09T03:52:39Z- AHRS_M2 msg: 4.06 phi; -0.24 theta; -0.23 psi 2020-12-09T03:52:39Z- waiting for 1607485960.43, time is 1607485959.46 2020-12-09T03:52:39Z- sync is 0.37, coherence is 2.00 2020-12-09T03:52:39Z- handleDepth()-Depth_Keller msg: 23.59 epoch sec; seqNo:1607485959837; depth 0.00 2020-12-09T03:52:39Z- waiting for 1607485960.43, time is 1607485959.46 2020-12-09T03:52:39Z- sync is 0.37, coherence is 2.00 2020-12-09T03:52:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485959.85 epoch sec; seqNo:558; 4061676.24 north; 594257.42 east 2020-12-09T03:52:39Z- waiting for 1607485960.43, time is 1607485959.46 2020-12-09T03:52:39Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:40Z- AHRS_M2 msg: 1607485960.23 epoch sec; seqNo:533 2020-12-09T03:52:40Z- AHRS_M2 msg: 4.06 phi; -0.24 theta; -0.24 psi 2020-12-09T03:52:40Z- waiting for 1607485960.43, time is 1607485959.46 2020-12-09T03:52:40Z- sync is 0.77, coherence is 2.00 2020-12-09T03:52:40Z- handleDepth()-Depth_Keller msg: 23.66 epoch sec; seqNo:1607485960241; depth 0.00 2020-12-09T03:52:40Z- waiting for 1607485960.43, time is 1607485959.46 2020-12-09T03:52:40Z- sync is 0.77, coherence is 2.00 2020-12-09T03:52:40Z- handleDvl() - RDI_Pathfinder msg: 1607485960.25 epoch sec; seqNo:229 2020-12-09T03:52:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.27 , 90.33 , 63.67 , 86.01 2020-12-09T03:52:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.11 , 0.22 2020-12-09T03:52:40Z- waiting for 1607485960.43, time is 1607485960.25 2020-12-09T03:52:40Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485960.27 epoch sec; seqNo:559; 4061676.24 north; 594257.42 east 2020-12-09T03:52:40Z- waiting for 1607485960.43, time is 1607485960.25 2020-12-09T03:52:40Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:40Z- handleAhrs() - platform_orientation item not found in ahrs msg 2020-12-09T03:52:40Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2020-12-09T03:52:40Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2020-12-09T03:52:40Z- AHRS_M2 msg: 1607485960.63 epoch sec; seqNo:534 2020-12-09T03:52:40Z- AHRS_M2 msg: 4.06 phi; -0.24 theta; -0.24 psi 2020-12-09T03:52:40Z- waiting for 1607485960.43, time is 1607485960.25 2020-12-09T03:52:40Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:40Z- handleDepth()-Depth_Keller msg: 23.75 epoch sec; seqNo:1607485960665; depth 0.00 2020-12-09T03:52:40Z- waiting for 1607485960.43, time is 1607485960.25 2020-12-09T03:52:40Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485960.68 epoch sec; seqNo:560; 4061676.22 north; 594256.20 east 2020-12-09T03:52:40Z- waiting for 1607485960.43, time is 1607485960.25 2020-12-09T03:52:40Z- sync is 0.42, coherence is 2.00 2020-12-09T03:52:40Z- AHRS_M2 msg: 1607485961.04 epoch sec; seqNo:535 2020-12-09T03:52:40Z- AHRS_M2 msg: 4.06 phi; -0.24 theta; -0.24 psi 2020-12-09T03:52:40Z- waiting for 1607485960.43, time is 1607485960.25 2020-12-09T03:52:40Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:40Z- handleDepth()-Depth_Keller msg: 23.85 epoch sec; seqNo:1607485961047; depth 0.00 2020-12-09T03:52:40Z- waiting for 1607485960.43, time is 1607485960.25 2020-12-09T03:52:40Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485961.07 epoch sec; seqNo:561; 4061675.84 north; 594256.20 east 2020-12-09T03:52:40Z- waiting for 1607485960.43, time is 1607485960.25 2020-12-09T03:52:40Z- sync is 0.81, coherence is 2.00 2020-12-09T03:52:41Z- AHRS_M2 msg: 1607485961.45 epoch sec; seqNo:536 2020-12-09T03:52:41Z- AHRS_M2 msg: 4.07 phi; -0.24 theta; -0.24 psi 2020-12-09T03:52:41Z- waiting for 1607485960.43, time is 1607485960.25 2020-12-09T03:52:41Z- sync is 1.19, coherence is 2.00 2020-12-09T03:52:41Z- handleDepth()-Depth_Keller msg: 23.91 epoch sec; seqNo:1607485961451; depth 0.00 2020-12-09T03:52:41Z- waiting for 1607485960.43, time is 1607485960.25 2020-12-09T03:52:41Z- sync is 1.19, coherence is 2.00 2020-12-09T03:52:41Z- handleDvl() - RDI_Pathfinder msg: 1607485961.46 epoch sec; seqNo:230 2020-12-09T03:52:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.86 , 89.25 , 63.67 , 86.01 2020-12-09T03:52:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.03 , 0.11 2020-12-09T03:52:41Z- waiting for 1607485960.43, time is 1607485961.46 2020-12-09T03:52:41Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:41Z- LcmTrn::updateTrn() >>>> pose time 1607485961.45, meas time 1607485961.46 <<<< 2020-12-09T03:52:41Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485961.46 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:52:41Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594256.20, 23.91) 2020-12-09T03:52:41Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:52:41Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:52:41Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:52:41Z- TNavBF::mmse selected from filter -1 2020-12-09T03:52:41Z- variances([0], [2], and psi_berg) = 813.691917 833.139478 0.000000 2020-12-09T03:52:41Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:52:41Z- LcmTrn::cycle() - MLE : 4061641.34 594208.70 23.91 2020-12-09T03:52:41Z- LcmTrn::cycle() - MMSE : 4061675.84 594256.20 23.91 2020-12-09T03:52:41Z- LcmTrn::cycle() - COVAR: 813.69 833.14 34.41 0.00 2020-12-09T03:52:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485961.50 epoch sec; seqNo:562; 4061675.84 north; 594256.20 east 2020-12-09T03:52:41Z- waiting for 1607485964.46, time is 1607485961.46 2020-12-09T03:52:41Z- sync is 0.04, coherence is 2.00 2020-12-09T03:52:41Z- AHRS_M2 msg: 1607485961.85 epoch sec; seqNo:537 2020-12-09T03:52:41Z- AHRS_M2 msg: 4.07 phi; -0.24 theta; -0.24 psi 2020-12-09T03:52:41Z- waiting for 1607485964.46, time is 1607485961.46 2020-12-09T03:52:41Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:41Z- handleDepth()-Depth_Keller msg: 23.99 epoch sec; seqNo:1607485961854; depth 0.00 2020-12-09T03:52:41Z- waiting for 1607485964.46, time is 1607485961.46 2020-12-09T03:52:41Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485961.87 epoch sec; seqNo:563; 4061675.46 north; 594256.21 east 2020-12-09T03:52:41Z- waiting for 1607485964.46, time is 1607485961.46 2020-12-09T03:52:41Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:42Z- AHRS_M2 msg: 1607485962.25 epoch sec; seqNo:538 2020-12-09T03:52:42Z- AHRS_M2 msg: 4.07 phi; -0.24 theta; -0.24 psi 2020-12-09T03:52:42Z- waiting for 1607485964.46, time is 1607485961.46 2020-12-09T03:52:42Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:42Z- handleDepth()-Depth_Keller msg: 24.08 epoch sec; seqNo:1607485962259; depth 0.00 2020-12-09T03:52:42Z- waiting for 1607485964.46, time is 1607485961.46 2020-12-09T03:52:42Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:42Z- handleDvl() - RDI_Pathfinder msg: 1607485962.27 epoch sec; seqNo:231 2020-12-09T03:52:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.87 , 89.24 , 63.27 , 86.00 2020-12-09T03:52:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.03 , -0.03 2020-12-09T03:52:42Z- waiting for 1607485964.46, time is 1607485962.27 2020-12-09T03:52:42Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485962.28 epoch sec; seqNo:564; 4061675.46 north; 594256.21 east 2020-12-09T03:52:42Z- waiting for 1607485964.46, time is 1607485962.27 2020-12-09T03:52:42Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:42Z- AHRS_M2 msg: 1607485962.66 epoch sec; seqNo:539 2020-12-09T03:52:42Z- AHRS_M2 msg: 4.08 phi; -0.24 theta; -0.24 psi 2020-12-09T03:52:42Z- waiting for 1607485964.46, time is 1607485962.27 2020-12-09T03:52:42Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:42Z- handleDepth()-Depth_Keller msg: 24.17 epoch sec; seqNo:1607485962665; depth 0.00 2020-12-09T03:52:42Z- waiting for 1607485964.46, time is 1607485962.27 2020-12-09T03:52:42Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485962.68 epoch sec; seqNo:565; 4061675.07 north; 594254.99 east 2020-12-09T03:52:42Z- waiting for 1607485964.46, time is 1607485962.27 2020-12-09T03:52:42Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:42Z- AHRS_M2 msg: 1607485963.06 epoch sec; seqNo:540 2020-12-09T03:52:42Z- AHRS_M2 msg: 4.09 phi; -0.24 theta; -0.24 psi 2020-12-09T03:52:42Z- waiting for 1607485964.46, time is 1607485962.27 2020-12-09T03:52:42Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:42Z- handleDepth()-Depth_Keller msg: 24.26 epoch sec; seqNo:1607485963069; depth 0.00 2020-12-09T03:52:42Z- waiting for 1607485964.46, time is 1607485962.27 2020-12-09T03:52:42Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485963.08 epoch sec; seqNo:566; 4061675.07 north; 594254.99 east 2020-12-09T03:52:42Z- waiting for 1607485964.46, time is 1607485962.27 2020-12-09T03:52:42Z- sync is 0.81, coherence is 2.00 2020-12-09T03:52:43Z- AHRS_M2 msg: 1607485963.46 epoch sec; seqNo:541 2020-12-09T03:52:43Z- AHRS_M2 msg: 4.09 phi; -0.24 theta; -0.24 psi 2020-12-09T03:52:43Z- waiting for 1607485964.46, time is 1607485962.27 2020-12-09T03:52:43Z- sync is 1.19, coherence is 2.00 2020-12-09T03:52:43Z- handleDepth()-Depth_Keller msg: 24.34 epoch sec; seqNo:1607485963469; depth 0.00 2020-12-09T03:52:43Z- waiting for 1607485964.46, time is 1607485962.27 2020-12-09T03:52:43Z- sync is 1.19, coherence is 2.00 2020-12-09T03:52:43Z- handleDvl() - RDI_Pathfinder msg: 1607485963.49 epoch sec; seqNo:232 2020-12-09T03:52:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.87 , 88.16 , 64.50 , 87.08 2020-12-09T03:52:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.04 , -0.17 2020-12-09T03:52:43Z- waiting for 1607485964.46, time is 1607485963.49 2020-12-09T03:52:43Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485963.50 epoch sec; seqNo:567; 4061674.69 north; 594254.99 east 2020-12-09T03:52:43Z- waiting for 1607485964.46, time is 1607485963.49 2020-12-09T03:52:43Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:43Z- AHRS_M2 msg: 1607485963.87 epoch sec; seqNo:542 2020-12-09T03:52:43Z- AHRS_M2 msg: 4.09 phi; -0.24 theta; -0.24 psi 2020-12-09T03:52:43Z- waiting for 1607485964.46, time is 1607485963.49 2020-12-09T03:52:43Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:43Z- handleDepth()-Depth_Keller msg: 24.44 epoch sec; seqNo:1607485963873; depth 0.00 2020-12-09T03:52:43Z- waiting for 1607485964.46, time is 1607485963.49 2020-12-09T03:52:43Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T03:52:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T03:52:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T03:52:43Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T03:52:43Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T03:52:43Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T03:52:43Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T03:52:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T03:52:43Z- handleDvl() - RDI_Pathfinder msg: 1607485963.88 epoch sec; seqNo:233 2020-12-09T03:52:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T03:52:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.04 , -0.17 2020-12-09T03:52:43Z- waiting for 1607485964.46, time is 1607485963.88 2020-12-09T03:52:43Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485963.89 epoch sec; seqNo:568; 4061674.31 north; 594255.00 east 2020-12-09T03:52:43Z- waiting for 1607485964.46, time is 1607485963.88 2020-12-09T03:52:43Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:44Z- AHRS_M2 msg: 1607485964.27 epoch sec; seqNo:543 2020-12-09T03:52:44Z- AHRS_M2 msg: 4.10 phi; -0.24 theta; -0.23 psi 2020-12-09T03:52:44Z- waiting for 1607485964.46, time is 1607485963.88 2020-12-09T03:52:44Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:44Z- handleDepth()-Depth_Keller msg: 24.53 epoch sec; seqNo:1607485964285; depth 0.00 2020-12-09T03:52:44Z- waiting for 1607485964.46, time is 1607485963.88 2020-12-09T03:52:44Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:44Z- handleDvl() - RDI_Pathfinder msg: 1607485964.30 epoch sec; seqNo:234 2020-12-09T03:52:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.45 , 87.09 , 62.86 , 84.93 2020-12-09T03:52:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.09 , -0.21 2020-12-09T03:52:44Z- waiting for 1607485964.46, time is 1607485964.30 2020-12-09T03:52:44Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485964.34 epoch sec; seqNo:569; 4061674.30 north; 594253.78 east 2020-12-09T03:52:44Z- waiting for 1607485964.46, time is 1607485964.30 2020-12-09T03:52:44Z- sync is 0.04, coherence is 2.00 2020-12-09T03:52:44Z- AHRS_M2 msg: 1607485964.68 epoch sec; seqNo:544 2020-12-09T03:52:44Z- AHRS_M2 msg: 4.10 phi; -0.24 theta; -0.23 psi 2020-12-09T03:52:44Z- waiting for 1607485964.46, time is 1607485964.30 2020-12-09T03:52:44Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:44Z- handleDepth()-Depth_Keller msg: 24.63 epoch sec; seqNo:1607485964683; depth 0.00 2020-12-09T03:52:44Z- waiting for 1607485964.46, time is 1607485964.30 2020-12-09T03:52:44Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485964.69 epoch sec; seqNo:570; 4061673.92 north; 594253.78 east 2020-12-09T03:52:44Z- waiting for 1607485964.46, time is 1607485964.30 2020-12-09T03:52:44Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:44Z- AHRS_M2 msg: 1607485965.09 epoch sec; seqNo:545 2020-12-09T03:52:44Z- AHRS_M2 msg: 4.10 phi; -0.24 theta; -0.22 psi 2020-12-09T03:52:44Z- waiting for 1607485964.46, time is 1607485964.30 2020-12-09T03:52:44Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:44Z- handleDepth()-Depth_Keller msg: 24.70 epoch sec; seqNo:1607485965099; depth 0.00 2020-12-09T03:52:44Z- waiting for 1607485964.46, time is 1607485964.30 2020-12-09T03:52:44Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485965.12 epoch sec; seqNo:571; 4061673.54 north; 594253.79 east 2020-12-09T03:52:44Z- waiting for 1607485964.46, time is 1607485964.30 2020-12-09T03:52:44Z- sync is 0.82, coherence is 2.00 2020-12-09T03:52:45Z- AHRS_M2 msg: 1607485965.49 epoch sec; seqNo:546 2020-12-09T03:52:45Z- AHRS_M2 msg: 4.09 phi; -0.24 theta; -0.22 psi 2020-12-09T03:52:45Z- waiting for 1607485964.46, time is 1607485964.30 2020-12-09T03:52:45Z- sync is 1.19, coherence is 2.00 2020-12-09T03:52:45Z- handleDepth()-Depth_Keller msg: 24.80 epoch sec; seqNo:1607485965491; depth 0.00 2020-12-09T03:52:45Z- waiting for 1607485964.46, time is 1607485964.30 2020-12-09T03:52:45Z- sync is 1.19, coherence is 2.00 2020-12-09T03:52:45Z- handleDvl() - RDI_Pathfinder msg: 1607485965.51 epoch sec; seqNo:235 2020-12-09T03:52:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.04 , 84.93 , 129.20 , 83.85 2020-12-09T03:52:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , 0.14 , -0.11 2020-12-09T03:52:45Z- waiting for 1607485964.46, time is 1607485965.51 2020-12-09T03:52:45Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:45Z- LcmTrn::updateTrn() >>>> pose time 1607485965.49, meas time 1607485965.51 <<<< 2020-12-09T03:52:45Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485965.51 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:52:45Z- TerrainNav::motionUpdate() - currEstimate = (4061674, 594253.79, 24.80) 2020-12-09T03:52:45Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:52:45Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:52:45Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:52:45Z- TNavBF::mmse selected from filter -1 2020-12-09T03:52:45Z- variances([0], [2], and psi_berg) = 813.401737 833.138511 0.000000 2020-12-09T03:52:45Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:52:45Z- LcmTrn::cycle() - MLE : 4061639.04 594206.29 24.80 2020-12-09T03:52:45Z- LcmTrn::cycle() - MMSE : 4061673.54 594253.79 24.80 2020-12-09T03:52:45Z- LcmTrn::cycle() - COVAR: 813.40 833.14 34.58 0.00 2020-12-09T03:52:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485965.53 epoch sec; seqNo:572; 4061673.53 north; 594252.57 east 2020-12-09T03:52:45Z- waiting for 1607485968.51, time is 1607485965.51 2020-12-09T03:52:45Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:45Z- AHRS_M2 msg: 1607485965.89 epoch sec; seqNo:547 2020-12-09T03:52:45Z- AHRS_M2 msg: 4.09 phi; -0.24 theta; -0.22 psi 2020-12-09T03:52:45Z- waiting for 1607485968.51, time is 1607485965.51 2020-12-09T03:52:45Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:45Z- handleDepth()-Depth_Keller msg: 24.89 epoch sec; seqNo:1607485965893; depth 0.00 2020-12-09T03:52:45Z- waiting for 1607485968.51, time is 1607485965.51 2020-12-09T03:52:45Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485965.94 epoch sec; seqNo:573; 4061673.53 north; 594252.57 east 2020-12-09T03:52:45Z- waiting for 1607485968.51, time is 1607485965.51 2020-12-09T03:52:45Z- sync is 0.44, coherence is 2.00 2020-12-09T03:52:46Z- AHRS_M2 msg: 1607485966.30 epoch sec; seqNo:548 2020-12-09T03:52:46Z- AHRS_M2 msg: 4.08 phi; -0.24 theta; -0.21 psi 2020-12-09T03:52:46Z- waiting for 1607485968.51, time is 1607485965.51 2020-12-09T03:52:46Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:46Z- handleDepth()-Depth_Keller msg: 25.00 epoch sec; seqNo:1607485966304; depth 0.00 2020-12-09T03:52:46Z- waiting for 1607485968.51, time is 1607485965.51 2020-12-09T03:52:46Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:46Z- handleDvl() - RDI_Pathfinder msg: 1607485966.32 epoch sec; seqNo:236 2020-12-09T03:52:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.46 , 85.60 , 62.46 , 79.19 2020-12-09T03:52:46Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , 0.24 , -0.05 2020-12-09T03:52:46Z- waiting for 1607485968.51, time is 1607485966.32 2020-12-09T03:52:46Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485966.33 epoch sec; seqNo:574; 4061673.15 north; 594252.57 east 2020-12-09T03:52:46Z- waiting for 1607485968.51, time is 1607485966.32 2020-12-09T03:52:46Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:46Z- AHRS_M2 msg: 1607485966.70 epoch sec; seqNo:549 2020-12-09T03:52:46Z- AHRS_M2 msg: 4.07 phi; -0.24 theta; -0.22 psi 2020-12-09T03:52:46Z- waiting for 1607485968.51, time is 1607485966.32 2020-12-09T03:52:46Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:46Z- handleDepth()-Depth_Keller msg: 25.06 epoch sec; seqNo:1607485966716; depth 0.00 2020-12-09T03:52:46Z- waiting for 1607485968.51, time is 1607485966.32 2020-12-09T03:52:46Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485966.73 epoch sec; seqNo:575; 4061673.14 north; 594251.35 east 2020-12-09T03:52:46Z- waiting for 1607485968.51, time is 1607485966.32 2020-12-09T03:52:46Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:46Z- AHRS_M2 msg: 1607485967.11 epoch sec; seqNo:550 2020-12-09T03:52:46Z- AHRS_M2 msg: 4.05 phi; -0.24 theta; -0.22 psi 2020-12-09T03:52:46Z- waiting for 1607485968.51, time is 1607485966.32 2020-12-09T03:52:46Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:46Z- handleDepth()-Depth_Keller msg: 25.16 epoch sec; seqNo:1607485967120; depth 0.00 2020-12-09T03:52:46Z- waiting for 1607485968.51, time is 1607485966.32 2020-12-09T03:52:46Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:46Z- handleDvl() - RDI_Pathfinder msg: 1607485967.15 epoch sec; seqNo:237 2020-12-09T03:52:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.46 , 86.00 , 62.46 , 81.68 2020-12-09T03:52:46Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , 0.23 , 0.10 2020-12-09T03:52:46Z- waiting for 1607485968.51, time is 1607485967.15 2020-12-09T03:52:46Z- sync is 0.05, coherence is 2.00 2020-12-09T03:52:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485967.17 epoch sec; seqNo:576; 4061672.76 north; 594251.35 east 2020-12-09T03:52:46Z- waiting for 1607485968.51, time is 1607485967.15 2020-12-09T03:52:46Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:47Z- AHRS_M2 msg: 1607485967.50 epoch sec; seqNo:551 2020-12-09T03:52:47Z- AHRS_M2 msg: 4.04 phi; -0.24 theta; -0.22 psi 2020-12-09T03:52:47Z- waiting for 1607485968.51, time is 1607485967.15 2020-12-09T03:52:47Z- sync is 0.35, coherence is 2.00 2020-12-09T03:52:47Z- handleDepth()-Depth_Keller msg: 25.26 epoch sec; seqNo:1607485967508; depth 0.00 2020-12-09T03:52:47Z- waiting for 1607485968.51, time is 1607485967.15 2020-12-09T03:52:47Z- sync is 0.35, coherence is 2.00 2020-12-09T03:52:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485967.52 epoch sec; seqNo:577; 4061672.76 north; 594251.35 east 2020-12-09T03:52:47Z- waiting for 1607485968.51, time is 1607485967.15 2020-12-09T03:52:47Z- sync is 0.37, coherence is 2.00 2020-12-09T03:52:47Z- AHRS_M2 msg: 1607485967.91 epoch sec; seqNo:552 2020-12-09T03:52:47Z- AHRS_M2 msg: 4.03 phi; -0.24 theta; -0.23 psi 2020-12-09T03:52:47Z- waiting for 1607485968.51, time is 1607485967.15 2020-12-09T03:52:47Z- sync is 0.76, coherence is 2.00 2020-12-09T03:52:47Z- handleDepth()-Depth_Keller msg: 25.34 epoch sec; seqNo:1607485967917; depth 0.00 2020-12-09T03:52:47Z- waiting for 1607485968.51, time is 1607485967.15 2020-12-09T03:52:47Z- sync is 0.76, coherence is 2.00 2020-12-09T03:52:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485967.93 epoch sec; seqNo:578; 4061672.37 north; 594250.14 east 2020-12-09T03:52:47Z- waiting for 1607485968.51, time is 1607485967.15 2020-12-09T03:52:47Z- sync is 0.77, coherence is 2.00 2020-12-09T03:52:48Z- AHRS_M2 msg: 1607485968.31 epoch sec; seqNo:553 2020-12-09T03:52:48Z- AHRS_M2 msg: 4.02 phi; -0.24 theta; -0.23 psi 2020-12-09T03:52:48Z- waiting for 1607485968.51, time is 1607485967.15 2020-12-09T03:52:48Z- sync is 1.16, coherence is 2.00 2020-12-09T03:52:48Z- handleDepth()-Depth_Keller msg: 25.43 epoch sec; seqNo:1607485968318; depth 0.00 2020-12-09T03:52:48Z- waiting for 1607485968.51, time is 1607485967.15 2020-12-09T03:52:48Z- sync is 1.16, coherence is 2.00 2020-12-09T03:52:48Z- handleDvl() - RDI_Pathfinder msg: 1607485968.34 epoch sec; seqNo:238 2020-12-09T03:52:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.45 , 86.01 , 62.86 , 78.37 2020-12-09T03:52:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.19 , 0.27 2020-12-09T03:52:48Z- waiting for 1607485968.51, time is 1607485968.34 2020-12-09T03:52:48Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485968.35 epoch sec; seqNo:579; 4061672.37 north; 594250.14 east 2020-12-09T03:52:48Z- waiting for 1607485968.51, time is 1607485968.34 2020-12-09T03:52:48Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:48Z- AHRS_M2 msg: 1607485968.72 epoch sec; seqNo:554 2020-12-09T03:52:48Z- AHRS_M2 msg: 4.02 phi; -0.24 theta; -0.24 psi 2020-12-09T03:52:48Z- waiting for 1607485968.51, time is 1607485968.34 2020-12-09T03:52:48Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:48Z- handleDepth()-Depth_Keller msg: 25.53 epoch sec; seqNo:1607485968721; depth 0.00 2020-12-09T03:52:48Z- waiting for 1607485968.51, time is 1607485968.34 2020-12-09T03:52:48Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485968.73 epoch sec; seqNo:580; 4061671.99 north; 594250.14 east 2020-12-09T03:52:48Z- waiting for 1607485968.51, time is 1607485968.34 2020-12-09T03:52:48Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:48Z- AHRS_M2 msg: 1607485969.12 epoch sec; seqNo:555 2020-12-09T03:52:48Z- AHRS_M2 msg: 4.01 phi; -0.24 theta; -0.24 psi 2020-12-09T03:52:48Z- waiting for 1607485968.51, time is 1607485968.34 2020-12-09T03:52:48Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:48Z- handleDepth()-Depth_Keller msg: 25.62 epoch sec; seqNo:1607485969126; depth 0.00 2020-12-09T03:52:48Z- waiting for 1607485968.51, time is 1607485968.34 2020-12-09T03:52:48Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:48Z- handleDvl() - RDI_Pathfinder msg: 1607485969.14 epoch sec; seqNo:239 2020-12-09T03:52:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.04 , 87.09 , 63.27 , 79.59 2020-12-09T03:52:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.08 , 0.37 2020-12-09T03:52:48Z- waiting for 1607485968.51, time is 1607485969.14 2020-12-09T03:52:48Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:48Z- LcmTrn::updateTrn() >>>> pose time 1607485969.12, meas time 1607485969.14 <<<< 2020-12-09T03:52:48Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485969.14 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:52:48Z- TerrainNav::motionUpdate() - currEstimate = (4061672, 594250.14, 25.62) 2020-12-09T03:52:48Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:52:48Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:52:48Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:52:48Z- TNavBF::mmse selected from filter -1 2020-12-09T03:52:48Z- variances([0], [2], and psi_berg) = 813.087988 833.137477 0.000000 2020-12-09T03:52:48Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:52:48Z- LcmTrn::cycle() - MLE : 4061637.49 594202.64 25.62 2020-12-09T03:52:48Z- LcmTrn::cycle() - MMSE : 4061671.99 594250.14 25.62 2020-12-09T03:52:48Z- LcmTrn::cycle() - COVAR: 813.09 833.14 34.78 0.00 2020-12-09T03:52:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485969.15 epoch sec; seqNo:581; 4061671.99 north; 594250.14 east 2020-12-09T03:52:48Z- waiting for 1607485972.14, time is 1607485969.14 2020-12-09T03:52:48Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:49Z- AHRS_M2 msg: 1607485969.53 epoch sec; seqNo:556 2020-12-09T03:52:49Z- AHRS_M2 msg: 4.00 phi; -0.25 theta; -0.25 psi 2020-12-09T03:52:49Z- waiting for 1607485972.14, time is 1607485969.14 2020-12-09T03:52:49Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:49Z- handleDepth()-Depth_Keller msg: 25.71 epoch sec; seqNo:1607485969532; depth 0.00 2020-12-09T03:52:49Z- waiting for 1607485972.14, time is 1607485969.14 2020-12-09T03:52:49Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485969.54 epoch sec; seqNo:582; 4061671.60 north; 594248.93 east 2020-12-09T03:52:49Z- waiting for 1607485972.14, time is 1607485969.14 2020-12-09T03:52:49Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:49Z- AHRS_M2 msg: 1607485969.93 epoch sec; seqNo:557 2020-12-09T03:52:49Z- AHRS_M2 msg: 4.00 phi; -0.25 theta; -0.25 psi 2020-12-09T03:52:49Z- waiting for 1607485972.14, time is 1607485969.14 2020-12-09T03:52:49Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:49Z- handleDepth()-Depth_Keller msg: 25.79 epoch sec; seqNo:1607485969933; depth 0.00 2020-12-09T03:52:49Z- waiting for 1607485972.14, time is 1607485969.14 2020-12-09T03:52:49Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485969.95 epoch sec; seqNo:583; 4061671.60 north; 594248.93 east 2020-12-09T03:52:49Z- waiting for 1607485972.14, time is 1607485969.14 2020-12-09T03:52:49Z- sync is 0.81, coherence is 2.00 2020-12-09T03:52:50Z- AHRS_M2 msg: 1607485970.33 epoch sec; seqNo:558 2020-12-09T03:52:50Z- AHRS_M2 msg: 4.00 phi; -0.25 theta; -0.25 psi 2020-12-09T03:52:50Z- waiting for 1607485972.14, time is 1607485969.14 2020-12-09T03:52:50Z- sync is 1.19, coherence is 2.00 2020-12-09T03:52:50Z- handleDepth()-Depth_Keller msg: 25.89 epoch sec; seqNo:1607485970337; depth 0.00 2020-12-09T03:52:50Z- waiting for 1607485972.14, time is 1607485969.14 2020-12-09T03:52:50Z- sync is 1.19, coherence is 2.00 2020-12-09T03:52:50Z- handleDvl() - RDI_Pathfinder msg: 1607485970.35 epoch sec; seqNo:240 2020-12-09T03:52:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.64 , 87.08 , 63.68 , 83.84 2020-12-09T03:52:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.09 , 0.39 2020-12-09T03:52:50Z- waiting for 1607485972.14, time is 1607485970.35 2020-12-09T03:52:50Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485970.37 epoch sec; seqNo:584; 4061671.22 north; 594248.93 east 2020-12-09T03:52:50Z- waiting for 1607485972.14, time is 1607485970.35 2020-12-09T03:52:50Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:50Z- AHRS_M2 msg: 1607485970.74 epoch