2021-02-10T17:56:53Z* LcmTrn::LcmTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-02-10T17:56:53Z* LcmTrn::init() - using configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-02-10T17:56:53Z* ahrs config: AHRS_M2, platform_orientation, platform_pitch_angle, platform_roll_angle 2021-02-10T17:56:53Z* dvl config: RDI_Pathfinder, Beam1Range, Beam2Range, Beam3Range, Beam4Range, BottomVelocityFlag 2021-02-10T17:56:53Z* nav config: DeadReckonUsingMultipleVelocitySources, latitude, longitude 2021-02-10T17:56:53Z* depth config: Depth_Keller, depth, sea_water_pressure 2021-02-10T17:56:53Z* trn config: TRN, trn_mle, trn_mmse, trn_var, trn_reinits, trn_filterstate 2021-02-10T17:56:53Z* LCM timeout=5.00 sec 2021-02-10T17:56:53Z* TRN settings: 2021-02-10T17:56:53Z* period=3.00 sec 2021-02-10T17:56:53Z* coherence=2.00 sec 2021-02-10T17:56:53Z* map = PortTiles cfg = mappingAUV_specs.cfg part= particles.cfg logdir= lrauv 2021-02-10T17:56:53Z* maptype = 2 filtertype = 3 weighting = 0 2021-02-10T17:56:53Z* lowgrade_filter = 1 allow reinit = 1 2021-02-10T17:56:53Z* LcmTrn::initTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-02-10T17:56:53Z* LcmTrn::initTrn() - map: /home/tethysadmin/Downloads/trnmaps/PortTiles 2021-02-10T17:56:53Z* LcmTrn::initTrn() - cfg: /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-02-10T17:56:53Z* LcmTrn::initTrn() - part: /home/tethysadmin/Downloads/trncfgs/particles.cfg 2021-02-10T17:56:53Z* TerrainMapOctree::tileDataName = /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv 2021-02-10T17:56:53Z* TerrainMapOctree::numTiles_ = 9. 2021-02-10T17:56:53Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo 4061250.0 594250.0 . 2021-02-10T17:56:53Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile2.bo 4061250.0 594750.0 . 2021-02-10T17:56:53Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile3.bo 4061250.0 595250.0 . 2021-02-10T17:56:53Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo 4061750.0 594250.0 . 2021-02-10T17:56:53Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile5.bo 4061750.0 594750.0 . 2021-02-10T17:56:53Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile6.bo 4061750.0 595250.0 . 2021-02-10T17:56:53Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile7.bo 4062250.0 594250.0 . 2021-02-10T17:56:53Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile8.bo 4062250.0 594750.0 . 2021-02-10T17:56:53Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile9.bo 4062250.0 595250.0 . 2021-02-10T17:56:53Z* TerrainMapOctree::loaded 9 useable tiles from /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv. 2021-02-10T17:56:53Z* TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo took 0.492635 seconds. 2021-02-10T17:56:53Z* TRN log directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.35 2021-02-10T17:56:53Z* symlink /home/tethysadmin/Downloads/trnlogs/latestTRN to /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.35 OK 2021-02-10T17:56:53Z* parseSensorSpecs parsing sensor of type 1. 2021-02-10T17:56:53Z* Sensor 0 is of type 1. 2021-02-10T17:56:53Z* parseSensorSpecs parsing sensor of type 2. 2021-02-10T17:56:53Z* Sensor 1 is of type 2. 2021-02-10T17:56:53Z* parseSensorSpecs parsing sensor of type 5. 2021-02-10T17:56:53Z* Sensor 2 is of type 5. 2021-02-10T17:56:53Z- File created[/home/tethysadmin/Downloads/trnlogs/latestTRN/trn.log.0000] returned[0x5584332550] 2021-02-10T17:56:53Z- TNavConfig::setParticlesFile: value is now particles.cfg 2021-02-10T17:56:53Z- TNavConfig::setMapFile: value is now /home/tethysadmin/Downloads/trnmaps/PortTiles 2021-02-10T17:56:53Z- TNavConfig::setVehicleSpecsFile: value is now /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-02-10T17:56:53Z- TNavConfig::setParticlesFile: value is now /home/tethysadmin/Downloads/trncfgs/particles.cfg 2021-02-10T17:56:53Z- TNavConfig::setLogDir: value is now /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.35 2021-02-10T17:56:53Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-02-10T17:56:53Z- parseSensorSpecs parsing sensor of type 1. 2021-02-10T17:56:53Z- Sensor 0 is of type 1. 2021-02-10T17:56:53Z- parseSensorSpecs parsing sensor of type 2. 2021-02-10T17:56:53Z- Sensor 1 is of type 2. 2021-02-10T17:56:53Z- parseSensorSpecs parsing sensor of type 5. 2021-02-10T17:56:53Z- Sensor 2 is of type 5. 2021-02-10T17:56:53Z- Random noise maker initialized with 1612979813 2021-02-10T17:56:53Z- setDistribToSave(0) 2021-02-10T17:56:53Z- setDistribToSave set to 0 2021-02-10T17:56:53Z- Vehicle name: mappingAUV Number of sensors: 3 2021-02-10T17:56:53Z- Sensor #1: 2021-02-10T17:56:53Z- Sensor name: rdiDVL 2021-02-10T17:56:53Z- Sensor type: 1 2021-02-10T17:56:53Z- Number of beams per measurement: 4 2021-02-10T17:56:53Z- Sensor #1 to vehicle transformation information: 2021-02-10T17:56:53Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-02-10T17:56:53Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-02-10T17:56:53Z- 2021-02-10T17:56:53Z- Sensor #2: 2021-02-10T17:56:53Z- Sensor name: resonSeabat8101 2021-02-10T17:56:53Z- Sensor type: 2 2021-02-10T17:56:53Z- Number of beams per measurement: 11 2021-02-10T17:56:53Z- Sensor #2 to vehicle transformation information: 2021-02-10T17:56:53Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-02-10T17:56:53Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-02-10T17:56:53Z- 2021-02-10T17:56:53Z- Sensor #3: 2021-02-10T17:56:53Z- Sensor name: imagenexdeltat 2021-02-10T17:56:53Z- Sensor type: 5 2021-02-10T17:56:53Z- Number of beams per measurement: 120 2021-02-10T17:56:53Z- Sensor #3 to vehicle transformation information: 2021-02-10T17:56:53Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-02-10T17:56:53Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-02-10T17:56:53Z- 2021-02-10T17:56:53Z- TNavBF::nParticles: 10000 numFilters: 2 PMF Grid Resolution: 1.0 PMF Grid Size: 100 2021-02-10T17:56:53Z- TerrainNav::TNavFilter initialized with type 3 2021-02-10T17:56:53Z- TerrainNav::initVariables finished. 2021-02-10T17:56:53Z- TerrainNav::Constructor finished. 2021-02-10T17:56:53Z- TNavBF::setModifiedWeighting umw: 4 2021-02-10T17:56:53Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20 2021-02-10T17:56:53Z- TNavBF::numFilters: 1 2021-02-10T17:56:53Z- TerrainNav::modified weighting set to 0 2021-02-10T17:56:53Z- LcmTrn::initLcm() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-02-10T17:56:53Z- LcmTrn::run() 2021-02-10T17:56:54Z- AHRS_M2 msg: 1612979814.03 epoch sec; seqNo:221 2021-02-10T17:56:54Z- AHRS_M2 msg: 4.46 phi; -0.14 theta; -0.21 psi 2021-02-10T17:56:54Z- waiting for 3.00, time is 0.00 2021-02-10T17:56:54Z- sync is 1612979814.03, coherence is 2.00 2021-02-10T17:56:54Z- handleDepth()-Depth_Keller msg: 3.84 epoch sec; seqNo:1612979814030; depth 0.00 2021-02-10T17:56:54Z- waiting for 3.00, time is 0.00 2021-02-10T17:56:54Z- sync is 1612979814.03, coherence is 2.00 2021-02-10T17:56:54Z- handleDvl() - RDI_Pathfinder msg: 1612979814.04 epoch sec; seqNo:91 2021-02-10T17:56:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.52 , 96.65 , 83.25 , 96.65 2021-02-10T17:56:54Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.01 , -0.05 2021-02-10T17:56:54Z- waiting for 1612979817.04, time is 1612979814.04 2021-02-10T17:56:54Z- sync is 0.02, coherence is 2.00 2021-02-10T17:56:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979814.05 epoch sec; seqNo:223; 4061777.25 north; 594587.05 east 2021-02-10T17:56:54Z- waiting for 1612979817.04, time is 1612979814.04 2021-02-10T17:56:54Z- sync is 0.01, coherence is 2.00 2021-02-10T17:56:54Z- AHRS_M2 msg: 1612979814.43 epoch sec; seqNo:222 2021-02-10T17:56:54Z- AHRS_M2 msg: 4.45 phi; -0.14 theta; -0.21 psi 2021-02-10T17:56:54Z- waiting for 1612979817.04, time is 1612979814.04 2021-02-10T17:56:54Z- sync is 0.39, coherence is 2.00 2021-02-10T17:56:54Z- handleDepth()-Depth_Keller msg: 3.90 epoch sec; seqNo:1612979814432; depth 0.00 2021-02-10T17:56:54Z- waiting for 1612979817.04, time is 1612979814.04 2021-02-10T17:56:54Z- sync is 0.39, coherence is 2.00 2021-02-10T17:56:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979814.45 epoch sec; seqNo:224; 4061777.25 north; 594587.05 east 2021-02-10T17:56:54Z- waiting for 1612979817.04, time is 1612979814.04 2021-02-10T17:56:54Z- sync is 0.41, coherence is 2.00 2021-02-10T17:56:54Z- AHRS_M2 msg: 1612979814.83 epoch sec; seqNo:223 2021-02-10T17:56:54Z- AHRS_M2 msg: 4.45 phi; -0.14 theta; -0.21 psi 2021-02-10T17:56:54Z- waiting for 1612979817.04, time is 1612979814.04 2021-02-10T17:56:54Z- sync is 0.79, coherence is 2.00 2021-02-10T17:56:54Z- handleDepth()-Depth_Keller msg: 3.95 epoch sec; seqNo:1612979814840; depth 0.00 2021-02-10T17:56:54Z- waiting for 1612979817.04, time is 1612979814.04 2021-02-10T17:56:54Z- sync is 0.79, coherence is 2.00 2021-02-10T17:56:54Z- handleDvl() - RDI_Pathfinder msg: 1612979814.86 epoch sec; seqNo:92 2021-02-10T17:56:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 101.52 , 83.25 , 96.65 2021-02-10T17:56:54Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.02 , 0.01 2021-02-10T17:56:54Z- waiting for 1612979817.04, time is 1612979814.86 2021-02-10T17:56:54Z- sync is 0.03, coherence is 2.00 2021-02-10T17:56:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979814.87 epoch sec; seqNo:225; 4061777.25 north; 594587.05 east 2021-02-10T17:56:54Z- waiting for 1612979817.04, time is 1612979814.86 2021-02-10T17:56:54Z- sync is 0.01, coherence is 2.00 2021-02-10T17:56:55Z- AHRS_M2 msg: 1612979815.24 epoch sec; seqNo:224 2021-02-10T17:56:55Z- AHRS_M2 msg: 4.44 phi; -0.14 theta; -0.21 psi 2021-02-10T17:56:55Z- waiting for 1612979817.04, time is 1612979814.86 2021-02-10T17:56:55Z- sync is 0.37, coherence is 2.00 2021-02-10T17:56:55Z- handleDepth()-Depth_Keller msg: 4.01 epoch sec; seqNo:1612979815248; depth 0.00 2021-02-10T17:56:55Z- waiting for 1612979817.04, time is 1612979814.86 2021-02-10T17:56:55Z- sync is 0.37, coherence is 2.00 2021-02-10T17:56:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979815.27 epoch sec; seqNo:226; 4061776.85 north; 594585.83 east 2021-02-10T17:56:55Z- waiting for 1612979817.04, time is 1612979814.86 2021-02-10T17:56:55Z- sync is 0.40, coherence is 2.00 2021-02-10T17:56:55Z- AHRS_M2 msg: 1612979815.64 epoch sec; seqNo:225 2021-02-10T17:56:55Z- AHRS_M2 msg: 4.44 phi; -0.15 theta; -0.21 psi 2021-02-10T17:56:55Z- waiting for 1612979817.04, time is 1612979814.86 2021-02-10T17:56:55Z- sync is 0.78, coherence is 2.00 2021-02-10T17:56:55Z- handleDepth()-Depth_Keller msg: 4.05 epoch sec; seqNo:1612979815654; depth 0.00 2021-02-10T17:56:55Z- waiting for 1612979817.04, time is 1612979814.86 2021-02-10T17:56:55Z- sync is 0.78, coherence is 2.00 2021-02-10T17:56:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979815.69 epoch sec; seqNo:227; 4061776.85 north; 594585.83 east 2021-02-10T17:56:55Z- waiting for 1612979817.04, time is 1612979814.86 2021-02-10T17:56:55Z- sync is 0.82, coherence is 2.00 2021-02-10T17:56:56Z- AHRS_M2 msg: 1612979816.04 epoch sec; seqNo:226 2021-02-10T17:56:56Z- AHRS_M2 msg: 4.43 phi; -0.15 theta; -0.21 psi 2021-02-10T17:56:56Z- waiting for 1612979817.04, time is 1612979814.86 2021-02-10T17:56:56Z- sync is 1.18, coherence is 2.00 2021-02-10T17:56:56Z- handleDepth()-Depth_Keller msg: 4.11 epoch sec; seqNo:1612979816053; depth 0.00 2021-02-10T17:56:56Z- waiting for 1612979817.04, time is 1612979814.86 2021-02-10T17:56:56Z- sync is 1.18, coherence is 2.00 2021-02-10T17:56:56Z- handleDvl() - RDI_Pathfinder msg: 1612979816.07 epoch sec; seqNo:93 2021-02-10T17:56:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.93 , 101.65 , 82.71 , 96.24 2021-02-10T17:56:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.03 , 0.08 2021-02-10T17:56:56Z- waiting for 1612979817.04, time is 1612979816.07 2021-02-10T17:56:56Z- sync is 0.02, coherence is 2.00 2021-02-10T17:56:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979816.08 epoch sec; seqNo:228; 4061776.85 north; 594585.83 east 2021-02-10T17:56:56Z- waiting for 1612979817.04, time is 1612979816.07 2021-02-10T17:56:56Z- sync is 0.01, coherence is 2.00 2021-02-10T17:56:56Z- AHRS_M2 msg: 1612979816.45 epoch sec; seqNo:227 2021-02-10T17:56:56Z- AHRS_M2 msg: 4.43 phi; -0.16 theta; -0.22 psi 2021-02-10T17:56:56Z- waiting for 1612979817.04, time is 1612979816.07 2021-02-10T17:56:56Z- sync is 0.38, coherence is 2.00 2021-02-10T17:56:56Z- handleDepth()-Depth_Keller msg: 4.15 epoch sec; seqNo:1612979816460; depth 0.00 2021-02-10T17:56:56Z- waiting for 1612979817.04, time is 1612979816.07 2021-02-10T17:56:56Z- sync is 0.38, coherence is 2.00 2021-02-10T17:56:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979816.47 epoch sec; seqNo:229; 4061776.46 north; 594584.62 east 2021-02-10T17:56:56Z- waiting for 1612979817.04, time is 1612979816.07 2021-02-10T17:56:56Z- sync is 0.41, coherence is 2.00 2021-02-10T17:56:56Z- AHRS_M2 msg: 1612979816.85 epoch sec; seqNo:228 2021-02-10T17:56:56Z- AHRS_M2 msg: 4.43 phi; -0.16 theta; -0.23 psi 2021-02-10T17:56:56Z- waiting for 1612979817.04, time is 1612979816.07 2021-02-10T17:56:56Z- sync is 0.79, coherence is 2.00 2021-02-10T17:56:56Z- handleDepth()-Depth_Keller msg: 4.21 epoch sec; seqNo:1612979816856; depth 0.00 2021-02-10T17:56:56Z- waiting for 1612979817.04, time is 1612979816.07 2021-02-10T17:56:56Z- sync is 0.79, coherence is 2.00 2021-02-10T17:56:56Z- handleDvl() - RDI_Pathfinder msg: 1612979816.87 epoch sec; seqNo:94 2021-02-10T17:56:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.11 , 102.67 , 0.00 , 96.58 2021-02-10T17:56:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.07 , 0.06 2021-02-10T17:56:56Z- waiting for 1612979817.04, time is 1612979816.87 2021-02-10T17:56:56Z- sync is 0.02, coherence is 2.00 2021-02-10T17:56:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979816.89 epoch sec; seqNo:230; 4061776.46 north; 594584.62 east 2021-02-10T17:56:56Z- waiting for 1612979817.04, time is 1612979816.87 2021-02-10T17:56:56Z- sync is 0.02, coherence is 2.00 2021-02-10T17:56:57Z- AHRS_M2 msg: 1612979817.26 epoch sec; seqNo:229 2021-02-10T17:56:57Z- AHRS_M2 msg: 4.44 phi; -0.17 theta; -0.23 psi 2021-02-10T17:56:57Z- waiting for 1612979817.04, time is 1612979816.87 2021-02-10T17:56:57Z- sync is 0.39, coherence is 2.00 2021-02-10T17:56:57Z- handleDepth()-Depth_Keller msg: 4.27 epoch sec; seqNo:1612979817264; depth 0.00 2021-02-10T17:56:57Z- waiting for 1612979817.04, time is 1612979816.87 2021-02-10T17:56:57Z- sync is 0.39, coherence is 2.00 2021-02-10T17:56:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979817.28 epoch sec; seqNo:231; 4061776.46 north; 594584.62 east 2021-02-10T17:56:57Z- waiting for 1612979817.04, time is 1612979816.87 2021-02-10T17:56:57Z- sync is 0.41, coherence is 2.00 2021-02-10T17:56:57Z- AHRS_M2 msg: 1612979817.68 epoch sec; seqNo:230 2021-02-10T17:56:57Z- AHRS_M2 msg: 4.44 phi; -0.17 theta; -0.22 psi 2021-02-10T17:56:57Z- waiting for 1612979817.04, time is 1612979816.87 2021-02-10T17:56:57Z- sync is 0.81, coherence is 2.00 2021-02-10T17:56:57Z- handleDepth()-Depth_Keller msg: 4.31 epoch sec; seqNo:1612979817683; depth 0.00 2021-02-10T17:56:57Z- waiting for 1612979817.04, time is 1612979816.87 2021-02-10T17:56:57Z- sync is 0.81, coherence is 2.00 2021-02-10T17:56:57Z- handleDvl() - RDI_Pathfinder msg: 1612979817.69 epoch sec; seqNo:95 2021-02-10T17:56:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.52 , 104.50 , 81.49 , 100.44 2021-02-10T17:56:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.01 , -0.04 2021-02-10T17:56:57Z- waiting for 1612979817.04, time is 1612979817.69 2021-02-10T17:56:57Z- sync is 0.02, coherence is 2.00 2021-02-10T17:56:57Z- LcmTrn::updateTrn() >>>> pose time 1612979817.68, meas time 1612979817.69 <<<< 2021-02-10T17:56:57Z- TerrainNav::Measurement type 1 from time = 1612979817.69 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-02-10T17:56:57Z- TerrainNav::motionUpdate() - currEstimate = (4061776, 594584.62, 4.31) 2021-02-10T17:56:57Z- TerrainNav::attemptInitFilter is increasing Init Search Window by 0.000000 m 2021-02-10T17:56:57Z- TNavBF: Successfully initialized particles 2021-02-10T17:56:57Z- TerrainNav:: vehicle motion has been initialized 2021-02-10T17:56:57Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:56:57Z- TNavBF::mmse selected from filter -1 2021-02-10T17:56:57Z- variances([0], [2], and psi_berg) = 833.250000 833.250000 0.000000 2021-02-10T17:56:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:56:57Z- LcmTrn::cycle() - MLE : 4061726.96 594535.12 4.31 2021-02-10T17:56:57Z- LcmTrn::cycle() - MMSE : 4061776.46 594584.62 4.31 2021-02-10T17:56:57Z- LcmTrn::cycle() - COVAR: 833.25 833.25 25.00 0.00 2021-02-10T17:56:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979817.73 epoch sec; seqNo:232; 4061776.08 north; 594584.62 east 2021-02-10T17:56:57Z- waiting for 1612979820.69, time is 1612979817.69 2021-02-10T17:56:57Z- sync is 0.03, coherence is 2.00 2021-02-10T17:56:58Z- AHRS_M2 msg: 1612979818.06 epoch sec; seqNo:231 2021-02-10T17:56:58Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.21 psi 2021-02-10T17:56:58Z- waiting for 1612979820.69, time is 1612979817.69 2021-02-10T17:56:58Z- sync is 0.37, coherence is 2.00 2021-02-10T17:56:58Z- handleDepth()-Depth_Keller msg: 4.36 epoch sec; seqNo:1612979818068; depth 0.00 2021-02-10T17:56:58Z- waiting for 1612979820.69, time is 1612979817.69 2021-02-10T17:56:58Z- sync is 0.37, coherence is 2.00 2021-02-10T17:56:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979818.09 epoch sec; seqNo:233; 4061776.07 north; 594583.40 east 2021-02-10T17:56:58Z- waiting for 1612979820.69, time is 1612979817.69 2021-02-10T17:56:58Z- sync is 0.39, coherence is 2.00 2021-02-10T17:56:58Z- AHRS_M2 msg: 1612979818.47 epoch sec; seqNo:232 2021-02-10T17:56:58Z- AHRS_M2 msg: 4.44 phi; -0.16 theta; -0.20 psi 2021-02-10T17:56:58Z- waiting for 1612979820.69, time is 1612979817.69 2021-02-10T17:56:58Z- sync is 0.77, coherence is 2.00 2021-02-10T17:56:58Z- handleDepth()-Depth_Keller msg: 4.41 epoch sec; seqNo:1612979818472; depth 0.00 2021-02-10T17:56:58Z- waiting for 1612979820.69, time is 1612979817.69 2021-02-10T17:56:58Z- sync is 0.77, coherence is 2.00 2021-02-10T17:56:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-02-10T17:56:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-02-10T17:56:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-02-10T17:56:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-02-10T17:56:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-02-10T17:56:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-02-10T17:56:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-02-10T17:56:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-02-10T17:56:58Z- handleDvl() - RDI_Pathfinder msg: 1612979818.47 epoch sec; seqNo:96 2021-02-10T17:56:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-02-10T17:56:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.01 , -0.04 2021-02-10T17:56:58Z- waiting for 1612979820.69, time is 1612979818.47 