sec; seqNo:559 2020-12-09T03:52:50Z- AHRS_M2 msg: 4.00 phi; -0.25 theta; -0.25 psi 2020-12-09T03:52:50Z- waiting for 1607485972.14, time is 1607485970.35 2020-12-09T03:52:50Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:50Z- handleDepth()-Depth_Keller msg: 25.97 epoch sec; seqNo:1607485970745; depth 0.00 2020-12-09T03:52:50Z- waiting for 1607485972.14, time is 1607485970.35 2020-12-09T03:52:50Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485970.76 epoch sec; seqNo:585; 4061671.22 north; 594248.93 east 2020-12-09T03:52:50Z- waiting for 1607485972.14, time is 1607485970.35 2020-12-09T03:52:50Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:50Z- AHRS_M2 msg: 1607485971.15 epoch sec; seqNo:560 2020-12-09T03:52:50Z- AHRS_M2 msg: 4.00 phi; -0.25 theta; -0.25 psi 2020-12-09T03:52:50Z- waiting for 1607485972.14, time is 1607485970.35 2020-12-09T03:52:50Z- sync is 0.80, coherence is 2.00 2020-12-09T03:52:50Z- handleDepth()-Depth_Keller msg: 26.04 epoch sec; seqNo:1607485971156; depth 0.00 2020-12-09T03:52:50Z- waiting for 1607485972.14, time is 1607485970.35 2020-12-09T03:52:50Z- sync is 0.80, coherence is 2.00 2020-12-09T03:52:50Z- handleDvl() - RDI_Pathfinder msg: 1607485971.17 epoch sec; seqNo:241 2020-12-09T03:52:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.64 , 88.16 , 64.09 , 83.84 2020-12-09T03:52:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.24 , 0.31 2020-12-09T03:52:50Z- waiting for 1607485972.14, time is 1607485971.17 2020-12-09T03:52:50Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485971.18 epoch sec; seqNo:586; 4061670.84 north; 594248.93 east 2020-12-09T03:52:50Z- waiting for 1607485972.14, time is 1607485971.17 2020-12-09T03:52:50Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:51Z- AHRS_M2 msg: 1607485971.55 epoch sec; seqNo:561 2020-12-09T03:52:51Z- AHRS_M2 msg: 4.00 phi; -0.26 theta; -0.25 psi 2020-12-09T03:52:51Z- waiting for 1607485972.14, time is 1607485971.17 2020-12-09T03:52:51Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:51Z- handleDepth()-Depth_Keller msg: 26.14 epoch sec; seqNo:1607485971554; depth 0.00 2020-12-09T03:52:51Z- waiting for 1607485972.14, time is 1607485971.17 2020-12-09T03:52:51Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485971.57 epoch sec; seqNo:587; 4061670.84 north; 594248.93 east 2020-12-09T03:52:51Z- waiting for 1607485972.14, time is 1607485971.17 2020-12-09T03:52:51Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:51Z- AHRS_M2 msg: 1607485971.95 epoch sec; seqNo:562 2020-12-09T03:52:51Z- AHRS_M2 msg: 4.01 phi; -0.26 theta; -0.25 psi 2020-12-09T03:52:51Z- waiting for 1607485972.14, time is 1607485971.17 2020-12-09T03:52:51Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:51Z- handleDepth()-Depth_Keller msg: 26.21 epoch sec; seqNo:1607485971953; depth 0.00 2020-12-09T03:52:51Z- waiting for 1607485972.14, time is 1607485971.17 2020-12-09T03:52:51Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485971.96 epoch sec; seqNo:588; 4061670.45 north; 594247.72 east 2020-12-09T03:52:51Z- waiting for 1607485972.14, time is 1607485971.17 2020-12-09T03:52:51Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:52Z- AHRS_M2 msg: 1607485972.35 epoch sec; seqNo:563 2020-12-09T03:52:52Z- AHRS_M2 msg: 4.01 phi; -0.26 theta; -0.25 psi 2020-12-09T03:52:52Z- waiting for 1607485972.14, time is 1607485971.17 2020-12-09T03:52:52Z- sync is 1.18, coherence is 2.00 2020-12-09T03:52:52Z- handleDepth()-Depth_Keller msg: 26.29 epoch sec; seqNo:1607485972357; depth 0.00 2020-12-09T03:52:52Z- waiting for 1607485972.14, time is 1607485971.17 2020-12-09T03:52:52Z- sync is 1.18, coherence is 2.00 2020-12-09T03:52:52Z- handleDvl() - RDI_Pathfinder msg: 1607485972.37 epoch sec; seqNo:242 2020-12-09T03:52:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.04 , 88.17 , 63.67 , 86.01 2020-12-09T03:52:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.36 , 0.12 2020-12-09T03:52:52Z- waiting for 1607485972.14, time is 1607485972.37 2020-12-09T03:52:52Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:52Z- LcmTrn::updateTrn() >>>> pose time 1607485972.35, meas time 1607485972.37 <<<< 2020-12-09T03:52:52Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485972.37 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:52:52Z- TerrainNav::motionUpdate() - currEstimate = (4061670, 594247.72, 26.29) 2020-12-09T03:52:52Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:52:52Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:52:52Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:52:52Z- TNavBF::mmse selected from filter -1 2020-12-09T03:52:52Z- variances([0], [2], and psi_berg) = 812.823146 833.136616 0.000000 2020-12-09T03:52:52Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:52:52Z- LcmTrn::cycle() - MLE : 4061635.95 594201.22 26.29 2020-12-09T03:52:52Z- LcmTrn::cycle() - MMSE : 4061670.45 594247.72 26.29 2020-12-09T03:52:52Z- LcmTrn::cycle() - COVAR: 812.82 833.14 34.93 0.00 2020-12-09T03:52:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485972.38 epoch sec; seqNo:589; 4061670.07 north; 594247.72 east 2020-12-09T03:52:52Z- waiting for 1607485975.37, time is 1607485972.37 2020-12-09T03:52:52Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:52Z- AHRS_M2 msg: 1607485972.76 epoch sec; seqNo:564 2020-12-09T03:52:52Z- AHRS_M2 msg: 4.02 phi; -0.26 theta; -0.24 psi 2020-12-09T03:52:52Z- waiting for 1607485975.37, time is 1607485972.37 2020-12-09T03:52:52Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:52Z- handleDepth()-Depth_Keller msg: 26.36 epoch sec; seqNo:1607485972769; depth 0.00 2020-12-09T03:52:52Z- waiting for 1607485975.37, time is 1607485972.37 2020-12-09T03:52:52Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485972.78 epoch sec; seqNo:590; 4061670.07 north; 594247.72 east 2020-12-09T03:52:52Z- waiting for 1607485975.37, time is 1607485972.37 2020-12-09T03:52:52Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:52Z- AHRS_M2 msg: 1607485973.16 epoch sec; seqNo:565 2020-12-09T03:52:52Z- AHRS_M2 msg: 4.03 phi; -0.26 theta; -0.24 psi 2020-12-09T03:52:52Z- waiting for 1607485975.37, time is 1607485972.37 2020-12-09T03:52:52Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:52Z- handleDepth()-Depth_Keller msg: 26.42 epoch sec; seqNo:1607485973166; depth 0.00 2020-12-09T03:52:52Z- waiting for 1607485975.37, time is 1607485972.37 2020-12-09T03:52:52Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:52Z- handleDvl() - RDI_Pathfinder msg: 1607485973.19 epoch sec; seqNo:243 2020-12-09T03:52:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T03:52:52Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:52:52Z- waiting for 1607485975.37, time is 1607485973.19 2020-12-09T03:52:52Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485973.20 epoch sec; seqNo:591; 4061669.69 north; 594247.73 east 2020-12-09T03:52:52Z- waiting for 1607485975.37, time is 1607485973.19 2020-12-09T03:52:52Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:53Z- AHRS_M2 msg: 1607485973.56 epoch sec; seqNo:566 2020-12-09T03:52:53Z- AHRS_M2 msg: 4.04 phi; -0.26 theta; -0.23 psi 2020-12-09T03:52:53Z- waiting for 1607485975.37, time is 1607485973.19 2020-12-09T03:52:53Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:53Z- handleDepth()-Depth_Keller msg: 26.50 epoch sec; seqNo:1607485973573; depth 0.00 2020-12-09T03:52:53Z- waiting for 1607485975.37, time is 1607485973.19 2020-12-09T03:52:53Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485973.60 epoch sec; seqNo:592; 4061669.31 north; 594247.73 east 2020-12-09T03:52:53Z- waiting for 1607485975.37, time is 1607485973.19 2020-12-09T03:52:53Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:53Z- AHRS_M2 msg: 1607485973.97 epoch sec; seqNo:567 2020-12-09T03:52:53Z- AHRS_M2 msg: 4.05 phi; -0.26 theta; -0.22 psi 2020-12-09T03:52:53Z- waiting for 1607485975.37, time is 1607485973.19 2020-12-09T03:52:53Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:53Z- handleDepth()-Depth_Keller msg: 26.57 epoch sec; seqNo:1607485973974; depth 0.00 2020-12-09T03:52:53Z- waiting for 1607485975.37, time is 1607485973.19 2020-12-09T03:52:53Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485973.98 epoch sec; seqNo:593; 4061668.93 north; 594247.73 east 2020-12-09T03:52:53Z- waiting for 1607485975.37, time is 1607485973.19 2020-12-09T03:52:53Z- sync is 0.80, coherence is 2.00 2020-12-09T03:52:54Z- AHRS_M2 msg: 1607485974.38 epoch sec; seqNo:568 2020-12-09T03:52:54Z- AHRS_M2 msg: 4.06 phi; -0.26 theta; -0.21 psi 2020-12-09T03:52:54Z- waiting for 1607485975.37, time is 1607485973.19 2020-12-09T03:52:54Z- sync is 1.19, coherence is 2.00 2020-12-09T03:52:54Z- handleDepth()-Depth_Keller msg: 26.65 epoch sec; seqNo:1607485974379; depth 0.00 2020-12-09T03:52:54Z- waiting for 1607485975.37, time is 1607485973.19 2020-12-09T03:52:54Z- sync is 1.19, coherence is 2.00 2020-12-09T03:52:54Z- handleDvl() - RDI_Pathfinder msg: 1607485974.39 epoch sec; seqNo:244 2020-12-09T03:52:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.04 , 86.01 , 61.23 , 84.79 2020-12-09T03:52:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.27 , -0.35 2020-12-09T03:52:54Z- waiting for 1607485975.37, time is 1607485974.39 2020-12-09T03:52:54Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485974.41 epoch sec; seqNo:594; 4061668.55 north; 594247.74 east 2020-12-09T03:52:54Z- waiting for 1607485975.37, time is 1607485974.39 2020-12-09T03:52:54Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:54Z- AHRS_M2 msg: 1607485974.78 epoch sec; seqNo:569 2020-12-09T03:52:54Z- AHRS_M2 msg: 4.07 phi; -0.25 theta; -0.20 psi 2020-12-09T03:52:54Z- waiting for 1607485975.37, time is 1607485974.39 2020-12-09T03:52:54Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:54Z- handleDepth()-Depth_Keller msg: 26.72 epoch sec; seqNo:1607485974785; depth 0.00 2020-12-09T03:52:54Z- waiting for 1607485975.37, time is 1607485974.39 2020-12-09T03:52:54Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485974.81 epoch sec; seqNo:595; 4061668.54 north; 594246.52 east 2020-12-09T03:52:54Z- waiting for 1607485975.37, time is 1607485974.39 2020-12-09T03:52:54Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:54Z- AHRS_M2 msg: 1607485975.18 epoch sec; seqNo:570 2020-12-09T03:52:54Z- AHRS_M2 msg: 4.08 phi; -0.25 theta; -0.19 psi 2020-12-09T03:52:54Z- waiting for 1607485975.37, time is 1607485974.39 2020-12-09T03:52:54Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:54Z- handleDepth()-Depth_Keller msg: 26.78 epoch sec; seqNo:1607485975193; depth 0.00 2020-12-09T03:52:54Z- waiting for 1607485975.37, time is 1607485974.39 2020-12-09T03:52:54Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:55Z- handleDvl() - RDI_Pathfinder msg: 1607485975.21 epoch sec; seqNo:245 2020-12-09T03:52:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.04 , 78.78 , 60.82 , 82.77 2020-12-09T03:52:55Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , -0.05 , -0.47 2020-12-09T03:52:55Z- waiting for 1607485975.37, time is 1607485975.21 2020-12-09T03:52:55Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485975.24 epoch sec; seqNo:596; 4061668.16 north; 594246.52 east 2020-12-09T03:52:55Z- waiting for 1607485975.37, time is 1607485975.21 2020-12-09T03:52:55Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:55Z- AHRS_M2 msg: 1607485975.59 epoch sec; seqNo:571 2020-12-09T03:52:55Z- AHRS_M2 msg: 4.09 phi; -0.25 theta; -0.18 psi 2020-12-09T03:52:55Z- waiting for 1607485975.37, time is 1607485975.21 2020-12-09T03:52:55Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:55Z- handleDepth()-Depth_Keller msg: 26.85 epoch sec; seqNo:1607485975591; depth 0.00 2020-12-09T03:52:55Z- waiting for 1607485975.37, time is 1607485975.21 2020-12-09T03:52:55Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485975.61 epoch sec; seqNo:597; 4061667.78 north; 594246.53 east 2020-12-09T03:52:55Z- waiting for 1607485975.37, time is 1607485975.21 2020-12-09T03:52:55Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:55Z- AHRS_M2 msg: 1607485975.99 epoch sec; seqNo:572 2020-12-09T03:52:55Z- AHRS_M2 msg: 4.09 phi; -0.24 theta; -0.17 psi 2020-12-09T03:52:55Z- waiting for 1607485975.37, time is 1607485975.21 2020-12-09T03:52:55Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:55Z- handleDepth()-Depth_Keller msg: 26.92 epoch sec; seqNo:1607485975994; depth 0.00 2020-12-09T03:52:55Z- waiting for 1607485975.37, time is 1607485975.21 2020-12-09T03:52:55Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485976.01 epoch sec; seqNo:598; 4061667.40 north; 594246.53 east 2020-12-09T03:52:55Z- waiting for 1607485975.37, time is 1607485975.21 2020-12-09T03:52:55Z- sync is 0.80, coherence is 2.00 2020-12-09T03:52:56Z- AHRS_M2 msg: 1607485976.39 epoch sec; seqNo:573 2020-12-09T03:52:56Z- AHRS_M2 msg: 4.10 phi; -0.24 theta; -0.17 psi 2020-12-09T03:52:56Z- waiting for 1607485975.37, time is 1607485975.21 2020-12-09T03:52:56Z- sync is 1.19, coherence is 2.00 2020-12-09T03:52:56Z- handleDepth()-Depth_Keller msg: 26.99 epoch sec; seqNo:1607485976401; depth 0.00 2020-12-09T03:52:56Z- waiting for 1607485975.37, time is 1607485975.21 2020-12-09T03:52:56Z- sync is 1.19, coherence is 2.00 2020-12-09T03:52:56Z- handleDvl() - RDI_Pathfinder msg: 1607485976.42 epoch sec; seqNo:246 2020-12-09T03:52:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.63 , 75.51 , 60.41 , 79.53 2020-12-09T03:52:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.20 , 0.18 , -0.46 2020-12-09T03:52:56Z- waiting for 1607485975.37, time is 1607485976.42 2020-12-09T03:52:56Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:56Z- LcmTrn::updateTrn() >>>> pose time 1607485976.39, meas time 1607485976.42 <<<< 2020-12-09T03:52:56Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485976.42 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:52:56Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594246.53, 26.99) 2020-12-09T03:52:56Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:52:56Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:52:56Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:52:56Z- TNavBF::mmse selected from filter -1 2020-12-09T03:52:56Z- variances([0], [2], and psi_berg) = 812.542756 833.135713 0.000000 2020-12-09T03:52:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:52:56Z- LcmTrn::cycle() - MLE : 4061632.90 594296.03 26.99 2020-12-09T03:52:56Z- LcmTrn::cycle() - MMSE : 4061667.40 594246.53 26.99 2020-12-09T03:52:56Z- LcmTrn::cycle() - COVAR: 812.54 833.14 35.09 0.00 2020-12-09T03:52:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485976.44 epoch sec; seqNo:599; 4061667.01 north; 594245.31 east 2020-12-09T03:52:56Z- waiting for 1607485979.42, time is 1607485976.42 2020-12-09T03:52:56Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:56Z- handleDepth()-Depth_Keller msg: 27.09 epoch sec; seqNo:1607485976817; depth 0.00 2020-12-09T03:52:56Z- waiting for 1607485979.42, time is 1607485976.42 2020-12-09T03:52:56Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:56Z- handleDvl() - RDI_Pathfinder msg: 1607485976.84 epoch sec; seqNo:247 2020-12-09T03:52:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.74 , 73.71 , 59.81 , 75.32 2020-12-09T03:52:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.33 , 0.41 , -0.34 2020-12-09T03:52:56Z- waiting for 1607485979.42, time is 1607485976.84 2020-12-09T03:52:56Z- sync is 0.40, coherence is 2.00 2020-12-09T03:52:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485976.85 epoch sec; seqNo:600; 4061667.01 north; 594245.31 east 2020-12-09T03:52:56Z- waiting for 1607485979.42, time is 1607485976.84 2020-12-09T03:52:56Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:56Z- AHRS_M2 msg: 1607485977.20 epoch sec; seqNo:574 2020-12-09T03:52:56Z- AHRS_M2 msg: 4.11 phi; -0.23 theta; -0.16 psi 2020-12-09T03:52:56Z- waiting for 1607485979.42, time is 1607485976.84 2020-12-09T03:52:56Z- sync is 0.36, coherence is 2.00 2020-12-09T03:52:56Z- handleDepth()-Depth_Keller msg: 27.15 epoch sec; seqNo:1607485977213; depth 0.00 2020-12-09T03:52:56Z- waiting for 1607485979.42, time is 1607485976.84 2020-12-09T03:52:56Z- sync is 0.36, coherence is 2.00 2020-12-09T03:52:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485977.23 epoch sec; seqNo:601; 4061666.62 north; 594244.10 east 2020-12-09T03:52:57Z- waiting for 1607485979.42, time is 1607485976.84 2020-12-09T03:52:57Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:57Z- AHRS_M2 msg: 1607485977.61 epoch sec; seqNo:575 2020-12-09T03:52:57Z- AHRS_M2 msg: 4.11 phi; -0.23 theta; -0.16 psi 2020-12-09T03:52:57Z- waiting for 1607485979.42, time is 1607485976.84 2020-12-09T03:52:57Z- sync is 0.77, coherence is 2.00 2020-12-09T03:52:57Z- handleDepth()-Depth_Keller msg: 27.23 epoch sec; seqNo:1607485977613; depth 0.00 2020-12-09T03:52:57Z- waiting for 1607485979.42, time is 1607485976.84 2020-12-09T03:52:57Z- sync is 0.77, coherence is 2.00 2020-12-09T03:52:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485977.63 epoch sec; seqNo:602; 4061666.62 north; 594244.10 east 2020-12-09T03:52:57Z- waiting for 1607485979.42, time is 1607485976.84 2020-12-09T03:52:57Z- sync is 0.79, coherence is 2.00 2020-12-09T03:52:57Z- AHRS_M2 msg: 1607485978.01 epoch sec; seqNo:576 2020-12-09T03:52:57Z- AHRS_M2 msg: 4.10 phi; -0.23 theta; -0.16 psi 2020-12-09T03:52:57Z- waiting for 1607485979.42, time is 1607485976.84 2020-12-09T03:52:57Z- sync is 1.17, coherence is 2.00 2020-12-09T03:52:57Z- handleDepth()-Depth_Keller msg: 27.30 epoch sec; seqNo:1607485978022; depth 0.00 2020-12-09T03:52:57Z- waiting for 1607485979.42, time is 1607485976.84 2020-12-09T03:52:57Z- sync is 1.17, coherence is 2.00 2020-12-09T03:52:57Z- handleDvl() - RDI_Pathfinder msg: 1607485978.04 epoch sec; seqNo:248 2020-12-09T03:52:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.78 , 73.06 , 59.48 , 74.35 2020-12-09T03:52:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.37 , 0.52 , -0.14 2020-12-09T03:52:57Z- waiting for 1607485979.42, time is 1607485978.04 2020-12-09T03:52:57Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485978.05 epoch sec; seqNo:603; 4061666.22 north; 594242.88 east 2020-12-09T03:52:57Z- waiting for 1607485979.42, time is 1607485978.04 2020-12-09T03:52:57Z- sync is 0.01, coherence is 2.00 2020-12-09T03:52:58Z- AHRS_M2 msg: 1607485978.41 epoch sec; seqNo:577 2020-12-09T03:52:58Z- AHRS_M2 msg: 4.10 phi; -0.23 theta; -0.16 psi 2020-12-09T03:52:58Z- waiting for 1607485979.42, time is 1607485978.04 2020-12-09T03:52:58Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:58Z- handleDepth()-Depth_Keller msg: 27.40 epoch sec; seqNo:1607485978418; depth 0.00 2020-12-09T03:52:58Z- waiting for 1607485979.42, time is 1607485978.04 2020-12-09T03:52:58Z- sync is 0.38, coherence is 2.00 2020-12-09T03:52:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485978.43 epoch sec; seqNo:604; 4061666.22 north; 594242.88 east 2020-12-09T03:52:58Z- waiting for 1607485979.42, time is 1607485978.04 2020-12-09T03:52:58Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:58Z- AHRS_M2 msg: 1607485978.82 epoch sec; seqNo:578 2020-12-09T03:52:58Z- AHRS_M2 msg: 4.09 phi; -0.23 theta; -0.17 psi 2020-12-09T03:52:58Z- waiting for 1607485979.42, time is 1607485978.04 2020-12-09T03:52:58Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:58Z- handleDepth()-Depth_Keller msg: 27.48 epoch sec; seqNo:1607485978821; depth 0.00 2020-12-09T03:52:58Z- waiting for 1607485979.42, time is 1607485978.04 2020-12-09T03:52:58Z- sync is 0.78, coherence is 2.00 2020-12-09T03:52:58Z- handleDvl() - RDI_Pathfinder msg: 1607485978.83 epoch sec; seqNo:249 2020-12-09T03:52:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.64 , 73.81 , 59.72 , 74.42 2020-12-09T03:52:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.36 , 0.57 , 0.10 2020-12-09T03:52:58Z- waiting for 1607485979.42, time is 1607485978.83 2020-12-09T03:52:58Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485978.87 epoch sec; seqNo:605; 4061665.83 north; 594241.67 east 2020-12-09T03:52:58Z- waiting for 1607485979.42, time is 1607485978.83 2020-12-09T03:52:58Z- sync is 0.03, coherence is 2.00 2020-12-09T03:52:59Z- AHRS_M2 msg: 1607485979.22 epoch sec; seqNo:579 2020-12-09T03:52:59Z- AHRS_M2 msg: 4.08 phi; -0.23 theta; -0.17 psi 2020-12-09T03:52:59Z- waiting for 1607485979.42, time is 1607485978.83 2020-12-09T03:52:59Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:59Z- handleDepth()-Depth_Keller msg: 27.58 epoch sec; seqNo:1607485979227; depth 0.00 2020-12-09T03:52:59Z- waiting for 1607485979.42, time is 1607485978.83 2020-12-09T03:52:59Z- sync is 0.39, coherence is 2.00 2020-12-09T03:52:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485979.24 epoch sec; seqNo:606; 4061665.83 north; 594241.67 east 2020-12-09T03:52:59Z- waiting for 1607485979.42, time is 1607485978.83 2020-12-09T03:52:59Z- sync is 0.41, coherence is 2.00 2020-12-09T03:52:59Z- AHRS_M2 msg: 1607485979.63 epoch sec; seqNo:580 2020-12-09T03:52:59Z- AHRS_M2 msg: 4.07 phi; -0.23 theta; -0.18 psi 2020-12-09T03:52:59Z- waiting for 1607485979.42, time is 1607485978.83 2020-12-09T03:52:59Z- sync is 0.80, coherence is 2.00 2020-12-09T03:52:59Z- handleDepth()-Depth_Keller msg: 27.68 epoch sec; seqNo:1607485979647; depth 0.00 2020-12-09T03:52:59Z- waiting for 1607485979.42, time is 1607485978.83 2020-12-09T03:52:59Z- sync is 0.80, coherence is 2.00 2020-12-09T03:52:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485979.66 epoch sec; seqNo:607; 4061665.82 north; 594240.45 east 2020-12-09T03:52:59Z- waiting for 1607485979.42, time is 1607485978.83 2020-12-09T03:52:59Z- sync is 0.82, coherence is 2.00 2020-12-09T03:52:59Z- AHRS_M2 msg: 1607485980.03 epoch sec; seqNo:581 2020-12-09T03:52:59Z- AHRS_M2 msg: 4.06 phi; -0.23 theta; -0.19 psi 2020-12-09T03:52:59Z- waiting for 1607485979.42, time is 1607485978.83 2020-12-09T03:52:59Z- sync is 1.20, coherence is 2.00 2020-12-09T03:52:59Z- handleDepth()-Depth_Keller msg: 27.77 epoch sec; seqNo:1607485980039; depth 0.00 2020-12-09T03:52:59Z- waiting for 1607485979.42, time is 1607485978.83 2020-12-09T03:52:59Z- sync is 1.20, coherence is 2.00 2020-12-09T03:52:59Z- handleDvl() - RDI_Pathfinder msg: 1607485980.05 epoch sec; seqNo:250 2020-12-09T03:52:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.03 , 75.03 , 60.03 , 0.00 2020-12-09T03:52:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.20 , 0.53 , 0.32 2020-12-09T03:52:59Z- waiting for 1607485979.42, time is 1607485980.05 2020-12-09T03:52:59Z- sync is 0.02, coherence is 2.00 2020-12-09T03:52:59Z- LcmTrn::updateTrn() >>>> pose time 1607485980.03, meas time 1607485980.05 <<<< 2020-12-09T03:52:59Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485980.05 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:52:59Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594240.45, 27.77) 2020-12-09T03:52:59Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:52:59Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:52:59Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:52:59Z- TNavBF::mmse selected from filter -1 2020-12-09T03:52:59Z- variances([0], [2], and psi_berg) = 812.156757 833.134483 0.000000 2020-12-09T03:52:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:52:59Z- LcmTrn::cycle() - MLE : 4061631.32 594289.95 27.77 2020-12-09T03:52:59Z- LcmTrn::cycle() - MMSE : 4061665.82 594240.45 27.77 2020-12-09T03:52:59Z- LcmTrn::cycle() - COVAR: 812.16 833.13 35.41 0.00 2020-12-09T03:52:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485980.07 epoch sec; seqNo:608; 4061665.82 north; 594240.45 east 2020-12-09T03:52:59Z- waiting for 1607485983.05, time is 1607485980.05 2020-12-09T03:52:59Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:00Z- AHRS_M2 msg: 1607485980.43 epoch sec; seqNo:582 2020-12-09T03:53:00Z- AHRS_M2 msg: 4.05 phi; -0.23 theta; -0.20 psi 2020-12-09T03:53:00Z- waiting for 1607485983.05, time is 1607485980.05 2020-12-09T03:53:00Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:00Z- handleDepth()-Depth_Keller msg: 27.89 epoch sec; seqNo:1607485980445; depth 0.00 2020-12-09T03:53:00Z- waiting for 1607485983.05, time is 1607485980.05 2020-12-09T03:53:00Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485980.46 epoch sec; seqNo:609; 4061665.44 north; 594240.45 east 2020-12-09T03:53:00Z- waiting for 1607485983.05, time is 1607485980.05 2020-12-09T03:53:00Z- sync is 0.41, coherence is 2.00 2020-12-09T03:53:00Z- AHRS_M2 msg: 1607485980.84 epoch sec; seqNo:583 2020-12-09T03:53:00Z- AHRS_M2 msg: 4.04 phi; -0.23 theta; -0.21 psi 2020-12-09T03:53:00Z- waiting for 1607485983.05, time is 1607485980.05 2020-12-09T03:53:00Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:00Z- handleDepth()-Depth_Keller msg: 28.00 epoch sec; seqNo:1607485980849; depth 0.00 2020-12-09T03:53:00Z- waiting for 1607485983.05, time is 1607485980.05 2020-12-09T03:53:00Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:00Z- handleDvl() - RDI_Pathfinder msg: 1607485980.88 epoch sec; seqNo:251 2020-12-09T03:53:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.03 , 77.48 , 60.94 , 76.26 2020-12-09T03:53:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.41 , 0.46 2020-12-09T03:53:00Z- waiting for 1607485983.05, time is 1607485980.88 2020-12-09T03:53:00Z- sync is 0.04, coherence is 2.00 2020-12-09T03:53:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485980.90 epoch sec; seqNo:610; 4061665.43 north; 594239.23 east 2020-12-09T03:53:00Z- waiting for 1607485983.05, time is 1607485980.88 2020-12-09T03:53:00Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:01Z- AHRS_M2 msg: 1607485981.24 epoch sec; seqNo:584 2020-12-09T03:53:01Z- AHRS_M2 msg: 4.03 phi; -0.23 theta; -0.21 psi 2020-12-09T03:53:01Z- waiting for 1607485983.05, time is 1607485980.88 2020-12-09T03:53:01Z- sync is 0.36, coherence is 2.00 2020-12-09T03:53:01Z- handleDepth()-Depth_Keller msg: 28.12 epoch sec; seqNo:1607485981249; depth 0.00 2020-12-09T03:53:01Z- waiting for 1607485983.05, time is 1607485980.88 2020-12-09T03:53:01Z- sync is 0.36, coherence is 2.00 2020-12-09T03:53:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485981.26 epoch sec; seqNo:611; 4061665.43 north; 594239.23 east 2020-12-09T03:53:01Z- waiting for 1607485983.05, time is 1607485980.88 2020-12-09T03:53:01Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:01Z- AHRS_M2 msg: 1607485981.65 epoch sec; seqNo:585 2020-12-09T03:53:01Z- AHRS_M2 msg: 4.02 phi; -0.24 theta; -0.22 psi 2020-12-09T03:53:01Z- waiting for 1607485983.05, time is 1607485980.88 2020-12-09T03:53:01Z- sync is 0.77, coherence is 2.00 2020-12-09T03:53:01Z- handleDepth()-Depth_Keller msg: 28.20 epoch sec; seqNo:1607485981657; depth 0.00 2020-12-09T03:53:01Z- waiting for 1607485983.05, time is 1607485980.88 2020-12-09T03:53:01Z- sync is 0.77, coherence is 2.00 2020-12-09T03:53:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485981.67 epoch sec; seqNo:612; 4061665.43 north; 594239.23 east 2020-12-09T03:53:01Z- waiting for 1607485983.05, time is 1607485980.88 2020-12-09T03:53:01Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:01Z- AHRS_M2 msg: 1607485982.05 epoch sec; seqNo:586 2020-12-09T03:53:01Z- AHRS_M2 msg: 4.01 phi; -0.24 theta; -0.23 psi 2020-12-09T03:53:01Z- waiting for 1607485983.05, time is 1607485980.88 2020-12-09T03:53:01Z- sync is 1.16, coherence is 2.00 2020-12-09T03:53:01Z- handleDepth()-Depth_Keller msg: 28.32 epoch sec; seqNo:1607485982062; depth 0.00 2020-12-09T03:53:01Z- waiting for 1607485983.05, time is 1607485980.88 2020-12-09T03:53:01Z- sync is 1.16, coherence is 2.00 2020-12-09T03:53:01Z- handleDvl() - RDI_Pathfinder msg: 1607485982.07 epoch sec; seqNo:252 2020-12-09T03:53:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 59.48 , 79.85 , 61.74 , 0.00 2020-12-09T03:53:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.23 , 0.52 2020-12-09T03:53:01Z- waiting for 1607485983.05, time is 1607485982.07 2020-12-09T03:53:01Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485982.09 epoch sec; seqNo:613; 4061665.03 north; 594238.01 east 2020-12-09T03:53:01Z- waiting for 1607485983.05, time is 1607485982.07 2020-12-09T03:53:01Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:02Z- AHRS_M2 msg: 1607485982.46 epoch sec; seqNo:587 2020-12-09T03:53:02Z- AHRS_M2 msg: 4.01 phi; -0.25 theta; -0.24 psi 2020-12-09T03:53:02Z- waiting for 1607485983.05, time is 1607485982.07 2020-12-09T03:53:02Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:02Z- handleDepth()-Depth_Keller msg: 28.42 epoch sec; seqNo:1607485982460; depth 0.00 2020-12-09T03:53:02Z- waiting for 1607485983.05, time is 1607485982.07 2020-12-09T03:53:02Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485982.49 epoch sec; seqNo:614; 4061665.03 north; 594238.01 east 2020-12-09T03:53:02Z- waiting for 1607485983.05, time is 1607485982.07 2020-12-09T03:53:02Z- sync is 0.42, coherence is 2.00 2020-12-09T03:53:02Z- AHRS_M2 msg: 1607485982.87 epoch sec; seqNo:588 2020-12-09T03:53:02Z- AHRS_M2 msg: 4.00 phi; -0.25 theta; -0.24 psi 2020-12-09T03:53:02Z- waiting for 1607485983.05, time is 1607485982.07 2020-12-09T03:53:02Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:02Z- handleDepth()-Depth_Keller msg: 28.52 epoch sec; seqNo:1607485982878; depth 0.00 2020-12-09T03:53:02Z- waiting for 1607485983.05, time is 1607485982.07 2020-12-09T03:53:02Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:02Z- handleDvl() - RDI_Pathfinder msg: 1607485982.90 epoch sec; seqNo:253 2020-12-09T03:53:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 59.72 , 0.00 , 61.86 , 0.00 2020-12-09T03:53:02Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:53:02Z- waiting for 1607485983.05, time is 1607485982.90 2020-12-09T03:53:02Z- sync is 0.04, coherence is 2.00 2020-12-09T03:53:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485982.91 epoch sec; seqNo:615; 4061665.03 north; 594238.01 east 2020-12-09T03:53:02Z- waiting for 1607485983.05, time is 1607485982.90 2020-12-09T03:53:02Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:03Z- AHRS_M2 msg: 1607485983.26 epoch sec; seqNo:589 2020-12-09T03:53:03Z- AHRS_M2 msg: 4.00 phi; -0.25 theta; -0.25 psi 2020-12-09T03:53:03Z- waiting for 1607485983.05, time is 1607485982.90 2020-12-09T03:53:03Z- sync is 0.36, coherence is 2.00 2020-12-09T03:53:03Z- handleDepth()-Depth_Keller msg: 28.64 epoch sec; seqNo:1607485983271; depth 0.00 2020-12-09T03:53:03Z- waiting for 1607485983.05, time is 1607485982.90 2020-12-09T03:53:03Z- sync is 0.36, coherence is 2.00 2020-12-09T03:53:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485983.29 epoch sec; seqNo:616; 4061665.03 north; 594238.01 east 2020-12-09T03:53:03Z- waiting for 1607485983.05, time is 1607485982.90 2020-12-09T03:53:03Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:03Z- AHRS_M2 msg: 1607485983.67 epoch sec; seqNo:590 2020-12-09T03:53:03Z- AHRS_M2 msg: 4.01 phi; -0.26 theta; -0.26 psi 2020-12-09T03:53:03Z- waiting for 1607485983.05, time is 1607485982.90 2020-12-09T03:53:03Z- sync is 0.77, coherence is 2.00 2020-12-09T03:53:03Z- handleDepth()-Depth_Keller msg: 28.72 epoch sec; seqNo:1607485983683; depth 0.00 2020-12-09T03:53:03Z- waiting for 1607485983.05, time is 1607485982.90 2020-12-09T03:53:03Z- sync is 0.77, coherence is 2.00 2020-12-09T03:53:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485983.69 epoch sec; seqNo:617; 4061664.64 north; 594236.80 east 2020-12-09T03:53:03Z- waiting for 1607485983.05, time is 1607485982.90 2020-12-09T03:53:03Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:03Z- AHRS_M2 msg: 1607485984.07 epoch sec; seqNo:591 2020-12-09T03:53:03Z- AHRS_M2 msg: 4.01 phi; -0.26 theta; -0.26 psi 2020-12-09T03:53:03Z- waiting for 1607485983.05, time is 1607485982.90 2020-12-09T03:53:03Z- sync is 1.17, coherence is 2.00 2020-12-09T03:53:03Z- handleDepth()-Depth_Keller msg: 28.84 epoch sec; seqNo:1607485984081; depth 0.00 2020-12-09T03:53:03Z- waiting for 1607485983.05, time is 1607485982.90 2020-12-09T03:53:03Z- sync is 1.17, coherence is 2.00 2020-12-09T03:53:03Z- handleDvl() - RDI_Pathfinder msg: 1607485984.09 epoch sec; seqNo:254 2020-12-09T03:53:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 59.98 , 0.00 , 62.10 , 0.00 2020-12-09T03:53:03Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:53:03Z- waiting for 1607485983.05, time is 1607485984.09 2020-12-09T03:53:03Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:03Z- LcmTrn::updateTrn() >>>> pose time 1607485984.07, meas time 1607485984.09 <<<< 2020-12-09T03:53:03Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485984.09 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:53:03Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594236.80, 28.84) 2020-12-09T03:53:03Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:53:03Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:53:03Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T03:53:03Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T03:53:03Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:53:03Z- TNavBF::mmse selected from filter -1 2020-12-09T03:53:03Z- variances([0], [2], and psi_berg) = 811.858530 833.133546 0.000000 2020-12-09T03:53:03Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:53:03Z- LcmTrn::cycle() - MLE : 4061631.14 594187.30 28.84 2020-12-09T03:53:03Z- LcmTrn::cycle() - MMSE : 4061664.64 594236.80 28.84 2020-12-09T03:53:03Z- LcmTrn::cycle() - COVAR: 811.86 833.13 35.61 0.00 2020-12-09T03:53:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485984.13 epoch sec; seqNo:618; 4061664.64 north; 594236.80 east 2020-12-09T03:53:03Z- waiting for 1607485987.09, time is 1607485984.09 2020-12-09T03:53:03Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:04Z- AHRS_M2 msg: 1607485984.48 epoch sec; seqNo:592 2020-12-09T03:53:04Z- AHRS_M2 msg: 4.02 phi; -0.26 theta; -0.26 psi 2020-12-09T03:53:04Z- waiting for 1607485987.09, time is 1607485984.09 2020-12-09T03:53:04Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:04Z- handleDepth()-Depth_Keller msg: 28.94 epoch sec; seqNo:1607485984481; depth 0.00 2020-12-09T03:53:04Z- waiting for 1607485987.09, time is 1607485984.09 2020-12-09T03:53:04Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485984.49 epoch sec; seqNo:619; 4061664.64 north; 594236.80 east 2020-12-09T03:53:04Z- waiting for 1607485987.09, time is 1607485984.09 2020-12-09T03:53:04Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:04Z- AHRS_M2 msg: 1607485984.88 epoch sec; seqNo:593 2020-12-09T03:53:04Z- AHRS_M2 msg: 4.02 phi; -0.26 theta; -0.26 psi 2020-12-09T03:53:04Z- waiting for 1607485987.09, time is 1607485984.09 2020-12-09T03:53:04Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:04Z- handleDepth()-Depth_Keller msg: 29.02 epoch sec; seqNo:1607485984893; depth 0.00 2020-12-09T03:53:04Z- waiting for 1607485987.09, time is 1607485984.09 2020-12-09T03:53:04Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:04Z- handleDvl() - RDI_Pathfinder msg: 1607485984.92 epoch sec; seqNo:255 2020-12-09T03:53:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 60.40 , 0.00 , 62.10 , 0.00 2020-12-09T03:53:04Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:53:04Z- waiting for 1607485987.09, time is 1607485984.92 2020-12-09T03:53:04Z- sync is 0.04, coherence is 2.00 2020-12-09T03:53:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485984.93 epoch sec; seqNo:620; 4061664.63 north; 594235.58 east 2020-12-09T03:53:04Z- waiting for 1607485987.09, time is 1607485984.92 2020-12-09T03:53:04Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:05Z- AHRS_M2 msg: 1607485985.28 epoch sec; seqNo:594 2020-12-09T03:53:05Z- AHRS_M2 msg: 4.03 phi; -0.26 theta; -0.25 psi 2020-12-09T03:53:05Z- waiting for 1607485987.09, time is 1607485984.92 2020-12-09T03:53:05Z- sync is 0.36, coherence is 2.00 2020-12-09T03:53:05Z- handleDepth()-Depth_Keller msg: 29.13 epoch sec; seqNo:1607485985285; depth 0.00 2020-12-09T03:53:05Z- waiting for 1607485987.09, time is 1607485984.92 2020-12-09T03:53:05Z- sync is 0.36, coherence is 2.00 2020-12-09T03:53:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485985.31 epoch sec; seqNo:621; 4061664.63 north; 594235.58 east 2020-12-09T03:53:05Z- waiting for 1607485987.09, time is 1607485984.92 2020-12-09T03:53:05Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:05Z- AHRS_M2 msg: 1607485985.69 epoch sec; seqNo:595 2020-12-09T03:53:05Z- AHRS_M2 msg: 4.04 phi; -0.26 theta; -0.25 psi 2020-12-09T03:53:05Z- waiting for 1607485987.09, time is 1607485984.92 2020-12-09T03:53:05Z- sync is 0.77, coherence is 2.00 2020-12-09T03:53:05Z- handleDepth()-Depth_Keller msg: 29.20 epoch sec; seqNo:1607485985690; depth 0.00 2020-12-09T03:53:05Z- waiting for 1607485987.09, time is 1607485984.92 2020-12-09T03:53:05Z- sync is 0.77, coherence is 2.00 2020-12-09T03:53:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485985.70 epoch sec; seqNo:622; 4061664.25 north; 594235.58 east 2020-12-09T03:53:05Z- waiting for 1607485987.09, time is 1607485984.92 2020-12-09T03:53:05Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:05Z- AHRS_M2 msg: 1607485986.09 epoch sec; seqNo:596 2020-12-09T03:53:05Z- AHRS_M2 msg: 4.05 phi; -0.26 theta; -0.24 psi 2020-12-09T03:53:05Z- waiting for 1607485987.09, time is 1607485984.92 2020-12-09T03:53:05Z- sync is 1.17, coherence is 2.00 2020-12-09T03:53:05Z- handleDepth()-Depth_Keller msg: 29.30 epoch sec; seqNo:1607485986094; depth 0.00 2020-12-09T03:53:05Z- waiting for 1607485987.09, time is 1607485984.92 2020-12-09T03:53:05Z- sync is 1.17, coherence is 2.00 2020-12-09T03:53:05Z- handleDvl() - RDI_Pathfinder msg: 1607485986.11 epoch sec; seqNo:256 2020-12-09T03:53:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.40 , 0.00 , 61.25 , 80.82 2020-12-09T03:53:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.42 , -0.02 2020-12-09T03:53:05Z- waiting for 1607485987.09, time is 1607485986.11 2020-12-09T03:53:05Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485986.12 epoch sec; seqNo:623; 4061664.25 north; 594235.58 east 2020-12-09T03:53:05Z- waiting for 1607485987.09, time is 1607485986.11 2020-12-09T03:53:05Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:06Z- AHRS_M2 msg: 1607485986.49 epoch sec; seqNo:597 2020-12-09T03:53:06Z- AHRS_M2 msg: 4.06 phi; -0.26 theta; -0.24 psi 2020-12-09T03:53:06Z- waiting for 1607485987.09, time is 1607485986.11 2020-12-09T03:53:06Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:06Z- handleDepth()-Depth_Keller msg: 29.37 epoch sec; seqNo:1607485986509; depth 0.00 2020-12-09T03:53:06Z- waiting for 1607485987.09, time is 1607485986.11 2020-12-09T03:53:06Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485986.53 epoch sec; seqNo:624; 4061663.87 north; 594235.59 east 2020-12-09T03:53:06Z- waiting for 1607485987.09, time is 1607485986.11 2020-12-09T03:53:06Z- sync is 0.42, coherence is 2.00 2020-12-09T03:53:06Z- AHRS_M2 msg: 1607485986.90 epoch sec; seqNo:598 2020-12-09T03:53:06Z- AHRS_M2 msg: 4.06 phi; -0.25 theta; -0.24 psi 2020-12-09T03:53:06Z- waiting for 1607485987.09, time is 1607485986.11 2020-12-09T03:53:06Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:06Z- handleDepth()-Depth_Keller msg: 29.45 epoch sec; seqNo:1607485986903; depth 0.00 2020-12-09T03:53:06Z- waiting for 1607485987.09, time is 1607485986.11 2020-12-09T03:53:06Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485986.93 epoch sec; seqNo:625; 4061663.49 north; 594235.59 east 2020-12-09T03:53:06Z- waiting for 1607485987.09, time is 1607485986.11 2020-12-09T03:53:06Z- sync is 0.82, coherence is 2.00 2020-12-09T03:53:07Z- AHRS_M2 msg: 1607485987.30 epoch sec; seqNo:599 2020-12-09T03:53:07Z- AHRS_M2 msg: 4.07 phi; -0.25 theta; -0.24 psi 2020-12-09T03:53:07Z- waiting for 1607485987.09, time is 1607485986.11 2020-12-09T03:53:07Z- sync is 1.20, coherence is 2.00 2020-12-09T03:53:07Z- handleDepth()-Depth_Keller msg: 29.51 epoch sec; seqNo:1607485987307; depth 0.00 2020-12-09T03:53:07Z- waiting for 1607485987.09, time is 1607485986.11 2020-12-09T03:53:07Z- sync is 1.20, coherence is 2.00 2020-12-09T03:53:07Z- handleDvl() - RDI_Pathfinder msg: 1607485987.32 epoch sec; seqNo:257 2020-12-09T03:53:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.41 , 83.85 , 60.00 , 79.59 2020-12-09T03:53:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.37 , -0.14 2020-12-09T03:53:07Z- waiting for 1607485987.09, time is 1607485987.32 2020-12-09T03:53:07Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:07Z- LcmTrn::updateTrn() >>>> pose time 1607485987.30, meas time 1607485987.32 <<<< 2020-12-09T03:53:07Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485987.32 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:53:07Z- TerrainNav::motionUpdate() - currEstimate = (4061663, 594235.59, 29.51) 2020-12-09T03:53:07Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:53:07Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:53:07Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:53:07Z- TNavBF::mmse selected from filter -1 2020-12-09T03:53:07Z- variances([0], [2], and psi_berg) = 811.663427 833.132940 0.000000 2020-12-09T03:53:07Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:53:07Z- LcmTrn::cycle() - MLE : 4061629.99 594186.09 29.51 2020-12-09T03:53:07Z- LcmTrn::cycle() - MMSE : 4061663.49 594235.59 29.51 2020-12-09T03:53:07Z- LcmTrn::cycle() - COVAR: 811.66 833.13 35.69 0.00 2020-12-09T03:53:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485987.36 epoch sec; seqNo:626; 4061663.11 north; 594235.59 east 2020-12-09T03:53:07Z- waiting for 1607485990.32, time is 1607485987.32 2020-12-09T03:53:07Z- sync is 0.04, coherence is 2.00 2020-12-09T03:53:07Z- AHRS_M2 msg: 1607485987.71 epoch sec; seqNo:600 2020-12-09T03:53:07Z- AHRS_M2 msg: 4.07 phi; -0.25 theta; -0.24 psi 2020-12-09T03:53:07Z- waiting for 1607485990.32, time is 1607485987.32 2020-12-09T03:53:07Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:07Z- handleDepth()-Depth_Keller msg: 29.60 epoch sec; seqNo:1607485987711; depth 0.00 2020-12-09T03:53:07Z- waiting for 1607485990.32, time is 1607485987.32 2020-12-09T03:53:07Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485987.72 epoch sec; seqNo:627; 4061662.72 north; 594234.38 east 2020-12-09T03:53:07Z- waiting for 1607485990.32, time is 1607485987.32 2020-12-09T03:53:07Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:07Z- AHRS_M2 msg: 1607485988.11 epoch sec; seqNo:601 2020-12-09T03:53:07Z- AHRS_M2 msg: 4.07 phi; -0.25 theta; -0.24 psi 2020-12-09T03:53:07Z- waiting for 1607485990.32, time is 1607485987.32 2020-12-09T03:53:07Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:07Z- handleDepth()-Depth_Keller msg: 29.66 epoch sec; seqNo:1607485988113; depth 0.00 2020-12-09T03:53:07Z- waiting for 1607485990.32, time is 1607485987.32 2020-12-09T03:53:07Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:07Z- handleDvl() - RDI_Pathfinder msg: 1607485988.13 epoch sec; seqNo:258 2020-12-09T03:53:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 59.19 , 78.37 , 59.19 , 78.37 2020-12-09T03:53:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.28 , -0.20 2020-12-09T03:53:07Z- waiting for 1607485990.32, time is 1607485988.13 2020-12-09T03:53:07Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485988.14 epoch sec; seqNo:628; 4061662.34 north; 594234.38 east 2020-12-09T03:53:07Z- waiting for 1607485990.32, time is 1607485988.13 2020-12-09T03:53:07Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:08Z- AHRS_M2 msg: 1607485988.51 epoch sec; seqNo:602 2020-12-09T03:53:08Z- AHRS_M2 msg: 4.07 phi; -0.25 theta; -0.25 psi 2020-12-09T03:53:08Z- waiting for 1607485990.32, time is 1607485988.13 2020-12-09T03:53:08Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:08Z- handleDepth()-Depth_Keller msg: 29.73 epoch sec; seqNo:1607485988518; depth 0.00 2020-12-09T03:53:08Z- waiting for 1607485990.32, time is 1607485988.13 2020-12-09T03:53:08Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485988.53 epoch sec; seqNo:629; 4061662.34 north; 594234.38 east 2020-12-09T03:53:08Z- waiting for 1607485990.32, time is 1607485988.13 2020-12-09T03:53:08Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:08Z- AHRS_M2 msg: 1607485988.92 epoch sec; seqNo:603 2020-12-09T03:53:08Z- AHRS_M2 msg: 4.07 phi; -0.25 theta; -0.25 psi 2020-12-09T03:53:08Z- waiting for 1607485990.32, time is 1607485988.13 2020-12-09T03:53:08Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:08Z- handleDepth()-Depth_Keller msg: 29.80 epoch sec; seqNo:1607485988924; depth 0.00 2020-12-09T03:53:08Z- waiting for 1607485990.32, time is 1607485988.13 2020-12-09T03:53:08Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:08Z- handleDvl() - RDI_Pathfinder msg: 1607485988.94 epoch sec; seqNo:259 2020-12-09T03:53:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 59.16 , 0.00 , 59.81 , 78.88 2020-12-09T03:53:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.19 , -0.23 2020-12-09T03:53:08Z- waiting for 1607485990.32, time is 1607485988.94 2020-12-09T03:53:08Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485988.97 epoch sec; seqNo:630; 4061661.96 north; 594234.39 east 2020-12-09T03:53:08Z- waiting for 1607485990.32, time is 1607485988.94 2020-12-09T03:53:08Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:09Z- AHRS_M2 msg: 1607485989.32 epoch sec; seqNo:604 2020-12-09T03:53:09Z- AHRS_M2 msg: 4.06 phi; -0.25 theta; -0.26 psi 2020-12-09T03:53:09Z- waiting for 1607485990.32, time is 1607485988.94 2020-12-09T03:53:09Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:09Z- handleDepth()-Depth_Keller msg: 29.85 epoch sec; seqNo:1607485989337; depth 0.00 2020-12-09T03:53:09Z- waiting for 1607485990.32, time is 1607485988.94 2020-12-09T03:53:09Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485989.35 epoch sec; seqNo:631; 4061661.58 north; 594234.39 east 2020-12-09T03:53:09Z- waiting for 1607485990.32, time is 1607485988.94 2020-12-09T03:53:09Z- sync is 0.41, coherence is 2.00 2020-12-09T03:53:09Z- AHRS_M2 msg: 1607485989.73 epoch sec; seqNo:605 2020-12-09T03:53:09Z- AHRS_M2 msg: 4.05 phi; -0.25 theta; -0.26 psi 2020-12-09T03:53:09Z- waiting for 1607485990.32, time is 1607485988.94 2020-12-09T03:53:09Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:09Z- handleDepth()-Depth_Keller msg: 29.93 epoch sec; seqNo:1607485989734; depth 0.00 2020-12-09T03:53:09Z- waiting for 1607485990.32, time is 1607485988.94 2020-12-09T03:53:09Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:09Z- handleDvl() - RDI_Pathfinder msg: 1607485989.76 epoch sec; seqNo:260 2020-12-09T03:53:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 58.80 , 0.00 , 59.41 , 0.00 2020-12-09T03:53:09Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:53:09Z- waiting for 1607485990.32, time is 1607485989.76 2020-12-09T03:53:09Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485989.77 epoch sec; seqNo:632; 4061661.19 north; 594233.17 east 2020-12-09T03:53:09Z- waiting for 1607485990.32, time is 1607485989.76 2020-12-09T03:53:09Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:09Z- AHRS_M2 msg: 1607485990.13 epoch sec; seqNo:606 2020-12-09T03:53:09Z- AHRS_M2 msg: 4.05 phi; -0.25 theta; -0.27 psi 2020-12-09T03:53:09Z- waiting for 1607485990.32, time is 1607485989.76 2020-12-09T03:53:09Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:09Z- handleDepth()-Depth_Keller msg: 29.99 epoch sec; seqNo:1607485990133; depth 0.00 2020-12-09T03:53:09Z- waiting for 1607485990.32, time is 1607485989.76 2020-12-09T03:53:09Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485990.15 epoch sec; seqNo:633; 4061660.81 north; 594233.18 east 2020-12-09T03:53:09Z- waiting for 1607485990.32, time is 1607485989.76 2020-12-09T03:53:09Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:10Z- AHRS_M2 msg: 1607485990.53 epoch sec; seqNo:607 2020-12-09T03:53:10Z- AHRS_M2 msg: 4.04 phi; -0.25 theta; -0.27 psi 2020-12-09T03:53:10Z- waiting for 1607485990.32, time is 1607485989.76 2020-12-09T03:53:10Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:10Z- handleDepth()-Depth_Keller msg: 30.05 epoch sec; seqNo:1607485990539; depth 0.00 2020-12-09T03:53:10Z- waiting for 1607485990.32, time is 1607485989.76 2020-12-09T03:53:10Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485990.55 epoch sec; seqNo:634; 4061660.43 north; 594233.18 east 2020-12-09T03:53:10Z- waiting for 1607485990.32, time is 1607485989.76 2020-12-09T03:53:10Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:10Z- AHRS_M2 msg: 1607485990.96 epoch sec; seqNo:608 2020-12-09T03:53:10Z- AHRS_M2 msg: 4.03 phi; -0.25 theta; -0.27 psi 2020-12-09T03:53:10Z- waiting for 1607485990.32, time is 1607485989.76 2020-12-09T03:53:10Z- sync is 1.20, coherence is 2.00 2020-12-09T03:53:10Z- handleDepth()-Depth_Keller msg: 30.12 epoch sec; seqNo:1607485990967; depth 0.00 2020-12-09T03:53:10Z- waiting for 1607485990.32, time is 1607485989.76 2020-12-09T03:53:10Z- sync is 1.20, coherence is 2.00 2020-12-09T03:53:10Z- handleDvl() - RDI_Pathfinder msg: 1607485990.98 epoch sec; seqNo:261 2020-12-09T03:53:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 57.99 , 0.00 , 59.21 , 0.00 2020-12-09T03:53:10Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:53:10Z- waiting for 1607485990.32, time is 1607485990.98 2020-12-09T03:53:10Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:10Z- LcmTrn::updateTrn() >>>> pose time 1607485990.96, meas time 1607485990.98 <<<< 2020-12-09T03:53:10Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485990.98 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:53:10Z- TerrainNav::motionUpdate() - currEstimate = (4061660, 594233.18, 30.12) 2020-12-09T03:53:10Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:53:10Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:53:10Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T03:53:10Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T03:53:10Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:53:10Z- TNavBF::mmse selected from filter -1 2020-12-09T03:53:10Z- variances([0], [2], and psi_berg) = 811.366939 833.132026 0.000000 2020-12-09T03:53:10Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:53:10Z- LcmTrn::cycle() - MLE : 4061626.93 594184.68 30.12 2020-12-09T03:53:10Z- LcmTrn::cycle() - MMSE : 4061660.43 594233.18 30.12 2020-12-09T03:53:10Z- LcmTrn::cycle() - COVAR: 811.37 833.13 35.89 0.00 2020-12-09T03:53:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485990.99 epoch sec; seqNo:635; 4061660.06 north; 594233.19 east 2020-12-09T03:53:10Z- waiting for 1607485993.98, time is 1607485990.98 2020-12-09T03:53:10Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:11Z- AHRS_M2 msg: 1607485991.34 epoch sec; seqNo:609 2020-12-09T03:53:11Z- AHRS_M2 msg: 4.03 phi; -0.25 theta; -0.27 psi 2020-12-09T03:53:11Z- waiting for 1607485993.98, time is 1607485990.98 2020-12-09T03:53:11Z- sync is 0.36, coherence is 2.00 2020-12-09T03:53:11Z- handleDepth()-Depth_Keller msg: 30.21 epoch sec; seqNo:1607485991345; depth 0.00 2020-12-09T03:53:11Z- waiting for 1607485993.98, time is 1607485990.98 2020-12-09T03:53:11Z- sync is 0.36, coherence is 2.00 2020-12-09T03:53:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485991.37 epoch sec; seqNo:636; 4061659.66 north; 594231.97 east 2020-12-09T03:53:11Z- waiting for 1607485993.98, time is 1607485990.98 2020-12-09T03:53:11Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:11Z- AHRS_M2 msg: 1607485991.74 epoch sec; seqNo:610 2020-12-09T03:53:11Z- AHRS_M2 msg: 4.03 phi; -0.25 theta; -0.26 psi 2020-12-09T03:53:11Z- waiting for 1607485993.98, time is 1607485990.98 2020-12-09T03:53:11Z- sync is 0.76, coherence is 2.00 2020-12-09T03:53:11Z- handleDepth()-Depth_Keller msg: 30.26 epoch sec; seqNo:1607485991749; depth 0.00 2020-12-09T03:53:11Z- waiting for 1607485993.98, time is 1607485990.98 2020-12-09T03:53:11Z- sync is 0.76, coherence is 2.00 2020-12-09T03:53:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485991.76 epoch sec; seqNo:637; 4061659.28 north; 594231.97 east 2020-12-09T03:53:11Z- waiting for 1607485993.98, time is 1607485990.98 2020-12-09T03:53:11Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:11Z- AHRS_M2 msg: 1607485992.15 epoch sec; seqNo:611 2020-12-09T03:53:11Z- AHRS_M2 msg: 4.03 phi; -0.24 theta; -0.24 psi 2020-12-09T03:53:11Z- waiting for 1607485993.98, time is 1607485990.98 2020-12-09T03:53:11Z- sync is 1.17, coherence is 2.00 2020-12-09T03:53:11Z- handleDepth()-Depth_Keller msg: 30.35 epoch sec; seqNo:1607485992162; depth 0.00 2020-12-09T03:53:11Z- waiting for 1607485993.98, time is 1607485990.98 2020-12-09T03:53:11Z- sync is 1.17, coherence is 2.00 2020-12-09T03:53:11Z- handleDvl() - RDI_Pathfinder msg: 1607485992.18 epoch sec; seqNo:262 2020-12-09T03:53:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.58 , 0.00 , 58.39 , 77.18 2020-12-09T03:53:11Z- handleDvl() - RDI_Pathfinder msg: velocities 1.16 , 0.25 , -0.20 2020-12-09T03:53:11Z- waiting for 1607485993.98, time is 1607485992.18 2020-12-09T03:53:11Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485992.21 epoch sec; seqNo:638; 4061659.28 north; 594231.97 east 2020-12-09T03:53:11Z- waiting for 1607485993.98, time is 1607485992.18 2020-12-09T03:53:11Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:12Z- AHRS_M2 msg: 1607485992.56 epoch sec; seqNo:612 2020-12-09T03:53:12Z- AHRS_M2 msg: 4.03 phi; -0.24 theta; -0.22 psi 2020-12-09T03:53:12Z- waiting for 1607485993.98, time is 1607485992.18 2020-12-09T03:53:12Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:12Z- handleDepth()-Depth_Keller msg: 30.42 epoch sec; seqNo:1607485992569; depth 0.00 2020-12-09T03:53:12Z- waiting for 1607485993.98, time is 1607485992.18 2020-12-09T03:53:12Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485992.58 epoch sec; seqNo:639; 4061658.89 north; 594230.76 east 2020-12-09T03:53:12Z- waiting for 1607485993.98, time is 1607485992.18 2020-12-09T03:53:12Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:12Z- AHRS_M2 msg: 1607485992.95 epoch sec; seqNo:613 2020-12-09T03:53:12Z- AHRS_M2 msg: 4.03 phi; -0.24 theta; -0.21 psi 2020-12-09T03:53:12Z- waiting for 1607485993.98, time is 1607485992.18 2020-12-09T03:53:12Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:12Z- handleDepth()-Depth_Keller msg: 30.50 epoch sec; seqNo:1607485992959; depth 0.00 2020-12-09T03:53:12Z- waiting for 1607485993.98, time is 1607485992.18 2020-12-09T03:53:12Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:12Z- handleDvl() - RDI_Pathfinder msg: 1607485992.98 epoch sec; seqNo:263 2020-12-09T03:53:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.88 , 0.00 , 58.19 , 75.03 2020-12-09T03:53:12Z- handleDvl() - RDI_Pathfinder msg: velocities 1.15 , 0.37 , -0.13 2020-12-09T03:53:12Z- waiting for 1607485993.98, time is 1607485992.98 2020-12-09T03:53:12Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485992.99 epoch sec; seqNo:640; 4061658.89 north; 594230.76 east 2020-12-09T03:53:12Z- waiting for 1607485993.98, time is 1607485992.98 