2021-02-10T17:56:58Z- sync is 0.01, coherence is 2.00 2021-02-10T17:56:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979818.48 epoch sec; seqNo:234; 4061776.07 north; 594583.40 east 2021-02-10T17:56:58Z- waiting for 1612979820.69, time is 1612979818.47 2021-02-10T17:56:58Z- sync is 0.01, coherence is 2.00 2021-02-10T17:56:58Z- AHRS_M2 msg: 1612979818.87 epoch sec; seqNo:233 2021-02-10T17:56:58Z- AHRS_M2 msg: 4.44 phi; -0.16 theta; -0.20 psi 2021-02-10T17:56:58Z- waiting for 1612979820.69, time is 1612979818.47 2021-02-10T17:56:58Z- sync is 0.40, coherence is 2.00 2021-02-10T17:56:58Z- handleDepth()-Depth_Keller msg: 4.47 epoch sec; seqNo:1612979818877; depth 0.00 2021-02-10T17:56:58Z- waiting for 1612979820.69, time is 1612979818.47 2021-02-10T17:56:58Z- sync is 0.40, coherence is 2.00 2021-02-10T17:56:58Z- handleDvl() - RDI_Pathfinder msg: 1612979818.89 epoch sec; seqNo:97 2021-02-10T17:56:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-02-10T17:56:58Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-02-10T17:56:58Z- waiting for 1612979820.69, time is 1612979818.89 2021-02-10T17:56:58Z- sync is 0.02, coherence is 2.00 2021-02-10T17:56:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979818.90 epoch sec; seqNo:235; 4061776.07 north; 594583.40 east 2021-02-10T17:56:58Z- waiting for 1612979820.69, time is 1612979818.89 2021-02-10T17:56:58Z- sync is 0.01, coherence is 2.00 2021-02-10T17:56:59Z- AHRS_M2 msg: 1612979819.28 epoch sec; seqNo:234 2021-02-10T17:56:59Z- AHRS_M2 msg: 4.43 phi; -0.16 theta; -0.20 psi 2021-02-10T17:56:59Z- waiting for 1612979820.69, time is 1612979818.89 2021-02-10T17:56:59Z- sync is 0.39, coherence is 2.00 2021-02-10T17:56:59Z- handleDepth()-Depth_Keller msg: 4.53 epoch sec; seqNo:1612979819297; depth 0.00 2021-02-10T17:56:59Z- waiting for 1612979820.69, time is 1612979818.89 2021-02-10T17:56:59Z- sync is 0.39, coherence is 2.00 2021-02-10T17:56:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979819.31 epoch sec; seqNo:236; 4061775.68 north; 594582.19 east 2021-02-10T17:56:59Z- waiting for 1612979820.69, time is 1612979818.89 2021-02-10T17:56:59Z- sync is 0.42, coherence is 2.00 2021-02-10T17:56:59Z- AHRS_M2 msg: 1612979819.68 epoch sec; seqNo:235 2021-02-10T17:56:59Z- AHRS_M2 msg: 4.42 phi; -0.16 theta; -0.20 psi 2021-02-10T17:56:59Z- waiting for 1612979820.69, time is 1612979818.89 2021-02-10T17:56:59Z- sync is 0.79, coherence is 2.00 2021-02-10T17:56:59Z- handleDepth()-Depth_Keller msg: 4.62 epoch sec; seqNo:1612979819684; depth 0.00 2021-02-10T17:56:59Z- waiting for 1612979820.69, time is 1612979818.89 2021-02-10T17:56:59Z- sync is 0.79, coherence is 2.00 2021-02-10T17:56:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979819.69 epoch sec; seqNo:237; 4061775.68 north; 594582.19 east 2021-02-10T17:56:59Z- waiting for 1612979820.69, time is 1612979818.89 2021-02-10T17:56:59Z- sync is 0.80, coherence is 2.00 2021-02-10T17:57:00Z- AHRS_M2 msg: 1612979820.08 epoch sec; seqNo:236 2021-02-10T17:57:00Z- AHRS_M2 msg: 4.42 phi; -0.16 theta; -0.20 psi 2021-02-10T17:57:00Z- waiting for 1612979820.69, time is 1612979818.89 2021-02-10T17:57:00Z- sync is 1.20, coherence is 2.00 2021-02-10T17:57:00Z- handleDepth()-Depth_Keller msg: 4.67 epoch sec; seqNo:1612979820088; depth 0.00 2021-02-10T17:57:00Z- waiting for 1612979820.69, time is 1612979818.89 2021-02-10T17:57:00Z- sync is 1.20, coherence is 2.00 2021-02-10T17:57:00Z- handleDvl() - RDI_Pathfinder msg: 1612979820.10 epoch sec; seqNo:98 2021-02-10T17:57:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.29 , 100.64 , 81.29 , 100.64 2021-02-10T17:57:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.13 , 0.03 2021-02-10T17:57:00Z- waiting for 1612979820.69, time is 1612979820.10 2021-02-10T17:57:00Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979820.11 epoch sec; seqNo:238; 4061775.68 north; 594582.19 east 2021-02-10T17:57:00Z- waiting for 1612979820.69, time is 1612979820.10 2021-02-10T17:57:00Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:00Z- AHRS_M2 msg: 1612979820.49 epoch sec; seqNo:237 2021-02-10T17:57:00Z- AHRS_M2 msg: 4.42 phi; -0.17 theta; -0.20 psi 2021-02-10T17:57:00Z- waiting for 1612979820.69, time is 1612979820.10 2021-02-10T17:57:00Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:00Z- handleDepth()-Depth_Keller msg: 4.73 epoch sec; seqNo:1612979820499; depth 0.00 2021-02-10T17:57:00Z- waiting for 1612979820.69, time is 1612979820.10 2021-02-10T17:57:00Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979820.51 epoch sec; seqNo:239; 4061775.66 north; 594580.97 east 2021-02-10T17:57:00Z- waiting for 1612979820.69, time is 1612979820.10 2021-02-10T17:57:00Z- sync is 0.41, coherence is 2.00 2021-02-10T17:57:00Z- AHRS_M2 msg: 1612979820.89 epoch sec; seqNo:238 2021-02-10T17:57:00Z- AHRS_M2 msg: 4.42 phi; -0.17 theta; -0.21 psi 2021-02-10T17:57:00Z- waiting for 1612979820.69, time is 1612979820.10 2021-02-10T17:57:00Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:00Z- handleDepth()-Depth_Keller msg: 4.76 epoch sec; seqNo:1612979820896; depth 0.00 2021-02-10T17:57:00Z- waiting for 1612979820.69, time is 1612979820.10 2021-02-10T17:57:00Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:00Z- handleDvl() - RDI_Pathfinder msg: 1612979820.91 epoch sec; seqNo:99 2021-02-10T17:57:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.53 , 96.58 , 79.34 , 96.58 2021-02-10T17:57:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.18 , 0.02 2021-02-10T17:57:00Z- waiting for 1612979820.69, time is 1612979820.91 2021-02-10T17:57:00Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:00Z- LcmTrn::updateTrn() >>>> pose time 1612979820.89, meas time 1612979820.91 <<<< 2021-02-10T17:57:00Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979820.91 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:57:00Z- TerrainNav::motionUpdate() - currEstimate = (4061776, 594580.97, 4.76) 2021-02-10T17:57:00Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:57:00Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:57:00Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:57:00Z- TNavBF::mmse selected from filter -1 2021-02-10T17:57:00Z- variances([0], [2], and psi_berg) = 832.689138 833.244881 0.000000 2021-02-10T17:57:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:57:00Z- LcmTrn::cycle() - MLE : 4061727.16 594532.47 4.76 2021-02-10T17:57:00Z- LcmTrn::cycle() - MMSE : 4061775.66 594580.97 4.76 2021-02-10T17:57:00Z- LcmTrn::cycle() - COVAR: 832.69 833.24 25.19 0.00 2021-02-10T17:57:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979820.92 epoch sec; seqNo:240; 4061775.66 north; 594580.97 east 2021-02-10T17:57:00Z- waiting for 1612979823.91, time is 1612979820.91 2021-02-10T17:57:00Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:01Z- AHRS_M2 msg: 1612979821.30 epoch sec; seqNo:239 2021-02-10T17:57:01Z- AHRS_M2 msg: 4.42 phi; -0.17 theta; -0.20 psi 2021-02-10T17:57:01Z- waiting for 1612979823.91, time is 1612979820.91 2021-02-10T17:57:01Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:01Z- handleDepth()-Depth_Keller msg: 4.85 epoch sec; seqNo:1612979821301; depth 0.00 2021-02-10T17:57:01Z- waiting for 1612979823.91, time is 1612979820.91 2021-02-10T17:57:01Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979821.31 epoch sec; seqNo:241; 4061775.66 north; 594580.97 east 2021-02-10T17:57:01Z- waiting for 1612979823.91, time is 1612979820.91 2021-02-10T17:57:01Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:01Z- AHRS_M2 msg: 1612979821.71 epoch sec; seqNo:240 2021-02-10T17:57:01Z- AHRS_M2 msg: 4.42 phi; -0.17 theta; -0.21 psi 2021-02-10T17:57:01Z- waiting for 1612979823.91, time is 1612979820.91 2021-02-10T17:57:01Z- sync is 0.80, coherence is 2.00 2021-02-10T17:57:01Z- handleDepth()-Depth_Keller msg: 4.90 epoch sec; seqNo:1612979821717; depth 0.00 2021-02-10T17:57:01Z- waiting for 1612979823.91, time is 1612979820.91 2021-02-10T17:57:01Z- sync is 0.80, coherence is 2.00 2021-02-10T17:57:01Z- handleDvl() - RDI_Pathfinder msg: 1612979821.73 epoch sec; seqNo:100 2021-02-10T17:57:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 80.88 , 100.37 , 79.75 , 96.71 2021-02-10T17:57:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.16 , 0.02 2021-02-10T17:57:01Z- waiting for 1612979823.91, time is 1612979821.73 2021-02-10T17:57:01Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979821.74 epoch sec; seqNo:242; 4061775.27 north; 594579.75 east 2021-02-10T17:57:01Z- waiting for 1612979823.91, time is 1612979821.73 2021-02-10T17:57:01Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:02Z- AHRS_M2 msg: 1612979822.10 epoch sec; seqNo:241 2021-02-10T17:57:02Z- AHRS_M2 msg: 4.42 phi; -0.16 theta; -0.21 psi 2021-02-10T17:57:02Z- waiting for 1612979823.91, time is 1612979821.73 2021-02-10T17:57:02Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:02Z- handleDepth()-Depth_Keller msg: 4.95 epoch sec; seqNo:1612979822108; depth 0.00 2021-02-10T17:57:02Z- waiting for 1612979823.91, time is 1612979821.73 2021-02-10T17:57:02Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979822.12 epoch sec; seqNo:243; 4061775.27 north; 594579.75 east 2021-02-10T17:57:02Z- waiting for 1612979823.91, time is 1612979821.73 2021-02-10T17:57:02Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:02Z- AHRS_M2 msg: 1612979822.51 epoch sec; seqNo:242 2021-02-10T17:57:02Z- AHRS_M2 msg: 4.41 phi; -0.16 theta; -0.21 psi 2021-02-10T17:57:02Z- waiting for 1612979823.91, time is 1612979821.73 2021-02-10T17:57:02Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:02Z- handleDepth()-Depth_Keller msg: 5.02 epoch sec; seqNo:1612979822512; depth 0.00 2021-02-10T17:57:02Z- waiting for 1612979823.91, time is 1612979821.73 2021-02-10T17:57:02Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979822.52 epoch sec; seqNo:244; 4061775.27 north; 594579.75 east 2021-02-10T17:57:02Z- waiting for 1612979823.91, time is 1612979821.73 2021-02-10T17:57:02Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:02Z- AHRS_M2 msg: 1612979822.91 epoch sec; seqNo:243 2021-02-10T17:57:02Z- AHRS_M2 msg: 4.41 phi; -0.16 theta; -0.20 psi 2021-02-10T17:57:02Z- waiting for 1612979823.91, time is 1612979821.73 2021-02-10T17:57:02Z- sync is 1.18, coherence is 2.00 2021-02-10T17:57:02Z- handleDepth()-Depth_Keller msg: 5.07 epoch sec; seqNo:1612979822921; depth 0.00 2021-02-10T17:57:02Z- waiting for 1612979823.91, time is 1612979821.73 2021-02-10T17:57:02Z- sync is 1.18, coherence is 2.00 2021-02-10T17:57:02Z- handleDvl() - RDI_Pathfinder msg: 1612979822.93 epoch sec; seqNo:101 2021-02-10T17:57:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.59 , 101.52 , 80.81 , 96.65 2021-02-10T17:57:02Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , 0.11 , 0.03 2021-02-10T17:57:02Z- waiting for 1612979823.91, time is 1612979822.93 2021-02-10T17:57:02Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979822.94 epoch sec; seqNo:245; 4061775.27 north; 594579.75 east 2021-02-10T17:57:02Z- waiting for 1612979823.91, time is 1612979822.93 2021-02-10T17:57:02Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:03Z- AHRS_M2 msg: 1612979823.32 epoch sec; seqNo:244 2021-02-10T17:57:03Z- AHRS_M2 msg: 4.40 phi; -0.16 theta; -0.19 psi 2021-02-10T17:57:03Z- waiting for 1612979823.91, time is 1612979822.93 2021-02-10T17:57:03Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:03Z- handleDepth()-Depth_Keller msg: 5.15 epoch sec; seqNo:1612979823327; depth 0.00 2021-02-10T17:57:03Z- waiting for 1612979823.91, time is 1612979822.93 2021-02-10T17:57:03Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979823.34 epoch sec; seqNo:246; 4061775.26 north; 594578.53 east 2021-02-10T17:57:03Z- waiting for 1612979823.91, time is 1612979822.93 2021-02-10T17:57:03Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:03Z- AHRS_M2 msg: 1612979823.72 epoch sec; seqNo:245 2021-02-10T17:57:03Z- AHRS_M2 msg: 4.39 phi; -0.17 theta; -0.19 psi 2021-02-10T17:57:03Z- waiting for 1612979823.91, time is 1612979822.93 2021-02-10T17:57:03Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:03Z- handleDepth()-Depth_Keller msg: 5.20 epoch sec; seqNo:1612979823725; depth 0.00 2021-02-10T17:57:03Z- waiting for 1612979823.91, time is 1612979822.93 2021-02-10T17:57:03Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:03Z- handleDvl() - RDI_Pathfinder msg: 1612979823.74 epoch sec; seqNo:102 2021-02-10T17:57:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 80.74 , 100.23 , 0.00 , 99.01 2021-02-10T17:57:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.10 , 0.08 2021-02-10T17:57:03Z- waiting for 1612979823.91, time is 1612979823.74 2021-02-10T17:57:03Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979823.75 epoch sec; seqNo:247; 4061774.88 north; 594578.53 east 2021-02-10T17:57:03Z- waiting for 1612979823.91, time is 1612979823.74 2021-02-10T17:57:03Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:04Z- AHRS_M2 msg: 1612979824.12 epoch sec; seqNo:246 2021-02-10T17:57:04Z- AHRS_M2 msg: 4.38 phi; -0.17 theta; -0.19 psi 2021-02-10T17:57:04Z- waiting for 1612979823.91, time is 1612979823.74 2021-02-10T17:57:04Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:04Z- handleDepth()-Depth_Keller msg: 5.27 epoch sec; seqNo:1612979824128; depth 0.00 2021-02-10T17:57:04Z- waiting for 1612979823.91, time is 1612979823.74 2021-02-10T17:57:04Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979824.14 epoch sec; seqNo:248; 4061774.88 north; 594578.53 east 2021-02-10T17:57:04Z- waiting for 1612979823.91, time is 1612979823.74 2021-02-10T17:57:04Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:04Z- AHRS_M2 msg: 1612979824.53 epoch sec; seqNo:247 2021-02-10T17:57:04Z- AHRS_M2 msg: 4.38 phi; -0.17 theta; -0.20 psi 2021-02-10T17:57:04Z- waiting for 1612979823.91, time is 1612979823.74 2021-02-10T17:57:04Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:04Z- handleDepth()-Depth_Keller msg: 5.32 epoch sec; seqNo:1612979824533; depth 0.00 2021-02-10T17:57:04Z- waiting for 1612979823.91, time is 1612979823.74 2021-02-10T17:57:04Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979824.55 epoch sec; seqNo:249; 4061774.86 north; 594577.31 east 2021-02-10T17:57:04Z- waiting for 1612979823.91, time is 1612979823.74 2021-02-10T17:57:04Z- sync is 0.80, coherence is 2.00 2021-02-10T17:57:04Z- AHRS_M2 msg: 1612979824.93 epoch sec; seqNo:248 2021-02-10T17:57:04Z- AHRS_M2 msg: 4.38 phi; -0.17 theta; -0.21 psi 2021-02-10T17:57:04Z- waiting for 1612979823.91, time is 1612979823.74 2021-02-10T17:57:04Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:04Z- handleDepth()-Depth_Keller msg: 5.38 epoch sec; seqNo:1612979824936; depth 0.00 2021-02-10T17:57:04Z- waiting for 1612979823.91, time is 1612979823.74 2021-02-10T17:57:04Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:04Z- handleDvl() - RDI_Pathfinder msg: 1612979824.96 epoch sec; seqNo:103 2021-02-10T17:57:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.71 , 96.31 , 78.93 , 100.37 2021-02-10T17:57:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , 0.12 2021-02-10T17:57:04Z- waiting for 1612979823.91, time is 1612979824.96 2021-02-10T17:57:04Z- sync is 0.03, coherence is 2.00 2021-02-10T17:57:04Z- LcmTrn::updateTrn() >>>> pose time 1612979824.93, meas time 1612979824.96 <<<< 2021-02-10T17:57:04Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979824.96 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:57:04Z- TerrainNav::motionUpdate() - currEstimate = (4061775, 594577.31, 5.38) 2021-02-10T17:57:04Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:57:04Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:57:04Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:57:04Z- TNavBF::mmse selected from filter -1 2021-02-10T17:57:04Z- variances([0], [2], and psi_berg) = 832.138282 833.240013 0.000000 2021-02-10T17:57:04Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:57:04Z- LcmTrn::cycle() - MLE : 4061727.36 594529.81 5.38 2021-02-10T17:57:04Z- LcmTrn::cycle() - MMSE : 4061774.86 594577.31 5.38 2021-02-10T17:57:04Z- LcmTrn::cycle() - COVAR: 832.14 833.24 25.38 0.00 2021-02-10T17:57:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979824.97 epoch sec; seqNo:250; 4061774.86 north; 594577.31 east 2021-02-10T17:57:04Z- waiting for 1612979827.96, time is 1612979824.96 2021-02-10T17:57:04Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:05Z- AHRS_M2 msg: 1612979825.34 epoch sec; seqNo:249 2021-02-10T17:57:05Z- AHRS_M2 msg: 4.37 phi; -0.17 theta; -0.21 psi 2021-02-10T17:57:05Z- waiting for 1612979827.96, time is 1612979824.96 2021-02-10T17:57:05Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:05Z- handleDepth()-Depth_Keller msg: 5.44 epoch sec; seqNo:1612979825340; depth 0.00 2021-02-10T17:57:05Z- waiting for 1612979827.96, time is 1612979824.96 2021-02-10T17:57:05Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979825.36 epoch sec; seqNo:251; 4061774.49 north; 594577.32 east 2021-02-10T17:57:05Z- waiting for 1612979827.96, time is 1612979824.96 2021-02-10T17:57:05Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:05Z- AHRS_M2 msg: 1612979825.75 epoch sec; seqNo:250 2021-02-10T17:57:05Z- AHRS_M2 msg: 4.37 phi; -0.17 theta; -0.22 psi 2021-02-10T17:57:05Z- waiting for 1612979827.96, time is 1612979824.96 2021-02-10T17:57:05Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:05Z- handleDepth()-Depth_Keller msg: 5.51 epoch sec; seqNo:1612979825750; depth 0.00 2021-02-10T17:57:05Z- waiting for 1612979827.96, time is 1612979824.96 2021-02-10T17:57:05Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:05Z- handleDvl() - RDI_Pathfinder msg: 1612979825.76 epoch sec; seqNo:104 2021-02-10T17:57:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.70 , 96.71 , 79.34 , 99.15 2021-02-10T17:57:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.05 , 0.10 2021-02-10T17:57:05Z- waiting for 1612979827.96, time is 1612979825.76 2021-02-10T17:57:05Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979825.79 epoch sec; seqNo:252; 4061774.47 north; 594576.10 east 2021-02-10T17:57:05Z- waiting for 1612979827.96, time is 1612979825.76 2021-02-10T17:57:05Z- sync is 0.03, coherence is 2.00 2021-02-10T17:57:06Z- AHRS_M2 msg: 1612979826.15 epoch sec; seqNo:251 2021-02-10T17:57:06Z- AHRS_M2 msg: 4.37 phi; -0.18 theta; -0.22 psi 2021-02-10T17:57:06Z- waiting for 1612979827.96, time is 1612979825.76 2021-02-10T17:57:06Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:06Z- handleDepth()-Depth_Keller msg: 5.57 epoch sec; seqNo:1612979826154; depth 0.00 2021-02-10T17:57:06Z- waiting for 1612979827.96, time is 1612979825.76 2021-02-10T17:57:06Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979826.16 epoch sec; seqNo:253; 4061774.47 north; 594576.10 east 2021-02-10T17:57:06Z- waiting for 1612979827.96, time is 1612979825.76 2021-02-10T17:57:06Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:06Z- AHRS_M2 msg: 1612979826.55 epoch sec; seqNo:252 2021-02-10T17:57:06Z- AHRS_M2 msg: 4.37 phi; -0.18 theta; -0.23 psi 2021-02-10T17:57:06Z- waiting for 1612979827.96, time is 1612979825.76 2021-02-10T17:57:06Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:06Z- handleDepth()-Depth_Keller msg: 5.63 epoch sec; seqNo:1612979826552; depth 0.00 2021-02-10T17:57:06Z- waiting for 1612979827.96, time is 1612979825.76 2021-02-10T17:57:06Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979826.56 epoch sec; seqNo:254; 4061774.09 north; 594576.10 east 2021-02-10T17:57:06Z- waiting for 1612979827.96, time is 1612979825.76 2021-02-10T17:57:06Z- sync is 0.80, coherence is 2.00 2021-02-10T17:57:06Z- AHRS_M2 msg: 1612979826.95 epoch sec; seqNo:253 2021-02-10T17:57:06Z- AHRS_M2 msg: 4.38 phi; -0.18 theta; -0.23 psi 2021-02-10T17:57:06Z- waiting for 1612979827.96, time is 1612979825.76 2021-02-10T17:57:06Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:06Z- handleDepth()-Depth_Keller msg: 5.67 epoch sec; seqNo:1612979826956; depth 0.00 2021-02-10T17:57:06Z- waiting for 1612979827.96, time is 1612979825.76 2021-02-10T17:57:06Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:06Z- handleDvl() - RDI_Pathfinder msg: 1612979826.97 epoch sec; seqNo:105 2021-02-10T17:57:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.48 , 102.81 , 80.88 , 99.15 2021-02-10T17:57:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.13 , -0.01 2021-02-10T17:57:06Z- waiting for 1612979827.96, time is 1612979826.97 2021-02-10T17:57:06Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979826.98 epoch sec; seqNo:255; 4061774.09 north; 594576.10 east 2021-02-10T17:57:07Z- waiting for 1612979827.96, time is 1612979826.97 2021-02-10T17:57:07Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:07Z- AHRS_M2 msg: 1612979827.36 epoch sec; seqNo:254 2021-02-10T17:57:07Z- AHRS_M2 msg: 4.38 phi; -0.17 theta; -0.22 psi 2021-02-10T17:57:07Z- waiting for 1612979827.96, time is 1612979826.97 2021-02-10T17:57:07Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:07Z- handleDepth()-Depth_Keller msg: 5.73 epoch sec; seqNo:1612979827361; depth 0.00 2021-02-10T17:57:07Z- waiting for 1612979827.96, time is 1612979826.97 2021-02-10T17:57:07Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979827.37 epoch sec; seqNo:256; 4061774.08 north; 594574.88 east 2021-02-10T17:57:07Z- waiting for 1612979827.96, time is 1612979826.97 2021-02-10T17:57:07Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:07Z- AHRS_M2 msg: 1612979827.76 epoch sec; seqNo:255 2021-02-10T17:57:07Z- AHRS_M2 msg: 4.38 phi; -0.16 theta; -0.21 psi 2021-02-10T17:57:07Z- waiting for 1612979827.96, time is 1612979826.97 2021-02-10T17:57:07Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:07Z- handleDepth()-Depth_Keller msg: 5.81 epoch sec; seqNo:1612979827771; depth 0.00 2021-02-10T17:57:07Z- waiting for 1612979827.96, time is 1612979826.97 2021-02-10T17:57:07Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:07Z- handleDvl() - RDI_Pathfinder msg: 1612979827.79 epoch sec; seqNo:106 2021-02-10T17:57:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 96.58 , 78.52 , 100.23 2021-02-10T17:57:07Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.07 , -0.15 2021-02-10T17:57:07Z- waiting for 1612979827.96, time is 1612979827.79 2021-02-10T17:57:07Z- sync is 0.03, coherence is 2.00 2021-02-10T17:57:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979827.80 epoch sec; seqNo:257; 4061773.70 north; 594574.89 east 2021-02-10T17:57:07Z- waiting for 1612979827.96, time is 1612979827.79 2021-02-10T17:57:07Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:08Z- AHRS_M2 msg: 1612979828.16 epoch sec; seqNo:256 2021-02-10T17:57:08Z- AHRS_M2 msg: 4.38 phi; -0.15 theta; -0.20 psi 2021-02-10T17:57:08Z- waiting for 1612979827.96, time is 1612979827.79 2021-02-10T17:57:08Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:08Z- handleDepth()-Depth_Keller msg: 5.87 epoch sec; seqNo:1612979828168; depth 0.00 2021-02-10T17:57:08Z- waiting for 1612979827.96, time is 1612979827.79 2021-02-10T17:57:08Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979828.19 epoch sec; seqNo:258; 4061773.70 north; 594574.89 east 2021-02-10T17:57:08Z- waiting for 1612979827.96, time is 1612979827.79 2021-02-10T17:57:08Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:08Z- AHRS_M2 msg: 1612979828.57 epoch sec; seqNo:257 2021-02-10T17:57:08Z- AHRS_M2 msg: 4.38 phi; -0.14 theta; -0.19 psi 2021-02-10T17:57:08Z- waiting for 1612979827.96, time is 1612979827.79 2021-02-10T17:57:08Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:08Z- handleDepth()-Depth_Keller msg: 5.94 epoch sec; seqNo:1612979828572; depth 0.00 2021-02-10T17:57:08Z- waiting for 1612979827.96, time is 1612979827.79 2021-02-10T17:57:08Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979828.59 epoch sec; seqNo:259; 4061773.31 north; 594573.67 east 2021-02-10T17:57:08Z- waiting for 1612979827.96, time is 1612979827.79 2021-02-10T17:57:08Z- sync is 0.80, coherence is 2.00 2021-02-10T17:57:08Z- AHRS_M2 msg: 1612979828.97 epoch sec; seqNo:258 2021-02-10T17:57:08Z- AHRS_M2 msg: 4.37 phi; -0.13 theta; -0.18 psi 2021-02-10T17:57:08Z- waiting for 1612979827.96, time is 1612979827.79 2021-02-10T17:57:08Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:08Z- handleDepth()-Depth_Keller msg: 6.00 epoch sec; seqNo:1612979828985; depth 0.00 2021-02-10T17:57:08Z- waiting for 1612979827.96, time is 1612979827.79 2021-02-10T17:57:08Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:09Z- handleDvl() - RDI_Pathfinder msg: 1612979829.00 epoch sec; seqNo:107 2021-02-10T17:57:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.29 , 98.88 , 78.93 , 97.66 2021-02-10T17:57:09Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , 0.04 , -0.14 2021-02-10T17:57:09Z- waiting for 1612979827.96, time is 1612979829.00 2021-02-10T17:57:09Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:09Z- LcmTrn::updateTrn() >>>> pose time 1612979828.97, meas time 1612979829.00 <<<< 2021-02-10T17:57:09Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979829.00 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:57:09Z- TerrainNav::motionUpdate() - currEstimate = (4061773, 594573.67, 6.00) 2021-02-10T17:57:09Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:57:09Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:57:09Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:57:09Z- TNavBF::mmse selected from filter -1 2021-02-10T17:57:09Z- variances([0], [2], and psi_berg) = 831.581128 833.235244 0.000000 2021-02-10T17:57:09Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:57:09Z- LcmTrn::cycle() - MLE : 4061726.81 594527.17 6.00 2021-02-10T17:57:09Z- LcmTrn::cycle() - MMSE : 4061773.31 594573.67 6.00 2021-02-10T17:57:09Z- LcmTrn::cycle() - COVAR: 831.58 833.24 25.58 0.00 2021-02-10T17:57:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979829.01 epoch sec; seqNo:260; 4061773.31 north; 594573.67 east 2021-02-10T17:57:09Z- waiting for 1612979832.00, time is 1612979829.00 2021-02-10T17:57:09Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:09Z- AHRS_M2 msg: 1612979829.38 epoch sec; seqNo:259 2021-02-10T17:57:09Z- AHRS_M2 msg: 4.36 phi; -0.12 theta; -0.17 psi 2021-02-10T17:57:09Z- waiting for 1612979832.00, time is 1612979829.00 2021-02-10T17:57:09Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:09Z- handleDepth()-Depth_Keller msg: 6.07 epoch sec; seqNo:1612979829380; depth 0.00 2021-02-10T17:57:09Z- waiting for 1612979832.00, time is 1612979829.00 2021-02-10T17:57:09Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979829.40 epoch sec; seqNo:261; 4061772.93 north; 594573.67 east 2021-02-10T17:57:09Z- waiting for 1612979832.00, time is 1612979829.00 2021-02-10T17:57:09Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:09Z- AHRS_M2 msg: 1612979829.78 epoch sec; seqNo:260 2021-02-10T17:57:09Z- AHRS_M2 msg: 4.35 phi; -0.11 theta; -0.17 psi 2021-02-10T17:57:09Z- waiting for 1612979832.00, time is 1612979829.00 2021-02-10T17:57:09Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:09Z- handleDepth()-Depth_Keller msg: 6.15 epoch sec; seqNo:1612979829788; depth 0.00 2021-02-10T17:57:09Z- waiting for 1612979832.00, time is 1612979829.00 2021-02-10T17:57:09Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:09Z- handleDvl() - RDI_Pathfinder msg: 1612979829.80 epoch sec; seqNo:108 2021-02-10T17:57:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.70 , 96.71 , 79.34 , 97.93 2021-02-10T17:57:09Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , 0.12 , -0.03 2021-02-10T17:57:09Z- waiting for 1612979832.00, time is 1612979829.80 2021-02-10T17:57:09Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979829.81 epoch sec; seqNo:262; 4061772.92 north; 594572.45 east 2021-02-10T17:57:09Z- waiting for 1612979832.00, time is 1612979829.80 2021-02-10T17:57:09Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:10Z- AHRS_M2 msg: 1612979830.18 epoch sec; seqNo:261 2021-02-10T17:57:10Z- AHRS_M2 msg: 4.34 phi; -0.11 theta; -0.18 psi 2021-02-10T17:57:10Z- waiting for 1612979832.00, time is 1612979829.80 2021-02-10T17:57:10Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:10Z- handleDepth()-Depth_Keller msg: 6.19 epoch sec; seqNo:1612979830189; depth 0.00 2021-02-10T17:57:10Z- waiting for 1612979832.00, time is 1612979829.80 2021-02-10T17:57:10Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979830.20 epoch sec; seqNo:263; 4061772.92 north; 594572.45 east 2021-02-10T17:57:10Z- waiting for 1612979832.00, time is 1612979829.80 2021-02-10T17:57:10Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:10Z- AHRS_M2 msg: 1612979830.59 epoch sec; seqNo:262 2021-02-10T17:57:10Z- AHRS_M2 msg: 4.34 phi; -0.10 theta; -0.19 psi 2021-02-10T17:57:10Z- waiting for 1612979832.00, time is 1612979829.80 2021-02-10T17:57:10Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:10Z- handleDepth()-Depth_Keller msg: 6.24 epoch sec; seqNo:1612979830597; depth 0.00 2021-02-10T17:57:10Z- waiting for 1612979832.00, time is 1612979829.80 2021-02-10T17:57:10Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979830.62 epoch sec; seqNo:264; 4061772.54 north; 594572.46 east 2021-02-10T17:57:10Z- waiting for 1612979832.00, time is 1612979829.80 2021-02-10T17:57:10Z- sync is 0.82, coherence is 2.00 2021-02-10T17:57:10Z- AHRS_M2 msg: 1612979830.99 epoch sec; seqNo:263 2021-02-10T17:57:10Z- AHRS_M2 msg: 4.33 phi; -0.09 theta; -0.19 psi 2021-02-10T17:57:10Z- waiting for 1612979832.00, time is 1612979829.80 2021-02-10T17:57:10Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:10Z- handleDepth()-Depth_Keller msg: 6.31 epoch sec; seqNo:1612979830996; depth 0.00 2021-02-10T17:57:10Z- waiting for 1612979832.00, time is 1612979829.80 2021-02-10T17:57:10Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:11Z- handleDvl() - RDI_Pathfinder msg: 1612979831.01 epoch sec; seqNo:109 2021-02-10T17:57:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.89 , 94.28 , 80.88 , 97.93 2021-02-10T17:57:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.13 , 0.01 2021-02-10T17:57:11Z- waiting for 1612979832.00, time is 1612979831.01 2021-02-10T17:57:11Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979831.04 epoch sec; seqNo:265; 4061772.52 north; 594571.24 east 2021-02-10T17:57:11Z- waiting for 1612979832.00, time is 1612979831.01 2021-02-10T17:57:11Z- sync is 0.03, coherence is 2.00 2021-02-10T17:57:11Z- AHRS_M2 msg: 1612979831.40 epoch sec; seqNo:264 2021-02-10T17:57:11Z- AHRS_M2 msg: 4.33 phi; -0.08 theta; -0.20 psi 2021-02-10T17:57:11Z- waiting for 1612979832.00, time is 1612979831.01 2021-02-10T17:57:11Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:11Z- handleDepth()-Depth_Keller msg: 6.35 epoch sec; seqNo:1612979831400; depth 0.00 2021-02-10T17:57:11Z- waiting for 1612979832.00, time is 1612979831.01 2021-02-10T17:57:11Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979831.41 epoch sec; seqNo:266; 4061772.52 north; 594571.24 east 2021-02-10T17:57:11Z- waiting for 1612979832.00, time is 1612979831.01 2021-02-10T17:57:11Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:11Z- AHRS_M2 msg: 1612979831.81 epoch sec; seqNo:265 2021-02-10T17:57:11Z- AHRS_M2 msg: 4.33 phi; -0.07 theta; -0.20 psi 2021-02-10T17:57:11Z- waiting for 1612979832.00, time is 1612979831.01 2021-02-10T17:57:11Z- sync is 0.80, coherence is 2.00 2021-02-10T17:57:11Z- handleDepth()-Depth_Keller msg: 6.39 epoch sec; seqNo:1612979831812; depth 0.00 2021-02-10T17:57:11Z- waiting for 1612979832.00, time is 1612979831.01 2021-02-10T17:57:11Z- sync is 0.80, coherence is 2.00 2021-02-10T17:57:11Z- handleDvl() - RDI_Pathfinder msg: 1612979831.82 epoch sec; seqNo:110 2021-02-10T17:57:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.89 , 96.78 , 82.16 , 93.13 2021-02-10T17:57:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.13 , -0.02 2021-02-10T17:57:11Z- waiting for 1612979832.00, time is 1612979831.82 2021-02-10T17:57:11Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979831.83 epoch sec; seqNo:267; 4061772.52 north; 594571.24 east 2021-02-10T17:57:11Z- waiting for 1612979832.00, time is 1612979831.82 2021-02-10T17:57:11Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:12Z- AHRS_M2 msg: 1612979832.20 epoch sec; seqNo:266 2021-02-10T17:57:12Z- AHRS_M2 msg: 4.33 phi; -0.06 theta; -0.19 psi 2021-02-10T17:57:12Z- waiting for 1612979832.00, time is 1612979831.82 2021-02-10T17:57:12Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:12Z- handleDepth()-Depth_Keller msg: 6.42 epoch sec; seqNo:1612979832208; depth 0.00 2021-02-10T17:57:12Z- waiting for 1612979832.00, time is 1612979831.82 2021-02-10T17:57:12Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979832.23 epoch sec; seqNo:268; 4061772.13 north; 594570.02 east 2021-02-10T17:57:12Z- waiting for 1612979832.00, time is 1612979831.82 2021-02-10T17:57:12Z- sync is 0.41, coherence is 2.00 2021-02-10T17:57:12Z- AHRS_M2 msg: 1612979832.61 epoch sec; seqNo:267 2021-02-10T17:57:12Z- AHRS_M2 msg: 4.33 phi; -0.05 theta; -0.19 psi 2021-02-10T17:57:12Z- waiting for 1612979832.00, time is 1612979831.82 2021-02-10T17:57:12Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:12Z- handleDepth()-Depth_Keller msg: 6.45 epoch sec; seqNo:1612979832612; depth 0.00 2021-02-10T17:57:12Z- waiting for 1612979832.00, time is 1612979831.82 2021-02-10T17:57:12Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979832.62 epoch sec; seqNo:269; 4061772.13 north; 594570.02 east 2021-02-10T17:57:12Z- waiting for 1612979832.00, time is 1612979831.82 2021-02-10T17:57:12Z- sync is 0.80, coherence is 2.00 2021-02-10T17:57:13Z- AHRS_M2 msg: 1612979833.01 epoch sec; seqNo:268 2021-02-10T17:57:13Z- AHRS_M2 msg: 4.32 phi; -0.04 theta; -0.18 psi 2021-02-10T17:57:13Z- waiting for 1612979832.00, time is 1612979831.82 2021-02-10T17:57:13Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:13Z- handleDepth()-Depth_Keller msg: 6.50 epoch sec; seqNo:1612979833021; depth 0.00 2021-02-10T17:57:13Z- waiting for 1612979832.00, time is 1612979831.82 2021-02-10T17:57:13Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:13Z- handleDvl() - RDI_Pathfinder msg: 1612979833.04 epoch sec; seqNo:111 2021-02-10T17:57:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.89 , 96.78 , 82.16 , 90.69 2021-02-10T17:57:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.13 , -0.01 2021-02-10T17:57:13Z- waiting for 1612979832.00, time is 1612979833.04 2021-02-10T17:57:13Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:13Z- LcmTrn::updateTrn() >>>> pose time 1612979833.01, meas time 1612979833.04 <<<< 2021-02-10T17:57:13Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979833.04 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:57:13Z- TerrainNav::motionUpdate() - currEstimate = (4061772, 594570.02, 6.50) 2021-02-10T17:57:13Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:57:13Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:57:13Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:57:13Z- TNavBF::mmse selected from filter -1 2021-02-10T17:57:13Z- variances([0], [2], and psi_berg) = 831.042841 833.230782 0.000000 2021-02-10T17:57:13Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:57:13Z- LcmTrn::cycle() - MLE : 4061726.63 594524.52 6.50 2021-02-10T17:57:13Z- LcmTrn::cycle() - MMSE : 4061772.13 594570.02 6.50 2021-02-10T17:57:13Z- LcmTrn::cycle() - COVAR: 831.04 833.23 25.78 0.00 2021-02-10T17:57:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979833.05 epoch sec; seqNo:270; 4061772.13 north; 594570.02 east 2021-02-10T17:57:13Z- waiting for 1612979836.04, time is 1612979833.04 2021-02-10T17:57:13Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:13Z- AHRS_M2 msg: 1612979833.42 epoch sec; seqNo:269 2021-02-10T17:57:13Z- AHRS_M2 msg: 4.32 phi; -0.03 theta; -0.18 psi 2021-02-10T17:57:13Z- waiting for 1612979836.04, time is 1612979833.04 2021-02-10T17:57:13Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:13Z- handleDepth()-Depth_Keller msg: 6.51 epoch sec; seqNo:1612979833422; depth 0.00 2021-02-10T17:57:13Z- waiting for 1612979836.04, time is 1612979833.04 2021-02-10T17:57:13Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979833.43 epoch sec; seqNo:271; 4061772.12 north; 594568.80 east 2021-02-10T17:57:13Z- waiting for 1612979836.04, time is 1612979833.04 2021-02-10T17:57:13Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:13Z- AHRS_M2 msg: 1612979833.82 epoch sec; seqNo:270 2021-02-10T17:57:13Z- AHRS_M2 msg: 4.32 phi; -0.02 theta; -0.17 psi 2021-02-10T17:57:13Z- waiting for 1612979836.04, time is 1612979833.04 2021-02-10T17:57:13Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:13Z- handleDepth()-Depth_Keller msg: 6.53 epoch sec; seqNo:1612979833824; depth 0.00 2021-02-10T17:57:13Z- waiting for 1612979836.04, time is 1612979833.04 2021-02-10T17:57:13Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:13Z- handleDvl() - RDI_Pathfinder msg: 1612979833.84 epoch sec; seqNo:112 2021-02-10T17:57:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.89 , 94.41 , 82.23 , 88.32 2021-02-10T17:57:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.09 , 0.04 2021-02-10T17:57:13Z- waiting for 1612979836.04, time is 1612979833.84 2021-02-10T17:57:13Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979833.85 epoch sec; seqNo:272; 4061771.74 north; 594568.80 east 2021-02-10T17:57:13Z- waiting for 1612979836.04, time is 1612979833.84 2021-02-10T17:57:13Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:14Z- AHRS_M2 msg: 1612979834.22 epoch sec; seqNo:271 2021-02-10T17:57:14Z- AHRS_M2 msg: 4.32 phi; -0.02 theta; -0.17 psi 2021-02-10T17:57:14Z- waiting for 1612979836.04, time is 1612979833.84 2021-02-10T17:57:14Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:14Z- handleDepth()-Depth_Keller msg: 6.57 epoch sec; seqNo:1612979834229; depth 0.00 2021-02-10T17:57:14Z- waiting for 1612979836.04, time is 1612979833.84 2021-02-10T17:57:14Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979834.24 epoch sec; seqNo:273; 4061771.74 north; 594568.80 east 2021-02-10T17:57:14Z- waiting for 1612979836.04, time is 1612979833.84 