2020-12-09T03:53:12Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:13Z- AHRS_M2 msg: 1607485993.36 epoch sec; seqNo:614 2020-12-09T03:53:13Z- AHRS_M2 msg: 4.02 phi; -0.24 theta; -0.21 psi 2020-12-09T03:53:13Z- waiting for 1607485993.98, time is 1607485992.98 2020-12-09T03:53:13Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:13Z- handleDepth()-Depth_Keller msg: 30.56 epoch sec; seqNo:1607485993366; depth 0.00 2020-12-09T03:53:13Z- waiting for 1607485993.98, time is 1607485992.98 2020-12-09T03:53:13Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485993.38 epoch sec; seqNo:641; 4061658.51 north; 594230.76 east 2020-12-09T03:53:13Z- waiting for 1607485993.98, time is 1607485992.98 2020-12-09T03:53:13Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:13Z- AHRS_M2 msg: 1607485993.77 epoch sec; seqNo:615 2020-12-09T03:53:13Z- AHRS_M2 msg: 4.01 phi; -0.24 theta; -0.22 psi 2020-12-09T03:53:13Z- waiting for 1607485993.98, time is 1607485992.98 2020-12-09T03:53:13Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:13Z- handleDepth()-Depth_Keller msg: 30.65 epoch sec; seqNo:1607485993777; depth 0.00 2020-12-09T03:53:13Z- waiting for 1607485993.98, time is 1607485992.98 2020-12-09T03:53:13Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:13Z- handleDvl() - RDI_Pathfinder msg: 1607485993.79 epoch sec; seqNo:264 2020-12-09T03:53:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 57.58 , 0.00 , 58.19 , 0.00 2020-12-09T03:53:13Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:53:13Z- waiting for 1607485993.98, time is 1607485993.79 2020-12-09T03:53:13Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485993.82 epoch sec; seqNo:642; 4061658.12 north; 594229.55 east 2020-12-09T03:53:13Z- waiting for 1607485993.98, time is 1607485993.79 2020-12-09T03:53:13Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:13Z- AHRS_M2 msg: 1607485994.17 epoch sec; seqNo:616 2020-12-09T03:53:13Z- AHRS_M2 msg: 3.99 phi; -0.24 theta; -0.23 psi 2020-12-09T03:53:13Z- waiting for 1607485993.98, time is 1607485993.79 2020-12-09T03:53:13Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:13Z- handleDepth()-Depth_Keller msg: 30.74 epoch sec; seqNo:1607485994174; depth 0.00 2020-12-09T03:53:13Z- waiting for 1607485993.98, time is 1607485993.79 2020-12-09T03:53:13Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485994.19 epoch sec; seqNo:643; 4061658.12 north; 594229.55 east 2020-12-09T03:53:13Z- waiting for 1607485993.98, time is 1607485993.79 2020-12-09T03:53:13Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:14Z- AHRS_M2 msg: 1607485994.57 epoch sec; seqNo:617 2020-12-09T03:53:14Z- AHRS_M2 msg: 3.97 phi; -0.24 theta; -0.25 psi 2020-12-09T03:53:14Z- waiting for 1607485993.98, time is 1607485993.79 2020-12-09T03:53:14Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:14Z- handleDepth()-Depth_Keller msg: 30.82 epoch sec; seqNo:1607485994577; depth 0.00 2020-12-09T03:53:14Z- waiting for 1607485993.98, time is 1607485993.79 2020-12-09T03:53:14Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485994.60 epoch sec; seqNo:644; 4061657.74 north; 594229.55 east 2020-12-09T03:53:14Z- waiting for 1607485993.98, time is 1607485993.79 2020-12-09T03:53:14Z- sync is 0.81, coherence is 2.00 2020-12-09T03:53:14Z- handleDepth()-Depth_Keller msg: 30.90 epoch sec; seqNo:1607485994998; depth 0.00 2020-12-09T03:53:14Z- waiting for 1607485993.98, time is 1607485993.79 2020-12-09T03:53:14Z- sync is 0.81, coherence is 2.00 2020-12-09T03:53:14Z- handleDvl() - RDI_Pathfinder msg: 1607485995.01 epoch sec; seqNo:265 2020-12-09T03:53:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 56.74 , 0.00 , 58.70 , 0.00 2020-12-09T03:53:14Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:53:14Z- waiting for 1607485993.98, time is 1607485995.01 2020-12-09T03:53:14Z- sync is 0.41, coherence is 2.00 2020-12-09T03:53:14Z- LcmTrn::updateTrn() >>>> pose time 1607485994.60, meas time 1607485995.01 <<<< 2020-12-09T03:53:14Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485995.01 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:53:14Z- TerrainNav::motionUpdate() - currEstimate = (4061658, 594229.55, 30.90) 2020-12-09T03:53:14Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:53:14Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:53:14Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T03:53:14Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T03:53:14Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:53:14Z- TNavBF::mmse selected from filter -1 2020-12-09T03:53:14Z- variances([0], [2], and psi_berg) = 811.049915 833.131059 0.000000 2020-12-09T03:53:14Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:53:14Z- LcmTrn::cycle() - MLE : 4061624.24 594278.05 30.90 2020-12-09T03:53:14Z- LcmTrn::cycle() - MMSE : 4061657.74 594229.55 30.90 2020-12-09T03:53:14Z- LcmTrn::cycle() - COVAR: 811.05 833.13 36.12 0.00 2020-12-09T03:53:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485995.02 epoch sec; seqNo:645; 4061657.73 north; 594228.33 east 2020-12-09T03:53:14Z- waiting for 1607485998.01, time is 1607485995.01 2020-12-09T03:53:14Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:15Z- AHRS_M2 msg: 1607485995.38 epoch sec; seqNo:618 2020-12-09T03:53:15Z- AHRS_M2 msg: 3.91 phi; -0.25 theta; -0.33 psi 2020-12-09T03:53:15Z- waiting for 1607485998.01, time is 1607485995.01 2020-12-09T03:53:15Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:15Z- handleDepth()-Depth_Keller msg: 30.99 epoch sec; seqNo:1607485995386; depth 0.00 2020-12-09T03:53:15Z- waiting for 1607485998.01, time is 1607485995.01 2020-12-09T03:53:15Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485995.40 epoch sec; seqNo:646; 4061657.35 north; 594228.33 east 2020-12-09T03:53:15Z- waiting for 1607485998.01, time is 1607485995.01 2020-12-09T03:53:15Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:15Z- AHRS_M2 msg: 1607485995.80 epoch sec; seqNo:619 2020-12-09T03:53:15Z- AHRS_M2 msg: 3.87 phi; -0.26 theta; -0.37 psi 2020-12-09T03:53:15Z- waiting for 1607485998.01, time is 1607485995.01 2020-12-09T03:53:15Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:15Z- handleDepth()-Depth_Keller msg: 31.07 epoch sec; seqNo:1607485995802; depth 0.00 2020-12-09T03:53:15Z- waiting for 1607485998.01, time is 1607485995.01 2020-12-09T03:53:15Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:15Z- handleDvl() - RDI_Pathfinder msg: 1607485995.82 epoch sec; seqNo:266 2020-12-09T03:53:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 55.57 , 0.00 , 60.66 , 0.00 2020-12-09T03:53:15Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:53:15Z- waiting for 1607485998.01, time is 1607485995.82 2020-12-09T03:53:15Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485995.83 epoch sec; seqNo:647; 4061656.97 north; 594228.34 east 2020-12-09T03:53:15Z- waiting for 1607485998.01, time is 1607485995.82 2020-12-09T03:53:15Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:15Z- AHRS_M2 msg: 1607485996.19 epoch sec; seqNo:620 2020-12-09T03:53:15Z- AHRS_M2 msg: 3.83 phi; -0.26 theta; -0.42 psi 2020-12-09T03:53:15Z- waiting for 1607485998.01, time is 1607485995.82 2020-12-09T03:53:15Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:15Z- handleDepth()-Depth_Keller msg: 31.17 epoch sec; seqNo:1607485996193; depth 0.00 2020-12-09T03:53:15Z- waiting for 1607485998.01, time is 1607485995.82 2020-12-09T03:53:15Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485996.21 epoch sec; seqNo:648; 4061656.96 north; 594227.12 east 2020-12-09T03:53:15Z- waiting for 1607485998.01, time is 1607485995.82 2020-12-09T03:53:15Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:16Z- AHRS_M2 msg: 1607485996.59 epoch sec; seqNo:621 2020-12-09T03:53:16Z- AHRS_M2 msg: 3.79 phi; -0.27 theta; -0.47 psi 2020-12-09T03:53:16Z- waiting for 1607485998.01, time is 1607485995.82 2020-12-09T03:53:16Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:16Z- handleDepth()-Depth_Keller msg: 31.24 epoch sec; seqNo:1607485996597; depth 0.00 2020-12-09T03:53:16Z- waiting for 1607485998.01, time is 1607485995.82 2020-12-09T03:53:16Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485996.61 epoch sec; seqNo:649; 4061656.58 north; 594227.12 east 2020-12-09T03:53:16Z- waiting for 1607485998.01, time is 1607485995.82 2020-12-09T03:53:16Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:16Z- AHRS_M2 msg: 1607485997.00 epoch sec; seqNo:622 2020-12-09T03:53:16Z- AHRS_M2 msg: 3.75 phi; -0.28 theta; -0.51 psi 2020-12-09T03:53:16Z- waiting for 1607485998.01, time is 1607485995.82 2020-12-09T03:53:16Z- sync is 1.19, coherence is 2.00 2020-12-09T03:53:16Z- handleDepth()-Depth_Keller msg: 31.34 epoch sec; seqNo:1607485997007; depth 0.00 2020-12-09T03:53:16Z- waiting for 1607485998.01, time is 1607485995.82 2020-12-09T03:53:16Z- sync is 1.19, coherence is 2.00 2020-12-09T03:53:16Z- handleDvl() - RDI_Pathfinder msg: 1607485997.02 epoch sec; seqNo:267 2020-12-09T03:53:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 55.18 , 0.00 , 63.40 , 0.00 2020-12-09T03:53:16Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:53:16Z- waiting for 1607485998.01, time is 1607485997.02 2020-12-09T03:53:16Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485997.03 epoch sec; seqNo:650; 4061656.20 north; 594227.13 east 2020-12-09T03:53:16Z- waiting for 1607485998.01, time is 1607485997.02 2020-12-09T03:53:16Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:17Z- AHRS_M2 msg: 1607485997.40 epoch sec; seqNo:623 2020-12-09T03:53:17Z- AHRS_M2 msg: 3.70 phi; -0.29 theta; -0.54 psi 2020-12-09T03:53:17Z- waiting for 1607485998.01, time is 1607485997.02 2020-12-09T03:53:17Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:17Z- handleDepth()-Depth_Keller msg: 31.45 epoch sec; seqNo:1607485997407; depth 0.00 2020-12-09T03:53:17Z- waiting for 1607485998.01, time is 1607485997.02 2020-12-09T03:53:17Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485997.42 epoch sec; seqNo:651; 4061655.81 north; 594225.91 east 2020-12-09T03:53:17Z- waiting for 1607485998.01, time is 1607485997.02 2020-12-09T03:53:17Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:17Z- AHRS_M2 msg: 1607485997.81 epoch sec; seqNo:624 2020-12-09T03:53:17Z- AHRS_M2 msg: 3.66 phi; -0.30 theta; -0.56 psi 2020-12-09T03:53:17Z- waiting for 1607485998.01, time is 1607485997.02 2020-12-09T03:53:17Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:17Z- handleDepth()-Depth_Keller msg: 31.55 epoch sec; seqNo:1607485997822; depth 0.00 2020-12-09T03:53:17Z- waiting for 1607485998.01, time is 1607485997.02 2020-12-09T03:53:17Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:17Z- handleDvl() - RDI_Pathfinder msg: 1607485997.84 epoch sec; seqNo:268 2020-12-09T03:53:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T03:53:17Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:53:17Z- waiting for 1607485998.01, time is 1607485997.84 2020-12-09T03:53:17Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485997.85 epoch sec; seqNo:652; 4061655.43 north; 594225.91 east 2020-12-09T03:53:17Z- waiting for 1607485998.01, time is 1607485997.84 2020-12-09T03:53:17Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:17Z- AHRS_M2 msg: 1607485998.21 epoch sec; seqNo:625 2020-12-09T03:53:17Z- AHRS_M2 msg: 3.62 phi; -0.31 theta; -0.57 psi 2020-12-09T03:53:17Z- waiting for 1607485998.01, time is 1607485997.84 2020-12-09T03:53:17Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:17Z- handleDepth()-Depth_Keller msg: 31.68 epoch sec; seqNo:1607485998214; depth 0.00 2020-12-09T03:53:17Z- waiting for 1607485998.01, time is 1607485997.84 2020-12-09T03:53:17Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485998.23 epoch sec; seqNo:653; 4061655.05 north; 594225.92 east 2020-12-09T03:53:18Z- waiting for 1607485998.01, time is 1607485997.84 2020-12-09T03:53:18Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:18Z- AHRS_M2 msg: 1607485998.61 epoch sec; seqNo:626 2020-12-09T03:53:18Z- AHRS_M2 msg: 3.58 phi; -0.31 theta; -0.58 psi 2020-12-09T03:53:18Z- waiting for 1607485998.01, time is 1607485997.84 2020-12-09T03:53:18Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:18Z- handleDepth()-Depth_Keller msg: 31.78 epoch sec; seqNo:1607485998622; depth 0.00 2020-12-09T03:53:18Z- waiting for 1607485998.01, time is 1607485997.84 2020-12-09T03:53:18Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485998.63 epoch sec; seqNo:654; 4061654.67 north; 594225.92 east 2020-12-09T03:53:18Z- waiting for 1607485998.01, time is 1607485997.84 2020-12-09T03:53:18Z- sync is 0.80, coherence is 2.00 2020-12-09T03:53:18Z- AHRS_M2 msg: 1607485999.02 epoch sec; seqNo:627 2020-12-09T03:53:18Z- AHRS_M2 msg: 3.54 phi; -0.32 theta; -0.57 psi 2020-12-09T03:53:18Z- waiting for 1607485998.01, time is 1607485997.84 2020-12-09T03:53:18Z- sync is 1.18, coherence is 2.00 2020-12-09T03:53:18Z- handleDepth()-Depth_Keller msg: 31.91 epoch sec; seqNo:1607485999027; depth 0.00 2020-12-09T03:53:18Z- waiting for 1607485998.01, time is 1607485997.84 2020-12-09T03:53:18Z- sync is 1.18, coherence is 2.00 2020-12-09T03:53:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485999.04 epoch sec; seqNo:655; 4061654.28 north; 594224.71 east 2020-12-09T03:53:18Z- waiting for 1607485998.01, time is 1607485997.84 2020-12-09T03:53:18Z- sync is 1.21, coherence is 2.00 2020-12-09T03:53:19Z- AHRS_M2 msg: 1607485999.42 epoch sec; seqNo:628 2020-12-09T03:53:19Z- AHRS_M2 msg: 3.50 phi; -0.32 theta; -0.55 psi 2020-12-09T03:53:19Z- waiting for 1607485998.01, time is 1607485997.84 2020-12-09T03:53:19Z- sync is 1.59, coherence is 2.00 2020-12-09T03:53:19Z- handleDepth()-Depth_Keller msg: 32.03 epoch sec; seqNo:1607485999435; depth 0.00 2020-12-09T03:53:19Z- waiting for 1607485998.01, time is 1607485997.84 2020-12-09T03:53:19Z- sync is 1.59, coherence is 2.00 2020-12-09T03:53:19Z- handleDvl() - RDI_Pathfinder msg: 1607485999.45 epoch sec; seqNo:269 2020-12-09T03:53:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.33 , 129.20 , 64.49 , 104.36 2020-12-09T03:53:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , 0.07 , 0.13 2020-12-09T03:53:19Z- waiting for 1607485998.01, time is 1607485999.45 2020-12-09T03:53:19Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:19Z- LcmTrn::updateTrn() >>>> pose time 1607485999.42, meas time 1607485999.45 <<<< 2020-12-09T03:53:19Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607485999.45 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:53:19Z- TerrainNav::motionUpdate() - currEstimate = (4061654, 594224.71, 32.03) 2020-12-09T03:53:19Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:53:19Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:53:19Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:53:19Z- TNavBF::mmse selected from filter -1 2020-12-09T03:53:19Z- variances([0], [2], and psi_berg) = 810.689146 833.129971 0.000000 2020-12-09T03:53:19Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:53:19Z- LcmTrn::cycle() - MLE : 4061620.78 594273.21 32.03 2020-12-09T03:53:19Z- LcmTrn::cycle() - MMSE : 4061654.28 594224.71 32.03 2020-12-09T03:53:19Z- LcmTrn::cycle() - COVAR: 810.69 833.13 36.43 0.00 2020-12-09T03:53:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485999.46 epoch sec; seqNo:656; 4061653.90 north; 594224.71 east 2020-12-09T03:53:19Z- waiting for 1607486002.45, time is 1607485999.45 2020-12-09T03:53:19Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:19Z- AHRS_M2 msg: 1607485999.83 epoch sec; seqNo:629 2020-12-09T03:53:19Z- AHRS_M2 msg: 3.47 phi; -0.32 theta; -0.53 psi 2020-12-09T03:53:19Z- waiting for 1607486002.45, time is 1607485999.45 2020-12-09T03:53:19Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:19Z- handleDepth()-Depth_Keller msg: 32.16 epoch sec; seqNo:1607485999837; depth 0.00 2020-12-09T03:53:19Z- waiting for 1607486002.45, time is 1607485999.45 2020-12-09T03:53:19Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607485999.86 epoch sec; seqNo:657; 4061653.52 north; 594224.71 east 2020-12-09T03:53:19Z- waiting for 1607486002.45, time is 1607485999.45 2020-12-09T03:53:19Z- sync is 0.41, coherence is 2.00 2020-12-09T03:53:20Z- AHRS_M2 msg: 1607486000.23 epoch sec; seqNo:630 2020-12-09T03:53:20Z- AHRS_M2 msg: 3.43 phi; -0.32 theta; -0.51 psi 2020-12-09T03:53:20Z- waiting for 1607486002.45, time is 1607485999.45 2020-12-09T03:53:20Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:20Z- handleDepth()-Depth_Keller msg: 32.30 epoch sec; seqNo:1607486000233; depth 0.00 2020-12-09T03:53:20Z- waiting for 1607486002.45, time is 1607485999.45 2020-12-09T03:53:20Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:20Z- handleDvl() - RDI_Pathfinder msg: 1607486000.25 epoch sec; seqNo:270 2020-12-09T03:53:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.69 , 117.24 , 62.44 , 97.81 2020-12-09T03:53:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.04 , 0.12 2020-12-09T03:53:20Z- waiting for 1607486002.45, time is 1607486000.25 2020-12-09T03:53:20Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486000.26 epoch sec; seqNo:658; 4061653.52 north; 594224.71 east 2020-12-09T03:53:20Z- waiting for 1607486002.45, time is 1607486000.25 2020-12-09T03:53:20Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:20Z- AHRS_M2 msg: 1607486000.65 epoch sec; seqNo:631 2020-12-09T03:53:20Z- AHRS_M2 msg: 3.35 phi; -0.32 theta; -0.47 psi 2020-12-09T03:53:20Z- waiting for 1607486002.45, time is 1607486000.25 2020-12-09T03:53:20Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:20Z- handleDepth()-Depth_Keller msg: 32.42 epoch sec; seqNo:1607486000655; depth 0.00 2020-12-09T03:53:20Z- waiting for 1607486002.45, time is 1607486000.25 2020-12-09T03:53:20Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486000.67 epoch sec; seqNo:659; 4061653.14 north; 594224.72 east 2020-12-09T03:53:20Z- waiting for 1607486002.45, time is 1607486000.25 2020-12-09T03:53:20Z- sync is 0.42, coherence is 2.00 2020-12-09T03:53:20Z- AHRS_M2 msg: 1607486001.04 epoch sec; seqNo:632 2020-12-09T03:53:20Z- AHRS_M2 msg: 3.31 phi; -0.31 theta; -0.46 psi 2020-12-09T03:53:20Z- waiting for 1607486002.45, time is 1607486000.25 2020-12-09T03:53:20Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:20Z- handleDepth()-Depth_Keller msg: 32.54 epoch sec; seqNo:1607486001058; depth 0.00 2020-12-09T03:53:20Z- waiting for 1607486002.45, time is 1607486000.25 2020-12-09T03:53:20Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486001.07 epoch sec; seqNo:660; 4061652.76 north; 594224.72 east 2020-12-09T03:53:20Z- waiting for 1607486002.45, time is 1607486000.25 2020-12-09T03:53:20Z- sync is 0.82, coherence is 2.00 2020-12-09T03:53:21Z- AHRS_M2 msg: 1607486001.44 epoch sec; seqNo:633 2020-12-09T03:53:21Z- AHRS_M2 msg: 3.27 phi; -0.30 theta; -0.45 psi 2020-12-09T03:53:21Z- waiting for 1607486002.45, time is 1607486000.25 2020-12-09T03:53:21Z- sync is 1.19, coherence is 2.00 2020-12-09T03:53:21Z- handleDepth()-Depth_Keller msg: 32.67 epoch sec; seqNo:1607486001448; depth 0.00 2020-12-09T03:53:21Z- waiting for 1607486002.45, time is 1607486000.25 2020-12-09T03:53:21Z- sync is 1.19, coherence is 2.00 2020-12-09T03:53:21Z- handleDvl() - RDI_Pathfinder msg: 1607486001.46 epoch sec; seqNo:271 2020-12-09T03:53:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.32 , 109.21 , 0.00 , 98.28 2020-12-09T03:53:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.10 , 0.10 2020-12-09T03:53:21Z- waiting for 1607486002.45, time is 1607486001.46 2020-12-09T03:53:21Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486001.48 epoch sec; seqNo:661; 4061652.38 north; 594224.73 east 2020-12-09T03:53:21Z- waiting for 1607486002.45, time is 1607486001.46 2020-12-09T03:53:21Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:21Z- AHRS_M2 msg: 1607486001.85 epoch sec; seqNo:634 2020-12-09T03:53:21Z- AHRS_M2 msg: 3.23 phi; -0.29 theta; -0.44 psi 2020-12-09T03:53:21Z- waiting for 1607486002.45, time is 1607486001.46 2020-12-09T03:53:21Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:21Z- handleDepth()-Depth_Keller msg: 32.78 epoch sec; seqNo:1607486001849; depth 0.00 2020-12-09T03:53:21Z- waiting for 1607486002.45, time is 1607486001.46 2020-12-09T03:53:21Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486001.86 epoch sec; seqNo:662; 4061652.38 north; 594224.73 east 2020-12-09T03:53:21Z- waiting for 1607486002.45, time is 1607486001.46 2020-12-09T03:53:21Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:22Z- AHRS_M2 msg: 1607486002.25 epoch sec; seqNo:635 2020-12-09T03:53:22Z- AHRS_M2 msg: 3.19 phi; -0.28 theta; -0.44 psi 2020-12-09T03:53:22Z- waiting for 1607486002.45, time is 1607486001.46 2020-12-09T03:53:22Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:22Z- handleDepth()-Depth_Keller msg: 32.91 epoch sec; seqNo:1607486002259; depth 0.00 2020-12-09T03:53:22Z- waiting for 1607486002.45, time is 1607486001.46 2020-12-09T03:53:22Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:22Z- handleDvl() - RDI_Pathfinder msg: 1607486002.27 epoch sec; seqNo:272 2020-12-09T03:53:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 55.51 , 101.53 , 60.82 , 97.89 2020-12-09T03:53:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.10 , 0.09 2020-12-09T03:53:22Z- waiting for 1607486002.45, time is 1607486002.27 2020-12-09T03:53:22Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486002.28 epoch sec; seqNo:663; 4061652.01 north; 594224.73 east 2020-12-09T03:53:22Z- waiting for 1607486002.45, time is 1607486002.27 2020-12-09T03:53:22Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:22Z- AHRS_M2 msg: 1607486002.65 epoch sec; seqNo:636 2020-12-09T03:53:22Z- AHRS_M2 msg: 3.15 phi; -0.27 theta; -0.44 psi 2020-12-09T03:53:22Z- waiting for 1607486002.45, time is 1607486002.27 2020-12-09T03:53:22Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:22Z- handleDepth()-Depth_Keller msg: 33.02 epoch sec; seqNo:1607486002659; depth 0.00 2020-12-09T03:53:22Z- waiting for 1607486002.45, time is 1607486002.27 2020-12-09T03:53:22Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486002.68 epoch sec; seqNo:664; 4061651.63 north; 594224.74 east 2020-12-09T03:53:22Z- waiting for 1607486002.45, time is 1607486002.27 2020-12-09T03:53:22Z- sync is 0.41, coherence is 2.00 2020-12-09T03:53:22Z- AHRS_M2 msg: 1607486003.08 epoch sec; seqNo:637 2020-12-09T03:53:22Z- AHRS_M2 msg: 3.11 phi; -0.26 theta; -0.45 psi 2020-12-09T03:53:22Z- waiting for 1607486002.45, time is 1607486002.27 2020-12-09T03:53:22Z- sync is 0.81, coherence is 2.00 2020-12-09T03:53:22Z- handleDepth()-Depth_Keller msg: 33.13 epoch sec; seqNo:1607486003087; depth 0.00 2020-12-09T03:53:22Z- waiting for 1607486002.45, time is 1607486002.27 2020-12-09T03:53:22Z- sync is 0.81, coherence is 2.00 2020-12-09T03:53:22Z- handleDvl() - RDI_Pathfinder msg: 1607486003.11 epoch sec; seqNo:273 2020-12-09T03:53:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.69 , 98.96 , 60.82 , 0.00 2020-12-09T03:53:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.07 , 0.07 2020-12-09T03:53:22Z- waiting for 1607486002.45, time is 1607486003.11 2020-12-09T03:53:22Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:22Z- LcmTrn::updateTrn() >>>> pose time 1607486003.08, meas time 1607486003.11 <<<< 2020-12-09T03:53:22Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607486003.11 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:53:22Z- TerrainNav::motionUpdate() - currEstimate = (4061652, 594224.74, 33.13) 2020-12-09T03:53:22Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:53:22Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:53:22Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:53:22Z- TNavBF::mmse selected from filter -1 2020-12-09T03:53:22Z- variances([0], [2], and psi_berg) = 810.450707 833.129261 0.000000 2020-12-09T03:53:22Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:53:22Z- LcmTrn::cycle() - MLE : 4061618.13 594273.24 33.13 2020-12-09T03:53:22Z- LcmTrn::cycle() - MMSE : 4061651.63 594224.74 33.13 2020-12-09T03:53:22Z- LcmTrn::cycle() - COVAR: 810.45 833.13 36.56 0.00 2020-12-09T03:53:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486003.12 epoch sec; seqNo:665; 4061651.25 north; 594224.74 east 2020-12-09T03:53:22Z- waiting for 1607486006.11, time is 1607486003.11 2020-12-09T03:53:22Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:23Z- AHRS_M2 msg: 1607486003.46 epoch sec; seqNo:638 2020-12-09T03:53:23Z- AHRS_M2 msg: 3.07 phi; -0.25 theta; -0.45 psi 2020-12-09T03:53:23Z- waiting for 1607486006.11, time is 1607486003.11 2020-12-09T03:53:23Z- sync is 0.35, coherence is 2.00 2020-12-09T03:53:23Z- handleDepth()-Depth_Keller msg: 33.25 epoch sec; seqNo:1607486003468; depth 0.00 2020-12-09T03:53:23Z- waiting for 1607486006.11, time is 1607486003.11 2020-12-09T03:53:23Z- sync is 0.35, coherence is 2.00 2020-12-09T03:53:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486003.48 epoch sec; seqNo:666; 4061650.87 north; 594224.74 east 2020-12-09T03:53:23Z- waiting for 1607486006.11, time is 1607486003.11 2020-12-09T03:53:23Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:23Z- AHRS_M2 msg: 1607486003.87 epoch sec; seqNo:639 2020-12-09T03:53:23Z- AHRS_M2 msg: 3.03 phi; -0.24 theta; -0.46 psi 2020-12-09T03:53:23Z- waiting for 1607486006.11, time is 1607486003.11 2020-12-09T03:53:23Z- sync is 0.75, coherence is 2.00 2020-12-09T03:53:23Z- handleDepth()-Depth_Keller msg: 33.34 epoch sec; seqNo:1607486003869; depth 0.00 2020-12-09T03:53:23Z- waiting for 1607486006.11, time is 1607486003.11 2020-12-09T03:53:23Z- sync is 0.75, coherence is 2.00 2020-12-09T03:53:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486003.89 epoch sec; seqNo:667; 4061650.49 north; 594224.75 east 2020-12-09T03:53:23Z- waiting for 1607486006.11, time is 1607486003.11 2020-12-09T03:53:23Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:24Z- AHRS_M2 msg: 1607486004.27 epoch sec; seqNo:640 2020-12-09T03:53:24Z- AHRS_M2 msg: 2.98 phi; -0.23 theta; -0.45 psi 2020-12-09T03:53:24Z- waiting for 1607486006.11, time is 1607486003.11 2020-12-09T03:53:24Z- sync is 1.15, coherence is 2.00 2020-12-09T03:53:24Z- handleDepth()-Depth_Keller msg: 33.44 epoch sec; seqNo:1607486004273; depth 0.00 2020-12-09T03:53:24Z- waiting for 1607486006.11, time is 1607486003.11 2020-12-09T03:53:24Z- sync is 1.15, coherence is 2.00 2020-12-09T03:53:24Z- handleDvl() - RDI_Pathfinder msg: 1607486004.28 epoch sec; seqNo:274 2020-12-09T03:53:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.06 , 100.04 , 61.22 , 88.16 2020-12-09T03:53:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.07 , 0.04 2020-12-09T03:53:24Z- waiting for 1607486006.11, time is 1607486004.28 2020-12-09T03:53:24Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486004.31 epoch sec; seqNo:668; 4061650.49 north; 594224.75 east 2020-12-09T03:53:24Z- waiting for 1607486006.11, time is 1607486004.28 2020-12-09T03:53:24Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:24Z- AHRS_M2 msg: 1607486004.68 epoch sec; seqNo:641 2020-12-09T03:53:24Z- AHRS_M2 msg: 2.94 phi; -0.22 theta; -0.45 psi 2020-12-09T03:53:24Z- waiting for 1607486006.11, time is 1607486004.28 2020-12-09T03:53:24Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:24Z- handleDepth()-Depth_Keller msg: 33.54 epoch sec; seqNo:1607486004680; depth 0.00 2020-12-09T03:53:24Z- waiting for 1607486006.11, time is 1607486004.28 2020-12-09T03:53:24Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486004.69 epoch sec; seqNo:669; 4061650.11 north; 594224.75 east 2020-12-09T03:53:24Z- waiting for 1607486006.11, time is 1607486004.28 2020-12-09T03:53:24Z- sync is 0.41, coherence is 2.00 2020-12-09T03:53:24Z- AHRS_M2 msg: 1607486005.08 epoch sec; seqNo:642 2020-12-09T03:53:24Z- AHRS_M2 msg: 2.90 phi; -0.21 theta; -0.45 psi 2020-12-09T03:53:24Z- waiting for 1607486006.11, time is 1607486004.28 2020-12-09T03:53:24Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:24Z- handleDepth()-Depth_Keller msg: 33.62 epoch sec; seqNo:1607486005085; depth 0.00 2020-12-09T03:53:24Z- waiting for 1607486006.11, time is 1607486004.28 2020-12-09T03:53:24Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486005.10 epoch sec; seqNo:670; 4061649.73 north; 594224.76 east 2020-12-09T03:53:24Z- waiting for 1607486006.11, time is 1607486004.28 2020-12-09T03:53:24Z- sync is 0.82, coherence is 2.00 2020-12-09T03:53:25Z- AHRS_M2 msg: 1607486005.48 epoch sec; seqNo:643 2020-12-09T03:53:25Z- AHRS_M2 msg: 2.86 phi; -0.20 theta; -0.45 psi 2020-12-09T03:53:25Z- waiting for 1607486006.11, time is 1607486004.28 2020-12-09T03:53:25Z- sync is 1.20, coherence is 2.00 2020-12-09T03:53:25Z- handleDepth()-Depth_Keller msg: 33.70 epoch sec; seqNo:1607486005485; depth 0.00 2020-12-09T03:53:25Z- waiting for 1607486006.11, time is 1607486004.28 2020-12-09T03:53:25Z- sync is 1.20, coherence is 2.00 2020-12-09T03:53:25Z- handleDvl() - RDI_Pathfinder msg: 1607486005.50 epoch sec; seqNo:275 2020-12-09T03:53:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.28 , 96.80 , 60.40 , 84.92 2020-12-09T03:53:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.04 , 0.01 2020-12-09T03:53:25Z- waiting for 1607486006.11, time is 1607486005.50 2020-12-09T03:53:25Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486005.52 epoch sec; seqNo:671; 4061649.35 north; 594224.76 east 2020-12-09T03:53:25Z- waiting for 1607486006.11, time is 1607486005.50 2020-12-09T03:53:25Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:25Z- AHRS_M2 msg: 1607486005.88 epoch sec; seqNo:644 2020-12-09T03:53:25Z- AHRS_M2 msg: 2.82 phi; -0.19 theta; -0.45 psi 2020-12-09T03:53:25Z- waiting for 1607486006.11, time is 1607486005.50 2020-12-09T03:53:25Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:25Z- handleDepth()-Depth_Keller msg: 33.78 epoch sec; seqNo:1607486005889; depth 0.00 2020-12-09T03:53:25Z- waiting for 1607486006.11, time is 1607486005.50 2020-12-09T03:53:25Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486005.90 epoch sec; seqNo:672; 4061648.97 north; 594224.76 east 2020-12-09T03:53:25Z- waiting for 1607486006.11, time is 1607486005.50 2020-12-09T03:53:25Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:26Z- AHRS_M2 msg: 1607486006.29 epoch sec; seqNo:645 2020-12-09T03:53:26Z- AHRS_M2 msg: 2.78 phi; -0.18 theta; -0.44 psi 2020-12-09T03:53:26Z- waiting for 1607486006.11, time is 1607486005.50 2020-12-09T03:53:26Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:26Z- handleDepth()-Depth_Keller msg: 33.84 epoch sec; seqNo:1607486006295; depth 0.00 2020-12-09T03:53:26Z- waiting for 1607486006.11, time is 1607486005.50 2020-12-09T03:53:26Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:26Z- handleDvl() - RDI_Pathfinder msg: 1607486006.31 epoch sec; seqNo:276 2020-12-09T03:53:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.47 , 98.96 , 60.81 , 0.00 2020-12-09T03:53:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.03 , -0.02 2020-12-09T03:53:26Z- waiting for 1607486006.11, time is 1607486006.31 2020-12-09T03:53:26Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:26Z- LcmTrn::updateTrn() >>>> pose time 1607486006.29, meas time 1607486006.31 <<<< 2020-12-09T03:53:26Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607486006.31 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:53:26Z- TerrainNav::motionUpdate() - currEstimate = (4061649, 594224.76, 33.84) 2020-12-09T03:53:26Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:53:26Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:53:26Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:53:26Z- TNavBF::mmse selected from filter -1 2020-12-09T03:53:26Z- variances([0], [2], and psi_berg) = 810.213769 833.128562 0.000000 2020-12-09T03:53:26Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:53:26Z- LcmTrn::cycle() - MLE : 4061615.47 594273.26 33.84 2020-12-09T03:53:26Z- LcmTrn::cycle() - MMSE : 4061648.97 594224.76 33.84 2020-12-09T03:53:26Z- LcmTrn::cycle() - COVAR: 810.21 833.13 36.70 0.00 2020-12-09T03:53:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486006.32 epoch sec; seqNo:673; 4061648.61 north; 594225.99 east 2020-12-09T03:53:26Z- waiting for 1607486009.31, time is 1607486006.31 2020-12-09T03:53:26Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:26Z- AHRS_M2 msg: 1607486006.69 epoch sec; seqNo:646 2020-12-09T03:53:26Z- AHRS_M2 msg: 2.74 phi; -0.17 theta; -0.44 psi 2020-12-09T03:53:26Z- waiting for 1607486009.31, time is 1607486006.31 2020-12-09T03:53:26Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:26Z- handleDepth()-Depth_Keller msg: 33.90 epoch sec; seqNo:1607486006698; depth 0.00 2020-12-09T03:53:26Z- waiting for 1607486009.31, time is 1607486006.31 2020-12-09T03:53:26Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486006.72 epoch sec; seqNo:674; 4061648.61 north; 594225.99 east 2020-12-09T03:53:26Z- waiting for 1607486009.31, time is 1607486006.31 2020-12-09T03:53:26Z- sync is 0.41, coherence is 2.00 2020-12-09T03:53:26Z- AHRS_M2 msg: 1607486007.10 epoch sec; seqNo:647 2020-12-09T03:53:26Z- AHRS_M2 msg: 2.70 phi; -0.17 theta; -0.43 psi 2020-12-09T03:53:26Z- waiting for 1607486009.31, time is 1607486006.31 2020-12-09T03:53:26Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:26Z- handleDepth()-Depth_Keller msg: 33.98 epoch sec; seqNo:1607486007103; depth 0.00 2020-12-09T03:53:26Z- waiting for 1607486009.31, time is 1607486006.31 2020-12-09T03:53:26Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:26Z- handleDvl() - RDI_Pathfinder msg: 1607486007.12 epoch sec; seqNo:277 2020-12-09T03:53:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.42 , 97.88 , 60.81 , 77.54 2020-12-09T03:53:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , 0.01 , -0.04 2020-12-09T03:53:26Z- waiting for 1607486009.31, time is 1607486007.12 2020-12-09T03:53:26Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486007.14 epoch sec; seqNo:675; 4061648.23 north; 594225.99 east 2020-12-09T03:53:26Z- waiting for 1607486009.31, time is 1607486007.12 2020-12-09T03:53:26Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:27Z- AHRS_M2 msg: 1607486007.50 epoch sec; seqNo:648 2020-12-09T03:53:27Z- AHRS_M2 msg: 2.66 phi; -0.16 theta; -0.43 psi 2020-12-09T03:53:27Z- waiting for 1607486009.31, time is 1607486007.12 2020-12-09T03:53:27Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:27Z- handleDepth()-Depth_Keller msg: 34.04 epoch sec; seqNo:1607486007510; depth 0.00 2020-12-09T03:53:27Z- waiting for 1607486009.31, time is 1607486007.12 2020-12-09T03:53:27Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486007.52 epoch sec; seqNo:676; 4061647.85 north; 594226.00 east 2020-12-09T03:53:27Z- waiting for 1607486009.31, time is 1607486007.12 2020-12-09T03:53:27Z- sync is 0.41, coherence is 2.00 2020-12-09T03:53:27Z- AHRS_M2 msg: 1607486007.91 epoch sec; seqNo:649 2020-12-09T03:53:27Z- AHRS_M2 msg: 2.62 phi; -0.15 theta; -0.43 psi 2020-12-09T03:53:27Z- waiting for 1607486009.31, time is 1607486007.12 2020-12-09T03:53:27Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:27Z- handleDepth()-Depth_Keller msg: 34.10 epoch sec; seqNo:1607486007912; depth 0.00 2020-12-09T03:53:27Z- waiting for 1607486009.31, time is 1607486007.12 2020-12-09T03:53:27Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486007.92 epoch sec; seqNo:677; 4061647.47 north; 594226.00 east 2020-12-09T03:53:27Z- waiting for 1607486009.31, time is 1607486007.12 2020-12-09T03:53:27Z- sync is 0.81, coherence is 2.00 2020-12-09T03:53:28Z- AHRS_M2 msg: 1607486008.31 epoch sec; seqNo:650 2020-12-09T03:53:28Z- AHRS_M2 msg: 2.58 phi; -0.14 theta; -0.43 psi 2020-12-09T03:53:28Z- waiting for 1607486009.31, time is 1607486007.12 2020-12-09T03:53:28Z- sync is 1.20, coherence is 2.00 2020-12-09T03:53:28Z- handleDepth()-Depth_Keller msg: 34.15 epoch sec; seqNo:1607486008324; depth 0.00 2020-12-09T03:53:28Z- waiting for 1607486009.31, time is 1607486007.12 2020-12-09T03:53:28Z- sync is 1.20, coherence is 2.00 2020-12-09T03:53:28Z- handleDvl() - RDI_Pathfinder msg: 1607486008.34 epoch sec; seqNo:278 2020-12-09T03:53:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.65 , 94.64 , 61.63 , 0.00 2020-12-09T03:53:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.04 , -0.10 2020-12-09T03:53:28Z- waiting for 1607486009.31, time is 1607486008.34 2020-12-09T03:53:28Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486008.35 epoch sec; seqNo:678; 4061647.47 north; 594226.00 east 2020-12-09T03:53:28Z- waiting for 1607486009.31, time is 1607486008.34 2020-12-09T03:53:28Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:28Z- AHRS_M2 msg: 1607486008.71 epoch sec; seqNo:651 2020-12-09T03:53:28Z- AHRS_M2 msg: 2.54 phi; -0.13 theta; -0.43 psi 2020-12-09T03:53:28Z- waiting for 1607486009.31, time is 1607486008.34 2020-12-09T03:53:28Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:28Z- handleDepth()-Depth_Keller msg: 34.20 epoch sec; seqNo:1607486008717; depth 0.00 2020-12-09T03:53:28Z- waiting for 1607486009.31, time is 1607486008.34 2020-12-09T03:53:28Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486008.73 epoch sec; seqNo:679; 4061647.09 north; 594226.01 east 2020-12-09T03:53:28Z- waiting for 1607486009.31, time is 1607486008.34 2020-12-09T03:53:28Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:28Z- AHRS_M2 msg: 1607486009.14 epoch sec; seqNo:652 2020-12-09T03:53:28Z- AHRS_M2 msg: 2.51 phi; -0.13 theta; -0.43 psi 2020-12-09T03:53:28Z- waiting for 1607486009.31, time is 1607486008.34 2020-12-09T03:53:28Z- sync is 0.80, coherence is 2.00 2020-12-09T03:53:28Z- handleDepth()-Depth_Keller msg: 34.24 epoch sec; seqNo:1607486009163; depth 0.00 2020-12-09T03:53:28Z- waiting for 1607486009.31, time is 1607486008.34 2020-12-09T03:53:28Z- sync is 0.80, coherence is 2.00 2020-12-09T03:53:28Z- handleDvl() - RDI_Pathfinder msg: 1607486009.17 epoch sec; seqNo:279 2020-12-09T03:53:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.65 , 90.32 , 61.22 , 78.45 2020-12-09T03:53:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.05 , -0.16 2020-12-09T03:53:28Z- waiting for 1607486009.31, time is 1607486009.17 2020-12-09T03:53:28Z- sync is 0.04, coherence is 2.00 2020-12-09T03:53:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486009.19 epoch sec; seqNo:680; 4061646.73 north; 594227.23 east 2020-12-09T03:53:28Z- waiting for 1607486009.31, time is 1607486009.17 2020-12-09T03:53:28Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:29Z- AHRS_M2 msg: 1607486009.52 epoch sec; seqNo:653 2020-12-09T03:53:29Z- AHRS_M2 msg: 2.47 phi; -0.12 theta; -0.43 psi 2020-12-09T03:53:29Z- waiting for 1607486009.31, time is 1607486009.17 2020-12-09T03:53:29Z- sync is 0.35, coherence is 2.00 2020-12-09T03:53:29Z- handleDepth()-Depth_Keller msg: 34.30 epoch sec; seqNo:1607486009526; depth 0.00 2020-12-09T03:53:29Z- waiting for 1607486009.31, time is 1607486009.17 2020-12-09T03:53:29Z- sync is 0.35, coherence is 2.00 2020-12-09T03:53:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486009.54 epoch sec; seqNo:681; 4061646.73 north; 594227.23 east 2020-12-09T03:53:29Z- waiting for 1607486009.31, time is 1607486009.17 2020-12-09T03:53:29Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:29Z- AHRS_M2 msg: 1607486009.92 epoch sec; seqNo:654 2020-12-09T03:53:29Z- AHRS_M2 msg: 2.43 phi; -0.12 theta; -0.43 psi 2020-12-09T03:53:29Z- waiting for 1607486009.31, time is 1607486009.17 2020-12-09T03:53:29Z- sync is 0.75, coherence is 2.00 2020-12-09T03:53:29Z- handleDepth()-Depth_Keller msg: 34.34 epoch sec; seqNo:1607486009929; depth 0.00 2020-12-09T03:53:29Z- waiting for 1607486009.31, time is 1607486009.17 2020-12-09T03:53:29Z- sync is 0.75, coherence is 2.00 2020-12-09T03:53:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486009.95 epoch sec; seqNo:682; 4061646.35 north; 594227.23 east 2020-12-09T03:53:29Z- waiting for 1607486009.31, time is 1607486009.17 2020-12-09T03:53:29Z- sync is 0.77, coherence is 2.00 2020-12-09T03:53:30Z- AHRS_M2 msg: 1607486010.34 epoch sec; seqNo:655 2020-12-09T03:53:30Z- AHRS_M2 msg: 2.39 phi; -0.11 theta; -0.43 psi 2020-12-09T03:53:30Z- waiting for 1607486009.31, time is 1607486009.17 2020-12-09T03:53:30Z- sync is 1.16, coherence is 2.00 2020-12-09T03:53:30Z- handleDepth()-Depth_Keller msg: 34.36 epoch sec; seqNo:1607486010342; depth 0.00 2020-12-09T03:53:30Z- waiting for 1607486009.31, time is 1607486009.17 2020-12-09T03:53:30Z- sync is 1.16, coherence is 2.00 2020-12-09T03:53:30Z- handleDvl() - RDI_Pathfinder msg: 1607486010.36 epoch sec; seqNo:280 2020-12-09T03:53:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.65 , 93.56 , 61.63 , 72.24 2020-12-09T03:53:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.64 , -0.08 , -0.20 2020-12-09T03:53:30Z- waiting for 1607486009.31, time is 1607486010.36 2020-12-09T03:53:30Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:30Z- LcmTrn::updateTrn() >>>> pose time 1607486010.34, meas time 1607486010.36 <<<< 2020-12-09T03:53:30Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607486010.36 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:53:30Z- TerrainNav::motionUpdate() - currEstimate = (4061646, 594227.23, 34.36) 2020-12-09T03:53:30Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:53:30Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:53:30Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:53:30Z- TNavBF::mmse selected from filter -1 2020-12-09T03:53:30Z- variances([0], [2], and psi_berg) = 809.939268 833.127758 0.000000 2020-12-09T03:53:30Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:53:30Z- LcmTrn::cycle() - MLE : 4061612.85 594275.73 34.36 2020-12-09T03:53:30Z- LcmTrn::cycle() - MMSE : 4061646.35 594227.23 34.36 2020-12-09T03:53:30Z- LcmTrn::cycle() - COVAR: 809.94 833.13 36.88 0.00 2020-12-09T03:53:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486010.37 epoch sec; seqNo:683; 4061646.35 north; 594227.23 east 2020-12-09T03:53:30Z- waiting for 1607486013.36, time is 1607486010.36 2020-12-09T03:53:30Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:30Z- AHRS_M2 msg: 1607486010.73 epoch sec; seqNo:656 2020-12-09T03:53:30Z- AHRS_M2 msg: 2.36 phi; -0.11 theta; -0.42 psi 2020-12-09T03:53:30Z- waiting for 1607486013.36, time is 1607486010.36 2020-12-09T03:53:30Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:30Z- handleDepth()-Depth_Keller msg: 34.41 epoch sec; seqNo:1607486010737; depth 0.00 2020-12-09T03:53:30Z- waiting for 1607486013.36, time is 1607486010.36 2020-12-09T03:53:30Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486010.75 epoch sec; seqNo:684; 4061646.35 north; 594227.23 east 2020-12-09T03:53:30Z- waiting for 1607486013.36, time is 1607486010.36 2020-12-09T03:53:30Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:30Z- AHRS_M2 msg: 1607486011.16 epoch sec; seqNo:657 2020-12-09T03:53:30Z- AHRS_M2 msg: 2.32 phi; -0.10 theta; -0.42 psi 2020-12-09T03:53:30Z- waiting for 1607486013.36, time is 1607486010.36 2020-12-09T03:53:30Z- sync is 0.80, coherence is 2.00 2020-12-09T03:53:30Z- handleDepth()-Depth_Keller msg: 34.44 epoch sec; seqNo:1607486011166; depth 0.00 2020-12-09T03:53:30Z- waiting for 1607486013.36, time is 1607486010.36 2020-12-09T03:53:30Z- sync is 0.80, coherence is 2.00 2020-12-09T03:53:30Z- handleDvl() - RDI_Pathfinder msg: 1607486011.18 epoch sec; seqNo:281 2020-12-09T03:53:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.24 , 97.88 , 61.22 , 78.45 2020-12-09T03:53:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.57 , -0.10 , -0.21 2020-12-09T03:53:30Z- waiting for 1607486013.36, time is 1607486011.18 2020-12-09T03:53:30Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486011.20 epoch sec; seqNo:685; 4061645.98 north; 594228.46 east 2020-12-09T03:53:30Z- waiting for 1607486013.36, time is 1607486011.18 2020-12-09T03:53:30Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:31Z- AHRS_M2 msg: 1607486011.54 epoch sec; seqNo:658 2020-12-09T03:53:31Z- AHRS_M2 msg: 2.28 phi; -0.10 theta; -0.42 psi 2020-12-09T03:53:31Z- waiting for 1607486013.36, time is 1607486011.18 2020-12-09T03:53:31Z- sync is 0.36, coherence is 2.00 2020-12-09T03:53:31Z- handleDepth()-Depth_Keller msg: 34.48 epoch sec; seqNo:1607486011545; depth 0.00 2020-12-09T03:53:31Z- waiting for 1607486013.36, time is 1607486011.18 2020-12-09T03:53:31Z- sync is 0.36, coherence is 2.00 2020-12-09T03:53:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486011.57 epoch sec; seqNo:686; 4061645.98 north; 594228.46 east 2020-12-09T03:53:31Z- waiting for 1607486013.36, time is 1607486011.18 2020-12-09T03:53:31Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:31Z- AHRS_M2 msg: 1607486011.94 epoch sec; seqNo:659 2020-12-09T03:53:31Z- AHRS_M2 msg: 2.24 phi; -0.10 theta; -0.41 psi 2020-12-09T03:53:31Z- waiting for 1607486013.36, time is 1607486011.18 2020-12-09T03:53:31Z- sync is 0.77, coherence is 2.00 2020-12-09T03:53:31Z- handleDepth()-Depth_Keller msg: 34.50 epoch sec; seqNo:1607486011949; depth 0.00 2020-12-09T03:53:31Z- waiting for 1607486013.36, time is 1607486011.18 2020-12-09T03:53:31Z- sync is 0.77, coherence is 2.00 2020-12-09T03:53:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486011.96 epoch sec; seqNo:687; 4061645.98 north; 594228.46 east 2020-12-09T03:53:31Z- waiting for 1607486013.36, time is 1607486011.18 2020-12-09T03:53:31Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:32Z- AHRS_M2 msg: 1607486012.35 epoch sec; seqNo:660 2020-12-09T03:53:32Z- AHRS_M2 msg: 2.20 phi; -0.10 theta; -0.41 psi 2020-12-09T03:53:32Z- waiting for 1607486013.36, time is 1607486011.18 2020-12-09T03:53:32Z- sync is 1.17, coherence is 2.00 2020-12-09T03:53:32Z- handleDepth()-Depth_Keller msg: 34.53 epoch sec; seqNo:1607486012353; depth 0.00 2020-12-09T03:53:32Z- waiting for 1607486013.36, time is 1607486011.18 2020-12-09T03:53:32Z- sync is 1.17, coherence is 2.00 2020-12-09T03:53:32Z- handleDvl() - RDI_Pathfinder msg: 1607486012.37 epoch sec; seqNo:282 2020-12-09T03:53:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.24 , 90.32 , 61.22 , 78.45 2020-12-09T03:53:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.48 , -0.08 , -0.18 2020-12-09T03:53:32Z- waiting for 1607486013.36, time is 1607486012.37 2020-12-09T03:53:32Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486012.40 epoch sec; seqNo:688; 4061645.98 north; 594228.46 east 2020-12-09T03:53:32Z- waiting for 1607486013.36, time is 1607486012.37 2020-12-09T03:53:32Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:32Z- AHRS_M2 msg: 1607486012.76 epoch sec; seqNo:661 2020-12-09T03:53:32Z- AHRS_M2 msg: 2.17 phi; -0.09 theta; -0.41 psi 2020-12-09T03:53:32Z- waiting for 1607486013.36, time is 1607486012.37 2020-12-09T03:53:32Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:32Z- handleDepth()-Depth_Keller msg: 34.59 epoch sec; seqNo:1607486012765; depth 0.00 2020-12-09T03:53:32Z- waiting for 1607486013.36, time is 1607486012.37 2020-12-09T03:53:32Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486012.78 epoch sec; seqNo:689; 4061645.61 north; 594228.46 east 2020-12-09T03:53:32Z- waiting for 1607486013.36, time is 1607486012.37 2020-12-09T03:53:32Z- sync is 0.41, coherence is 2.00 2020-12-09T03:53:32Z- AHRS_M2 msg: 1607486013.16 epoch sec; seqNo:662 2020-12-09T03:53:32Z- AHRS_M2 msg: 2.13 phi; -0.09 theta; -0.40 psi 2020-12-09T03:53:32Z- waiting for 1607486013.36, time is 1607486012.37 2020-12-09T03:53:32Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:32Z- handleDepth()-Depth_Keller msg: 34.61 epoch sec; seqNo:1607486013175; depth 0.00 2020-12-09T03:53:32Z- waiting for 1607486013.36, time is 1607486012.37 2020-12-09T03:53:32Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:32Z- handleDvl() - RDI_Pathfinder msg: 1607486013.19 epoch sec; seqNo:283 2020-12-09T03:53:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.02 , 89.24 , 60.40 , 69.38 2020-12-09T03:53:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.42 , -0.06 , -0.12 2020-12-09T03:53:32Z- waiting for 1607486013.36, time is 1607486013.19 2020-12-09T03:53:32Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486013.20 epoch sec; seqNo:690; 4061645.61 north; 594228.46 east 2020-12-09T03:53:32Z- waiting for 1607486013.36, time is 1607486013.19 2020-12-09T03:53:32Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:33Z- AHRS_M2 msg: 1607486013.56 epoch sec; seqNo:663 2020-12-09T03:53:33Z- AHRS_M2 msg: 2.09 phi; -0.09 theta; -0.40 psi 2020-12-09T03:53:33Z- waiting for 1607486013.36, time is 1607486013.19 2020-12-09T03:53:33Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:33Z- handleDepth()-Depth_Keller msg: 34.64 epoch sec; seqNo:1607486013569; depth 0.00 2020-12-09T03:53:33Z- waiting for 1607486013.36, time is 1607486013.19 2020-12-09T03:53:33Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486013.61 epoch sec; seqNo:691; 4061645.61 north; 594228.46 east 2020-12-09T03:53:33Z- waiting for 1607486013.36, time is 1607486013.19 2020-12-09T03:53:33Z- sync is 0.42, coherence is 2.00 2020-12-09T03:53:33Z- AHRS_M2 msg: 1607486013.96 epoch sec; seqNo:664 2020-12-09T03:53:33Z- AHRS_M2 msg: 2.05 phi; -0.09 theta; -0.40 psi 2020-12-09T03:53:33Z- waiting for 1607486013.36, time is 1607486013.19 2020-12-09T03:53:33Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:33Z- handleDepth()-Depth_Keller msg: 34.67 epoch sec; seqNo:1607486013970; depth 0.00 2020-12-09T03:53:33Z- waiting for 1607486013.36, time is 1607486013.19 2020-12-09T03:53:33Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486013.98 epoch sec; seqNo:692; 4061645.62 north; 594229.68 east 2020-12-09T03:53:33Z- waiting for 1607486013.36, time is 1607486013.19 2020-12-09T03:53:33Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:34Z- AHRS_M2 msg: 1607486014.37 epoch sec; seqNo:665 2020-12-09T03:53:34Z- AHRS_M2 msg: 2.01 phi; -0.09 theta; -0.40 psi 2020-12-09T03:53:34Z- waiting for 1607486013.36, time is 1607486013.19 2020-12-09T03:53:34Z- sync is 1.18, coherence is 2.00 2020-12-09T03:53:34Z- handleDepth()-Depth_Keller msg: 34.71 epoch sec; seqNo:1607486014381; depth 0.00 2020-12-09T03:53:34Z- waiting for 1607486013.36, time is 1607486013.19 2020-12-09T03:53:34Z- sync is 1.18, coherence is 2.00 2020-12-09T03:53:34Z- handleDvl() - RDI_Pathfinder msg: 1607486014.40 epoch sec; seqNo:284 2020-12-09T03:53:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.83 , 89.24 , 59.59 , 68.97 2020-12-09T03:53:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.43 , -0.04 , -0.03 2020-12-09T03:53:34Z- waiting for 1607486013.36, time is 1607486014.40 2020-12-09T03:53:34Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:34Z- LcmTrn::updateTrn() >>>> pose time 1607486014.37, meas time 1607486014.40 <<<< 2020-12-09T03:53:34Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607486014.40 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:53:34Z- TerrainNav::motionUpdate() - currEstimate = (4061646, 594229.68, 34.71) 2020-12-09T03:53:34Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:53:34Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:53:34Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:53:34Z- TNavBF::mmse selected from filter -1 2020-12-09T03:53:34Z- variances([0], [2], and psi_berg) = 809.709791 833.127092 0.000000 2020-12-09T03:53:34Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:53:34Z- LcmTrn::cycle() - MLE : 4061613.12 594181.18 34.71 2020-12-09T03:53:34Z- LcmTrn::cycle() - MMSE : 4061645.62 594229.68 34.71 2020-12-09T03:53:34Z- LcmTrn::cycle() - COVAR: 809.71 833.13 37.01 0.00 2020-12-09T03:53:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486014.41 epoch sec; seqNo:693; 4061645.62 north; 594229.68 east 2020-12-09T03:53:34Z- waiting for 1607486017.40, time is 1607486014.40 2020-12-09T03:53:34Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:34Z- AHRS_M2 msg: 1607486014.77 epoch sec; seqNo:666 2020-12-09T03:53:34Z- AHRS_M2 msg: 1.98 phi; -0.09 theta; -0.40 psi 2020-12-09T03:53:34Z- waiting for 1607486017.40, time is 1607486014.40 2020-12-09T03:53:34Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:34Z- handleDepth()-Depth_Keller msg: 34.76 epoch sec; seqNo:1607486014777; depth 0.00 2020-12-09T03:53:34Z- waiting for 1607486017.40, time is 1607486014.40 2020-12-09T03:53:34Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486014.80 epoch sec; seqNo:694; 4061645.62 north; 594229.68 east 2020-12-09T03:53:34Z- waiting for 1607486017.40, time is 1607486014.40 2020-12-09T03:53:34Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:34Z- AHRS_M2 msg: 1607486015.18 epoch sec; seqNo:667 2020-12-09T03:53:34Z- AHRS_M2 msg: 1.94 phi; -0.09 theta; -0.40 psi 2020-12-09T03:53:34Z- waiting for 1607486017.40, time is 1607486014.40 2020-12-09T03:53:34Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:34Z- handleDepth()-Depth_Keller msg: 34.78 epoch sec; seqNo:1607486015181; depth 0.00 2020-12-09T03:53:34Z- waiting for 1607486017.40, time is 1607486014.40 2020-12-09T03:53:34Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:34Z- handleDvl() - RDI_Pathfinder msg: 1607486015.19 epoch sec; seqNo:285 2020-12-09T03:53:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.42 , 128.11 , 59.18 , 78.45 2020-12-09T03:53:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.46 , 0.20 , -0.00 2020-12-09T03:53:34Z- waiting for 1607486017.40, time is 1607486015.19 2020-12-09T03:53:34Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486015.22 epoch sec; seqNo:695; 4061645.24 north; 594229.69 east 2020-12-09T03:53:34Z- waiting for 1607486017.40, time is 1607486015.19 2020-12-09T03:53:34Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:35Z- AHRS_M2 msg: 1607486015.58 epoch sec; seqNo:668 2020-12-09T03:53:35Z- AHRS_M2 msg: 1.90 phi; -0.09 theta; -0.40 psi 2020-12-09T03:53:35Z- waiting for 1607486017.40, time is 1607486015.19 2020-12-09T03:53:35Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:35Z- handleDepth()-Depth_Keller msg: 34.84 epoch sec; seqNo:1607486015585; depth 0.00 2020-12-09T03:53:35Z- waiting for 1607486017.40, time is 1607486015.19 2020-12-09T03:53:35Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486015.60 epoch sec; seqNo:696; 4061645.24 north; 594229.69 east 2020-12-09T03:53:35Z- waiting for 1607486017.40, time is 1607486015.19 2020-12-09T03:53:35Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:35Z- AHRS_M2 msg: 1607486015.99 epoch sec; seqNo:669 2020-12-09T03:53:35Z- AHRS_M2 msg: 1.87 phi; -0.09 theta; -0.40 psi 2020-12-09T03:53:35Z- waiting for 1607486017.40, time is 1607486015.19 2020-12-09T03:53:35Z- sync is 0.80, coherence is 2.00 2020-12-09T03:53:35Z- handleDepth()-Depth_Keller msg: 34.86 epoch sec; seqNo:1607486015995; depth 0.00 2020-12-09T03:53:35Z- waiting for 1607486017.40, time is 1607486015.19 2020-12-09T03:53:35Z- sync is 0.80, coherence is 2.00 2020-12-09T03:53:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486016.01 epoch sec; seqNo:697; 4061645.24 north; 594229.69 east 2020-12-09T03:53:35Z- waiting for 1607486017.40, time is 1607486015.19 2020-12-09T03:53:35Z- sync is 0.82, coherence is 2.00 2020-12-09T03:53:36Z- AHRS_M2 msg: 1607486016.39 