2021-02-10T17:57:14Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:14Z- AHRS_M2 msg: 1612979834.65 epoch sec; seqNo:272 2021-02-10T17:57:14Z- AHRS_M2 msg: 4.32 phi; -0.01 theta; -0.17 psi 2021-02-10T17:57:14Z- waiting for 1612979836.04, time is 1612979833.84 2021-02-10T17:57:14Z- sync is 0.81, coherence is 2.00 2021-02-10T17:57:14Z- handleDepth()-Depth_Keller msg: 6.59 epoch sec; seqNo:1612979834651; depth 0.00 2021-02-10T17:57:14Z- waiting for 1612979836.04, time is 1612979833.84 2021-02-10T17:57:14Z- sync is 0.81, coherence is 2.00 2021-02-10T17:57:14Z- handleDvl() - RDI_Pathfinder msg: 1612979834.66 epoch sec; seqNo:113 2021-02-10T17:57:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.48 , 93.33 , 84.80 , 87.24 2021-02-10T17:57:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.05 , 0.08 2021-02-10T17:57:14Z- waiting for 1612979836.04, time is 1612979834.66 2021-02-10T17:57:14Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979834.68 epoch sec; seqNo:274; 4061771.73 north; 594567.58 east 2021-02-10T17:57:14Z- waiting for 1612979836.04, time is 1612979834.66 2021-02-10T17:57:14Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:15Z- AHRS_M2 msg: 1612979835.03 epoch sec; seqNo:273 2021-02-10T17:57:15Z- AHRS_M2 msg: 4.32 phi; -0.01 theta; -0.17 psi 2021-02-10T17:57:15Z- waiting for 1612979836.04, time is 1612979834.66 2021-02-10T17:57:15Z- sync is 0.37, coherence is 2.00 2021-02-10T17:57:15Z- handleDepth()-Depth_Keller msg: 6.62 epoch sec; seqNo:1612979835046; depth 0.00 2021-02-10T17:57:15Z- waiting for 1612979836.04, time is 1612979834.66 2021-02-10T17:57:15Z- sync is 0.37, coherence is 2.00 2021-02-10T17:57:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979835.06 epoch sec; seqNo:275; 4061771.35 north; 594567.59 east 2021-02-10T17:57:15Z- waiting for 1612979836.04, time is 1612979834.66 2021-02-10T17:57:15Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:15Z- AHRS_M2 msg: 1612979835.44 epoch sec; seqNo:274 2021-02-10T17:57:15Z- AHRS_M2 msg: 4.32 phi; 0.00 theta; -0.17 psi 2021-02-10T17:57:15Z- waiting for 1612979836.04, time is 1612979834.66 2021-02-10T17:57:15Z- sync is 0.77, coherence is 2.00 2021-02-10T17:57:15Z- handleDepth()-Depth_Keller msg: 6.62 epoch sec; seqNo:1612979835440; depth 0.00 2021-02-10T17:57:15Z- waiting for 1612979836.04, time is 1612979834.66 2021-02-10T17:57:15Z- sync is 0.77, coherence is 2.00 2021-02-10T17:57:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979835.45 epoch sec; seqNo:276; 4061771.35 north; 594567.59 east 2021-02-10T17:57:15Z- waiting for 1612979836.04, time is 1612979834.66 2021-02-10T17:57:15Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:15Z- AHRS_M2 msg: 1612979835.84 epoch sec; seqNo:275 2021-02-10T17:57:15Z- AHRS_M2 msg: 4.33 phi; 0.01 theta; -0.16 psi 2021-02-10T17:57:15Z- waiting for 1612979836.04, time is 1612979834.66 2021-02-10T17:57:15Z- sync is 1.18, coherence is 2.00 2021-02-10T17:57:15Z- handleDepth()-Depth_Keller msg: 6.62 epoch sec; seqNo:1612979835849; depth 0.00 2021-02-10T17:57:15Z- waiting for 1612979836.04, time is 1612979834.66 2021-02-10T17:57:15Z- sync is 1.18, coherence is 2.00 2021-02-10T17:57:15Z- handleDvl() - RDI_Pathfinder msg: 1612979835.86 epoch sec; seqNo:114 2021-02-10T17:57:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.29 , 93.33 , 86.02 , 84.80 2021-02-10T17:57:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.02 , 0.06 2021-02-10T17:57:15Z- waiting for 1612979836.04, time is 1612979835.86 2021-02-10T17:57:15Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979835.87 epoch sec; seqNo:277; 4061771.35 north; 594567.59 east 2021-02-10T17:57:15Z- waiting for 1612979836.04, time is 1612979835.86 2021-02-10T17:57:15Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:16Z- AHRS_M2 msg: 1612979836.24 epoch sec; seqNo:276 2021-02-10T17:57:16Z- AHRS_M2 msg: 4.33 phi; 0.01 theta; -0.16 psi 2021-02-10T17:57:16Z- waiting for 1612979836.04, time is 1612979835.86 2021-02-10T17:57:16Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:16Z- handleDepth()-Depth_Keller msg: 6.65 epoch sec; seqNo:1612979836250; depth 0.00 2021-02-10T17:57:16Z- waiting for 1612979836.04, time is 1612979835.86 2021-02-10T17:57:16Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979836.26 epoch sec; seqNo:278; 4061770.95 north; 594566.37 east 2021-02-10T17:57:16Z- waiting for 1612979836.04, time is 1612979835.86 2021-02-10T17:57:16Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:16Z- AHRS_M2 msg: 1612979836.65 epoch sec; seqNo:277 2021-02-10T17:57:16Z- AHRS_M2 msg: 4.33 phi; 0.02 theta; -0.17 psi 2021-02-10T17:57:16Z- waiting for 1612979836.04, time is 1612979835.86 2021-02-10T17:57:16Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:16Z- handleDepth()-Depth_Keller msg: 6.64 epoch sec; seqNo:1612979836658; depth 0.00 2021-02-10T17:57:16Z- waiting for 1612979836.04, time is 1612979835.86 2021-02-10T17:57:16Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:16Z- handleDvl() - RDI_Pathfinder msg: 1612979836.68 epoch sec; seqNo:115 2021-02-10T17:57:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.29 , 92.11 , 84.80 , 84.80 2021-02-10T17:57:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.05 , 0.01 2021-02-10T17:57:16Z- waiting for 1612979836.04, time is 1612979836.68 2021-02-10T17:57:16Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:16Z- LcmTrn::updateTrn() >>>> pose time 1612979836.65, meas time 1612979836.68 <<<< 2021-02-10T17:57:16Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979836.68 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:57:16Z- TerrainNav::motionUpdate() - currEstimate = (4061771, 594566.37, 6.64) 2021-02-10T17:57:16Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:57:16Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:57:16Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:57:16Z- TNavBF::mmse selected from filter -1 2021-02-10T17:57:16Z- variances([0], [2], and psi_berg) = 830.513786 833.226530 0.000000 2021-02-10T17:57:16Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:57:16Z- LcmTrn::cycle() - MLE : 4061726.45 594521.87 6.64 2021-02-10T17:57:16Z- LcmTrn::cycle() - MMSE : 4061770.95 594566.37 6.64 2021-02-10T17:57:16Z- LcmTrn::cycle() - COVAR: 830.51 833.23 25.97 0.00 2021-02-10T17:57:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979836.69 epoch sec; seqNo:279; 4061770.95 north; 594566.37 east 2021-02-10T17:57:16Z- waiting for 1612979839.68, time is 1612979836.68 2021-02-10T17:57:16Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:17Z- AHRS_M2 msg: 1612979837.05 epoch sec; seqNo:278 2021-02-10T17:57:17Z- AHRS_M2 msg: 4.34 phi; 0.02 theta; -0.17 psi 2021-02-10T17:57:17Z- waiting for 1612979839.68, time is 1612979836.68 2021-02-10T17:57:17Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:17Z- handleDepth()-Depth_Keller msg: 6.63 epoch sec; seqNo:1612979837056; depth 0.00 2021-02-10T17:57:17Z- waiting for 1612979839.68, time is 1612979836.68 2021-02-10T17:57:17Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979837.07 epoch sec; seqNo:280; 4061770.58 north; 594566.38 east 2021-02-10T17:57:17Z- waiting for 1612979839.68, time is 1612979836.68 2021-02-10T17:57:17Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:17Z- AHRS_M2 msg: 1612979837.46 epoch sec; seqNo:279 2021-02-10T17:57:17Z- AHRS_M2 msg: 4.34 phi; 0.02 theta; -0.17 psi 2021-02-10T17:57:17Z- waiting for 1612979839.68, time is 1612979836.68 2021-02-10T17:57:17Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:17Z- handleDepth()-Depth_Keller msg: 6.63 epoch sec; seqNo:1612979837460; depth 0.00 2021-02-10T17:57:17Z- waiting for 1612979839.68, time is 1612979836.68 2021-02-10T17:57:17Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979837.47 epoch sec; seqNo:281; 4061770.56 north; 594565.16 east 2021-02-10T17:57:17Z- waiting for 1612979839.68, time is 1612979836.68 2021-02-10T17:57:17Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:17Z- AHRS_M2 msg: 1612979837.86 epoch sec; seqNo:280 2021-02-10T17:57:17Z- AHRS_M2 msg: 4.35 phi; 0.03 theta; -0.17 psi 2021-02-10T17:57:17Z- waiting for 1612979839.68, time is 1612979836.68 2021-02-10T17:57:17Z- sync is 1.18, coherence is 2.00 2021-02-10T17:57:17Z- handleDepth()-Depth_Keller msg: 6.63 epoch sec; seqNo:1612979837873; depth 0.00 2021-02-10T17:57:17Z- waiting for 1612979839.68, time is 1612979836.68 2021-02-10T17:57:17Z- sync is 1.18, coherence is 2.00 2021-02-10T17:57:17Z- handleDvl() - RDI_Pathfinder msg: 1612979837.88 epoch sec; seqNo:116 2021-02-10T17:57:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.29 , 90.96 , 84.87 , 84.87 2021-02-10T17:57:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.03 , -0.05 2021-02-10T17:57:17Z- waiting for 1612979839.68, time is 1612979837.88 2021-02-10T17:57:17Z- sync is 0.03, coherence is 2.00 2021-02-10T17:57:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979837.89 epoch sec; seqNo:282; 4061770.56 north; 594565.16 east 2021-02-10T17:57:17Z- waiting for 1612979839.68, time is 1612979837.88 2021-02-10T17:57:17Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:18Z- AHRS_M2 msg: 1612979838.26 epoch sec; seqNo:281 2021-02-10T17:57:18Z- AHRS_M2 msg: 4.35 phi; 0.03 theta; -0.17 psi 2021-02-10T17:57:18Z- waiting for 1612979839.68, time is 1612979837.88 2021-02-10T17:57:18Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:18Z- handleDepth()-Depth_Keller msg: 6.62 epoch sec; seqNo:1612979838268; depth 0.00 2021-02-10T17:57:18Z- waiting for 1612979839.68, time is 1612979837.88 2021-02-10T17:57:18Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979838.29 epoch sec; seqNo:283; 4061770.18 north; 594565.16 east 2021-02-10T17:57:18Z- waiting for 1612979839.68, time is 1612979837.88 2021-02-10T17:57:18Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:18Z- AHRS_M2 msg: 1612979838.67 epoch sec; seqNo:282 2021-02-10T17:57:18Z- AHRS_M2 msg: 4.36 phi; 0.03 theta; -0.16 psi 2021-02-10T17:57:18Z- waiting for 1612979839.68, time is 1612979837.88 2021-02-10T17:57:18Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:18Z- handleDepth()-Depth_Keller msg: 6.63 epoch sec; seqNo:1612979838672; depth 0.00 2021-02-10T17:57:18Z- waiting for 1612979839.68, time is 1612979837.88 2021-02-10T17:57:18Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:18Z- handleDvl() - RDI_Pathfinder msg: 1612979838.68 epoch sec; seqNo:117 2021-02-10T17:57:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.70 , 89.74 , 86.09 , 84.87 2021-02-10T17:57:18Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.07 , -0.08 2021-02-10T17:57:18Z- waiting for 1612979839.68, time is 1612979838.68 2021-02-10T17:57:18Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979838.71 epoch sec; seqNo:284; 4061770.18 north; 594565.16 east 2021-02-10T17:57:18Z- waiting for 1612979839.68, time is 1612979838.68 2021-02-10T17:57:18Z- sync is 0.03, coherence is 2.00 2021-02-10T17:57:19Z- AHRS_M2 msg: 1612979839.07 epoch sec; seqNo:283 2021-02-10T17:57:19Z- AHRS_M2 msg: 4.36 phi; 0.04 theta; -0.16 psi 2021-02-10T17:57:19Z- waiting for 1612979839.68, time is 1612979838.68 2021-02-10T17:57:19Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:19Z- handleDepth()-Depth_Keller msg: 6.61 epoch sec; seqNo:1612979839076; depth 0.00 2021-02-10T17:57:19Z- waiting for 1612979839.68, time is 1612979838.68 2021-02-10T17:57:19Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979839.09 epoch sec; seqNo:285; 4061770.17 north; 594563.94 east 2021-02-10T17:57:19Z- waiting for 1612979839.68, time is 1612979838.68 2021-02-10T17:57:19Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:19Z- AHRS_M2 msg: 1612979839.48 epoch sec; seqNo:284 2021-02-10T17:57:19Z- AHRS_M2 msg: 4.35 phi; 0.04 theta; -0.15 psi 2021-02-10T17:57:19Z- waiting for 1612979839.68, time is 1612979838.68 2021-02-10T17:57:19Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:19Z- handleDepth()-Depth_Keller msg: 6.60 epoch sec; seqNo:1612979839481; depth 0.00 2021-02-10T17:57:19Z- waiting for 1612979839.68, time is 1612979838.68 2021-02-10T17:57:19Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979839.50 epoch sec; seqNo:286; 4061769.79 north; 594563.94 east 2021-02-10T17:57:19Z- waiting for 1612979839.68, time is 1612979838.68 2021-02-10T17:57:19Z- sync is 0.82, coherence is 2.00 2021-02-10T17:57:19Z- AHRS_M2 msg: 1612979839.88 epoch sec; seqNo:285 2021-02-10T17:57:19Z- AHRS_M2 msg: 4.35 phi; 0.04 theta; -0.15 psi 2021-02-10T17:57:19Z- waiting for 1612979839.68, time is 1612979838.68 2021-02-10T17:57:19Z- sync is 1.20, coherence is 2.00 2021-02-10T17:57:19Z- handleDepth()-Depth_Keller msg: 6.60 epoch sec; seqNo:1612979839884; depth 0.00 2021-02-10T17:57:19Z- waiting for 1612979839.68, time is 1612979838.68 2021-02-10T17:57:19Z- sync is 1.20, coherence is 2.00 2021-02-10T17:57:19Z- handleDvl() - RDI_Pathfinder msg: 1612979839.90 epoch sec; seqNo:118 2021-02-10T17:57:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.29 , 89.74 , 86.09 , 83.65 2021-02-10T17:57:19Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , 0.15 , -0.02 2021-02-10T17:57:19Z- waiting for 1612979839.68, time is 1612979839.90 2021-02-10T17:57:19Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:19Z- LcmTrn::updateTrn() >>>> pose time 1612979839.88, meas time 1612979839.90 <<<< 2021-02-10T17:57:19Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979839.90 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:57:19Z- TerrainNav::motionUpdate() - currEstimate = (4061770, 594563.94, 6.60) 2021-02-10T17:57:19Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:57:19Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:57:19Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:57:19Z- TNavBF::mmse selected from filter -1 2021-02-10T17:57:19Z- variances([0], [2], and psi_berg) = 830.077906 833.223133 0.000000 2021-02-10T17:57:19Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:57:19Z- LcmTrn::cycle() - MLE : 4061726.29 594518.44 6.60 2021-02-10T17:57:19Z- LcmTrn::cycle() - MMSE : 4061769.79 594563.94 6.60 2021-02-10T17:57:19Z- LcmTrn::cycle() - COVAR: 830.08 833.22 26.11 0.00 2021-02-10T17:57:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979839.92 epoch sec; seqNo:287; 4061769.78 north; 594562.72 east 2021-02-10T17:57:19Z- waiting for 1612979842.90, time is 1612979839.90 2021-02-10T17:57:19Z- sync is 0.03, coherence is 2.00 2021-02-10T17:57:20Z- AHRS_M2 msg: 1612979840.28 epoch sec; seqNo:286 2021-02-10T17:57:20Z- AHRS_M2 msg: 4.34 phi; 0.03 theta; -0.15 psi 2021-02-10T17:57:20Z- waiting for 1612979842.90, time is 1612979839.90 2021-02-10T17:57:20Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:20Z- handleDepth()-Depth_Keller msg: 6.59 epoch sec; seqNo:1612979840293; depth 0.00 2021-02-10T17:57:20Z- waiting for 1612979842.90, time is 1612979839.90 2021-02-10T17:57:20Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979840.30 epoch sec; seqNo:288; 4061769.78 north; 594562.72 east 2021-02-10T17:57:20Z- waiting for 1612979842.90, time is 1612979839.90 2021-02-10T17:57:20Z- sync is 0.41, coherence is 2.00 2021-02-10T17:57:20Z- AHRS_M2 msg: 1612979840.69 epoch sec; seqNo:287 2021-02-10T17:57:20Z- AHRS_M2 msg: 4.34 phi; 0.03 theta; -0.15 psi 2021-02-10T17:57:20Z- waiting for 1612979842.90, time is 1612979839.90 2021-02-10T17:57:20Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:20Z- handleDepth()-Depth_Keller msg: 6.58 epoch sec; seqNo:1612979840692; depth 0.00 2021-02-10T17:57:20Z- waiting for 1612979842.90, time is 1612979839.90 2021-02-10T17:57:20Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:20Z- handleDvl() - RDI_Pathfinder msg: 1612979840.71 epoch sec; seqNo:119 2021-02-10T17:57:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.11 , 88.53 , 86.09 , 83.65 2021-02-10T17:57:20Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.10 , 0.03 2021-02-10T17:57:20Z- waiting for 1612979842.90, time is 1612979840.71 2021-02-10T17:57:20Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979840.72 epoch sec; seqNo:289; 4061769.40 north; 594562.73 east 2021-02-10T17:57:20Z- waiting for 1612979842.90, time is 1612979840.71 2021-02-10T17:57:20Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:21Z- AHRS_M2 msg: 1612979841.09 epoch sec; seqNo:288 2021-02-10T17:57:21Z- AHRS_M2 msg: 4.34 phi; 0.02 theta; -0.15 psi 2021-02-10T17:57:21Z- waiting for 1612979842.90, time is 1612979840.71 2021-02-10T17:57:21Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:21Z- handleDepth()-Depth_Keller msg: 6.56 epoch sec; seqNo:1612979841096; depth 0.00 2021-02-10T17:57:21Z- waiting for 1612979842.90, time is 1612979840.71 2021-02-10T17:57:21Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979841.11 epoch sec; seqNo:290; 4061769.39 north; 594561.51 east 2021-02-10T17:57:21Z- waiting for 1612979842.90, time is 1612979840.71 2021-02-10T17:57:21Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:21Z- AHRS_M2 msg: 1612979841.50 epoch sec; seqNo:289 2021-02-10T17:57:21Z- AHRS_M2 msg: 4.34 phi; 0.02 theta; -0.16 psi 2021-02-10T17:57:21Z- waiting for 1612979842.90, time is 1612979840.71 2021-02-10T17:57:21Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:21Z- handleDepth()-Depth_Keller msg: 6.56 epoch sec; seqNo:1612979841500; depth 0.00 2021-02-10T17:57:21Z- waiting for 1612979842.90, time is 1612979840.71 2021-02-10T17:57:21Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979841.51 epoch sec; seqNo:291; 4061769.39 north; 594561.51 east 2021-02-10T17:57:21Z- waiting for 1612979842.90, time is 1612979840.71 2021-02-10T17:57:21Z- sync is 0.80, coherence is 2.00 2021-02-10T17:57:21Z- AHRS_M2 msg: 1612979841.90 epoch sec; seqNo:290 2021-02-10T17:57:21Z- AHRS_M2 msg: 4.34 phi; 0.01 theta; -0.17 psi 2021-02-10T17:57:21Z- waiting for 1612979842.90, time is 1612979840.71 2021-02-10T17:57:21Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:21Z- handleDepth()-Depth_Keller msg: 6.54 epoch sec; seqNo:1612979841909; depth 0.00 2021-02-10T17:57:21Z- waiting for 1612979842.90, time is 1612979840.71 2021-02-10T17:57:21Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:21Z- handleDvl() - RDI_Pathfinder msg: 1612979841.93 epoch sec; seqNo:120 2021-02-10T17:57:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.29 , 89.74 , 84.87 , 83.65 2021-02-10T17:57:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.02 , -0.03 2021-02-10T17:57:21Z- waiting for 1612979842.90, time is 1612979841.93 2021-02-10T17:57:21Z- sync is 0.03, coherence is 2.00 2021-02-10T17:57:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979841.94 epoch sec; seqNo:292; 4061769.01 north; 594561.51 east 2021-02-10T17:57:21Z- waiting for 1612979842.90, time is 1612979841.93 2021-02-10T17:57:21Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:22Z- AHRS_M2 msg: 1612979842.30 epoch sec; seqNo:291 2021-02-10T17:57:22Z- AHRS_M2 msg: 4.35 phi; 0.01 theta; -0.18 psi 2021-02-10T17:57:22Z- waiting for 1612979842.90, time is 1612979841.93 2021-02-10T17:57:22Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:22Z- handleDepth()-Depth_Keller msg: 6.53 epoch