epoch sec; seqNo:670 2020-12-09T03:53:36Z- AHRS_M2 msg: 1.83 phi; -0.09 theta; -0.41 psi 2020-12-09T03:53:36Z- waiting for 1607486017.40, time is 1607486015.19 2020-12-09T03:53:36Z- sync is 1.20, coherence is 2.00 2020-12-09T03:53:36Z- handleDepth()-Depth_Keller msg: 34.91 epoch sec; seqNo:1607486016400; depth 0.00 2020-12-09T03:53:36Z- waiting for 1607486017.40, time is 1607486015.19 2020-12-09T03:53:36Z- sync is 1.20, coherence is 2.00 2020-12-09T03:53:36Z- handleDvl() - RDI_Pathfinder msg: 1607486016.41 epoch sec; seqNo:286 2020-12-09T03:53:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.42 , 88.16 , 59.18 , 68.97 2020-12-09T03:53:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.52 , 0.06 , 0.10 2020-12-09T03:53:36Z- waiting for 1607486017.40, time is 1607486016.41 2020-12-09T03:53:36Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486016.43 epoch sec; seqNo:698; 4061644.86 north; 594229.69 east 2020-12-09T03:53:36Z- waiting for 1607486017.40, time is 1607486016.41 2020-12-09T03:53:36Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:36Z- AHRS_M2 msg: 1607486016.79 epoch sec; seqNo:671 2020-12-09T03:53:36Z- AHRS_M2 msg: 1.79 phi; -0.10 theta; -0.41 psi 2020-12-09T03:53:36Z- waiting for 1607486017.40, time is 1607486016.41 2020-12-09T03:53:36Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:36Z- handleDepth()-Depth_Keller msg: 34.95 epoch sec; seqNo:1607486016797; depth 0.00 2020-12-09T03:53:36Z- waiting for 1607486017.40, time is 1607486016.41 2020-12-09T03:53:36Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486016.81 epoch sec; seqNo:699; 4061644.87 north; 594230.91 east 2020-12-09T03:53:36Z- waiting for 1607486017.40, time is 1607486016.41 2020-12-09T03:53:36Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:36Z- AHRS_M2 msg: 1607486017.20 epoch sec; seqNo:672 2020-12-09T03:53:36Z- AHRS_M2 msg: 1.76 phi; -0.10 theta; -0.42 psi 2020-12-09T03:53:36Z- waiting for 1607486017.40, time is 1607486016.41 2020-12-09T03:53:36Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:36Z- handleDepth()-Depth_Keller msg: 34.99 epoch sec; seqNo:1607486017205; depth 0.00 2020-12-09T03:53:36Z- waiting for 1607486017.40, time is 1607486016.41 2020-12-09T03:53:36Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:36Z- handleDvl() - RDI_Pathfinder msg: 1607486017.22 epoch sec; seqNo:287 2020-12-09T03:53:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.83 , 89.24 , 59.59 , 78.45 2020-12-09T03:53:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.63 , 0.10 , 0.13 2020-12-09T03:53:37Z- waiting for 1607486017.40, time is 1607486017.22 2020-12-09T03:53:37Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486017.25 epoch sec; seqNo:700; 4061644.87 north; 594230.91 east 2020-12-09T03:53:37Z- waiting for 1607486017.40, time is 1607486017.22 2020-12-09T03:53:37Z- sync is 0.04, coherence is 2.00 2020-12-09T03:53:37Z- AHRS_M2 msg: 1607486017.60 epoch sec; seqNo:673 2020-12-09T03:53:37Z- AHRS_M2 msg: 1.72 phi; -0.10 theta; -0.42 psi 2020-12-09T03:53:37Z- waiting for 1607486017.40, time is 1607486017.22 2020-12-09T03:53:37Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:37Z- handleDepth()-Depth_Keller msg: 35.03 epoch sec; seqNo:1607486017607; depth 0.00 2020-12-09T03:53:37Z- waiting for 1607486017.40, time is 1607486017.22 2020-12-09T03:53:37Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486017.63 epoch sec; seqNo:701; 4061644.87 north; 594230.91 east 2020-12-09T03:53:37Z- waiting for 1607486017.40, time is 1607486017.22 2020-12-09T03:53:37Z- sync is 0.41, coherence is 2.00 2020-12-09T03:53:37Z- AHRS_M2 msg: 1607486018.00 epoch sec; seqNo:674 2020-12-09T03:53:37Z- AHRS_M2 msg: 1.69 phi; -0.10 theta; -0.42 psi 2020-12-09T03:53:37Z- waiting for 1607486017.40, time is 1607486017.22 2020-12-09T03:53:37Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:37Z- handleDepth()-Depth_Keller msg: 35.09 epoch sec; seqNo:1607486018033; depth 0.00 2020-12-09T03:53:37Z- waiting for 1607486017.40, time is 1607486017.22 2020-12-09T03:53:37Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486018.05 epoch sec; seqNo:702; 4061644.50 north; 594230.92 east 2020-12-09T03:53:37Z- waiting for 1607486017.40, time is 1607486017.22 2020-12-09T03:53:37Z- sync is 0.83, coherence is 2.00 2020-12-09T03:53:38Z- AHRS_M2 msg: 1607486018.41 epoch sec; seqNo:675 2020-12-09T03:53:38Z- AHRS_M2 msg: 1.62 phi; -0.11 theta; -0.41 psi 2020-12-09T03:53:38Z- waiting for 1607486017.40, time is 1607486017.22 2020-12-09T03:53:38Z- sync is 1.20, coherence is 2.00 2020-12-09T03:53:38Z- handleDepth()-Depth_Keller msg: 35.13 epoch sec; seqNo:1607486018420; depth 0.00 2020-12-09T03:53:38Z- waiting for 1607486017.40, time is 1607486017.22 2020-12-09T03:53:38Z- sync is 1.20, coherence is 2.00 2020-12-09T03:53:38Z- handleDvl() - RDI_Pathfinder msg: 1607486018.44 epoch sec; seqNo:288 2020-12-09T03:53:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.20 , 91.40 , 59.59 , 70.61 2020-12-09T03:53:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , 0.12 , 0.10 2020-12-09T03:53:38Z- waiting for 1607486017.40, time is 1607486018.44 2020-12-09T03:53:38Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:38Z- LcmTrn::updateTrn() >>>> pose time 1607486018.41, meas time 1607486018.44 <<<< 2020-12-09T03:53:38Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607486018.44 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:53:38Z- TerrainNav::motionUpdate() - currEstimate = (4061644, 594230.92, 35.13) 2020-12-09T03:53:38Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:53:38Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:53:38Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:53:38Z- TNavBF::mmse selected from filter -1 2020-12-09T03:53:38Z- variances([0], [2], and psi_berg) = 809.525537 833.126562 0.000000 2020-12-09T03:53:38Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:53:38Z- LcmTrn::cycle() - MLE : 4061612.00 594182.42 35.13 2020-12-09T03:53:38Z- LcmTrn::cycle() - MMSE : 4061644.50 594230.92 35.13 2020-12-09T03:53:38Z- LcmTrn::cycle() - COVAR: 809.53 833.13 37.10 0.00 2020-12-09T03:53:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486018.45 epoch sec; seqNo:703; 4061644.50 north; 594230.92 east 2020-12-09T03:53:38Z- waiting for 1607486021.44, time is 1607486018.44 2020-12-09T03:53:38Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:38Z- AHRS_M2 msg: 1607486018.82 epoch sec; seqNo:676 2020-12-09T03:53:38Z- AHRS_M2 msg: 1.59 phi; -0.11 theta; -0.41 psi 2020-12-09T03:53:38Z- waiting for 1607486021.44, time is 1607486018.44 2020-12-09T03:53:38Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:38Z- handleDepth()-Depth_Keller msg: 35.17 epoch sec; seqNo:1607486018821; depth 0.00 2020-12-09T03:53:38Z- waiting for 1607486021.44, time is 1607486018.44 2020-12-09T03:53:38Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486018.83 epoch sec; seqNo:704; 4061644.51 north; 594232.14 east 2020-12-09T03:53:38Z- waiting for 1607486021.44, time is 1607486018.44 2020-12-09T03:53:38Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:38Z- AHRS_M2 msg: 1607486019.22 epoch sec; seqNo:677 2020-12-09T03:53:38Z- AHRS_M2 msg: 1.56 phi; -0.11 theta; -0.41 psi 2020-12-09T03:53:38Z- waiting for 1607486021.44, time is 1607486018.44 2020-12-09T03:53:38Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:39Z- handleDepth()-Depth_Keller msg: 35.23 epoch sec; seqNo:1607486019237; depth 0.00 2020-12-09T03:53:39Z- waiting for 1607486021.44, time is 1607486018.44 2020-12-09T03:53:39Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:39Z- handleDvl() - RDI_Pathfinder msg: 1607486019.25 epoch sec; seqNo:289 2020-12-09T03:53:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.24 , 0.00 , 59.18 , 70.20 2020-12-09T03:53:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , 0.13 , 0.06 2020-12-09T03:53:39Z- waiting for 1607486021.44, time is 1607486019.25 2020-12-09T03:53:39Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486019.27 epoch sec; seqNo:705; 4061644.51 north; 594232.14 east 2020-12-09T03:53:39Z- waiting for 1607486021.44, time is 1607486019.25 2020-12-09T03:53:39Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:39Z- AHRS_M2 msg: 1607486019.62 epoch sec; seqNo:678 2020-12-09T03:53:39Z- AHRS_M2 msg: 1.52 phi; -0.12 theta; -0.41 psi 2020-12-09T03:53:39Z- waiting for 1607486021.44, time is 1607486019.25 2020-12-09T03:53:39Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:39Z- handleDepth()-Depth_Keller msg: 35.28 epoch sec; seqNo:1607486019626; depth 0.00 2020-12-09T03:53:39Z- waiting for 1607486021.44, time is 1607486019.25 2020-12-09T03:53:39Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486019.66 epoch sec; seqNo:706; 4061644.51 north; 594232.14 east 2020-12-09T03:53:39Z- waiting for 1607486021.44, time is 1607486019.25 2020-12-09T03:53:39Z- sync is 0.41, coherence is 2.00 2020-12-09T03:53:39Z- AHRS_M2 msg: 1607486020.03 epoch sec; seqNo:679 2020-12-09T03:53:39Z- AHRS_M2 msg: 1.49 phi; -0.12 theta; -0.41 psi 2020-12-09T03:53:39Z- waiting for 1607486021.44, time is 1607486019.25 2020-12-09T03:53:39Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:39Z- handleDepth()-Depth_Keller msg: 35.33 epoch sec; seqNo:1607486020033; depth 0.00 2020-12-09T03:53:39Z- waiting for 1607486021.44, time is 1607486019.25 2020-12-09T03:53:39Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:39Z- handleDvl() - RDI_Pathfinder msg: 1607486020.05 epoch sec; seqNo:290 2020-12-09T03:53:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 52.06 , 0.00 , 59.29 , 0.00 2020-12-09T03:53:39Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:53:39Z- waiting for 1607486021.44, time is 1607486020.05 2020-12-09T03:53:39Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486020.08 epoch sec; seqNo:707; 4061644.51 north; 594232.14 east 2020-12-09T03:53:39Z- waiting for 1607486021.44, time is 1607486020.05 2020-12-09T03:53:39Z- sync is 0.04, coherence is 2.00 2020-12-09T03:53:40Z- AHRS_M2 msg: 1607486020.43 epoch sec; seqNo:680 2020-12-09T03:53:40Z- AHRS_M2 msg: 1.46 phi; -0.12 theta; -0.42 psi 2020-12-09T03:53:40Z- waiting for 1607486021.44, time is 1607486020.05 2020-12-09T03:53:40Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:40Z- handleDepth()-Depth_Keller msg: 35.38 epoch sec; seqNo:1607486020437; depth 0.00 2020-12-09T03:53:40Z- waiting for 1607486021.44, time is 1607486020.05 2020-12-09T03:53:40Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486020.45 epoch sec; seqNo:708; 4061644.52 north; 594233.36 east 2020-12-09T03:53:40Z- waiting for 1607486021.44, time is 1607486020.05 2020-12-09T03:53:40Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:40Z- AHRS_M2 msg: 1607486020.83 epoch sec; seqNo:681 2020-12-09T03:53:40Z- AHRS_M2 msg: 1.43 phi; -0.12 theta; -0.42 psi 2020-12-09T03:53:40Z- waiting for 1607486021.44, time is 1607486020.05 2020-12-09T03:53:40Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:40Z- handleDepth()-Depth_Keller msg: 35.42 epoch sec; seqNo:1607486020847; depth 0.00 2020-12-09T03:53:40Z- waiting for 1607486021.44, time is 1607486020.05 2020-12-09T03:53:40Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:40Z- handleDvl() - RDI_Pathfinder msg: 1607486020.86 epoch sec; seqNo:291 2020-12-09T03:53:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.03 , 0.00 , 59.51 , 71.86 2020-12-09T03:53:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , 0.09 , -0.00 2020-12-09T03:53:40Z- waiting for 1607486021.44, time is 1607486020.86 2020-12-09T03:53:40Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486020.87 epoch sec; seqNo:709; 4061644.52 north; 594233.36 east 2020-12-09T03:53:40Z- waiting for 1607486021.44, time is 1607486020.86 2020-12-09T03:53:40Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:41Z- AHRS_M2 msg: 1607486021.24 epoch sec; seqNo:682 2020-12-09T03:53:41Z- AHRS_M2 msg: 1.39 phi; -0.13 theta; -0.42 psi 2020-12-09T03:53:41Z- waiting for 1607486021.44, time is 1607486020.86 2020-12-09T03:53:41Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:41Z- handleDepth()-Depth_Keller msg: 35.48 epoch sec; seqNo:1607486021241; depth 0.00 2020-12-09T03:53:41Z- waiting for 1607486021.44, time is 1607486020.86 2020-12-09T03:53:41Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486021.25 epoch sec; seqNo:710; 4061644.52 north; 594233.36 east 2020-12-09T03:53:41Z- waiting for 1607486021.44, time is 1607486020.86 2020-12-09T03:53:41Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:41Z- AHRS_M2 msg: 1607486021.64 epoch sec; seqNo:683 2020-12-09T03:53:41Z- AHRS_M2 msg: 1.36 phi; -0.13 theta; -0.42 psi 2020-12-09T03:53:41Z- waiting for 1607486021.44, time is 1607486020.86 2020-12-09T03:53:41Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:41Z- handleDepth()-Depth_Keller msg: 35.53 epoch sec; seqNo:1607486021649; depth 0.00 2020-12-09T03:53:41Z- waiting for 1607486021.44, time is 1607486020.86 2020-12-09T03:53:41Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486021.66 epoch sec; seqNo:711; 4061644.52 north; 594233.36 east 2020-12-09T03:53:41Z- waiting for 1607486021.44, time is 1607486020.86 2020-12-09T03:53:41Z- sync is 0.81, coherence is 2.00 2020-12-09T03:53:41Z- AHRS_M2 msg: 1607486022.05 epoch sec; seqNo:684 2020-12-09T03:53:41Z- AHRS_M2 msg: 1.33 phi; -0.13 theta; -0.42 psi 2020-12-09T03:53:41Z- waiting for 1607486021.44, time is 1607486020.86 2020-12-09T03:53:41Z- sync is 1.19, coherence is 2.00 2020-12-09T03:53:41Z- handleDepth()-Depth_Keller msg: 35.58 epoch sec; seqNo:1607486022056; depth 0.00 2020-12-09T03:53:41Z- waiting for 1607486021.44, time is 1607486020.86 2020-12-09T03:53:41Z- sync is 1.19, coherence is 2.00 2020-12-09T03:53:41Z- handleDvl() - RDI_Pathfinder msg: 1607486022.07 epoch sec; seqNo:292 2020-12-09T03:53:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 52.06 , 0.00 , 59.29 , 0.00 2020-12-09T03:53:41Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:53:41Z- waiting for 1607486021.44, time is 1607486022.07 2020-12-09T03:53:41Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:41Z- LcmTrn::updateTrn() >>>> pose time 1607486022.05, meas time 1607486022.07 <<<< 2020-12-09T03:53:41Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607486022.07 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:53:41Z- TerrainNav::motionUpdate() - currEstimate = (4061645, 594233.36, 35.58) 2020-12-09T03:53:41Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:53:41Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:53:41Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T03:53:41Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T03:53:41Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:53:41Z- TNavBF::mmse selected from filter -1 2020-12-09T03:53:41Z- variances([0], [2], and psi_berg) = 809.303692 833.125928 0.000000 2020-12-09T03:53:41Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:53:41Z- LcmTrn::cycle() - MLE : 4061612.02 594186.86 35.58 2020-12-09T03:53:41Z- LcmTrn::cycle() - MMSE : 4061644.52 594233.36 35.58 2020-12-09T03:53:41Z- LcmTrn::cycle() - COVAR: 809.30 833.13 37.22 0.00 2020-12-09T03:53:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486022.08 epoch sec; seqNo:712; 4061644.54 north; 594234.58 east 2020-12-09T03:53:41Z- waiting for 1607486025.07, time is 1607486022.07 2020-12-09T03:53:41Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:42Z- AHRS_M2 msg: 1607486022.45 epoch sec; seqNo:685 2020-12-09T03:53:42Z- AHRS_M2 msg: 1.30 phi; -0.14 theta; -0.42 psi 2020-12-09T03:53:42Z- waiting for 1607486025.07, time is 1607486022.07 2020-12-09T03:53:42Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:42Z- handleDepth()-Depth_Keller msg: 35.64 epoch sec; seqNo:1607486022451; depth 0.00 2020-12-09T03:53:42Z- waiting for 1607486025.07, time is 1607486022.07 2020-12-09T03:53:42Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486022.47 epoch sec; seqNo:713; 4061644.54 north; 594234.58 east 2020-12-09T03:53:42Z- waiting for 1607486025.07, time is 1607486022.07 2020-12-09T03:53:42Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:42Z- AHRS_M2 msg: 1607486022.85 epoch sec; seqNo:686 2020-12-09T03:53:42Z- AHRS_M2 msg: 1.26 phi; -0.14 theta; -0.43 psi 2020-12-09T03:53:42Z- waiting for 1607486025.07, time is 1607486022.07 2020-12-09T03:53:42Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:42Z- handleDepth()-Depth_Keller msg: 35.67 epoch sec; seqNo:1607486022857; depth 0.00 2020-12-09T03:53:42Z- waiting for 1607486025.07, time is 1607486022.07 2020-12-09T03:53:42Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:42Z- handleDvl() - RDI_Pathfinder msg: 1607486022.87 epoch sec; seqNo:293 2020-12-09T03:53:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 52.03 , 0.00 , 58.76 , 0.00 2020-12-09T03:53:42Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:53:42Z- waiting for 1607486025.07, time is 1607486022.87 2020-12-09T03:53:42Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486022.91 epoch sec; seqNo:714; 4061644.54 north; 594234.58 east 2020-12-09T03:53:42Z- waiting for 1607486025.07, time is 1607486022.87 2020-12-09T03:53:42Z- sync is 0.04, coherence is 2.00 2020-12-09T03:53:43Z- AHRS_M2 msg: 1607486023.26 epoch sec; seqNo:687 2020-12-09T03:53:43Z- AHRS_M2 msg: 1.23 phi; -0.14 theta; -0.43 psi 2020-12-09T03:53:43Z- waiting for 1607486025.07, time is 1607486022.87 2020-12-09T03:53:43Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:43Z- handleDepth()-Depth_Keller msg: 35.74 epoch sec; seqNo:1607486023265; depth 0.00 2020-12-09T03:53:43Z- waiting for 1607486025.07, time is 1607486022.87 2020-12-09T03:53:43Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486023.28 epoch sec; seqNo:715; 4061644.93 north; 594235.79 east 2020-12-09T03:53:43Z- waiting for 1607486025.07, time is 1607486022.87 2020-12-09T03:53:43Z- sync is 0.41, coherence is 2.00 2020-12-09T03:53:43Z- AHRS_M2 msg: 1607486023.67 epoch sec; seqNo:688 2020-12-09T03:53:43Z- AHRS_M2 msg: 1.20 phi; -0.15 theta; -0.43 psi 2020-12-09T03:53:43Z- waiting for 1607486025.07, time is 1607486022.87 2020-12-09T03:53:43Z- sync is 0.80, coherence is 2.00 2020-12-09T03:53:43Z- handleDepth()-Depth_Keller msg: 35.79 epoch sec; seqNo:1607486023677; depth 0.00 2020-12-09T03:53:43Z- waiting for 1607486025.07, time is 1607486022.87 2020-12-09T03:53:43Z- sync is 0.80, coherence is 2.00 2020-12-09T03:53:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486023.69 epoch sec; seqNo:716; 4061644.93 north; 594235.79 east 2020-12-09T03:53:43Z- waiting for 1607486025.07, time is 1607486022.87 2020-12-09T03:53:43Z- sync is 0.82, coherence is 2.00 2020-12-09T03:53:43Z- AHRS_M2 msg: 1607486024.06 epoch sec; seqNo:689 2020-12-09T03:53:43Z- AHRS_M2 msg: 1.16 phi; -0.15 theta; -0.43 psi 2020-12-09T03:53:43Z- waiting for 1607486025.07, time is 1607486022.87 2020-12-09T03:53:43Z- sync is 1.19, coherence is 2.00 2020-12-09T03:53:43Z- handleDepth()-Depth_Keller msg: 35.83 epoch sec; seqNo:1607486024073; depth 0.00 2020-12-09T03:53:43Z- waiting for 1607486025.07, time is 1607486022.87 2020-12-09T03:53:43Z- sync is 1.19, coherence is 2.00 2020-12-09T03:53:43Z- handleDvl() - RDI_Pathfinder msg: 1607486024.10 epoch sec; seqNo:294 2020-12-09T03:53:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 51.65 , 0.00 , 58.76 , 0.00 2020-12-09T03:53:43Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:53:43Z- waiting for 1607486025.07, time is 1607486024.10 2020-12-09T03:53:43Z- sync is 0.04, coherence is 2.00 2020-12-09T03:53:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486024.11 epoch sec; seqNo:717; 4061644.93 north; 594235.79 east 2020-12-09T03:53:43Z- waiting for 1607486025.07, time is 1607486024.10 2020-12-09T03:53:43Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:44Z- AHRS_M2 msg: 1607486024.47 epoch sec; seqNo:690 2020-12-09T03:53:44Z- AHRS_M2 msg: 1.13 phi; -0.15 theta; -0.43 psi 2020-12-09T03:53:44Z- waiting for 1607486025.07, time is 1607486024.10 2020-12-09T03:53:44Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:44Z- handleDepth()-Depth_Keller msg: 35.87 epoch sec; seqNo:1607486024481; depth 0.00 2020-12-09T03:53:44Z- waiting for 1607486025.07, time is 1607486024.10 2020-12-09T03:53:44Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486024.49 epoch sec; seqNo:718; 4061644.93 north; 594235.79 east 2020-12-09T03:53:44Z- waiting for 1607486025.07, time is 1607486024.10 2020-12-09T03:53:44Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:44Z- AHRS_M2 msg: 1607486024.88 epoch sec; seqNo:691 2020-12-09T03:53:44Z- AHRS_M2 msg: 1.10 phi; -0.16 theta; -0.42 psi 2020-12-09T03:53:44Z- waiting for 1607486025.07, time is 1607486024.10 2020-12-09T03:53:44Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:44Z- handleDepth()-Depth_Keller msg: 35.93 epoch sec; seqNo:1607486024886; depth 0.00 2020-12-09T03:53:44Z- waiting for 1607486025.07, time is 1607486024.10 2020-12-09T03:53:44Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:44Z- handleDvl() - RDI_Pathfinder msg: 1607486024.90 epoch sec; seqNo:295 2020-12-09T03:53:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 51.28 , 0.00 , 57.64 , 0.00 2020-12-09T03:53:44Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:53:44Z- waiting for 1607486025.07, time is 1607486024.90 2020-12-09T03:53:44Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486024.93 epoch sec; seqNo:719; 4061645.32 north; 594237.01 east 2020-12-09T03:53:44Z- waiting for 1607486025.07, time is 1607486024.90 2020-12-09T03:53:44Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:45Z- AHRS_M2 msg: 1607486025.28 epoch sec; seqNo:692 2020-12-09T03:53:45Z- AHRS_M2 msg: 1.06 phi; -0.16 theta; -0.42 psi 2020-12-09T03:53:45Z- waiting for 1607486025.07, time is 1607486024.90 2020-12-09T03:53:45Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:45Z- handleDepth()-Depth_Keller msg: 35.97 epoch sec; seqNo:1607486025283; depth 0.00 2020-12-09T03:53:45Z- waiting for 1607486025.07, time is 1607486024.90 2020-12-09T03:53:45Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486025.30 epoch sec; seqNo:720; 4061645.32 north; 594237.01 east 2020-12-09T03:53:45Z- waiting for 1607486025.07, time is 1607486024.90 2020-12-09T03:53:45Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:45Z- AHRS_M2 msg: 1607486025.68 epoch sec; seqNo:693 2020-12-09T03:53:45Z- AHRS_M2 msg: 1.03 phi; -0.16 theta; -0.43 psi 2020-12-09T03:53:45Z- waiting for 1607486025.07, time is 1607486024.90 2020-12-09T03:53:45Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:45Z- handleDepth()-Depth_Keller msg: 36.01 epoch sec; seqNo:1607486025685; depth 0.00 2020-12-09T03:53:45Z- waiting for 1607486025.07, time is 1607486024.90 2020-12-09T03:53:45Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486025.70 epoch sec; seqNo:721; 4061645.70 north; 594237.01 east 2020-12-09T03:53:45Z- waiting for 1607486025.07, time is 1607486024.90 2020-12-09T03:53:45Z- sync is 0.80, coherence is 2.00 2020-12-09T03:53:45Z- AHRS_M2 msg: 1607486026.09 epoch sec; seqNo:694 2020-12-09T03:53:45Z- AHRS_M2 msg: 0.99 phi; -0.17 theta; -0.43 psi 2020-12-09T03:53:45Z- waiting for 1607486025.07, time is 1607486024.90 2020-12-09T03:53:45Z- sync is 1.19, coherence is 2.00 2020-12-09T03:53:45Z- handleDepth()-Depth_Keller msg: 36.06 epoch sec; seqNo:1607486026097; depth 0.00 2020-12-09T03:53:45Z- waiting for 1607486025.07, time is 1607486024.90 2020-12-09T03:53:45Z- sync is 1.19, coherence is 2.00 2020-12-09T03:53:45Z- handleDvl() - RDI_Pathfinder msg: 1607486026.12 epoch sec; seqNo:296 2020-12-09T03:53:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T03:53:45Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:53:45Z- waiting for 1607486025.07, time is 1607486026.12 2020-12-09T03:53:45Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:45Z- LcmTrn::updateTrn() >>>> pose time 1607486026.09, meas time 1607486026.12 <<<< 2020-12-09T03:53:45Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607486026.12, ping # 0. 2020-12-09T03:53:45Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607486026.12 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:53:45Z- TerrainNav::motionUpdate() - currEstimate = (4061646, 594237.01, 36.06) 2020-12-09T03:53:45Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:53:45Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:53:45Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T03:53:45Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T03:53:45Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:53:45Z- TNavBF::mmse selected from filter -1 2020-12-09T03:53:45Z- variances([0], [2], and psi_berg) = 809.027258 833.125143 0.000000 2020-12-09T03:53:45Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:53:45Z- LcmTrn::cycle() - MLE : 4061613.20 594190.51 36.06 2020-12-09T03:53:45Z- LcmTrn::cycle() - MMSE : 4061645.70 594237.01 36.06 2020-12-09T03:53:45Z- LcmTrn::cycle() - COVAR: 809.03 833.13 37.42 0.00 2020-12-09T03:53:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486026.13 epoch sec; seqNo:722; 4061645.70 north; 594237.01 east 2020-12-09T03:53:45Z- waiting for 1607486029.12, time is 1607486026.12 2020-12-09T03:53:45Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:46Z- AHRS_M2 msg: 1607486026.49 epoch sec; seqNo:695 2020-12-09T03:53:46Z- AHRS_M2 msg: 0.96 phi; -0.17 theta; -0.43 psi 2020-12-09T03:53:46Z- waiting for 1607486029.12, time is 1607486026.12 2020-12-09T03:53:46Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:46Z- handleDepth()-Depth_Keller msg: 36.10 epoch sec; seqNo:1607486026500; depth 0.00 2020-12-09T03:53:46Z- waiting for 1607486029.12, time is 1607486026.12 2020-12-09T03:53:46Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486026.51 epoch sec; seqNo:723; 4061645.71 north; 594238.23 east 2020-12-09T03:53:46Z- waiting for 1607486029.12, time is 1607486026.12 2020-12-09T03:53:46Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:46Z- AHRS_M2 msg: 1607486026.89 epoch sec; seqNo:696 2020-12-09T03:53:46Z- AHRS_M2 msg: 0.92 phi; -0.17 theta; -0.43 psi 2020-12-09T03:53:46Z- waiting for 1607486029.12, time is 1607486026.12 2020-12-09T03:53:46Z- sync is 0.77, coherence is 2.00 2020-12-09T03:53:46Z- handleDepth()-Depth_Keller msg: 36.14 epoch sec; seqNo:1607486026898; depth 0.00 2020-12-09T03:53:46Z- waiting for 1607486029.12, time is 1607486026.12 2020-12-09T03:53:46Z- sync is 0.77, coherence is 2.00 2020-12-09T03:53:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486026.91 epoch sec; seqNo:724; 4061646.09 north; 594238.22 east 2020-12-09T03:53:46Z- waiting for 1607486029.12, time is 1607486026.12 2020-12-09T03:53:46Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:47Z- AHRS_M2 msg: 1607486027.30 epoch sec; seqNo:697 2020-12-09T03:53:47Z- AHRS_M2 msg: 0.89 phi; -0.18 theta; -0.43 psi 2020-12-09T03:53:47Z- waiting for 1607486029.12, time is 1607486026.12 2020-12-09T03:53:47Z- sync is 1.18, coherence is 2.00 2020-12-09T03:53:47Z- handleDepth()-Depth_Keller msg: 36.18 epoch sec; seqNo:1607486027316; depth 0.00 2020-12-09T03:53:47Z- waiting for 1607486029.12, time is 1607486026.12 2020-12-09T03:53:47Z- sync is 1.18, coherence is 2.00 2020-12-09T03:53:47Z- handleDvl() - RDI_Pathfinder msg: 1607486027.33 epoch sec; seqNo:297 2020-12-09T03:53:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T03:53:47Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T03:53:47Z- waiting for 1607486029.12, time is 1607486027.33 2020-12-09T03:53:47Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486027.34 epoch sec; seqNo:725; 4061646.09 north; 594238.22 east 2020-12-09T03:53:47Z- waiting for 1607486029.12, time is 1607486027.33 2020-12-09T03:53:47Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:47Z- handleDepth()-Depth_Keller msg: 36.23 epoch sec; seqNo:1607486027721; depth 0.00 2020-12-09T03:53:47Z- waiting for 1607486029.12, time is 1607486027.33 2020-12-09T03:53:47Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486027.74 epoch sec; seqNo:726; 4061646.47 north; 594238.22 east 2020-12-09T03:53:47Z- waiting for 1607486029.12, time is 1607486027.33 2020-12-09T03:53:47Z- sync is 0.41, coherence is 2.00 2020-12-09T03:53:47Z- AHRS_M2 msg: 1607486028.11 epoch sec; seqNo:698 2020-12-09T03:53:47Z- AHRS_M2 msg: 0.82 phi; -0.18 theta; -0.42 psi 2020-12-09T03:53:47Z- waiting for 1607486029.12, time is 1607486027.33 2020-12-09T03:53:47Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:47Z- handleDepth()-Depth_Keller msg: 36.27 epoch sec; seqNo:1607486028113; depth 0.00 2020-12-09T03:53:47Z- waiting for 1607486029.12, time is 1607486027.33 2020-12-09T03:53:47Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486028.12 epoch sec; seqNo:727; 4061646.48 north; 594239.44 east 2020-12-09T03:53:47Z- waiting for 1607486029.12, time is 1607486027.33 2020-12-09T03:53:47Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:48Z- AHRS_M2 msg: 1607486028.51 epoch sec; seqNo:699 2020-12-09T03:53:48Z- AHRS_M2 msg: 0.80 phi; -0.18 theta; -0.41 psi 2020-12-09T03:53:48Z- waiting for 1607486029.12, time is 1607486027.33 2020-12-09T03:53:48Z- sync is 1.18, coherence is 2.00 2020-12-09T03:53:48Z- handleDepth()-Depth_Keller msg: 36.31 epoch sec; seqNo:1607486028519; depth 0.00 2020-12-09T03:53:48Z- waiting for 1607486029.12, time is 1607486027.33 2020-12-09T03:53:48Z- sync is 1.18, coherence is 2.00 2020-12-09T03:53:48Z- handleDvl() - RDI_Pathfinder msg: 1607486028.54 epoch sec; seqNo:298 2020-12-09T03:53:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.29 , 91.27 , 56.59 , 77.91 2020-12-09T03:53:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.03 , 0.00 2020-12-09T03:53:48Z- waiting for 1607486029.12, time is 1607486028.54 2020-12-09T03:53:48Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486028.55 epoch sec; seqNo:728; 4061646.86 north; 594239.43 east 2020-12-09T03:53:48Z- waiting for 1607486029.12, time is 1607486028.54 2020-12-09T03:53:48Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:48Z- AHRS_M2 msg: 1607486028.91 epoch sec; seqNo:700 2020-12-09T03:53:48Z- AHRS_M2 msg: 0.77 phi; -0.18 theta; -0.41 psi 2020-12-09T03:53:48Z- waiting for 1607486029.12, time is 1607486028.54 2020-12-09T03:53:48Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:48Z- handleDepth()-Depth_Keller msg: 36.35 epoch sec; seqNo:1607486028917; depth 0.00 2020-12-09T03:53:48Z- waiting for 1607486029.12, time is 1607486028.54 2020-12-09T03:53:48Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486028.94 epoch sec; seqNo:729; 4061647.24 north; 594239.43 east 2020-12-09T03:53:48Z- waiting for 1607486029.12, time is 1607486028.54 2020-12-09T03:53:48Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:49Z- AHRS_M2 msg: 1607486029.32 epoch sec; seqNo:701 2020-12-09T03:53:49Z- AHRS_M2 msg: 0.74 phi; -0.18 theta; -0.40 psi 2020-12-09T03:53:49Z- waiting for 1607486029.12, time is 1607486028.54 2020-12-09T03:53:49Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:49Z- handleDepth()-Depth_Keller msg: 36.40 epoch sec; seqNo:1607486029321; depth 0.00 2020-12-09T03:53:49Z- waiting for 1607486029.12, time is 1607486028.54 2020-12-09T03:53:49Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:49Z- handleDvl() - RDI_Pathfinder msg: 1607486029.33 epoch sec; seqNo:299 2020-12-09T03:53:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.02 , 86.00 , 55.10 , 78.45 2020-12-09T03:53:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.01 , -0.02 2020-12-09T03:53:49Z- waiting for 1607486029.12, time is 1607486029.33 2020-12-09T03:53:49Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:49Z- LcmTrn::updateTrn() >>>> pose time 1607486029.32, meas time 1607486029.33 <<<< 2020-12-09T03:53:49Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607486029.33 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:53:49Z- TerrainNav::motionUpdate() - currEstimate = (4061647, 594239.43, 36.40) 2020-12-09T03:53:49Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:53:49Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:53:49Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:53:49Z- TNavBF::mmse selected from filter -1 2020-12-09T03:53:49Z- variances([0], [2], and psi_berg) = 808.789666 833.124475 0.000000 2020-12-09T03:53:49Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:53:49Z- LcmTrn::cycle() - MLE : 4061614.74 594192.93 36.40 2020-12-09T03:53:49Z- LcmTrn::cycle() - MMSE : 4061647.24 594239.43 36.40 2020-12-09T03:53:49Z- LcmTrn::cycle() - COVAR: 808.79 833.12 37.56 0.00 2020-12-09T03:53:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486029.36 epoch sec; seqNo:730; 4061647.24 north; 594239.43 east 2020-12-09T03:53:49Z- waiting for 1607486032.33, time is 1607486029.33 2020-12-09T03:53:49Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:49Z- AHRS_M2 msg: 1607486029.72 epoch sec; seqNo:702 2020-12-09T03:53:49Z- AHRS_M2 msg: 0.72 phi; -0.18 theta; -0.39 psi 2020-12-09T03:53:49Z- waiting for 1607486032.33, time is 1607486029.33 2020-12-09T03:53:49Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:49Z- handleDepth()-Depth_Keller msg: 36.44 epoch sec; seqNo:1607486029724; depth 0.00 2020-12-09T03:53:49Z- waiting for 1607486032.33, time is 1607486029.33 2020-12-09T03:53:49Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486029.74 epoch sec; seqNo:731; 4061647.62 north; 594239.43 east 2020-12-09T03:53:49Z- waiting for 1607486032.33, time is 1607486029.33 2020-12-09T03:53:49Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:49Z- AHRS_M2 msg: 1607486030.12 epoch sec; seqNo:703 2020-12-09T03:53:49Z- AHRS_M2 msg: 0.70 phi; -0.18 theta; -0.38 psi 2020-12-09T03:53:49Z- waiting for 1607486032.33, time is 1607486029.33 2020-12-09T03:53:49Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:49Z- handleDepth()-Depth_Keller msg: 36.47 epoch sec; seqNo:1607486030137; depth 0.00 2020-12-09T03:53:49Z- waiting for 1607486032.33, time is 1607486029.33 2020-12-09T03:53:49Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:49Z- handleDvl() - RDI_Pathfinder msg: 1607486030.15 epoch sec; seqNo:300 2020-12-09T03:53:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.02 , 84.92 , 55.10 , 0.00 2020-12-09T03:53:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.03 , -0.05 2020-12-09T03:53:49Z- waiting for 1607486032.33, time is 1607486030.15 2020-12-09T03:53:49Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486030.16 epoch sec; seqNo:732; 4061648.00 north; 594239.42 east 2020-12-09T03:53:49Z- waiting for 1607486032.33, time is 1607486030.15 2020-12-09T03:53:49Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:50Z- AHRS_M2 msg: 1607486030.53 epoch sec; seqNo:704 2020-12-09T03:53:50Z- AHRS_M2 msg: 0.68 phi; -0.18 theta; -0.37 psi 2020-12-09T03:53:50Z- waiting for 1607486032.33, time is 1607486030.15 2020-12-09T03:53:50Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:50Z- handleDepth()-Depth_Keller msg: 36.53 epoch sec; seqNo:1607486030546; depth 0.00 2020-12-09T03:53:50Z- waiting for 1607486032.33, time is 1607486030.15 2020-12-09T03:53:50Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486030.56 epoch sec; seqNo:733; 4061648.01 north; 594240.64 east 2020-12-09T03:53:50Z- waiting for 1607486032.33, time is 1607486030.15 2020-12-09T03:53:50Z- sync is 0.41, coherence is 2.00 2020-12-09T03:53:50Z- AHRS_M2 msg: 1607486030.93 epoch sec; seqNo:705 2020-12-09T03:53:50Z- AHRS_M2 msg: 0.67 phi; -0.18 theta; -0.36 psi 2020-12-09T03:53:50Z- waiting for 1607486032.33, time is 1607486030.15 2020-12-09T03:53:50Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:50Z- handleDepth()-Depth_Keller msg: 36.59 epoch sec; seqNo:1607486030937; depth 0.00 2020-12-09T03:53:50Z- waiting for 1607486032.33, time is 1607486030.15 2020-12-09T03:53:50Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486030.95 epoch sec; seqNo:734; 4061648.39 north; 594240.64 east 2020-12-09T03:53:50Z- waiting for 1607486032.33, time is 1607486030.15 2020-12-09T03:53:50Z- sync is 0.80, coherence is 2.00 2020-12-09T03:53:51Z- AHRS_M2 msg: 1607486031.34 epoch sec; seqNo:706 2020-12-09T03:53:51Z- AHRS_M2 msg: 0.65 phi; -0.18 theta; -0.35 psi 2020-12-09T03:53:51Z- waiting for 1607486032.33, time is 1607486030.15 2020-12-09T03:53:51Z- sync is 1.19, coherence is 2.00 2020-12-09T03:53:51Z- handleDepth()-Depth_Keller msg: 36.63 epoch sec; seqNo:1607486031341; depth 0.00 2020-12-09T03:53:51Z- waiting for 1607486032.33, time is 1607486030.15 2020-12-09T03:53:51Z- sync is 1.19, coherence is 2.00 2020-12-09T03:53:51Z- handleDvl() - RDI_Pathfinder msg: 1607486031.35 epoch sec; seqNo:301 2020-12-09T03:53:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.20 , 77.54 , 54.28 , 69.79 2020-12-09T03:53:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.07 , -0.09 2020-12-09T03:53:51Z- waiting for 1607486032.33, time is 1607486031.35 2020-12-09T03:53:51Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486031.37 epoch sec; seqNo:735; 4061648.77 north; 594240.63 east 2020-12-09T03:53:51Z- waiting for 1607486032.33, time is 1607486031.35 2020-12-09T03:53:51Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:51Z- AHRS_M2 msg: 1607486031.76 epoch sec; seqNo:707 2020-12-09T03:53:51Z- AHRS_M2 msg: 0.64 phi; -0.18 theta; -0.35 psi 2020-12-09T03:53:51Z- waiting for 1607486032.33, time is 1607486031.35 2020-12-09T03:53:51Z- sync is 0.41, coherence is 2.00 2020-12-09T03:53:51Z- handleDepth()-Depth_Keller msg: 36.65 epoch sec; seqNo:1607486031769; depth 0.00 2020-12-09T03:53:51Z- waiting for 1607486032.33, time is 1607486031.35 2020-12-09T03:53:51Z- sync is 0.41, coherence is 2.00 2020-12-09T03:53:51Z- handleDvl() - RDI_Pathfinder msg: 1607486031.78 epoch sec; seqNo:302 2020-12-09T03:53:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.19 , 75.19 , 54.08 , 69.69 2020-12-09T03:53:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.12 , -0.10 2020-12-09T03:53:51Z- waiting for 1607486032.33, time is 1607486031.78 2020-12-09T03:53:51Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486031.79 epoch sec; seqNo:736; 4061648.77 north; 594240.63 east 2020-12-09T03:53:51Z- waiting for 1607486032.33, time is 1607486031.78 2020-12-09T03:53:51Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:51Z- AHRS_M2 msg: 1607486032.14 epoch sec; seqNo:708 2020-12-09T03:53:51Z- AHRS_M2 msg: 0.63 phi; -0.18 theta; -0.34 psi 2020-12-09T03:53:51Z- waiting for 1607486032.33, time is 1607486031.78 2020-12-09T03:53:51Z- sync is 0.36, coherence is 2.00 2020-12-09T03:53:51Z- handleDepth()-Depth_Keller msg: 36.71 epoch sec; seqNo:1607486032149; depth 0.00 2020-12-09T03:53:51Z- waiting for 1607486032.33, time is 1607486031.78 2020-12-09T03:53:51Z- sync is 0.36, coherence is 2.00 2020-12-09T03:53:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486032.17 epoch sec; seqNo:737; 4061649.15 north; 594240.63 east 2020-12-09T03:53:51Z- waiting for 1607486032.33, time is 1607486031.78 2020-12-09T03:53:51Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:52Z- AHRS_M2 msg: 1607486032.55 epoch sec; seqNo:709 2020-12-09T03:53:52Z- AHRS_M2 msg: 0.62 phi; -0.18 theta; -0.33 psi 2020-12-09T03:53:52Z- waiting for 1607486032.33, time is 1607486031.78 2020-12-09T03:53:52Z- sync is 0.77, coherence is 2.00 2020-12-09T03:53:52Z- handleDepth()-Depth_Keller msg: 36.75 epoch sec; seqNo:1607486032552; depth 0.00 2020-12-09T03:53:52Z- waiting for 1607486032.33, time is 1607486031.78 2020-12-09T03:53:52Z- sync is 0.77, coherence is 2.00 2020-12-09T03:53:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486032.56 epoch sec; seqNo:738; 4061649.53 north; 594240.62 east 2020-12-09T03:53:52Z- waiting for 1607486032.33, time is 1607486031.78 2020-12-09T03:53:52Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:52Z- AHRS_M2 msg: 1607486032.95 epoch sec; seqNo:710 2020-12-09T03:53:52Z- AHRS_M2 msg: 0.61 phi; -0.18 theta; -0.32 psi 2020-12-09T03:53:52Z- waiting for 1607486032.33, time is 1607486031.78 2020-12-09T03:53:52Z- sync is 1.17, coherence is 2.00 2020-12-09T03:53:52Z- handleDepth()-Depth_Keller msg: 36.79 epoch sec; seqNo:1607486032965; depth 0.00 2020-12-09T03:53:52Z- waiting for 1607486032.33, time is 1607486031.78 2020-12-09T03:53:52Z- sync is 1.17, coherence is 2.00 2020-12-09T03:53:52Z- handleDvl() - RDI_Pathfinder msg: 1607486032.98 epoch sec; seqNo:303 2020-12-09T03:53:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.90 , 72.88 , 53.50 , 69.12 2020-12-09T03:53:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.18 , -0.10 2020-12-09T03:53:52Z- waiting for 1607486032.33, time is 1607486032.98 2020-12-09T03:53:52Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:52Z- LcmTrn::updateTrn() >>>> pose time 1607486032.95, meas time 1607486032.98 <<<< 2020-12-09T03:53:52Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607486032.98 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:53:52Z- TerrainNav::motionUpdate() - currEstimate = (4061650, 594240.62, 36.79) 2020-12-09T03:53:52Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:53:52Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:53:52Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:53:52Z- TNavBF::mmse selected from filter -1 2020-12-09T03:53:52Z- variances([0], [2], and psi_berg) = 808.565891 833.123851 0.000000 2020-12-09T03:53:52Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:53:52Z- LcmTrn::cycle() - MLE : 4061617.03 594194.12 36.79 2020-12-09T03:53:52Z- LcmTrn::cycle() - MMSE : 4061649.53 594240.62 36.79 2020-12-09T03:53:52Z- LcmTrn::cycle() - COVAR: 808.57 833.12 37.69 0.00 2020-12-09T03:53:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486033.01 epoch sec; seqNo:739; 4061649.91 north; 594240.62 east 2020-12-09T03:53:52Z- waiting for 1607486035.98, time is 1607486032.98 2020-12-09T03:53:52Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:53Z- AHRS_M2 msg: 1607486033.36 epoch sec; seqNo:711 2020-12-09T03:53:53Z- AHRS_M2 msg: 0.61 phi; -0.18 theta; -0.32 psi 2020-12-09T03:53:53Z- waiting for 1607486035.98, time is 1607486032.98 2020-12-09T03:53:53Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:53Z- handleDepth()-Depth_Keller msg: 36.86 epoch sec; seqNo:1607486033369; depth 0.00 2020-12-09T03:53:53Z- waiting for 1607486035.98, time is 1607486032.98 2020-12-09T03:53:53Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486033.38 epoch sec; seqNo:740; 4061650.29 north; 594240.62 east 2020-12-09T03:53:53Z- waiting for 1607486035.98, time is 1607486032.98 2020-12-09T03:53:53Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:53Z- AHRS_M2 msg: 1607486033.77 epoch sec; seqNo:712 2020-12-09T03:53:53Z- AHRS_M2 msg: 0.60 phi; -0.19 theta; -0.31 psi 2020-12-09T03:53:53Z- waiting for 1607486035.98, time is 1607486032.98 2020-12-09T03:53:53Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:53Z- handleDepth()-Depth_Keller msg: 36.90 epoch sec; seqNo:1607486033774; depth 0.00 2020-12-09T03:53:53Z- waiting for 1607486035.98, time is 1607486032.98 2020-12-09T03:53:53Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:53Z- handleDvl() - RDI_Pathfinder msg: 1607486033.79 epoch sec; seqNo:304 2020-12-09T03:53:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.19 , 71.44 , 52.64 , 68.54 2020-12-09T03:53:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.24 , -0.06 2020-12-09T03:53:53Z- waiting for 1607486035.98, time is 1607486033.79 2020-12-09T03:53:53Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486033.80 epoch sec; seqNo:741; 4061650.66 north; 594240.61 east 2020-12-09T03:53:53Z- waiting for 1607486035.98, time is 1607486033.79 2020-12-09T03:53:53Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:53Z- AHRS_M2 msg: 1607486034.16 epoch sec; seqNo:713 2020-12-09T03:53:53Z- AHRS_M2 msg: 0.60 phi; -0.19 theta; -0.30 psi 2020-12-09T03:53:53Z- waiting for 1607486035.98, time is 1607486033.79 2020-12-09T03:53:53Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:53Z- handleDepth()-Depth_Keller msg: 36.97 epoch sec; seqNo:1607486034173; depth 0.00 2020-12-09T03:53:53Z- waiting for 1607486035.98, time is 1607486033.79 2020-12-09T03:53:53Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486034.19 epoch sec; seqNo:742; 4061650.68 north; 594241.83 east 2020-12-09T03:53:53Z- waiting for 1607486035.98, time is 1607486033.79 2020-12-09T03:53:53Z- sync is 0.41, coherence is 2.00 2020-12-09T03:53:54Z- AHRS_M2 msg: 1607486034.57 epoch sec; seqNo:714 2020-12-09T03:53:54Z- AHRS_M2 msg: 0.59 phi; -0.19 theta; -0.29 psi 2020-12-09T03:53:54Z- waiting for 1607486035.98, time is 1607486033.79 2020-12-09T03:53:54Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:54Z- handleDepth()-Depth_Keller msg: 37.02 epoch sec; seqNo:1607486034574; depth 0.00 2020-12-09T03:53:54Z- waiting for 1607486035.98, time is 1607486033.79 2020-12-09T03:53:54Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486034.58 epoch sec; seqNo:743; 4061651.06 north; 594241.83 east 2020-12-09T03:53:54Z- waiting for 1607486035.98, time is 1607486033.79 2020-12-09T03:53:54Z- sync is 0.80, coherence is 2.00 2020-12-09T03:53:54Z- AHRS_M2 msg: 1607486034.98 epoch sec; seqNo:715 2020-12-09T03:53:54Z- AHRS_M2 msg: 0.59 phi; -0.19 theta; -0.28 psi 2020-12-09T03:53:54Z- waiting for 1607486035.98, time is 1607486033.79 2020-12-09T03:53:54Z- sync is 1.19, coherence is 2.00 2020-12-09T03:53:54Z- handleDepth()-Depth_Keller msg: 37.09 epoch sec; seqNo:1607486034984; depth 0.00 2020-12-09T03:53:54Z- waiting for 1607486035.98, time is 1607486033.79 2020-12-09T03:53:54Z- sync is 1.19, coherence is 2.00 2020-12-09T03:53:54Z- handleDvl() - RDI_Pathfinder msg: 1607486035.00 epoch sec; seqNo:305 2020-12-09T03:53:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.19 , 69.99 , 52.35 , 68.25 2020-12-09T03:53:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.30 , -0.00 2020-12-09T03:53:54Z- waiting for 1607486035.98, time is 1607486035.00 2020-12-09T03:53:54Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486035.02 epoch sec; seqNo:744; 4061651.44 north; 594241.82 east 2020-12-09T03:53:54Z- waiting for 1607486035.98, time is 1607486035.00 2020-12-09T03:53:54Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:55Z- AHRS_M2 msg: 1607486035.38 epoch sec; seqNo:716 2020-12-09T03:53:55Z- AHRS_M2 msg: 0.58 phi; -0.20 theta; -0.28 psi 2020-12-09T03:53:55Z- waiting for 1607486035.98, time is 1607486035.00 2020-12-09T03:53:55Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:55Z- handleDepth()-Depth_Keller msg: 37.16 epoch sec; seqNo:1607486035381; depth 0.00 2020-12-09T03:53:55Z- waiting for 1607486035.98, time is 1607486035.00 2020-12-09T03:53:55Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486035.42 epoch sec; seqNo:745; 4061651.81 north; 594241.82 east 2020-12-09T03:53:55Z- waiting for 1607486035.98, time is 1607486035.00 2020-12-09T03:53:55Z- sync is 0.42, coherence is 2.00 2020-12-09T03:53:55Z- AHRS_M2 msg: 1607486035.79 epoch sec; seqNo:717 2020-12-09T03:53:55Z- AHRS_M2 msg: 0.57 phi; -0.20 theta; -0.28 psi 2020-12-09T03:53:55Z- waiting for 1607486035.98, time is 1607486035.00 2020-12-09T03:53:55Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:55Z- handleDepth()-Depth_Keller msg: 37.22 epoch sec; seqNo:1607486035790; depth 0.00 2020-12-09T03:53:55Z- waiting for 1607486035.98, time is 1607486035.00 2020-12-09T03:53:55Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:55Z- handleDvl() - RDI_Pathfinder msg: 1607486035.80 epoch sec; seqNo:306 2020-12-09T03:53:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.19 , 68.54 , 51.77 , 67.68 2020-12-09T03:53:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.32 , 0.07 2020-12-09T03:53:55Z- waiting for 1607486035.98, time is 1607486035.80 2020-12-09T03:53:55Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486035.83 epoch sec; seqNo:746; 4061652.19 north; 594241.82 east 2020-12-09T03:53:55Z- waiting for 1607486035.98, time is 1607486035.80 2020-12-09T03:53:55Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:55Z- AHRS_M2 msg: 1607486036.19 epoch sec; seqNo:718 2020-12-09T03:53:55Z- AHRS_M2 msg: 0.57 phi; -0.21 theta; -0.27 psi 2020-12-09T03:53:55Z- waiting for 1607486035.98, time is 1607486035.80 2020-12-09T03:53:55Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:55Z- handleDepth()-Depth_Keller msg: 37.30 epoch sec; seqNo:1607486036194; depth 0.00 2020-12-09T03:53:55Z- waiting for 1607486035.98, time is 1607486035.80 2020-12-09T03:53:55Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486036.21 epoch sec; seqNo:747; 4061652.57 north; 594241.81 east 2020-12-09T03:53:55Z- waiting for 1607486035.98, time is 1607486035.80 2020-12-09T03:53:55Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:56Z- AHRS_M2 msg: 1607486036.59 epoch sec; seqNo:719 2020-12-09T03:53:56Z- AHRS_M2 msg: 0.57 phi; -0.21 theta; -0.27 psi 2020-12-09T03:53:56Z- waiting for 1607486035.98, time is 1607486035.80 2020-12-09T03:53:56Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:56Z- handleDepth()-Depth_Keller msg: 37.38 epoch sec; seqNo:1607486036609; depth 0.00 2020-12-09T03:53:56Z- waiting for 1607486035.98, time is 1607486035.80 2020-12-09T03:53:56Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486036.62 epoch sec; seqNo:748; 4061652.95 north; 594241.81 east 2020-12-09T03:53:56Z- waiting for 1607486035.98, time is 1607486035.80 2020-12-09T03:53:56Z- sync is 0.82, coherence is 2.00 2020-12-09T03:53:56Z- AHRS_M2 msg: 1607486037.00 epoch sec; seqNo:720 2020-12-09T03:53:56Z- AHRS_M2 msg: 0.57 phi; -0.21 theta; -0.27 psi 2020-12-09T03:53:56Z- waiting for 1607486035.98, time is 1607486035.80 2020-12-09T03:53:56Z- sync is 1.20, coherence is 2.00 2020-12-09T03:53:56Z- handleDepth()-Depth_Keller msg: 37.46 epoch sec; seqNo:1607486037011; depth 0.00 2020-12-09T03:53:56Z- waiting for 1607486035.98, time is 1607486035.80 2020-12-09T03:53:56Z- sync is 1.20, coherence is 2.00 2020-12-09T03:53:56Z- handleDvl() - RDI_Pathfinder msg: 1607486037.02 epoch sec; seqNo:307 2020-12-09T03:53:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.45 , 68.05 , 51.45 , 68.05 2020-12-09T03:53:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.30 , 0.15 2020-12-09T03:53:56Z- waiting for 1607486035.98, time is 1607486037.02 2020-12-09T03:53:56Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:56Z- LcmTrn::updateTrn() >>>> pose time 1607486037.00, meas time 1607486037.02 <<<< 2020-12-09T03:53:56Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607486037.02 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:53:56Z- TerrainNav::motionUpdate() - currEstimate = (4061653, 594241.81, 37.46) 2020-12-09T03:53:56Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:53:56Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:53:56Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:53:56Z- TNavBF::mmse selected from filter -1 2020-12-09T03:53:56Z- variances([0], [2], and psi_berg) = 808.302283 833.123121 0.000000 2020-12-09T03:53:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:53:56Z- LcmTrn::cycle() - MLE : 4061620.45 594195.31 37.46 2020-12-09T03:53:56Z- LcmTrn::cycle() - MMSE : 4061652.95 594241.81 37.46 2020-12-09T03:53:56Z- LcmTrn::cycle() - COVAR: 808.30 833.12 37.88 0.00 2020-12-09T03:53:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486037.04 epoch sec; seqNo:749; 4061653.33 north; 594241.80 east 2020-12-09T03:53:56Z- waiting for 1607486040.02, time is 1607486037.02 2020-12-09T03:53:56Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:57Z- AHRS_M2 msg: 1607486037.40 epoch sec; seqNo:721 2020-12-09T03:53:57Z- AHRS_M2 msg: 0.56 phi; -0.22 theta; -0.27 psi 2020-12-09T03:53:57Z- waiting for 1607486040.02, time is 1607486037.02 2020-12-09T03:53:57Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:57Z- handleDepth()-Depth_Keller msg: 37.55 epoch sec; seqNo:1607486037402; depth 0.00 2020-12-09T03:53:57Z- waiting for 1607486040.02, time is 1607486037.02 2020-12-09T03:53:57Z- sync is 0.37, coherence is 2.00 2020-12-09T03:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486037.41 epoch sec; seqNo:750; 4061653.33 north; 594241.80 east 2020-12-09T03:53:57Z- waiting for 1607486040.02, time is 1607486037.02 2020-12-09T03:53:57Z- sync is 0.39, coherence is 2.00 2020-12-09T03:53:57Z- AHRS_M2 msg: 1607486037.81 epoch sec; seqNo:722 2020-12-09T03:53:57Z- AHRS_M2 msg: 0.56 phi; -0.22 theta; -0.26 psi 2020-12-09T03:53:57Z- waiting for 1607486040.02, time is 1607486037.02 2020-12-09T03:53:57Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:57Z- handleDepth()-Depth_Keller msg: 37.65 epoch sec; seqNo:1607486037814; depth 0.00 2020-12-09T03:53:57Z- waiting for 1607486040.02, time is 1607486037.02 2020-12-09T03:53:57Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:57Z- handleDvl() - RDI_Pathfinder msg: 1607486037.83 epoch sec; seqNo:308 2020-12-09T03:53:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.45 , 67.51 , 51.17 , 68.87 2020-12-09T03:53:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.23 , 0.23 2020-12-09T03:53:57Z- waiting for 1607486040.02, time is 1607486037.83 2020-12-09T03:53:57Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486037.84 epoch sec; seqNo:751; 4061653.71 north; 594241.80 east 2020-12-09T03:53:57Z- waiting for 1607486040.02, time is 1607486037.83 2020-12-09T03:53:57Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:57Z- AHRS_M2 msg: 1607486038.21 epoch sec; seqNo:723 2020-12-09T03:53:57Z- AHRS_M2 msg: 0.55 phi; -0.22 theta; -0.25 psi 2020-12-09T03:53:57Z- waiting for 1607486040.02, time is 1607486037.83 2020-12-09T03:53:57Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:57Z- handleDepth()-Depth_Keller msg: 37.74 epoch sec; seqNo:1607486038210; depth 0.00 2020-12-09T03:53:57Z- waiting for 1607486040.02, time is 1607486037.83 2020-12-09T03:53:57Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486038.23 epoch sec; seqNo:752; 4061654.09 north; 594241.80 east 2020-12-09T03:53:58Z- waiting for 1607486040.02, time is 1607486037.83 2020-12-09T03:53:58Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:58Z- AHRS_M2 msg: 1607486038.61 epoch sec; seqNo:724 2020-12-09T03:53:58Z- AHRS_M2 msg: 0.55 phi; -0.22 theta; -0.24 psi 2020-12-09T03:53:58Z- waiting for 1607486040.02, time is 1607486037.83 2020-12-09T03:53:58Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:58Z- handleDepth()-Depth_Keller msg: 37.85 epoch sec; seqNo:1607486038614; depth 0.00 2020-12-09T03:53:58Z- waiting for 1607486040.02, time is 1607486037.83 2020-12-09T03:53:58Z- sync is 0.78, coherence is 2.00 2020-12-09T03:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486038.63 epoch sec; seqNo:753; 4061654.47 north; 594241.79 east 2020-12-09T03:53:58Z- waiting for 1607486040.02, time is 1607486037.83 2020-12-09T03:53:58Z- sync is 0.80, coherence is 2.00 2020-12-09T03:53:58Z- AHRS_M2 msg: 1607486039.01 epoch sec; seqNo:725 2020-12-09T03:53:58Z- AHRS_M2 msg: 0.55 phi; -0.23 theta; -0.23 psi 2020-12-09T03:53:58Z- waiting for 1607486040.02, time is 1607486037.83 2020-12-09T03:53:58Z- sync is 1.18, coherence is 2.00 2020-12-09T03:53:58Z- handleDepth()-Depth_Keller msg: 37.93 epoch sec; seqNo:1607486039025; depth 0.00 2020-12-09T03:53:58Z- waiting for 1607486040.02, time is 1607486037.83 