sec; seqNo:1612979842308; depth 0.00 2021-02-10T17:57:22Z- waiting for 1612979842.90, time is 1612979841.93 2021-02-10T17:57:22Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979842.33 epoch sec; seqNo:293; 4061769.01 north; 594561.51 east 2021-02-10T17:57:22Z- waiting for 1612979842.90, time is 1612979841.93 2021-02-10T17:57:22Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:22Z- AHRS_M2 msg: 1612979842.71 epoch sec; seqNo:292 2021-02-10T17:57:22Z- AHRS_M2 msg: 4.36 phi; 0.00 theta; -0.18 psi 2021-02-10T17:57:22Z- waiting for 1612979842.90, time is 1612979841.93 2021-02-10T17:57:22Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:22Z- handleDepth()-Depth_Keller msg: 6.52 epoch sec; seqNo:1612979842717; depth 0.00 2021-02-10T17:57:22Z- waiting for 1612979842.90, time is 1612979841.93 2021-02-10T17:57:22Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:22Z- handleDvl() - RDI_Pathfinder msg: 1612979842.76 epoch sec; seqNo:121 2021-02-10T17:57:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.29 , 91.03 , 84.94 , 84.94 2021-02-10T17:57:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.01 , -0.10 2021-02-10T17:57:22Z- waiting for 1612979842.90, time is 1612979842.76 2021-02-10T17:57:22Z- sync is 0.05, coherence is 2.00 2021-02-10T17:57:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979842.77 epoch sec; seqNo:294; 4061768.99 north; 594560.29 east 2021-02-10T17:57:22Z- waiting for 1612979842.90, time is 1612979842.76 2021-02-10T17:57:22Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:23Z- AHRS_M2 msg: 1612979843.12 epoch sec; seqNo:293 2021-02-10T17:57:23Z- AHRS_M2 msg: 4.37 phi; -0.01 theta; -0.17 psi 2021-02-10T17:57:23Z- waiting for 1612979842.90, time is 1612979842.76 2021-02-10T17:57:23Z- sync is 0.36, coherence is 2.00 2021-02-10T17:57:23Z- handleDepth()-Depth_Keller msg: 6.50 epoch sec; seqNo:1612979843124; depth 0.00 2021-02-10T17:57:23Z- waiting for 1612979842.90, time is 1612979842.76 2021-02-10T17:57:23Z- sync is 0.36, coherence is 2.00 2021-02-10T17:57:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979843.14 epoch sec; seqNo:295; 4061768.61 north; 594560.30 east 2021-02-10T17:57:23Z- waiting for 1612979842.90, time is 1612979842.76 2021-02-10T17:57:23Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:23Z- AHRS_M2 msg: 1612979843.52 epoch sec; seqNo:294 2021-02-10T17:57:23Z- AHRS_M2 msg: 4.37 phi; -0.01 theta; -0.17 psi 2021-02-10T17:57:23Z- waiting for 1612979842.90, time is 1612979842.76 2021-02-10T17:57:23Z- sync is 0.76, coherence is 2.00 2021-02-10T17:57:23Z- handleDepth()-Depth_Keller msg: 6.50 epoch sec; seqNo:1612979843525; depth 0.00 2021-02-10T17:57:23Z- waiting for 1612979842.90, time is 1612979842.76 2021-02-10T17:57:23Z- sync is 0.76, coherence is 2.00 2021-02-10T17:57:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979843.53 epoch sec; seqNo:296; 4061768.61 north; 594560.30 east 2021-02-10T17:57:23Z- waiting for 1612979842.90, time is 1612979842.76 2021-02-10T17:57:23Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:23Z- AHRS_M2 msg: 1612979843.92 epoch sec; seqNo:295 2021-02-10T17:57:23Z- AHRS_M2 msg: 4.37 phi; -0.02 theta; -0.16 psi 2021-02-10T17:57:23Z- waiting for 1612979842.90, time is 1612979842.76 2021-02-10T17:57:23Z- sync is 1.16, coherence is 2.00 2021-02-10T17:57:23Z- handleDepth()-Depth_Keller msg: 6.50 epoch sec; seqNo:1612979843929; depth 0.00 2021-02-10T17:57:23Z- waiting for 1612979842.90, time is 1612979842.76 2021-02-10T17:57:23Z- sync is 1.16, coherence is 2.00 2021-02-10T17:57:23Z- handleDvl() - RDI_Pathfinder msg: 1612979843.94 epoch sec; seqNo:122 2021-02-10T17:57:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.29 , 89.74 , 84.87 , 86.09 2021-02-10T17:57:23Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , 0.03 , -0.07 2021-02-10T17:57:23Z- waiting for 1612979842.90, time is 1612979843.94 2021-02-10T17:57:23Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:23Z- LcmTrn::updateTrn() >>>> pose time 1612979843.92, meas time 1612979843.94 <<<< 2021-02-10T17:57:23Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979843.94 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:57:23Z- TerrainNav::motionUpdate() - currEstimate = (4061769, 594560.30, 6.50) 2021-02-10T17:57:23Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:57:23Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:57:23Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:57:23Z- TNavBF::mmse selected from filter -1 2021-02-10T17:57:23Z- variances([0], [2], and psi_berg) = 829.564994 833.219234 0.000000 2021-02-10T17:57:23Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:57:23Z- LcmTrn::cycle() - MLE : 4061726.11 594513.80 6.50 2021-02-10T17:57:23Z- LcmTrn::cycle() - MMSE : 4061768.61 594560.30 6.50 2021-02-10T17:57:23Z- LcmTrn::cycle() - COVAR: 829.56 833.22 26.31 0.00 2021-02-10T17:57:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979843.95 epoch sec; seqNo:297; 4061768.60 north; 594559.08 east 2021-02-10T17:57:23Z- waiting for 1612979846.94, time is 1612979843.94 2021-02-10T17:57:23Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:24Z- AHRS_M2 msg: 1612979844.33 epoch sec; seqNo:296 2021-02-10T17:57:24Z- AHRS_M2 msg: 4.37 phi; -0.02 theta; -0.16 psi 2021-02-10T17:57:24Z- waiting for 1612979846.94, time is 1612979843.94 2021-02-10T17:57:24Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:24Z- handleDepth()-Depth_Keller msg: 6.48 epoch sec; seqNo:1612979844341; depth 0.00 2021-02-10T17:57:24Z- waiting for 1612979846.94, time is 1612979843.94 2021-02-10T17:57:24Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979844.35 epoch sec; seqNo:298; 4061768.22 north; 594559.08 east 2021-02-10T17:57:24Z- waiting for 1612979846.94, time is 1612979843.94 2021-02-10T17:57:24Z- sync is 0.41, coherence is 2.00 2021-02-10T17:57:24Z- AHRS_M2 msg: 1612979844.73 epoch sec; seqNo:297 2021-02-10T17:57:24Z- AHRS_M2 msg: 4.37 phi; -0.03 theta; -0.16 psi 2021-02-10T17:57:24Z- waiting for 1612979846.94, time is 1612979843.94 2021-02-10T17:57:24Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:24Z- handleDepth()-Depth_Keller msg: 6.50 epoch sec; seqNo:1612979844733; depth 0.00 2021-02-10T17:57:24Z- waiting for 1612979846.94, time is 1612979843.94 2021-02-10T17:57:24Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:24Z- handleDvl() - RDI_Pathfinder msg: 1612979844.75 epoch sec; seqNo:123 2021-02-10T17:57:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.89 , 90.96 , 83.65 , 87.31 2021-02-10T17:57:24Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.05 , -0.00 2021-02-10T17:57:24Z- waiting for 1612979846.94, time is 1612979844.75 2021-02-10T17:57:24Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979844.76 epoch sec; seqNo:299; 4061768.22 north; 594559.08 east 2021-02-10T17:57:24Z- waiting for 1612979846.94, time is 1612979844.75 2021-02-10T17:57:24Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:25Z- AHRS_M2 msg: 1612979845.13 epoch sec; seqNo:298 2021-02-10T17:57:25Z- AHRS_M2 msg: 4.37 phi; -0.03 theta; -0.16 psi 2021-02-10T17:57:25Z- waiting for 1612979846.94, time is 1612979844.75 2021-02-10T17:57:25Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:25Z- handleDepth()-Depth_Keller msg: 6.50 epoch sec; seqNo:1612979845137; depth 0.00 2021-02-10T17:57:25Z- waiting for 1612979846.94, time is 1612979844.75 2021-02-10T17:57:25Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979845.15 epoch sec; seqNo:300; 4061768.21 north; 594557.86 east 2021-02-10T17:57:25Z- waiting for 1612979846.94, time is 1612979844.75 2021-02-10T17:57:25Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:25Z- AHRS_M2 msg: 1612979845.54 epoch sec; seqNo:299 2021-02-10T17:57:25Z- AHRS_M2 msg: 4.37 phi; -0.04 theta; -0.16 psi 2021-02-10T17:57:25Z- waiting for 1612979846.94, time is 1612979844.75 2021-02-10T17:57:25Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:25Z- handleDepth()-Depth_Keller msg: 6.50 epoch sec; seqNo:1612979845540; depth 0.00 2021-02-10T17:57:25Z- waiting for 1612979846.94, time is 1612979844.75 2021-02-10T17:57:25Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979845.55 epoch sec; seqNo:301; 4061767.83 north; 594557.86 east 2021-02-10T17:57:25Z- waiting for 1612979846.94, time is 1612979844.75 2021-02-10T17:57:25Z- sync is 0.80, coherence is 2.00 2021-02-10T17:57:25Z- AHRS_M2 msg: 1612979845.94 epoch sec; seqNo:300 2021-02-10T17:57:25Z- AHRS_M2 msg: 4.37 phi; -0.04 theta; -0.16 psi 2021-02-10T17:57:25Z- waiting for 1612979846.94, time is 1612979844.75 2021-02-10T17:57:25Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:25Z- handleDepth()-Depth_Keller msg: 6.51 epoch sec; seqNo:1612979845946; depth 0.00 2021-02-10T17:57:25Z- waiting for 1612979846.94, time is 1612979844.75 2021-02-10T17:57:25Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:25Z- handleDvl() - RDI_Pathfinder msg: 1612979845.96 epoch sec; seqNo:124 2021-02-10T17:57:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.29 , 89.74 , 82.43 , 87.31 2021-02-10T17:57:25Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.08 , 0.07 2021-02-10T17:57:25Z- waiting for 1612979846.94, time is 1612979845.96 2021-02-10T17:57:25Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979845.97 epoch sec; seqNo:302; 4061767.83 north; 594557.86 east 2021-02-10T17:57:25Z- waiting for 1612979846.94, time is 1612979845.96 2021-02-10T17:57:25Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:26Z- AHRS_M2 msg: 1612979846.35 epoch sec; seqNo:301 2021-02-10T17:57:26Z- AHRS_M2 msg: 4.37 phi; -0.05 theta; -0.17 psi 2021-02-10T17:57:26Z- waiting for 1612979846.94, time is 1612979845.96 2021-02-10T17:57:26Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:26Z- handleDepth()-Depth_Keller msg: 6.50 epoch sec; seqNo:1612979846367; depth 0.00 2021-02-10T17:57:26Z- waiting for 1612979846.94, time is 1612979845.96 2021-02-10T17:57:26Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:26Z- handleDvl() - RDI_Pathfinder msg: 1612979846.40 epoch sec; seqNo:125 2021-02-10T17:57:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-02-10T17:57:26Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-02-10T17:57:26Z- waiting for 1612979846.94, time is 1612979846.40 2021-02-10T17:57:26Z- sync is 0.05, coherence is 2.00 2021-02-10T17:57:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979846.42 epoch sec; seqNo:303; 4061767.82 north; 594556.64 east 2021-02-10T17:57:26Z- waiting for 1612979846.94, time is 1612979846.40 2021-02-10T17:57:26Z- sync is 0.03, coherence is 2.00 2021-02-10T17:57:26Z- AHRS_M2 msg: 1612979846.75 epoch sec; seqNo:302 2021-02-10T17:57:26Z- AHRS_M2 msg: 4.37 phi; -0.05 theta; -0.17 psi 2021-02-10T17:57:26Z- waiting for 1612979846.94, time is 1612979846.40 2021-02-10T17:57:26Z- sync is 0.35, coherence is 2.00 2021-02-10T17:57:26Z- handleDepth()-Depth_Keller msg: 6.52 epoch sec; seqNo:1612979846757; depth 0.00 2021-02-10T17:57:26Z- waiting for 1612979846.94, time is 1612979846.40 2021-02-10T17:57:26Z- sync is 0.35, coherence is 2.00 2021-02-10T17:57:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979846.78 epoch sec; seqNo:304; 4061767.44 north; 594556.65 east 2021-02-10T17:57:26Z- waiting for 1612979846.94, time is 1612979846.40 2021-02-10T17:57:26Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:27Z- AHRS_M2 msg: 1612979847.15 epoch sec; seqNo:303 2021-02-10T17:57:27Z- AHRS_M2 msg: 4.37 phi; -0.06 theta; -0.18 psi 2021-02-10T17:57:27Z- waiting for 1612979846.94, time is 1612979846.40 2021-02-10T17:57:27Z- sync is 0.76, coherence is 2.00 2021-02-10T17:57:27Z- handleDepth()-Depth_Keller msg: 6.54 epoch sec; seqNo:1612979847157; depth 0.00 2021-02-10T17:57:27Z- waiting for 1612979846.94, time is 1612979846.40 2021-02-10T17:57:27Z- sync is 0.76, coherence is 2.00 2021-02-10T17:57:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979847.16 epoch sec; seqNo:305; 4061767.44 north; 594556.65 east 2021-02-10T17:57:27Z- waiting for 1612979846.94, time is 1612979846.40 2021-02-10T17:57:27Z- sync is 0.77, coherence is 2.00 2021-02-10T17:57:27Z- AHRS_M2 msg: 1612979847.56 epoch sec; seqNo:304 2021-02-10T17:57:27Z- AHRS_M2 msg: 4.37 phi; -0.06 theta; -0.19 psi 2021-02-10T17:57:27Z- waiting for 1612979846.94, time is 1612979846.40 2021-02-10T17:57:27Z- sync is 1.16, coherence is 2.00 2021-02-10T17:57:27Z- handleDepth()-Depth_Keller msg: 6.54 epoch sec; seqNo:1612979847568; depth 0.00 2021-02-10T17:57:27Z- waiting for 1612979846.94, time is 1612979846.40 2021-02-10T17:57:27Z- sync is 1.16, coherence is 2.00 2021-02-10T17:57:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979847.58 epoch sec; seqNo:306; 4061767.42 north; 594555.43 east 2021-02-10T17:57:27Z- waiting for 1612979846.94, time is 1612979846.40 2021-02-10T17:57:27Z- sync is 1.18, coherence is 2.00 2021-02-10T17:57:27Z- AHRS_M2 msg: 1612979847.96 epoch sec; seqNo:305 2021-02-10T17:57:27Z- AHRS_M2 msg: 4.37 phi; -0.07 theta; -0.19 psi 2021-02-10T17:57:27Z- waiting for 1612979846.94, time is 1612979846.40 2021-02-10T17:57:27Z- sync is 1.56, coherence is 2.00 2021-02-10T17:57:27Z- handleDepth()-Depth_Keller msg: 6.56 epoch sec; seqNo:1612979847964; depth 0.00 2021-02-10T17:57:27Z- waiting for 1612979846.94, time is 1612979846.40 2021-02-10T17:57:27Z- sync is 1.56, coherence is 2.00 2021-02-10T17:57:27Z- handleDvl() - RDI_Pathfinder msg: 1612979847.98 epoch sec; seqNo:126 2021-02-10T17:57:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.78 , 90.96 , 82.43 , 89.74 2021-02-10T17:57:27Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.03 , 0.10 2021-02-10T17:57:27Z- waiting for 1612979846.94, time is 1612979847.98 2021-02-10T17:57:27Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:27Z- LcmTrn::updateTrn() >>>> pose time 1612979847.96, meas time 1612979847.98 <<<< 2021-02-10T17:57:27Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979847.98 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:57:27Z- TerrainNav::motionUpdate() - currEstimate = (4061767, 594555.43, 6.56) 2021-02-10T17:57:27Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:57:27Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:57:27Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:57:27Z- TNavBF::mmse selected from filter -1 2021-02-10T17:57:27Z- variances([0], [2], and psi_berg) = 828.988065 833.214976 0.000000 2021-02-10T17:57:27Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:57:27Z- LcmTrn::cycle() - MLE : 4061725.92 594507.93 6.56 2021-02-10T17:57:27Z- LcmTrn::cycle() - MMSE : 4061767.42 594555.43 6.56 2021-02-10T17:57:27Z- LcmTrn::cycle() - COVAR: 828.99 833.21 26.56 0.00 2021-02-10T17:57:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979847.99 epoch sec; seqNo:307; 4061767.42 north; 594555.43 east 2021-02-10T17:57:27Z- waiting for 1612979850.98, time is 1612979847.98 2021-02-10T17:57:27Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:28Z- AHRS_M2 msg: 1612979848.36 epoch sec; seqNo:306 2021-02-10T17:57:28Z- AHRS_M2 msg: 4.37 phi; -0.07 theta; -0.19 psi 2021-02-10T17:57:28Z- waiting for 1612979850.98, time is 1612979847.98 2021-02-10T17:57:28Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:28Z- handleDepth()-Depth_Keller msg: 6.58 epoch sec; seqNo:1612979848368; depth 0.00 2021-02-10T17:57:28Z- waiting for 1612979850.98, time is 1612979847.98 2021-02-10T17:57:28Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979848.38 epoch sec; seqNo:308; 4061767.04 north; 594555.43 east 2021-02-10T17:57:28Z- waiting for 1612979850.98, time is 1612979847.98 2021-02-10T17:57:28Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:28Z- AHRS_M2 msg: 1612979848.77 epoch sec; seqNo:307 2021-02-10T17:57:28Z- AHRS_M2 msg: 4.37 phi; -0.07 theta; -0.19 psi 2021-02-10T17:57:28Z- waiting for 1612979850.98, time is 1612979847.98 2021-02-10T17:57:28Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:28Z- handleDepth()-Depth_Keller msg: 6.59 epoch sec; seqNo:1612979848774; depth 0.00 2021-02-10T17:57:28Z- waiting for 1612979850.98, time is 1612979847.98 2021-02-10T17:57:28Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:28Z- handleDvl() - RDI_Pathfinder msg: 1612979848.79 epoch sec; seqNo:127 2021-02-10T17:57:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.66 , 98.20 , 0.00 , 90.89 2021-02-10T17:57:28Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.05 , 0.07 2021-02-10T17:57:28Z- waiting for 1612979850.98, time is 1612979848.79 2021-02-10T17:57:28Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979848.80 epoch sec; seqNo:309; 4061767.03 north; 594554.21 east 2021-02-10T17:57:28Z- waiting for 1612979850.98, time is 1612979848.79 2021-02-10T17:57:28Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:29Z- AHRS_M2 msg: 1612979849.18 epoch sec; seqNo:308 2021-02-10T17:57:29Z- AHRS_M2 msg: 4.37 phi; -0.08 theta; -0.19 psi 2021-02-10T17:57:29Z- waiting for 1612979850.98, time is 1612979848.79 2021-02-10T17:57:29Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:29Z- handleDepth()-Depth_Keller msg: 6.61 epoch sec; seqNo:1612979849185; depth 0.00 2021-02-10T17:57:29Z- waiting for 1612979850.98, time is 1612979848.79 2021-02-10T17:57:29Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979849.19 epoch sec; seqNo:310; 4061767.03 north; 594554.21 east 2021-02-10T17:57:29Z- waiting for 1612979850.98, time is 1612979848.79 2021-02-10T17:57:29Z- sync is 0.41, coherence is 2.00 2021-02-10T17:57:29Z- AHRS_M2 msg: 1612979849.58 epoch sec; seqNo:309 2021-02-10T17:57:29Z- AHRS_M2 msg: 4.37 phi; -0.08 theta; -0.19 psi 2021-02-10T17:57:29Z- waiting for 1612979850.98, time is 1612979848.79 2021-02-10T17:57:29Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:29Z- handleDepth()-Depth_Keller msg: 6.62 epoch sec; seqNo:1612979849580; depth 0.00 2021-02-10T17:57:29Z- waiting for 1612979850.98, time is 1612979848.79 2021-02-10T17:57:29Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979849.60 epoch sec; seqNo:311; 4061766.65 north; 594554.22 east 2021-02-10T17:57:29Z- waiting for 1612979850.98, time is 1612979848.79 2021-02-10T17:57:29Z- sync is 0.81, coherence is 2.00 2021-02-10T17:57:29Z- AHRS_M2 msg: 1612979849.98 epoch sec; seqNo:310 2021-02-10T17:57:29Z- AHRS_M2 msg: 4.38 phi; -0.09 theta; -0.19 psi 2021-02-10T17:57:29Z- waiting for 1612979850.98, time is 1612979848.79 2021-02-10T17:57:29Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:29Z- handleDepth()-Depth_Keller msg: 6.65 epoch sec; seqNo:1612979849989; depth 0.00 2021-02-10T17:57:29Z- waiting for 1612979850.98, time is 1612979848.79 2021-02-10T17:57:29Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:30Z- handleDvl() - RDI_Pathfinder msg: 1612979850.00 epoch sec; seqNo:128 2021-02-10T17:57:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.89 , 91.84 , 80.88 , 93.06 2021-02-10T17:57:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.03 , 0.05 2021-02-10T17:57:30Z- waiting for 1612979850.98, time is 1612979850.00 2021-02-10T17:57:30Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979850.01 epoch sec; seqNo:312; 4061766.64 north; 594552.99 east 