2020-12-09T03:53:58Z- sync is 1.18, coherence is 2.00 2020-12-09T03:53:58Z- handleDvl() - RDI_Pathfinder msg: 1607486039.04 epoch sec; seqNo:309 2020-12-09T03:53:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.99 , 66.14 , 50.90 , 68.32 2020-12-09T03:53:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.14 , 0.27 2020-12-09T03:53:58Z- waiting for 1607486040.02, time is 1607486039.04 2020-12-09T03:53:58Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486039.07 epoch sec; seqNo:754; 4061654.86 north; 594243.01 east 2020-12-09T03:53:58Z- waiting for 1607486040.02, time is 1607486039.04 2020-12-09T03:53:58Z- sync is 0.03, coherence is 2.00 2020-12-09T03:53:59Z- AHRS_M2 msg: 1607486039.42 epoch sec; seqNo:726 2020-12-09T03:53:59Z- AHRS_M2 msg: 0.56 phi; -0.23 theta; -0.21 psi 2020-12-09T03:53:59Z- waiting for 1607486040.02, time is 1607486039.04 2020-12-09T03:53:59Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:59Z- handleDepth()-Depth_Keller msg: 38.04 epoch sec; seqNo:1607486039429; depth 0.00 2020-12-09T03:53:59Z- waiting for 1607486040.02, time is 1607486039.04 2020-12-09T03:53:59Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486039.44 epoch sec; seqNo:755; 4061654.86 north; 594243.01 east 2020-12-09T03:53:59Z- waiting for 1607486040.02, time is 1607486039.04 2020-12-09T03:53:59Z- sync is 0.40, coherence is 2.00 2020-12-09T03:53:59Z- AHRS_M2 msg: 1607486039.83 epoch sec; seqNo:727 2020-12-09T03:53:59Z- AHRS_M2 msg: 0.56 phi; -0.23 theta; -0.20 psi 2020-12-09T03:53:59Z- waiting for 1607486040.02, time is 1607486039.04 2020-12-09T03:53:59Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:59Z- handleDepth()-Depth_Keller msg: 38.13 epoch sec; seqNo:1607486039837; depth 0.00 2020-12-09T03:53:59Z- waiting for 1607486040.02, time is 1607486039.04 2020-12-09T03:53:59Z- sync is 0.79, coherence is 2.00 2020-12-09T03:53:59Z- handleDvl() - RDI_Pathfinder msg: 1607486039.85 epoch sec; seqNo:310 2020-12-09T03:53:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.81 , 63.97 , 50.63 , 68.05 2020-12-09T03:53:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.04 , 0.28 2020-12-09T03:53:59Z- waiting for 1607486040.02, time is 1607486039.85 2020-12-09T03:53:59Z- sync is 0.02, coherence is 2.00 2020-12-09T03:53:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486039.86 epoch sec; seqNo:756; 4061655.24 north; 594243.00 east 2020-12-09T03:53:59Z- waiting for 1607486040.02, time is 1607486039.85 2020-12-09T03:53:59Z- sync is 0.01, coherence is 2.00 2020-12-09T03:53:59Z- AHRS_M2 msg: 1607486040.22 epoch sec; seqNo:728 2020-12-09T03:53:59Z- AHRS_M2 msg: 0.57 phi; -0.23 theta; -0.19 psi 2020-12-09T03:53:59Z- waiting for 1607486040.02, time is 1607486039.85 2020-12-09T03:53:59Z- sync is 0.38, coherence is 2.00 2020-12-09T03:53:59Z- handleDepth()-Depth_Keller msg: 38.23 epoch sec; seqNo:1607486040229; depth 0.00 2020-12-09T03:53:59Z- waiting for 1607486040.02, time is 1607486039.85 2020-12-09T03:53:59Z- sync is 0.38, coherence is 2.00 2020-12-09T03:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486040.24 epoch sec; seqNo:757; 4061655.62 north; 594243.00 east 2020-12-09T03:54:00Z- waiting for 1607486040.02, time is 1607486039.85 2020-12-09T03:54:00Z- sync is 0.39, coherence is 2.00 2020-12-09T03:54:00Z- AHRS_M2 msg: 1607486040.63 epoch sec; seqNo:729 2020-12-09T03:54:00Z- AHRS_M2 msg: 0.57 phi; -0.23 theta; -0.18 psi 2020-12-09T03:54:00Z- waiting for 1607486040.02, time is 1607486039.85 2020-12-09T03:54:00Z- sync is 0.78, coherence is 2.00 2020-12-09T03:54:00Z- handleDepth()-Depth_Keller msg: 38.33 epoch sec; seqNo:1607486040635; depth 0.00 2020-12-09T03:54:00Z- waiting for 1607486040.02, time is 1607486039.85 2020-12-09T03:54:00Z- sync is 0.78, coherence is 2.00 2020-12-09T03:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486040.65 epoch sec; seqNo:758; 4061655.62 north; 594243.00 east 2020-12-09T03:54:00Z- waiting for 1607486040.02, time is 1607486039.85 2020-12-09T03:54:00Z- sync is 0.80, coherence is 2.00 2020-12-09T03:54:00Z- AHRS_M2 msg: 1607486041.03 epoch sec; seqNo:730 2020-12-09T03:54:00Z- AHRS_M2 msg: 0.58 phi; -0.23 theta; -0.17 psi 2020-12-09T03:54:00Z- waiting for 1607486040.02, time is 1607486039.85 2020-12-09T03:54:00Z- sync is 1.18, coherence is 2.00 2020-12-09T03:54:00Z- handleDepth()-Depth_Keller msg: 38.42 epoch sec; seqNo:1607486041046; depth 0.00 2020-12-09T03:54:00Z- waiting for 1607486040.02, time is 1607486039.85 2020-12-09T03:54:00Z- sync is 1.18, coherence is 2.00 2020-12-09T03:54:00Z- handleDvl() - RDI_Pathfinder msg: 1607486041.06 epoch sec; seqNo:311 2020-12-09T03:54:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.62 , 62.61 , 50.08 , 68.05 2020-12-09T03:54:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.08 , 0.27 2020-12-09T03:54:00Z- waiting for 1607486040.02, time is 1607486041.06 2020-12-09T03:54:00Z- sync is 0.03, coherence is 2.00 2020-12-09T03:54:00Z- LcmTrn::updateTrn() >>>> pose time 1607486041.03, meas time 1607486041.06 <<<< 2020-12-09T03:54:00Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607486041.06 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:54:00Z- TerrainNav::motionUpdate() - currEstimate = (4061656, 594243.00, 38.42) 2020-12-09T03:54:00Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:54:00Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:54:00Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:54:00Z- TNavBF::mmse selected from filter -1 2020-12-09T03:54:00Z- variances([0], [2], and psi_berg) = 808.067207 833.122475 0.000000 2020-12-09T03:54:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:54:00Z- LcmTrn::cycle() - MLE : 4061623.12 594292.50 38.42 2020-12-09T03:54:00Z- LcmTrn::cycle() - MMSE : 4061655.62 594243.00 38.42 2020-12-09T03:54:00Z- LcmTrn::cycle() - COVAR: 808.07 833.12 38.03 0.00 2020-12-09T03:54:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486041.07 epoch sec; seqNo:759; 4061656.00 north; 594242.99 east 2020-12-09T03:54:00Z- waiting for 1607486044.06, time is 1607486041.06 2020-12-09T03:54:00Z- sync is 0.01, coherence is 2.00 2020-12-09T03:54:01Z- AHRS_M2 msg: 1607486041.44 epoch sec; seqNo:731 2020-12-09T03:54:01Z- AHRS_M2 msg: 0.59 phi; -0.23 theta; -0.16 psi 2020-12-09T03:54:01Z- waiting for 1607486044.06, time is 1607486041.06 2020-12-09T03:54:01Z- sync is 0.38, coherence is 2.00 2020-12-09T03:54:01Z- handleDepth()-Depth_Keller msg: 38.51 epoch sec; seqNo:1607486041445; depth 0.00 2020-12-09T03:54:01Z- waiting for 1607486044.06, time is 1607486041.06 2020-12-09T03:54:01Z- sync is 0.38, coherence is 2.00 2020-12-09T03:54:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T03:54:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T03:54:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T03:54:01Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T03:54:01Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T03:54:01Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T03:54:01Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T03:54:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T03:54:01Z- handleDvl() - RDI_Pathfinder msg: 1607486041.45 epoch sec; seqNo:312 2020-12-09T03:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T03:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.08 , 0.27 2020-12-09T03:54:01Z- waiting for 1607486044.06, time is 1607486041.45 2020-12-09T03:54:01Z- sync is 0.01, coherence is 2.00 2020-12-09T03:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486041.47 epoch sec; seqNo:760; 4061656.37 north; 594242.99 east 2020-12-09T03:54:01Z- waiting for 1607486044.06, time is 1607486041.45 2020-12-09T03:54:01Z- sync is 0.02, coherence is 2.00 2020-12-09T03:54:01Z- AHRS_M2 msg: 1607486041.84 epoch sec; seqNo:732 2020-12-09T03:54:01Z- AHRS_M2 msg: 0.60 phi; -0.23 theta; -0.15 psi 2020-12-09T03:54:01Z- waiting for 1607486044.06, time is 1607486041.45 2020-12-09T03:54:01Z- sync is 0.39, coherence is 2.00 2020-12-09T03:54:01Z- handleDepth()-Depth_Keller msg: 38.61 epoch sec; seqNo:1607486041853; depth 0.00 2020-12-09T03:54:01Z- waiting for 1607486044.06, time is 1607486041.45 2020-12-09T03:54:01Z- sync is 0.39, coherence is 2.00 2020-12-09T03:54:01Z- handleDvl() - RDI_Pathfinder msg: 1607486041.87 epoch sec; seqNo:313 2020-12-09T03:54:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.71 , 61.51 , 49.81 , 67.77 2020-12-09T03:54:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.18 , 0.22 2020-12-09T03:54:01Z- waiting for 1607486044.06, time is 1607486041.87 2020-12-09T03:54:01Z- sync is 0.03, coherence is 2.00 2020-12-09T03:54:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486041.89 epoch sec; seqNo:761; 4061656.39 north; 594244.21 east 2020-12-09T03:54:01Z- waiting for 1607486044.06, time is 1607486041.87 2020-12-09T03:54:01Z- sync is 0.02, coherence is 2.00 2020-12-09T03:54:02Z- AHRS_M2 msg: 1607486042.24 epoch sec; seqNo:733 2020-12-09T03:54:02Z- AHRS_M2 msg: 0.61 phi; -0.24 theta; -0.14 psi 2020-12-09T03:54:02Z- waiting for 1607486044.06, time is 1607486041.87 2020-12-09T03:54:02Z- sync is 0.37, coherence is 2.00 2020-12-09T03:54:02Z- handleDepth()-Depth_Keller msg: 38.69 epoch sec; seqNo:1607486042251; depth 0.00 2020-12-09T03:54:02Z- waiting for 1607486044.06, time is 1607486041.87 2020-12-09T03:54:02Z- sync is 0.37, coherence is 2.00 2020-12-09T03:54:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486042.26 epoch sec; seqNo:762; 4061656.77 north; 594244.21 east 2020-12-09T03:54:02Z- waiting for 1607486044.06, time is 1607486041.87 2020-12-09T03:54:02Z- sync is 0.39, coherence is 2.00 2020-12-09T03:54:02Z- AHRS_M2 msg: 1607486042.65 epoch sec; seqNo:734 2020-12-09T03:54:02Z- AHRS_M2 msg: 0.62 phi; -0.24 theta; -0.14 psi 2020-12-09T03:54:02Z- waiting for 1607486044.06, time is 1607486041.87 2020-12-09T03:54:02Z- sync is 0.78, coherence is 2.00 2020-12-09T03:54:02Z- handleDepth()-Depth_Keller msg: 38.76 epoch sec; seqNo:1607486042666; depth 0.00 2020-12-09T03:54:02Z- waiting for 1607486044.06, time is 1607486041.87 2020-12-09T03:54:02Z- sync is 0.78, coherence is 2.00 2020-12-09T03:54:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486042.68 epoch sec; seqNo:763; 4061657.15 north; 594244.20 east 2020-12-09T03:54:02Z- waiting for 1607486044.06, time is 1607486041.87 2020-12-09T03:54:02Z- sync is 0.81, coherence is 2.00 2020-12-09T03:54:02Z- AHRS_M2 msg: 1607486043.05 epoch sec; seqNo:735 2020-12-09T03:54:02Z- AHRS_M2 msg: 0.63 phi; -0.24 theta; -0.13 psi 2020-12-09T03:54:02Z- waiting for 1607486044.06, time is 1607486041.87 2020-12-09T03:54:02Z- sync is 1.18, coherence is 2.00 2020-12-09T03:54:02Z- handleDepth()-Depth_Keller msg: 38.86 epoch sec; seqNo:1607486043057; depth 0.00 2020-12-09T03:54:02Z- waiting for 1607486044.06, time is 1607486041.87 2020-12-09T03:54:02Z- sync is 1.18, coherence is 2.00 2020-12-09T03:54:02Z- handleDvl() - RDI_Pathfinder msg: 1607486043.07 epoch sec; seqNo:314 2020-12-09T03:54:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.98 , 60.69 , 49.81 , 0.00 2020-12-09T03:54:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.23 , 0.14 2020-12-09T03:54:02Z- waiting for 1607486044.06, time is 1607486043.07 2020-12-09T03:54:02Z- sync is 0.02, coherence is 2.00 2020-12-09T03:54:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486043.10 epoch sec; seqNo:764; 4061657.15 north; 594244.20 east 2020-12-09T03:54:02Z- waiting for 1607486044.06, time is 1607486043.07 2020-12-09T03:54:02Z- sync is 0.03, coherence is 2.00 2020-12-09T03:54:03Z- AHRS_M2 msg: 1607486043.46 epoch sec; seqNo:736 2020-12-09T03:54:03Z- AHRS_M2 msg: 0.64 phi; -0.24 theta; -0.13 psi 2020-12-09T03:54:03Z- waiting for 1607486044.06, time is 1607486043.07 2020-12-09T03:54:03Z- sync is 0.39, coherence is 2.00 2020-12-09T03:54:03Z- handleDepth()-Depth_Keller msg: 38.93 epoch sec; seqNo:1607486043461; depth 0.00 2020-12-09T03:54:03Z- waiting for 1607486044.06, time is 1607486043.07 2020-12-09T03:54:03Z- sync is 0.39, coherence is 2.00 2020-12-09T03:54:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486043.47 epoch sec; seqNo:765; 4061657.54 north; 594245.42 east 2020-12-09T03:54:03Z- waiting for 1607486044.06, time is 1607486043.07 2020-12-09T03:54:03Z- sync is 0.40, coherence is 2.00 2020-12-09T03:54:03Z- AHRS_M2 msg: 1607486043.86 epoch sec; seqNo:737 2020-12-09T03:54:03Z- AHRS_M2 msg: 0.65 phi; -0.24 theta; -0.13 psi 2020-12-09T03:54:03Z- waiting for 1607486044.06, time is 1607486043.07 2020-12-09T03:54:03Z- sync is 0.79, coherence is 2.00 2020-12-09T03:54:03Z- handleDepth()-Depth_Keller msg: 39.01 epoch sec; seqNo:1607486043866; depth 0.00 2020-12-09T03:54:03Z- waiting for 1607486044.06, time is 1607486043.07 2020-12-09T03:54:03Z- sync is 0.79, coherence is 2.00 2020-12-09T03:54:03Z- handleDvl() - RDI_Pathfinder msg: 1607486043.88 epoch sec; seqNo:315 2020-12-09T03:54:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.60 , 60.98 , 49.50 , 67.87 2020-12-09T03:54:03Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.26 , 0.03 2020-12-09T03:54:03Z- waiting for 1607486044.06, time is 1607486043.88 2020-12-09T03:54:03Z- sync is 0.02, coherence is 2.00 2020-12-09T03:54:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486043.90 epoch sec; seqNo:766; 4061657.92 north; 594245.41 east 2020-12-09T03:54:03Z- waiting for 1607486044.06, time is 1607486043.88 2020-12-09T03:54:03Z- sync is 0.02, coherence is 2.00 2020-12-09T03:54:04Z- AHRS_M2 msg: 1607486044.27 epoch sec; seqNo:738 2020-12-09T03:54:04Z- AHRS_M2 msg: 0.66 phi; -0.24 theta; -0.13 psi 2020-12-09T03:54:04Z- waiting for 1607486044.06, time is 1607486043.88 2020-12-09T03:54:04Z- sync is 0.38, coherence is 2.00 2020-12-09T03:54:04Z- handleDepth()-Depth_Keller msg: 39.08 epoch sec; seqNo:1607486044270; depth 0.00 2020-12-09T03:54:04Z- waiting for 1607486044.06, time is 1607486043.88 2020-12-09T03:54:04Z- sync is 0.38, coherence is 2.00 2020-12-09T03:54:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486044.29 epoch sec; seqNo:767; 4061657.92 north; 594245.41 east 2020-12-09T03:54:04Z- waiting for 1607486044.06, time is 1607486043.88 2020-12-09T03:54:04Z- sync is 0.41, coherence is 2.00 2020-12-09T03:54:04Z- AHRS_M2 msg: 1607486044.67 epoch sec; seqNo:739 2020-12-09T03:54:04Z- AHRS_M2 msg: 0.67 phi; -0.24 theta; -0.12 psi 2020-12-09T03:54:04Z- waiting for 1607486044.06, time is 1607486043.88 2020-12-09T03:54:04Z- sync is 0.79, coherence is 2.00 2020-12-09T03:54:04Z- handleDepth()-Depth_Keller msg: 39.17 epoch sec; seqNo:1607486044678; depth 0.00 2020-12-09T03:54:04Z- waiting for 1607486044.06, time is 1607486043.88 2020-12-09T03:54:04Z- sync is 0.79, coherence is 2.00 2020-12-09T03:54:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486044.69 epoch sec; seqNo:768; 4061658.30 north; 594245.41 east 2020-12-09T03:54:04Z- waiting for 1607486044.06, time is 1607486043.88 2020-12-09T03:54:04Z- sync is 0.81, coherence is 2.00 2020-12-09T03:54:04Z- AHRS_M2 msg: 1607486045.07 epoch sec; seqNo:740 2020-12-09T03:54:04Z- AHRS_M2 msg: 0.68 phi; -0.24 theta; -0.12 psi 2020-12-09T03:54:04Z- waiting for 1607486044.06, time is 1607486043.88 2020-12-09T03:54:04Z- sync is 1.19, coherence is 2.00 2020-12-09T03:54:04Z- handleDepth()-Depth_Keller msg: 39.22 epoch sec; seqNo:1607486045089; depth 0.00 2020-12-09T03:54:04Z- waiting for 1607486044.06, time is 1607486043.88 2020-12-09T03:54:04Z- sync is 1.19, coherence is 2.00 2020-12-09T03:54:04Z- handleDvl() - RDI_Pathfinder msg: 1607486045.10 epoch sec; seqNo:316 2020-12-09T03:54:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.16 , 60.42 , 49.54 , 67.23 2020-12-09T03:54:04Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.21 , -0.08 2020-12-09T03:54:04Z- waiting for 1607486044.06, time is 1607486045.10 2020-12-09T03:54:04Z- sync is 0.03, coherence is 2.00 2020-12-09T03:54:04Z- LcmTrn::updateTrn() >>>> pose time 1607486045.07, meas time 1607486045.10 <<<< 2020-12-09T03:54:04Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607486045.10 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:54:04Z- TerrainNav::motionUpdate() - currEstimate = (4061658, 594245.41, 39.22) 2020-12-09T03:54:04Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:54:04Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:54:04Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:54:04Z- TNavBF::mmse selected from filter -1 2020-12-09T03:54:04Z- variances([0], [2], and psi_berg) = 807.807566 833.121768 0.000000 2020-12-09T03:54:04Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:54:04Z- LcmTrn::cycle() - MLE : 4061625.80 594294.91 39.22 2020-12-09T03:54:04Z- LcmTrn::cycle() - MMSE : 4061658.30 594245.41 39.22 2020-12-09T03:54:04Z- LcmTrn::cycle() - COVAR: 807.81 833.12 38.21 0.00 2020-12-09T03:54:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486045.11 epoch sec; seqNo:769; 4061658.69 north; 594246.63 east 2020-12-09T03:54:04Z- waiting for 1607486048.10, time is 1607486045.10 2020-12-09T03:54:04Z- sync is 0.01, coherence is 2.00 2020-12-09T03:54:05Z- AHRS_M2 msg: 1607486045.48 epoch sec; seqNo:741 2020-12-09T03:54:05Z- AHRS_M2 msg: 0.70 phi; -0.24 theta; -0.12 psi 2020-12-09T03:54:05Z- waiting for 1607486048.10, time is 1607486045.10 2020-12-09T03:54:05Z- sync is 0.38, coherence is 2.00 2020-12-09T03:54:05Z- handleDepth()-Depth_Keller msg: 39.28 epoch sec; seqNo:1607486045485; depth 0.00 2020-12-09T03:54:05Z- waiting for 1607486048.10, time is 1607486045.10 2020-12-09T03:54:05Z- sync is 0.38, coherence is 2.00 2020-12-09T03:54:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486045.51 epoch sec; seqNo:770; 4061658.69 north; 594246.63 east 2020-12-09T03:54:05Z- waiting for 1607486048.10, time is 1607486045.10 2020-12-09T03:54:05Z- sync is 0.41, coherence is 2.00 2020-12-09T03:54:05Z- AHRS_M2 msg: 1607486045.88 epoch sec; seqNo:742 2020-12-09T03:54:05Z- AHRS_M2 msg: 0.71 phi; -0.23 theta; -0.12 psi 2020-12-09T03:54:05Z- waiting for 1607486048.10, time is 1607486045.10 2020-12-09T03:54:05Z- sync is 0.78, coherence is 2.00 2020-12-09T03:54:05Z- handleDepth()-Depth_Keller msg: 39.34 epoch sec; seqNo:1607486045893; depth 0.00 2020-12-09T03:54:05Z- waiting for 1607486048.10, time is 1607486045.10 2020-12-09T03:54:05Z- sync is 0.78, coherence is 2.00 2020-12-09T03:54:05Z- handleDvl() - RDI_Pathfinder msg: 1607486045.90 epoch sec; seqNo:317 2020-12-09T03:54:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.62 , 60.15 , 49.26 , 66.96 2020-12-09T03:54:05Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.14 , -0.18 2020-12-09T03:54:05Z- waiting for 1607486048.10, time is 1607486045.90 2020-12-09T03:54:05Z- sync is 0.02, coherence is 2.00 2020-12-09T03:54:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486045.94 epoch sec; seqNo:771; 4061659.07 north; 594246.62 east 2020-12-09T03:54:05Z- waiting for 1607486048.10, time is 1607486045.90 2020-12-09T03:54:05Z- sync is 0.03, coherence is 2.00 2020-12-09T03:54:06Z- AHRS_M2 msg: 1607486046.29 epoch sec; seqNo:743 2020-12-09T03:54:06Z- AHRS_M2 msg: 0.72 phi; -0.23 theta; -0.12 psi 2020-12-09T03:54:06Z- waiting for 1607486048.10, time is 1607486045.90 2020-12-09T03:54:06Z- sync is 0.38, coherence is 2.00 2020-12-09T03:54:06Z- handleDepth()-Depth_Keller msg: 39.41 epoch sec; seqNo:1607486046289; depth 0.00 2020-12-09T03:54:06Z- waiting for 1607486048.10, time is 1607486045.90 2020-12-09T03:54:06Z- sync is 0.38, coherence is 2.00 2020-12-09T03:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486046.31 epoch sec; seqNo:772; 4061659.45 north; 594246.62 east 2020-12-09T03:54:06Z- waiting for 1607486048.10, time is 1607486045.90 2020-12-09T03:54:06Z- sync is 0.40, coherence is 2.00 2020-12-09T03:54:06Z- AHRS_M2 msg: 1607486046.70 epoch sec; seqNo:744 2020-12-09T03:54:06Z- AHRS_M2 msg: 0.73 phi; -0.23 theta; -0.12 psi 2020-12-09T03:54:06Z- waiting for 1607486048.10, time is 1607486045.90 2020-12-09T03:54:06Z- sync is 0.79, coherence is 2.00 2020-12-09T03:54:06Z- handleDepth()-Depth_Keller msg: 39.46 epoch sec; seqNo:1607486046703; depth 0.00 2020-12-09T03:54:06Z- waiting for 1607486048.10, time is 1607486045.90 2020-12-09T03:54:06Z- sync is 0.79, coherence is 2.00 2020-12-09T03:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486046.74 epoch sec; seqNo:773; 4061659.84 north; 594247.83 east 2020-12-09T03:54:06Z- waiting for 1607486048.10, time is 1607486045.90 2020-12-09T03:54:06Z- sync is 0.83, coherence is 2.00 2020-12-09T03:54:06Z- AHRS_M2 msg: 1607486047.09 epoch sec; seqNo:745 2020-12-09T03:54:06Z- AHRS_M2 msg: 0.74 phi; -0.23 theta; -0.12 psi 2020-12-09T03:54:06Z- waiting for 1607486048.10, time is 1607486045.90 2020-12-09T03:54:06Z- sync is 1.19, coherence is 2.00 2020-12-09T03:54:06Z- handleDepth()-Depth_Keller msg: 39.52 epoch sec; seqNo:1607486047097; depth 0.00 2020-12-09T03:54:06Z- waiting for 1607486048.10, time is 1607486045.90 2020-12-09T03:54:06Z- sync is 1.19, coherence is 2.00 2020-12-09T03:54:06Z- handleDvl() - RDI_Pathfinder msg: 1607486047.12 epoch sec; seqNo:318 2020-12-09T03:54:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.07 , 59.88 , 48.99 , 66.14 2020-12-09T03:54:06Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.03 , -0.25 2020-12-09T03:54:06Z- waiting for 1607486048.10, time is 1607486047.12 2020-12-09T03:54:06Z- sync is 0.03, coherence is 2.00 2020-12-09T03:54:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486047.13 epoch sec; seqNo:774; 4061659.84 north; 594247.83 east 2020-12-09T03:54:06Z- waiting for 1607486048.10, time is 1607486047.12 2020-12-09T03:54:06Z- sync is 0.01, coherence is 2.00 2020-12-09T03:54:07Z- AHRS_M2 msg: 1607486047.50 epoch sec; seqNo:746 2020-12-09T03:54:07Z- AHRS_M2 msg: 0.75 phi; -0.23 theta; -0.12 psi 2020-12-09T03:54:07Z- waiting for 1607486048.10, time is 1607486047.12 2020-12-09T03:54:07Z- sync is 0.38, coherence is 2.00 2020-12-09T03:54:07Z- handleDepth()-Depth_Keller msg: 39.58 epoch sec; seqNo:1607486047507; depth 0.00 2020-12-09T03:54:07Z- waiting for 1607486048.10, time is 1607486047.12 2020-12-09T03:54:07Z- sync is 0.38, coherence is 2.00 2020-12-09T03:54:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486047.55 epoch sec; seqNo:775; 4061660.22 north; 594247.83 east 2020-12-09T03:54:07Z- waiting for 1607486048.10, time is 1607486047.12 2020-12-09T03:54:07Z- sync is 0.43, coherence is 2.00 2020-12-09T03:54:07Z- AHRS_M2 msg: 1607486047.90 epoch sec; seqNo:747 2020-12-09T03:54:07Z- AHRS_M2 msg: 0.76 phi; -0.23 theta; -0.12 psi 2020-12-09T03:54:07Z- waiting for 1607486048.10, time is 1607486047.12 2020-12-09T03:54:07Z- sync is 0.78, coherence is 2.00 2020-12-09T03:54:07Z- handleDepth()-Depth_Keller msg: 39.64 epoch sec; seqNo:1607486047905; depth 0.00 2020-12-09T03:54:07Z- waiting for 1607486048.10, time is 1607486047.12 2020-12-09T03:54:07Z- sync is 0.78, coherence is 2.00 2020-12-09T03:54:07Z- handleDvl() - RDI_Pathfinder msg: 1607486047.92 epoch sec; seqNo:319 2020-12-09T03:54:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.26 , 59.33 , 48.45 , 65.59 2020-12-09T03:54:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.12 , -0.25 2020-12-09T03:54:07Z- waiting for 1607486048.10, time is 1607486047.92 2020-12-09T03:54:07Z- sync is 0.01, coherence is 2.00 2020-12-09T03:54:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486047.93 epoch sec; seqNo:776; 4061660.60 north; 594247.83 east 2020-12-09T03:54:07Z- waiting for 1607486048.10, time is 1607486047.92 2020-12-09T03:54:07Z- sync is 0.01, coherence is 2.00 2020-12-09T03:54:08Z- AHRS_M2 msg: 1607486048.31 epoch sec; seqNo:748 2020-12-09T03:54:08Z- AHRS_M2 msg: 0.77 phi; -0.23 theta; -0.12 psi 2020-12-09T03:54:08Z- waiting for 1607486048.10, time is 1607486047.92 2020-12-09T03:54:08Z- sync is 0.39, coherence is 2.00 2020-12-09T03:54:08Z- handleDepth()-Depth_Keller msg: 39.69 epoch sec; seqNo:1607486048311; depth 0.00 2020-12-09T03:54:08Z- waiting for 1607486048.10, time is 1607486047.92 2020-12-09T03:54:08Z- sync is 0.39, coherence is 2.00 2020-12-09T03:54:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486048.32 epoch sec; seqNo:777; 4061660.99 north; 594249.04 east 2020-12-09T03:54:08Z- waiting for 1607486048.10, time is 1607486047.92 2020-12-09T03:54:08Z- sync is 0.41, coherence is 2.00 2020-12-09T03:54:08Z- handleDepth()-Depth_Keller msg: 39.74 epoch sec; seqNo:1607486048757; depth 0.00 2020-12-09T03:54:08Z- waiting for 1607486048.10, time is 1607486047.92 2020-12-09T03:54:08Z- sync is 0.41, coherence is 2.00 2020-12-09T03:54:08Z- handleDvl() - RDI_Pathfinder msg: 1607486048.77 epoch sec; seqNo:320 2020-12-09T03:54:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.71 , 59.33 , 48.17 , 0.00 2020-12-09T03:54:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.24 , -0.22 2020-12-09T03:54:08Z- waiting for 1607486048.10, time is 1607486048.77 2020-12-09T03:54:08Z- sync is 0.45, coherence is 2.00 2020-12-09T03:54:08Z- LcmTrn::updateTrn() >>>> pose time 1607486048.32, meas time 1607486048.77 <<<< 2020-12-09T03:54:08Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607486048.77 sec, ping # 0; waiting for more recent INS data... 2020-12-09T03:54:08Z- TerrainNav::motionUpdate() - currEstimate = (4061661, 594249.04, 39.74) 2020-12-09T03:54:08Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T03:54:08Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T03:54:08Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T03:54:08Z- TNavBF::mmse selected from filter -1 2020-12-09T03:54:08Z- variances([0], [2], and psi_berg) = 807.518691 833.120987 0.000000 2020-12-09T03:54:08Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T03:54:08Z- LcmTrn::cycle() - MLE : 4061628.49 594298.54 39.74 2020-12-09T03:54:08Z- LcmTrn::cycle() - MMSE : 4061660.99 594249.04 39.74 2020-12-09T03:54:08Z- LcmTrn::cycle() - COVAR: 807.52 833.12 38.44 0.00 2020-12-09T03:54:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486048.79 epoch sec; seqNo:778; 4061661.37 north; 594249.04 east 2020-12-09T03:54:08Z- waiting for 1607486051.77, time is 1607486048.77 2020-12-09T03:54:08Z- sync is 0.02, coherence is 2.00 2020-12-09T03:54:08Z- AHRS_M2 msg: 1607486049.11 epoch sec; seqNo:749 2020-12-09T03:54:08Z- AHRS_M2 msg: 0.79 phi; -0.23 theta; -0.12 psi 2020-12-09T03:54:08Z- waiting for 1607486051.77, time is 1607486048.77 2020-12-09T03:54:08Z- sync is 0.34, coherence is 2.00 2020-12-09T03:54:08Z- handleDepth()-Depth_Keller msg: 39.80 epoch sec; seqNo:1607486049125; depth 0.00 2020-12-09T03:54:08Z- waiting for 1607486051.77, time is 1607486048.77 2020-12-09T03:54:08Z- sync is 0.34, coherence is 2.00 2020-12-09T03:54:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486049.17 epoch sec; seqNo:779; 4061661.75 north; 594249.03 east 2020-12-09T03:54:08Z- waiting for 1607486051.77, time is 1607486048.77 2020-12-09T03:54:08Z- sync is 0.40, coherence is 2.00 2020-12-09T03:54:09Z- AHRS_M2 msg: 1607486049.52 epoch sec; seqNo:750 2020-12-09T03:54:09Z- AHRS_M2 msg: 0.80 phi; -0.23 theta; -0.13 psi 2020-12-09T03:54:09Z- waiting for 1607486051.77, time is 1607486048.77 2020-12-09T03:54:09Z- sync is 0.75, coherence is 2.00 2020-12-09T03:54:09Z- handleDepth()-Depth_Keller msg: 39.86 epoch sec; seqNo:1607486049524; depth 0.00 2020-12-09T03:54:09Z- waiting for 1607486051.77, time is 1607486048.77 2020-12-09T03:54:09Z- sync is 0.75, coherence is 2.00 2020-12-09T03:54:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607486049.53 epoch sec; seqNo:780; 4061662.12 north; 594249.03 east 2020-12-09T03:54:09Z- waiting for 1607486051.77, time is 1607486048.77 2020-12-09T03:54:09Z- sync is 0.76, coherence is 2.00