2021-02-10T17:57:30Z- waiting for 1612979850.98, time is 1612979850.00 2021-02-10T17:57:30Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:30Z- AHRS_M2 msg: 1612979850.38 epoch sec; seqNo:311 2021-02-10T17:57:30Z- AHRS_M2 msg: 4.38 phi; -0.09 theta; -0.19 psi 2021-02-10T17:57:30Z- waiting for 1612979850.98, time is 1612979850.00 2021-02-10T17:57:30Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:30Z- handleDepth()-Depth_Keller msg: 6.67 epoch sec; seqNo:1612979850396; depth 0.00 2021-02-10T17:57:30Z- waiting for 1612979850.98, time is 1612979850.00 2021-02-10T17:57:30Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979850.41 epoch sec; seqNo:313; 4061766.64 north; 594552.99 east 2021-02-10T17:57:30Z- waiting for 1612979850.98, time is 1612979850.00 2021-02-10T17:57:30Z- sync is 0.41, coherence is 2.00 2021-02-10T17:57:30Z- AHRS_M2 msg: 1612979850.84 epoch sec; seqNo:312 2021-02-10T17:57:30Z- AHRS_M2 msg: 4.39 phi; -0.09 theta; -0.19 psi 2021-02-10T17:57:30Z- waiting for 1612979850.98, time is 1612979850.00 2021-02-10T17:57:30Z- sync is 0.84, coherence is 2.00 2021-02-10T17:57:30Z- handleDepth()-Depth_Keller msg: 6.71 epoch sec; seqNo:1612979850846; depth 0.00 2021-02-10T17:57:30Z- waiting for 1612979850.98, time is 1612979850.00 2021-02-10T17:57:30Z- sync is 0.84, coherence is 2.00 2021-02-10T17:57:30Z- handleDvl() - RDI_Pathfinder msg: 1612979850.87 epoch sec; seqNo:129 2021-02-10T17:57:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.29 , 92.04 , 81.08 , 98.14 2021-02-10T17:57:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.04 , -0.01 2021-02-10T17:57:30Z- waiting for 1612979850.98, time is 1612979850.87 2021-02-10T17:57:30Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979850.88 epoch sec; seqNo:314; 4061766.26 north; 594553.00 east 2021-02-10T17:57:30Z- waiting for 1612979850.98, time is 1612979850.87 2021-02-10T17:57:30Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:31Z- AHRS_M2 msg: 1612979851.19 epoch sec; seqNo:313 2021-02-10T17:57:31Z- AHRS_M2 msg: 4.39 phi; -0.10 theta; -0.18 psi 2021-02-10T17:57:31Z- waiting for 1612979850.98, time is 1612979850.87 2021-02-10T17:57:31Z- sync is 0.33, coherence is 2.00 2021-02-10T17:57:31Z- handleDepth()-Depth_Keller msg: 6.72 epoch sec; seqNo:1612979851201; depth 0.00 2021-02-10T17:57:31Z- waiting for 1612979850.98, time is 1612979850.87 2021-02-10T17:57:31Z- sync is 0.33, coherence is 2.00 2021-02-10T17:57:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979851.21 epoch sec; seqNo:315; 4061766.26 north; 594553.00 east 2021-02-10T17:57:31Z- waiting for 1612979850.98, time is 1612979850.87 2021-02-10T17:57:31Z- sync is 0.35, coherence is 2.00 2021-02-10T17:57:31Z- AHRS_M2 msg: 1612979851.60 epoch sec; seqNo:314 2021-02-10T17:57:31Z- AHRS_M2 msg: 4.38 phi; -0.10 theta; -0.18 psi 2021-02-10T17:57:31Z- waiting for 1612979850.98, time is 1612979850.87 2021-02-10T17:57:31Z- sync is 0.73, coherence is 2.00 2021-02-10T17:57:31Z- handleDepth()-Depth_Keller msg: 6.76 epoch sec; seqNo:1612979851601; depth 0.00 2021-02-10T17:57:31Z- waiting for 1612979850.98, time is 1612979850.87 2021-02-10T17:57:31Z- sync is 0.73, coherence is 2.00 2021-02-10T17:57:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979851.61 epoch sec; seqNo:316; 4061766.25 north; 594551.78 east 2021-02-10T17:57:31Z- waiting for 1612979850.98, time is 1612979850.87 2021-02-10T17:57:31Z- sync is 0.74, coherence is 2.00 2021-02-10T17:57:32Z- AHRS_M2 msg: 1612979852.00 epoch sec; seqNo:315 2021-02-10T17:57:32Z- AHRS_M2 msg: 4.38 phi; -0.10 theta; -0.17 psi 2021-02-10T17:57:32Z- waiting for 1612979850.98, time is 1612979850.87 2021-02-10T17:57:32Z- sync is 1.13, coherence is 2.00 2021-02-10T17:57:32Z- handleDepth()-Depth_Keller msg: 6.77 epoch sec; seqNo:1612979852004; depth 0.00 2021-02-10T17:57:32Z- waiting for 1612979850.98, time is 1612979850.87 2021-02-10T17:57:32Z- sync is 1.13, coherence is 2.00 2021-02-10T17:57:32Z- handleDvl() - RDI_Pathfinder msg: 1612979852.02 epoch sec; seqNo:130 2021-02-10T17:57:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.51 , 98.00 , 79.75 , 98.00 2021-02-10T17:57:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.05 , -0.03 2021-02-10T17:57:32Z- waiting for 1612979850.98, time is 1612979852.02 2021-02-10T17:57:32Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:32Z- LcmTrn::updateTrn() >>>> pose time 1612979852.00, meas time 1612979852.02 <<<< 2021-02-10T17:57:32Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979852.02 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:57:32Z- TerrainNav::motionUpdate() - currEstimate = (4061766, 594551.78, 6.77) 2021-02-10T17:57:32Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:57:32Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:57:32Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:57:32Z- TNavBF::mmse selected from filter -1 2021-02-10T17:57:32Z- variances([0], [2], and psi_berg) = 828.492795 833.211440 0.000000 2021-02-10T17:57:32Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:57:32Z- LcmTrn::cycle() - MLE : 4061725.75 594504.28 6.77 2021-02-10T17:57:32Z- LcmTrn::cycle() - MMSE : 4061766.25 594551.78 6.77 2021-02-10T17:57:32Z- LcmTrn::cycle() - COVAR: 828.49 833.21 26.76 0.00 2021-02-10T17:57:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979852.03 epoch sec; seqNo:317; 4061766.25 north; 594551.78 east 2021-02-10T17:57:32Z- waiting for 1612979855.02, time is 1612979852.02 2021-02-10T17:57:32Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:32Z- AHRS_M2 msg: 1612979852.41 epoch sec; seqNo:316 2021-02-10T17:57:32Z- AHRS_M2 msg: 4.38 phi; -0.11 theta; -0.18 psi 2021-02-10T17:57:32Z- waiting for 1612979855.02, time is 1612979852.02 2021-02-10T17:57:32Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:32Z- handleDepth()-Depth_Keller msg: 6.84 epoch sec; seqNo:1612979852411; depth 0.00 2021-02-10T17:57:32Z- waiting for 1612979855.02, time is 1612979852.02 2021-02-10T17:57:32Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979852.42 epoch sec; seqNo:318; 4061765.87 north; 594551.78 east 2021-02-10T17:57:32Z- waiting for 1612979855.02, time is 1612979852.02 2021-02-10T17:57:32Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:32Z- AHRS_M2 msg: 1612979852.81 epoch sec; seqNo:317 2021-02-10T17:57:32Z- AHRS_M2 msg: 4.38 phi; -0.11 theta; -0.18 psi 2021-02-10T17:57:32Z- waiting for 1612979855.02, time is 1612979852.02 2021-02-10T17:57:32Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:32Z- handleDepth()-Depth_Keller msg: 6.84 epoch sec; seqNo:1612979852821; depth 0.00 2021-02-10T17:57:32Z- waiting for 1612979855.02, time is 1612979852.02 2021-02-10T17:57:32Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:32Z- handleDvl() - RDI_Pathfinder msg: 1612979852.83 epoch sec; seqNo:131 2021-02-10T17:57:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.89 , 91.84 , 78.93 , 93.06 2021-02-10T17:57:32Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.01 , -0.01 2021-02-10T17:57:32Z- waiting for 1612979855.02, time is 1612979852.83 2021-02-10T17:57:32Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979852.86 epoch sec; seqNo:319; 4061765.85 north; 594550.56 east 2021-02-10T17:57:32Z- waiting for 1612979855.02, time is 1612979852.83 2021-02-10T17:57:32Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:33Z- AHRS_M2 msg: 1612979853.22 epoch sec; seqNo:318 2021-02-10T17:57:33Z- AHRS_M2 msg: 4.38 phi; -0.12 theta; -0.19 psi 2021-02-10T17:57:33Z- waiting for 1612979855.02, time is 1612979852.83 2021-02-10T17:57:33Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:33Z- handleDepth()-Depth_Keller msg: 6.88 epoch sec; seqNo:1612979853224; depth 0.00 2021-02-10T17:57:33Z- waiting for 1612979855.02, time is 1612979852.83 2021-02-10T17:57:33Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979853.23 epoch sec; seqNo:320; 4061765.85 north; 594550.56 east 2021-02-10T17:57:33Z- waiting for 1612979855.02, time is 1612979852.83 2021-02-10T17:57:33Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:33Z- AHRS_M2 msg: 1612979853.64 epoch sec; seqNo:319 2021-02-10T17:57:33Z- AHRS_M2 msg: 4.38 phi; -0.12 theta; -0.20 psi 2021-02-10T17:57:33Z- waiting for 1612979855.02, time is 1612979852.83 2021-02-10T17:57:33Z- sync is 0.81, coherence is 2.00 2021-02-10T17:57:33Z- handleDepth()-Depth_Keller msg: 6.91 epoch sec; seqNo:1612979853648; depth 0.00 2021-02-10T17:57:33Z- waiting for 1612979855.02, time is 1612979852.83 2021-02-10T17:57:33Z- sync is 0.81, coherence is 2.00 2021-02-10T17:57:33Z- handleDvl() - RDI_Pathfinder msg: 1612979853.66 epoch sec; seqNo:132 2021-02-10T17:57:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.89 , 92.11 , 79.93 , 94.55 2021-02-10T17:57:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.03 , -0.08 2021-02-10T17:57:33Z- waiting for 1612979855.02, time is 1612979853.66 2021-02-10T17:57:33Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979853.67 epoch sec; seqNo:321; 4061765.48 north; 594550.57 east 2021-02-10T17:57:33Z- waiting for 1612979855.02, time is 1612979853.66 2021-02-10T17:57:33Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:34Z- AHRS_M2 msg: 1612979854.02 epoch sec; seqNo:320 2021-02-10T17:57:34Z- AHRS_M2 msg: 4.38 phi; -0.13 theta; -0.21 psi 2021-02-10T17:57:34Z- waiting for 1612979855.02, time is 1612979853.66 2021-02-10T17:57:34Z- sync is 0.36, coherence is 2.00 2021-02-10T17:57:34Z- handleDepth()-Depth_Keller msg: 6.94 epoch sec; seqNo:1612979854024; depth 0.00 2021-02-10T17:57:34Z- waiting for 1612979855.02, time is 1612979853.66 2021-02-10T17:57:34Z- sync is 0.36, coherence is 2.00 2021-02-10T17:57:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979854.04 epoch sec; seqNo:322; 4061765.46 north; 594549.35 east 2021-02-10T17:57:34Z- waiting for 1612979855.02, time is 1612979853.66 2021-02-10T17:57:34Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:34Z- AHRS_M2 msg: 1612979854.42 epoch sec; seqNo:321 2021-02-10T17:57:34Z- AHRS_M2 msg: 4.39 phi; -0.13 theta; -0.21 psi 2021-02-10T17:57:34Z- waiting for 1612979855.02, time is 1612979853.66 2021-02-10T17:57:34Z- sync is 0.76, coherence is 2.00 2021-02-10T17:57:34Z- handleDepth()-Depth_Keller msg: 6.99 epoch sec; seqNo:1612979854428; depth 0.00 2021-02-10T17:57:34Z- waiting for 1612979855.02, time is 1612979853.66 2021-02-10T17:57:34Z- sync is 0.76, coherence is 2.00 2021-02-10T17:57:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979854.44 epoch sec; seqNo:323; 4061765.46 north; 594549.35 east 2021-02-10T17:57:34Z- waiting for 1612979855.02, time is 1612979853.66 2021-02-10T17:57:34Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:34Z- AHRS_M2 msg: 1612979854.83 epoch sec; seqNo:322 2021-02-10T17:57:34Z- AHRS_M2 msg: 4.39 phi; -0.13 theta; -0.21 psi 2021-02-10T17:57:34Z- waiting for 1612979855.02, time is 1612979853.66 2021-02-10T17:57:34Z- sync is 1.17, coherence is 2.00 2021-02-10T17:57:34Z- handleDepth()-Depth_Keller msg: 7.03 epoch sec; seqNo:1612979854837; depth 0.00 2021-02-10T17:57:34Z- waiting for 1612979855.02, time is 1612979853.66 2021-02-10T17:57:34Z- sync is 1.17, coherence is 2.00 2021-02-10T17:57:34Z- handleDvl() - RDI_Pathfinder msg: 1612979854.85 epoch sec; seqNo:133 2021-02-10T17:57:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.48 , 94.48 , 77.70 , 94.48 2021-02-10T17:57:34Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.02 , -0.16 2021-02-10T17:57:34Z- waiting for 1612979855.02, time is 1612979854.85 2021-02-10T17:57:34Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979854.86 epoch sec; seqNo:324; 4061765.08 north; 594549.35 east 2021-02-10T17:57:34Z- waiting for 1612979855.02, time is 1612979854.85 2021-02-10T17:57:34Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:35Z- AHRS_M2 msg: 1612979855.23 epoch sec; seqNo:323 2021-02-10T17:57:35Z- AHRS_M2 msg: 4.39 phi; -0.13 theta; -0.20 psi 2021-02-10T17:57:35Z- waiting for 1612979855.02, time is 1612979854.85 2021-02-10T17:57:35Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:35Z- handleDepth()-Depth_Keller msg: 7.07 epoch sec; seqNo:1612979855245; depth 0.00 2021-02-10T17:57:35Z- waiting for 1612979855.02, time is 1612979854.85 2021-02-10T17:57:35Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979855.26 epoch sec; seqNo:325; 4061765.07 north; 594548.13 east 2021-02-10T17:57:35Z- waiting for 1612979855.02, time is 1612979854.85 2021-02-10T17:57:35Z- sync is 0.41, coherence is 2.00 2021-02-10T17:57:35Z- AHRS_M2 msg: 1612979855.64 epoch sec; seqNo:324 2021-02-10T17:57:35Z- AHRS_M2 msg: 4.39 phi; -0.13 theta; -0.19 psi 2021-02-10T17:57:35Z- waiting for 1612979855.02, time is 1612979854.85 2021-02-10T17:57:35Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:35Z- handleDepth()-Depth_Keller msg: 7.14 epoch sec; seqNo:1612979855645; depth 0.00 2021-02-10T17:57:35Z- waiting for 1612979855.02, time is 1612979854.85 2021-02-10T17:57:35Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:35Z- handleDvl() - RDI_Pathfinder msg: 1612979855.66 epoch sec; seqNo:134 2021-02-10T17:57:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.48 , 90.83 , 77.29 , 94.48 2021-02-10T17:57:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , 0.10 , -0.11 2021-02-10T17:57:35Z- waiting for 1612979855.02, time is 1612979855.66 2021-02-10T17:57:35Z- sync is 0.03, coherence is 2.00 2021-02-10T17:57:35Z- LcmTrn::updateTrn() >>>> pose time 1612979855.64, meas time 1612979855.66 <<<< 2021-02-10T17:57:35Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979855.66 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:57:35Z- TerrainNav::motionUpdate() - currEstimate = (4061765, 594548.13, 7.14) 2021-02-10T17:57:35Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:57:35Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:57:35Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:57:35Z- TNavBF::mmse selected from filter -1 2021-02-10T17:57:35Z- variances([0], [2], and psi_berg) = 828.005321 833.208056 0.000000 2021-02-10T17:57:35Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:57:35Z- LcmTrn::cycle() - MLE : 4061724.57 594500.63 7.14 2021-02-10T17:57:35Z- LcmTrn::cycle() - MMSE : 4061765.07 594548.13 7.14 2021-02-10T17:57:35Z- LcmTrn::cycle() - COVAR: 828.01 833.21 26.95 0.00 2021-02-10T17:57:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979855.67 epoch sec; seqNo:326; 4061764.69 north; 594548.13 east 2021-02-10T17:57:35Z- waiting for 1612979858.66, time is 1612979855.66 2021-02-10T17:57:35Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:36Z- AHRS_M2 msg: 1612979856.04 epoch sec; seqNo:325 2021-02-10T17:57:36Z- AHRS_M2 msg: 4.38 phi; -0.13 theta; -0.18 psi 2021-02-10T17:57:36Z- waiting for 1612979858.66, time is 1612979855.66 2021-02-10T17:57:36Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:36Z- handleDepth()-Depth_Keller msg: 7.16 epoch sec; seqNo:1612979856044; depth 0.00 2021-02-10T17:57:36Z- waiting for 1612979858.66, time is 1612979855.66 2021-02-10T17:57:36Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979856.05 epoch sec; seqNo:327; 4061764.69 north; 594548.13 east 2021-02-10T17:57:36Z- waiting for 1612979858.66, time is 1612979855.66 2021-02-10T17:57:36Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:36Z- AHRS_M2 msg: 1612979856.45 epoch sec; seqNo:326 2021-02-10T17:57:36Z- AHRS_M2 msg: 4.37 phi; -0.14 theta; -0.18 psi 2021-02-10T17:57:36Z- waiting for 1612979858.66, time is 1612979855.66 2021-02-10T17:57:36Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:36Z- handleDepth()-Depth_Keller msg: 7.21 epoch sec; seqNo:1612979856457; depth 0.00 2021-02-10T17:57:36Z- waiting for 1612979858.66, time is 1612979855.66 2021-02-10T17:57:36Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979856.47 epoch sec; seqNo:328; 4061764.68 north; 594546.91 east 2021-02-10T17:57:36Z- waiting for 1612979858.66, time is 1612979855.66 2021-02-10T17:57:36Z- sync is 0.80, coherence is 2.00 2021-02-10T17:57:36Z- AHRS_M2 msg: 1612979856.86 epoch sec; seqNo:327 2021-02-10T17:57:36Z- AHRS_M2 msg: 4.36 phi; -0.14 theta; -0.18 psi 2021-02-10T17:57:36Z- waiting for 1612979858.66, time is 1612979855.66 2021-02-10T17:57:36Z- sync is 1.20, coherence is 2.00 2021-02-10T17:57:36Z- handleDepth()-Depth_Keller msg: 7.26 epoch sec; seqNo:1612979856863; depth 0.00 2021-02-10T17:57:36Z- waiting for 1612979858.66, time is 1612979855.66 2021-02-10T17:57:36Z- sync is 1.20, coherence is 2.00 2021-02-10T17:57:36Z- handleDvl() - RDI_Pathfinder msg: 1612979856.88 epoch sec; seqNo:135 2021-02-10T17:57:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.48 , 89.74 , 76.89 , 93.40 2021-02-10T17:57:36Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.13 , 0.02 2021-02-10T17:57:36Z- waiting for 1612979858.66, time is 1612979856.88 2021-02-10T17:57:36Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979856.88 epoch sec; seqNo:329; 4061764.68 north; 594546.91 east 2021-02-10T17:57:36Z- waiting for 1612979858.66, time is 1612979856.88 2021-02-10T17:57:36Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:37Z- AHRS_M2 msg: 1612979857.26 epoch sec; seqNo:328 2021-02-10T17:57:37Z- AHRS_M2 msg: 4.35 phi; -0.15 theta; -0.19 psi 2021-02-10T17:57:37Z- waiting for 1612979858.66, time is 1612979856.88 2021-02-10T17:57:37Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:37Z- handleDepth()-Depth_Keller msg: 7.31 epoch sec; seqNo:1612979857260; depth 0.00 2021-02-10T17:57:37Z- waiting for 1612979858.66, time is 1612979856.88 2021-02-10T17:57:37Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979857.28 epoch sec; seqNo:330; 4061764.30 north; 594546.92 east 2021-02-10T17:57:37Z- waiting for 1612979858.66, time is 1612979856.88 2021-02-10T17:57:37Z- sync is 0.41, coherence is 2.00 2021-02-10T17:57:37Z- AHRS_M2 msg: 1612979857.66 epoch sec; seqNo:329 2021-02-10T17:57:37Z- AHRS_M2 msg: 4.35 phi; -0.15 theta; -0.20 psi 2021-02-10T17:57:37Z- waiting for 1612979858.66, time is 1612979856.88 2021-02-10T17:57:37Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:37Z- handleDepth()-Depth_Keller msg: 7.36 epoch sec; seqNo:1612979857669; depth 0.00 2021-02-10T17:57:37Z- waiting for 1612979858.66, time is 1612979856.88 2021-02-10T17:57:37Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:37Z- handleDvl() - RDI_Pathfinder msg: 1612979857.68 epoch sec; seqNo:136 2021-02-10T17:57:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.48 , 90.96 , 76.48 , 94.62 2021-02-10T17:57:37Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.04 , 0.09 2021-02-10T17:57:37Z- waiting for 1612979858.66, time is 1612979857.68 2021-02-10T17:57:37Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979857.70 epoch sec; seqNo:331; 4061764.29 north; 594545.70 east 2021-02-10T17:57:37Z- waiting for 1612979858.66, time is 1612979857.68 2021-02-10T17:57:37Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:38Z- AHRS_M2 msg: 1612979858.06 epoch sec; seqNo:330 2021-02-10T17:57:38Z- AHRS_M2 msg: 4.35 phi; -0.15 theta; -0.20 psi 2021-02-10T17:57:38Z- waiting for 1612979858.66, time is 1612979857.68 2021-02-10T17:57:38Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:38Z- handleDepth()-Depth_Keller msg: 7.42 epoch sec; seqNo:1612979858068; depth 0.00 2021-02-10T17:57:38Z- waiting for 1612979858.66, time is 1612979857.68 2021-02-10T17:57:38Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979858.08 epoch sec; seqNo:332; 4061764.29 north; 594545.70 east 2021-02-10T17:57:38Z- waiting for 1612979858.66, time is 1612979857.68 2021-02-10T17:57:38Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:38Z- AHRS_M2 msg: 1612979858.47 epoch sec; seqNo:331 2021-02-10T17:57:38Z- AHRS_M2 msg: 4.35 phi; -0.15 theta; -0.21 psi 2021-02-10T17:57:38Z- waiting for 1612979858.66, time is 1612979857.68 2021-02-10T17:57:38Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:38Z- handleDepth()-Depth_Keller msg: 7.45 epoch sec; seqNo:1612979858478; depth 0.00 2021-02-10T17:57:38Z- waiting for 1612979858.66, time is 1612979857.68 2021-02-10T17:57:38Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979858.49 epoch sec; seqNo:333; 4061763.91 north; 594545.70 east 2021-02-10T17:57:38Z- waiting for 1612979858.66, time is 1612979857.68 2021-02-10T17:57:38Z- sync is 0.81, coherence is 2.00 2021-02-10T17:57:38Z- AHRS_M2 msg: 1612979858.87 epoch sec; seqNo:332 2021-02-10T17:57:38Z- AHRS_M2 msg: 4.35 phi; -0.15 theta; -0.21 psi 2021-02-10T17:57:38Z- waiting for 1612979858.66, time is 1612979857.68 2021-02-10T17:57:38Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:38Z- handleDepth()-Depth_Keller msg: 7.50 epoch sec; seqNo:1612979858877; depth 0.00 2021-02-10T17:57:38Z- waiting for 1612979858.66, time is 1612979857.68 2021-02-10T17:57:38Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:38Z- handleDvl() - RDI_Pathfinder msg: 1612979858.90 epoch sec; seqNo:137 2021-02-10T17:57:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.07 , 93.40 , 77.29 , 95.83 2021-02-10T17:57:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.03 , 0.11 2021-02-10T17:57:38Z- waiting for 1612979858.66, time is 1612979858.90 2021-02-10T17:57:38Z- sync is 0.03, coherence is 2.00 2021-02-10T17:57:38Z- LcmTrn::updateTrn() >>>> pose time 1612979858.87, meas time 1612979858.90 <<<< 2021-02-10T17:57:38Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979858.90 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:57:38Z- TerrainNav::motionUpdate() - currEstimate = (4061764, 594545.70, 7.50) 2021-02-10T17:57:38Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:57:38Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:57:38Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:57:38Z- TNavBF::mmse selected from filter -1 2021-02-10T17:57:38Z- variances([0], [2], and psi_berg) = 827.603133 833.205341 0.000000 2021-02-10T17:57:38Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:57:38Z- LcmTrn::cycle() - MLE : 4061723.41 594498.20 7.50 2021-02-10T17:57:38Z- LcmTrn::cycle() - MMSE : 4061763.91 594545.70 7.50 2021-02-10T17:57:38Z- LcmTrn::cycle() - COVAR: 827.60 833.21 27.09 0.00 2021-02-10T17:57:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979858.91 epoch sec; seqNo:334; 4061763.89 north; 594544.48 east 2021-02-10T17:57:38Z- waiting for 1612979861.90, time is 1612979858.90 2021-02-10T17:57:38Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:39Z- AHRS_M2 msg: 1612979859.28 epoch sec; seqNo:333 2021-02-10T17:57:39Z- AHRS_M2 msg: 4.35 phi; -0.16 theta; -0.22 psi 2021-02-10T17:57:39Z- waiting for 1612979861.90, time is 1612979858.90 2021-02-10T17:57:39Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:39Z- handleDepth()-Depth_Keller msg: 7.57 epoch sec; seqNo:1612979859280; depth 0.00 2021-02-10T17:57:39Z- waiting for 1612979861.90, time is 1612979858.90 2021-02-10T17:57:39Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979859.30 epoch sec; seqNo:335; 4061763.89 north; 594544.48 east 2021-02-10T17:57:39Z- waiting for 1612979861.90, time is 1612979858.90 2021-02-10T17:57:39Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:39Z- AHRS_M2 msg: 1612979859.68 epoch sec; seqNo:334 2021-02-10T17:57:39Z- AHRS_M2 msg: 4.35 phi; -0.16 theta; -0.22 psi 2021-02-10T17:57:39Z- waiting for 1612979861.90, time is 1612979858.90 2021-02-10T17:57:39Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:39Z- handleDepth()-Depth_Keller msg: 7.62 epoch sec; seqNo:1612979859689; depth 0.00 2021-02-10T17:57:39Z- waiting for 1612979861.90, time is 1612979858.90 2021-02-10T17:57:39Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:39Z- handleDvl() - RDI_Pathfinder msg: 1612979859.70 epoch sec; seqNo:138 2021-02-10T17:57:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.66 , 95.70 , 78.64 , 95.70 2021-02-10T17:57:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.06 , 0.08 2021-02-10T17:57:39Z- waiting for 1612979861.90, time is 1612979859.70 2021-02-10T17:57:39Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979859.71 epoch sec; seqNo:336; 4061763.51 north; 594544.49 east 2021-02-10T17:57:39Z- waiting for 1612979861.90, time is 1612979859.70 2021-02-10T17:57:39Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:40Z- AHRS_M2 msg: 1612979860.09 epoch sec; seqNo:335 2021-02-10T17:57:40Z- AHRS_M2 msg: 4.36 phi; -0.16 theta; -0.21 psi 2021-02-10T17:57:40Z- waiting for 1612979861.90, time is 1612979859.70 2021-02-10T17:57:40Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:40Z- handleDepth()-Depth_Keller msg: 7.67 epoch sec; seqNo:1612979860096; depth 0.00 2021-02-10T17:57:40Z- waiting for 1612979861.90, time is 1612979859.70 2021-02-10T17:57:40Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979860.11 epoch sec; seqNo:337; 4061763.51 north; 594544.49 east 2021-02-10T17:57:40Z- waiting for 1612979861.90, time is 1612979859.70 2021-02-10T17:57:40Z- sync is 0.41, coherence is 2.00 2021-02-10T17:57:40Z- AHRS_M2 msg: 1612979860.49 epoch sec; seqNo:336 2021-02-10T17:57:40Z- AHRS_M2 msg: 4.36 phi; -0.16 theta; -0.21 psi 2021-02-10T17:57:40Z- waiting for 1612979861.90, time is 1612979859.70 2021-02-10T17:57:40Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:40Z- handleDepth()-Depth_Keller msg: 7.72 epoch sec; seqNo:1612979860493; depth 0.00 2021-02-10T17:57:40Z- waiting for 1612979861.90, time is 1612979859.70 2021-02-10T17:57:40Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979860.50 epoch sec; seqNo:338; 4061763.50 north; 594543.27 east 2021-02-10T17:57:40Z- waiting for 1612979861.90, time is 1612979859.70 2021-02-10T17:57:40Z- sync is 0.80, coherence is 2.00 2021-02-10T17:57:40Z- AHRS_M2 msg: 1612979860.89 epoch sec; seqNo:337 2021-02-10T17:57:40Z- AHRS_M2 msg: 4.36 phi; -0.16 theta; -0.21 psi 2021-02-10T17:57:40Z- waiting for 1612979861.90, time is 1612979859.70 2021-02-10T17:57:40Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:40Z- handleDepth()-Depth_Keller msg: 7.78 epoch sec; seqNo:1612979860896; depth 0.00 2021-02-10T17:57:40Z- waiting for 1612979861.90, time is 1612979859.70 2021-02-10T17:57:40Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:40Z- handleDvl() - RDI_Pathfinder msg: 1612979860.91 epoch sec; seqNo:139 2021-02-10T17:57:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.84 , 91.98 , 76.07 , 95.63 2021-02-10T17:57:40Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.02 , 0.06 2021-02-10T17:57:40Z- waiting for 1612979861.90, time is 1612979860.91 2021-02-10T17:57:40Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979860.92 epoch sec; seqNo:339; 4061763.12 north; 594543.27 east 2021-02-10T17:57:40Z- waiting for 1612979861.90, time is 1612979860.91 2021-02-10T17:57:40Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:41Z- AHRS_M2 msg: 1612979861.30 epoch sec; seqNo:338 2021-02-10T17:57:41Z- AHRS_M2 msg: 4.35 phi; -0.17 theta; -0.22 psi 2021-02-10T17:57:41Z- waiting for 1612979861.90, time is 1612979860.91 2021-02-10T17:57:41Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:41Z- handleDepth()-Depth_Keller msg: 7.84 epoch sec; seqNo:1612979861306; depth 0.00 2021-02-10T17:57:41Z- waiting for 1612979861.90, time is 1612979860.91 2021-02-10T17:57:41Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979861.32 epoch sec; seqNo:340; 4061763.12 north; 594543.27 east 2021-02-10T17:57:41Z- waiting for 1612979861.90, time is 1612979860.91 2021-02-10T17:57:41Z- sync is 0.41, coherence is 2.00 2021-02-10T17:57:41Z- AHRS_M2 msg: 1612979861.70 epoch sec; seqNo:339 2021-02-10T17:57:41Z- AHRS_M2 msg: 4.34 phi; -0.17 theta; -0.22 psi 2021-02-10T17:57:41Z- waiting for 1612979861.90, time is 1612979860.91 2021-02-10T17:57:41Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:41Z- handleDepth()-Depth_Keller msg: 7.89 epoch sec; seqNo:1612979861705; depth 0.00 2021-02-10T17:57:41Z- waiting for 1612979861.90, time is 1612979860.91 2021-02-10T17:57:41Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:41Z- handleDvl() - RDI_Pathfinder msg: 1612979861.72 epoch sec; seqNo:140 2021-02-10T17:57:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-02-10T17:57:41Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-02-10T17:57:41Z- waiting for 1612979861.90, time is 1612979861.72 2021-02-10T17:57:41Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979861.73 epoch sec; seqNo:341; 4061762.73 north; 594542.05 east 2021-02-10T17:57:41Z- waiting for 1612979861.90, time is 1612979861.72 2021-02-10T17:57:41Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:42Z- AHRS_M2 msg: 1612979862.10 epoch sec; seqNo:340 2021-02-10T17:57:42Z- AHRS_M2 msg: 4.33 phi; -0.17 theta; -0.22 psi 2021-02-10T17:57:42Z- waiting for 1612979861.90, time is 1612979861.72 2021-02-10T17:57:42Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:42Z- handleDepth()-Depth_Keller msg: 7.96 epoch sec; seqNo:1612979862108; depth 0.00 2021-02-10T17:57:42Z- waiting for 1612979861.90, time is 1612979861.72 2021-02-10T17:57:42Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979862.12 epoch sec; seqNo:342; 4061762.73 north; 594542.05 east 2021-02-10T17:57:42Z- waiting for 1612979861.90, time is 1612979861.72 2021-02-10T17:57:42Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:42Z- AHRS_M2 msg: 1612979862.51 epoch sec; seqNo:341 2021-02-10T17:57:42Z- AHRS_M2 msg: 4.33 phi; -0.18 theta; -0.22 psi 2021-02-10T17:57:42Z- waiting for 1612979861.90, time is 1612979861.72 2021-02-10T17:57:42Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:42Z- handleDepth()-Depth_Keller msg: 8.01 epoch sec; seqNo:1612979862518; depth 0.00 2021-02-10T17:57:42Z- waiting for 1612979861.90, time is 1612979861.72 2021-02-10T17:57:42Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979862.53 epoch sec; seqNo:343; 4061762.73 north; 594542.05 east 2021-02-10T17:57:42Z- waiting for 1612979861.90, time is 1612979861.72 2021-02-10T17:57:42Z- sync is 0.81, coherence is 2.00 2021-02-10T17:57:42Z- AHRS_M2 msg: 1612979862.91 epoch sec; seqNo:342 2021-02-10T17:57:42Z- AHRS_M2 msg: 4.33 phi; -0.18 theta; -0.22 psi 2021-02-10T17:57:42Z- waiting for 1612979861.90, time is 1612979861.72 2021-02-10T17:57:42Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:42Z- handleDepth()-Depth_Keller msg: 8.09 epoch sec; seqNo:1612979862917; depth 0.00 2021-02-10T17:57:42Z- waiting for 1612979861.90, time is 1612979861.72 2021-02-10T17:57:42Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:42Z- handleDvl() - RDI_Pathfinder msg: 1612979862.93 epoch sec; seqNo:141 2021-02-10T17:57:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.25 , 92.18 , 76.07 , 97.05 2021-02-10T17:57:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.08 , 0.10 2021-02-10T17:57:42Z- waiting for 1612979861.90, time is 1612979862.93 2021-02-10T17:57:42Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:42Z- LcmTrn::updateTrn() >>>> pose time 1612979862.91, meas time 1612979862.93 <<<< 2021-02-10T17:57:42Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979862.93 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:57:42Z- TerrainNav::motionUpdate() - currEstimate = (4061763, 594542.05, 8.09) 2021-02-10T17:57:42Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:57:42Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:57:42Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:57:42Z- TNavBF::mmse selected from filter -1 2021-02-10T17:57:42Z- variances([0], [2], and psi_berg) = 827.129323 833.202214 0.000000 2021-02-10T17:57:42Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:57:42Z- LcmTrn::cycle() - MLE : 4061722.23 594495.55 8.09 2021-02-10T17:57:42Z- LcmTrn::cycle() - MMSE : 4061762.73 594542.05 8.09 2021-02-10T17:57:42Z- LcmTrn::cycle() - COVAR: 827.13 833.20 27.28 0.00 2021-02-10T17:57:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979862.94 epoch sec; seqNo:344; 4061762.35 north; 594542.06 east 2021-02-10T17:57:42Z- waiting for 1612979865.93, time is 1612979862.93 2021-02-10T17:57:42Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:43Z- AHRS_M2 msg: 1612979863.32 epoch sec; seqNo:343 2021-02-10T17:57:43Z- AHRS_M2 msg: 4.32 phi; -0.18 theta; -0.22 psi 2021-02-10T17:57:43Z- waiting for 1612979865.93, time is 1612979862.93 2021-02-10T17:57:43Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:43Z- handleDepth()-Depth_Keller msg: 8.14 epoch sec; seqNo:1612979863320; depth 0.00 2021-02-10T17:57:43Z- waiting for 1612979865.93, time is 1612979862.93 2021-02-10T17:57:43Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979863.34 epoch sec; seqNo:345; 4061762.34 north; 594540.84 east 2021-02-10T17:57:43Z- waiting for 1612979865.93, time is 1612979862.93 2021-02-10T17:57:43Z- sync is 0.41, coherence is 2.00 2021-02-10T17:57:43Z- AHRS_M2 msg: 1612979863.72 epoch sec; seqNo:344 2021-02-10T17:57:43Z- AHRS_M2 msg: 4.32 phi; -0.18 theta; -0.22 psi 2021-02-10T17:57:43Z- waiting for 1612979865.93, time is 1612979862.93 2021-02-10T17:57:43Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:43Z- handleDepth()-Depth_Keller msg: 8.19 epoch sec; seqNo:1612979863729; depth 0.00 2021-02-10T17:57:43Z- waiting for 1612979865.93, time is 1612979862.93 2021-02-10T17:57:43Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:43Z- handleDvl() - RDI_Pathfinder msg: 1612979863.75 epoch sec; seqNo:142 2021-02-10T17:57:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.66 , 92.11 , 75.66 , 96.99 2021-02-10T17:57:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.09 , 0.06 2021-02-10T17:57:43Z- waiting for 1612979865.93, time is 1612979863.75 2021-02-10T17:57:43Z- sync is 0.03, coherence is 2.00 2021-02-10T17:57:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979863.76 epoch sec; seqNo:346; 4061762.34 north; 594540.84 east 2021-02-10T17:57:43Z- waiting for 1612979865.93, time is 1612979863.75 2021-02-10T17:57:43Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:44Z- AHRS_M2 msg: 1612979864.12 epoch sec; seqNo:345 2021-02-10T17:57:44Z- AHRS_M2 msg: 4.33 phi; -0.18 theta; -0.21 psi 2021-02-10T17:57:44Z- waiting for 1612979865.93, time is 1612979863.75 2021-02-10T17:57:44Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:44Z- handleDepth()-Depth_Keller msg: 8.27 epoch sec; seqNo:1612979864128; depth 0.00 2021-02-10T17:57:44Z- waiting for 1612979865.93, time is 1612979863.75 2021-02-10T17:57:44Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979864.14 epoch sec; seqNo:347; 4061762.34 north; 594540.84 east 2021-02-10T17:57:44Z- waiting for 1612979865.93, time is 1612979863.75 2021-02-10T17:57:44Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:44Z- AHRS_M2 msg: 1612979864.53 epoch sec; seqNo:346 2021-02-10T17:57:44Z- AHRS_M2 msg: 4.33 phi; -0.18 theta; -0.21 psi 2021-02-10T17:57:44Z- waiting for 1612979865.93, time is 1612979863.75 2021-02-10T17:57:44Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:44Z- handleDepth()-Depth_Keller msg: 8.34 epoch sec; seqNo:1612979864534; depth 0.00 2021-02-10T17:57:44Z- waiting for 1612979865.93, time is 1612979863.75 2021-02-10T17:57:44Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979864.54 epoch sec; seqNo:348; 4061761.94 north; 594539.62 east 2021-02-10T17:57:44Z- waiting for 1612979865.93, time is 1612979863.75 2021-02-10T17:57:44Z- sync is 0.80, coherence is 2.00 2021-02-10T17:57:44Z- AHRS_M2 msg: 1612979864.93 epoch sec; seqNo:347 2021-02-10T17:57:44Z- AHRS_M2 msg: 4.33 phi; -0.18 theta; -0.20 psi 2021-02-10T17:57:44Z- waiting for 1612979865.93, time is 1612979863.75 2021-02-10T17:57:44Z- sync is 1.18, coherence is 2.00 2021-02-10T17:57:44Z- handleDepth()-Depth_Keller msg: 8.39 epoch sec; seqNo:1612979864936; depth 0.00 2021-02-10T17:57:44Z- waiting for 1612979865.93, time is 1612979863.75 2021-02-10T17:57:44Z- sync is 1.18, coherence is 2.00 2021-02-10T17:57:44Z- handleDvl() - RDI_Pathfinder msg: 1612979864.95 epoch sec; seqNo:143 2021-02-10T17:57:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.66 , 92.11 , 78.71 , 96.99 2021-02-10T17:57:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.08 , -0.01 2021-02-10T17:57:44Z- waiting for 1612979865.93, time is 1612979864.95 2021-02-10T17:57:44Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979864.96 epoch sec; seqNo:349; 4061761.94 north; 594539.62 east 2021-02-10T17:57:44Z- waiting for 1612979865.93, time is 1612979864.95 2021-02-10T17:57:44Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:45Z- AHRS_M2 msg: 1612979865.34 epoch sec; seqNo:348 2021-02-10T17:57:45Z- AHRS_M2 msg: 4.33 phi; -0.18 theta; -0.20 psi 2021-02-10T17:57:45Z- waiting for 1612979865.93, time is 1612979864.95 2021-02-10T17:57:45Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:45Z- handleDepth()-Depth_Keller msg: 8.46 epoch sec; seqNo:1612979865340; depth 0.00 2021-02-10T17:57:45Z- waiting for 1612979865.93, time is 1612979864.95 2021-02-10T17:57:45Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979865.35 epoch sec; seqNo:350; 4061761.94 north; 594539.62 east 2021-02-10T17:57:45Z- waiting for 1612979865.93, time is 1612979864.95 2021-02-10T17:57:45Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:45Z- AHRS_M2 msg: 1612979865.74 epoch sec; seqNo:349 2021-02-10T17:57:45Z- AHRS_M2 msg: 4.33 phi; -0.18 theta; -0.19 psi 2021-02-10T17:57:45Z- waiting for 1612979865.93, time is 1612979864.95 2021-02-10T17:57:45Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:45Z- handleDepth()-Depth_Keller msg: 8.52 epoch sec; seqNo:1612979865744; depth 0.00 2021-02-10T17:57:45Z- waiting for 1612979865.93, time is 1612979864.95 2021-02-10T17:57:45Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:45Z- handleDvl() - RDI_Pathfinder msg: 1612979865.76 epoch sec; seqNo:144 2021-02-10T17:57:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.66 , 92.04 , 74.84 , 96.92 2021-02-10T17:57:45Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.06 , -0.06 2021-02-10T17:57:45Z- waiting for 1612979865.93, time is 1612979865.76 2021-02-10T17:57:45Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979865.77 epoch sec; seqNo:351; 4061761.55 north; 594538.41 east 2021-02-10T17:57:45Z- waiting for 1612979865.93, time is 1612979865.76 2021-02-10T17:57:45Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:46Z- AHRS_M2 msg: 1612979866.14 epoch sec; seqNo:350 2021-02-10T17:57:46Z- AHRS_M2 msg: 4.33 phi; -0.18 theta; -0.19 psi 2021-02-10T17:57:46Z- waiting for 1612979865.93, time is 1612979865.76 2021-02-10T17:57:46Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:46Z- handleDepth()-Depth_Keller msg: 8.59 epoch sec; seqNo:1612979866150; depth 0.00 2021-02-10T17:57:46Z- waiting for 1612979865.93, time is 1612979865.76 2021-02-10T17:57:46Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979866.16 epoch sec; seqNo:352; 4061761.55 north; 594538.41 east 2021-02-10T17:57:46Z- waiting for 1612979865.93, time is 1612979865.76 2021-02-10T17:57:46Z- sync is 0.41, coherence is 2.00 2021-02-10T17:57:46Z- AHRS_M2 msg: 1612979866.55 epoch sec; seqNo:351 2021-02-10T17:57:46Z- AHRS_M2 msg: 4.32 phi; -0.18 theta; -0.19 psi 2021-02-10T17:57:46Z- waiting for 1612979865.93, time is 1612979865.76 2021-02-10T17:57:46Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:46Z- handleDepth()-Depth_Keller msg: 8.66 epoch sec; seqNo:1612979866557; depth 0.00 2021-02-10T17:57:46Z- waiting for 1612979865.93, time is 1612979865.76 2021-02-10T17:57:46Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:46Z- handleDvl() - RDI_Pathfinder msg: 1612979866.58 epoch sec; seqNo:145 2021-02-10T17:57:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.07 , 0.00 , 74.84 , 96.99 2021-02-10T17:57:46Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.05 , -0.07 2021-02-10T17:57:46Z- waiting for 1612979865.93, time is 1612979866.58 2021-02-10T17:57:46Z- sync is 0.03, coherence is 2.00 2021-02-10T17:57:46Z- LcmTrn::updateTrn() >>>> pose time 1612979866.55, meas time 1612979866.58 <<<< 2021-02-10T17:57:46Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979866.58 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:57:46Z- TerrainNav::motionUpdate() - currEstimate = (4061762, 594538.41, 8.66) 2021-02-10T17:57:46Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:57:46Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:57:46Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:57:46Z- TNavBF::mmse selected from filter -1 2021-02-10T17:57:46Z- variances([0], [2], and psi_berg) = 826.662622 833.199215 0.000000 2021-02-10T17:57:46Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:57:46Z- LcmTrn::cycle() - MLE : 4061722.05 594490.91 8.66 2021-02-10T17:57:46Z- LcmTrn::cycle() - MMSE : 4061761.55 594538.41 8.66 2021-02-10T17:57:46Z- LcmTrn::cycle() - COVAR: 826.66 833.20 27.48 0.00 2021-02-10T17:57:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979866.59 epoch sec; seqNo:353; 4061761.55 north; 594538.41 east 2021-02-10T17:57:46Z- waiting for 1612979869.58, time is 1612979866.58 2021-02-10T17:57:46Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:46Z- AHRS_M2 msg: 1612979866.95 epoch sec; seqNo:352 2021-02-10T17:57:46Z- AHRS_M2 msg: 4.32 phi; -0.18 theta; -0.19 psi 2021-02-10T17:57:46Z- waiting for 1612979869.58, time is 1612979866.58 2021-02-10T17:57:46Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:46Z- handleDepth()-Depth_Keller msg: 8.73 epoch sec; seqNo:1612979866956; depth 0.00 2021-02-10T17:57:46Z- waiting for 1612979869.58, time is 1612979866.58 2021-02-10T17:57:46Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979866.97 epoch sec; seqNo:354; 4061761.16 north; 594537.19 east 2021-02-10T17:57:46Z- waiting for 1612979869.58, time is 1612979866.58 2021-02-10T17:57:46Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:47Z- AHRS_M2 msg: 1612979867.36 epoch sec; seqNo:353 2021-02-10T17:57:47Z- AHRS_M2 msg: 4.32 phi; -0.18 theta; -0.19 psi 2021-02-10T17:57:47Z- waiting for 1612979869.58, time is 1612979866.58 2021-02-10T17:57:47Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:47Z- handleDepth()-Depth_Keller msg: 8.78 epoch sec; seqNo:1612979867360; depth 0.00 2021-02-10T17:57:47Z- waiting for 1612979869.58, time is 1612979866.58 2021-02-10T17:57:47Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979867.37 epoch sec; seqNo:355; 4061761.16 north; 594537.19 east 2021-02-10T17:57:47Z- waiting for 1612979869.58, time is 1612979866.58 2021-02-10T17:57:47Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:47Z- AHRS_M2 msg: 1612979867.79 epoch sec; seqNo:354 2021-02-10T17:57:47Z- AHRS_M2 msg: 4.32 phi; -0.18 theta; -0.19 psi 2021-02-10T17:57:47Z- waiting for 1612979869.58, time is 1612979866.58 2021-02-10T17:57:47Z- sync is 1.21, coherence is 2.00 2021-02-10T17:57:47Z- handleDepth()-Depth_Keller msg: 8.84 epoch sec; seqNo:1612979867795; depth 0.00 2021-02-10T17:57:47Z- waiting for 1612979869.58, time is 1612979866.58 2021-02-10T17:57:47Z- sync is 1.21, coherence is 2.00 2021-02-10T17:57:47Z- handleDvl() - RDI_Pathfinder msg: 1612979867.81 epoch sec; seqNo:146 2021-02-10T17:57:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.25 , 0.00 , 74.84 , 98.41 2021-02-10T17:57:47Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.03 , -0.06 2021-02-10T17:57:47Z- waiting for 1612979869.58, time is 1612979867.81 2021-02-10T17:57:47Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979867.82 epoch sec; seqNo:356; 4061760.78 north; 594537.19 east 2021-02-10T17:57:47Z- waiting for 1612979869.58, time is 1612979867.81 2021-02-10T17:57:47Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:48Z- AHRS_M2 msg: 1612979868.16 epoch sec; seqNo:355 2021-02-10T17:57:48Z- AHRS_M2 msg: 4.33 phi; -0.18 theta; -0.19 psi 2021-02-10T17:57:48Z- waiting for 1612979869.58, time is 1612979867.81 2021-02-10T17:57:48Z- sync is 0.36, coherence is 2.00 2021-02-10T17:57:48Z- handleDepth()-Depth_Keller msg: 8.93 epoch sec; seqNo:1612979868173; depth 0.00 2021-02-10T17:57:48Z- waiting for 1612979869.58, time is 1612979867.81 2021-02-10T17:57:48Z- sync is 0.36, coherence is 2.00 2021-02-10T17:57:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979868.18 epoch sec; seqNo:357; 4061760.78 north; 594537.19 east 2021-02-10T17:57:48Z- waiting for 1612979869.58, time is 1612979867.81 2021-02-10T17:57:48Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:48Z- AHRS_M2 msg: 1612979868.58 epoch sec; seqNo:356 2021-02-10T17:57:48Z- AHRS_M2 msg: 4.33 phi; -0.18 theta; -0.19 psi 2021-02-10T17:57:48Z- waiting for 1612979869.58, time is 1612979867.81 2021-02-10T17:57:48Z- sync is 0.77, coherence is 2.00 2021-02-10T17:57:48Z- handleDepth()-Depth_Keller msg: 8.99 epoch sec; seqNo:1612979868584; depth 0.00 2021-02-10T17:57:48Z- waiting for 1612979869.58, time is 1612979867.81 2021-02-10T17:57:48Z- sync is 0.77, coherence is 2.00 2021-02-10T17:57:48Z- handleDvl() - RDI_Pathfinder msg: 1612979868.60 epoch sec; seqNo:147 2021-02-10T17:57:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.48 , 87.44 , 74.43 , 98.41 2021-02-10T17:57:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.03 , -0.07 2021-02-10T17:57:48Z- waiting for 1612979869.58, time is 1612979868.60 2021-02-10T17:57:48Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979868.62 epoch sec; seqNo:358; 4061760.77 north; 594535.97 east 2021-02-10T17:57:48Z- waiting for 1612979869.58, time is 1612979868.60 2021-02-10T17:57:48Z- sync is 0.03, coherence is 2.00 2021-02-10T17:57:48Z- AHRS_M2 msg: 1612979868.97 epoch sec; seqNo:357 2021-02-10T17:57:48Z- AHRS_M2 msg: 4.34 phi; -0.18 theta; -0.19 psi 2021-02-10T17:57:48Z- waiting for 1612979869.58, time is 1612979868.60 2021-02-10T17:57:48Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:48Z- handleDepth()-Depth_Keller msg: 9.06 epoch sec; seqNo:1612979868979; depth 0.00 2021-02-10T17:57:48Z- waiting for 1612979869.58, time is 1612979868.60 2021-02-10T17:57:48Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979868.99 epoch sec; seqNo:359; 4061760.39 north; 594535.98 east 2021-02-10T17:57:49Z- waiting for 1612979869.58, time is 1612979868.60 2021-02-10T17:57:49Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:49Z- AHRS_M2 msg: 1612979869.38 epoch sec; seqNo:358 2021-02-10T17:57:49Z- AHRS_M2 msg: 4.34 phi; -0.18 theta; -0.19 psi 2021-02-10T17:57:49Z- waiting for 1612979869.58, time is 1612979868.60 2021-02-10T17:57:49Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:49Z- handleDepth()-Depth_Keller msg: 9.11 epoch sec; seqNo:1612979869391; depth 0.00 2021-02-10T17:57:49Z- waiting for 1612979869.58, time is 1612979868.60 2021-02-10T17:57:49Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979869.40 epoch sec; seqNo:360; 4061760.39 north; 594535.98 east 2021-02-10T17:57:49Z- waiting for 1612979869.58, time is 1612979868.60 2021-02-10T17:57:49Z- sync is 0.80, coherence is 2.00 2021-02-10T17:57:49Z- AHRS_M2 msg: 1612979869.78 epoch sec; seqNo:359 2021-02-10T17:57:49Z- AHRS_M2 msg: 4.34 phi; -0.18 theta; -0.18 psi 2021-02-10T17:57:49Z- waiting for 1612979869.58, time is 1612979868.60 2021-02-10T17:57:49Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:49Z- handleDepth()-Depth_Keller msg: 9.19 epoch sec; seqNo:1612979869793; depth 0.00 2021-02-10T17:57:49Z- waiting for 1612979869.58, time is 1612979868.60 2021-02-10T17:57:49Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:49Z- handleDvl() - RDI_Pathfinder msg: 1612979869.81 epoch sec; seqNo:148 2021-02-10T17:57:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.84 , 0.00 , 78.78 , 98.27 2021-02-10T17:57:49Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , 0.03 , -0.06 2021-02-10T17:57:49Z- waiting for 1612979869.58, time is 1612979869.81 2021-02-10T17:57:49Z- sync is 0.03, coherence is 2.00 2021-02-10T17:57:49Z- LcmTrn::updateTrn() >>>> pose time 1612979869.78, meas time 1612979869.81 <<<< 2021-02-10T17:57:49Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979869.81 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:57:49Z- TerrainNav::motionUpdate() - currEstimate = (4061760, 594535.98, 9.19) 2021-02-10T17:57:49Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:57:49Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:57:49Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:57:49Z- TNavBF::mmse selected from filter -1 2021-02-10T17:57:49Z- variances([0], [2], and psi_berg) = 826.277287 833.196803 0.000000 2021-02-10T17:57:49Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:57:49Z- LcmTrn::cycle() - MLE : 4061720.89 594488.48 9.19 2021-02-10T17:57:49Z- LcmTrn::cycle() - MMSE : 4061760.39 594535.98 9.19 2021-02-10T17:57:49Z- LcmTrn::cycle() - COVAR: 826.28 833.20 27.62 0.00 2021-02-10T17:57:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979869.82 epoch sec; seqNo:361; 4061760.00 north; 594534.76 east 2021-02-10T17:57:49Z- waiting for 1612979872.81, time is 1612979869.81 2021-02-10T17:57:49Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:50Z- AHRS_M2 msg: 1612979870.18 epoch sec; seqNo:360 2021-02-10T17:57:50Z- AHRS_M2 msg: 4.34 phi; -0.17 theta; -0.18 psi 2021-02-10T17:57:50Z- waiting for 1612979872.81, time is 1612979869.81 2021-02-10T17:57:50Z- sync is 0.37, coherence is 2.00 2021-02-10T17:57:50Z- handleDepth()-Depth_Keller msg: 9.27 epoch sec; seqNo:1612979870188; depth 0.00 2021-02-10T17:57:50Z- waiting for 1612979872.81, time is 1612979869.81 2021-02-10T17:57:50Z- sync is 0.37, coherence is 2.00 2021-02-10T17:57:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979870.20 epoch sec; seqNo:362; 4061760.00 north; 594534.76 east 2021-02-10T17:57:50Z- waiting for 1612979872.81, time is 1612979869.81 2021-02-10T17:57:50Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:50Z- AHRS_M2 msg: 1612979870.59 epoch sec; seqNo:361 2021-02-10T17:57:50Z- AHRS_M2 msg: 4.33 phi; -0.17 theta; -0.17 psi 2021-02-10T17:57:50Z- waiting for 1612979872.81, time is 1612979869.81 2021-02-10T17:57:50Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:50Z- handleDepth()-Depth_Keller msg: 9.33 epoch sec; seqNo:1612979870594; depth 0.00 2021-02-10T17:57:50Z- waiting for 1612979872.81, time is 1612979869.81 2021-02-10T17:57:50Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:50Z- handleDvl() - RDI_Pathfinder msg: 1612979870.61 epoch sec; seqNo:149 2021-02-10T17:57:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.84 , 87.38 , 73.61 , 94.68 2021-02-10T17:57:50Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , 0.08 , -0.03 2021-02-10T17:57:50Z- waiting for 1612979872.81, time is 1612979870.61 2021-02-10T17:57:50Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979870.62 epoch sec; seqNo:363; 4061759.60 north; 594533.55 east 2021-02-10T17:57:50Z- waiting for 1612979872.81, time is 1612979870.61 2021-02-10T17:57:50Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:50Z- AHRS_M2 msg: 1612979870.99 epoch sec; seqNo:362 2021-02-10T17:57:50Z- AHRS_M2 msg: 4.33 phi; -0.17 theta; -0.17 psi 2021-02-10T17:57:50Z- waiting for 1612979872.81, time is 1612979870.61 2021-02-10T17:57:50Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:50Z- handleDepth()-Depth_Keller msg: 9.40 epoch sec; seqNo:1612979870997; depth 0.00 2021-02-10T17:57:51Z- waiting for 1612979872.81, time is 1612979870.61 2021-02-10T17:57:51Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979871.02 epoch sec; seqNo:364; 4061759.60 north; 594533.55 east 2021-02-10T17:57:51Z- waiting for 1612979872.81, time is 1612979870.61 2021-02-10T17:57:51Z- sync is 0.41, coherence is 2.00 2021-02-10T17:57:51Z- AHRS_M2 msg: 1612979871.40 epoch sec; seqNo:363 2021-02-10T17:57:51Z- AHRS_M2 msg: 4.33 phi; -0.17 theta; -0.17 psi 2021-02-10T17:57:51Z- waiting for 1612979872.81, time is 1612979870.61 2021-02-10T17:57:51Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:51Z- handleDepth()-Depth_Keller msg: 9.46 epoch sec; seqNo:1612979871400; depth 0.00 2021-02-10T17:57:51Z- waiting for 1612979872.81, time is 1612979870.61 2021-02-10T17:57:51Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979871.41 epoch sec; seqNo:365; 4061759.60 north; 594533.55 east 2021-02-10T17:57:51Z- waiting for 1612979872.81, time is 1612979870.61 2021-02-10T17:57:51Z- sync is 0.80, coherence is 2.00 2021-02-10T17:57:51Z- AHRS_M2 msg: 1612979871.80 epoch sec; seqNo:364 2021-02-10T17:57:51Z- AHRS_M2 msg: 4.32 phi; -0.17 theta; -0.17 psi 2021-02-10T17:57:51Z- waiting for 1612979872.81, time is 1612979870.61 2021-02-10T17:57:51Z- sync is 1.20, coherence is 2.00 2021-02-10T17:57:51Z- handleDepth()-Depth_Keller msg: 9.51 epoch sec; seqNo:1612979871807; depth 0.00 2021-02-10T17:57:51Z- waiting for 1612979872.81, time is 1612979870.61 2021-02-10T17:57:51Z- sync is 1.20, coherence is 2.00 2021-02-10T17:57:51Z- handleDvl() - RDI_Pathfinder msg: 1612979871.82 epoch sec; seqNo:150 2021-02-10T17:57:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.25 , 87.44 , 73.61 , 93.53 2021-02-10T17:57:51Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.13 , 0.02 2021-02-10T17:57:51Z- waiting for 1612979872.81, time is 1612979871.82 2021-02-10T17:57:51Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979871.83 epoch sec; seqNo:366; 4061759.21 north; 594532.33 east 2021-02-10T17:57:51Z- waiting for 1612979872.81, time is 1612979871.82 2021-02-10T17:57:51Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:52Z- AHRS_M2 msg: 1612979872.20 epoch sec; seqNo:365 2021-02-10T17:57:52Z- AHRS_M2 msg: 4.31 phi; -0.17 theta; -0.17 psi 2021-02-10T17:57:52Z- waiting for 1612979872.81, time is 1612979871.82 2021-02-10T17:57:52Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:52Z- handleDepth()-Depth_Keller msg: 9.60 epoch sec; seqNo:1612979872210; depth 0.00 2021-02-10T17:57:52Z- waiting for 1612979872.81, time is 1612979871.82 2021-02-10T17:57:52Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979872.22 epoch sec; seqNo:367; 4061759.21 north; 594532.33 east 2021-02-10T17:57:52Z- waiting for 1612979872.81, time is 1612979871.82 2021-02-10T17:57:52Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:52Z- AHRS_M2 msg: 1612979872.61 epoch sec; seqNo:366 2021-02-10T17:57:52Z- AHRS_M2 msg: 4.31 phi; -0.17 theta; -0.17 psi 2021-02-10T17:57:52Z- waiting for 1612979872.81, time is 1612979871.82 2021-02-10T17:57:52Z- sync is 0.80, coherence is 2.00 2021-02-10T17:57:52Z- handleDepth()-Depth_Keller msg: 9.66 epoch sec; seqNo:1612979872625; depth 0.00 2021-02-10T17:57:52Z- waiting for 1612979872.81, time is 1612979871.82 2021-02-10T17:57:52Z- sync is 0.80, coherence is 2.00 2021-02-10T17:57:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979872.65 epoch sec; seqNo:368; 4061759.21 north; 594532.33 east 2021-02-10T17:57:52Z- waiting for 1612979872.81, time is 1612979871.82 2021-02-10T17:57:52Z- sync is 0.84, coherence is 2.00 2021-02-10T17:57:53Z- AHRS_M2 msg: 1612979873.01 epoch sec; seqNo:367 2021-02-10T17:57:53Z- AHRS_M2 msg: 4.31 phi; -0.17 theta; -0.18 psi 2021-02-10T17:57:53Z- waiting for 1612979872.81, time is 1612979871.82 2021-02-10T17:57:53Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:53Z- handleDepth()-Depth_Keller msg: 9.73 epoch sec; seqNo:1612979873021; depth 0.00 2021-02-10T17:57:53Z- waiting for 1612979872.81, time is 1612979871.82 2021-02-10T17:57:53Z- sync is 1.19, coherence is 2.00 2021-02-10T17:57:53Z- handleDvl() - RDI_Pathfinder msg: 1612979873.03 epoch sec; seqNo:151 2021-02-10T17:57:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.84 , 86.22 , 78.92 , 93.53 2021-02-10T17:57:53Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.09 , 0.08 2021-02-10T17:57:53Z- waiting for 1612979872.81, time is 1612979873.03 2021-02-10T17:57:53Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:53Z- LcmTrn::updateTrn() >>>> pose time 1612979873.01, meas time 1612979873.03 <<<< 2021-02-10T17:57:53Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979873.03 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:57:53Z- TerrainNav::motionUpdate() - currEstimate = (4061759, 594532.33, 9.73) 2021-02-10T17:57:53Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:57:53Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:57:53Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:57:53Z- TNavBF::mmse selected from filter -1 2021-02-10T17:57:53Z- variances([0], [2], and psi_berg) = 825.823059 833.194020 0.000000 2021-02-10T17:57:53Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:57:53Z- LcmTrn::cycle() - MLE : 4061719.71 594484.83 9.73 2021-02-10T17:57:53Z- LcmTrn::cycle() - MMSE : 4061759.21 594532.33 9.73 2021-02-10T17:57:53Z- LcmTrn::cycle() - COVAR: 825.82 833.19 27.81 0.00 2021-02-10T17:57:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979873.04 epoch sec; seqNo:369; 4061758.82 north; 594531.11 east 2021-02-10T17:57:53Z- waiting for 1612979876.03, time is 1612979873.03 2021-02-10T17:57:53Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:53Z- AHRS_M2 msg: 1612979873.42 epoch sec; seqNo:368 2021-02-10T17:57:53Z- AHRS_M2 msg: 4.30 phi; -0.17 theta; -0.20 psi 2021-02-10T17:57:53Z- waiting for 1612979876.03, time is 1612979873.03 2021-02-10T17:57:53Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:53Z- handleDepth()-Depth_Keller msg: 9.80 epoch sec; seqNo:1612979873422; depth 0.00 2021-02-10T17:57:53Z- waiting for 1612979876.03, time is 1612979873.03 2021-02-10T17:57:53Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979873.43 epoch sec; seqNo:370; 4061758.82 north; 594531.11 east 2021-02-10T17:57:53Z- waiting for 1612979876.03, time is 1612979873.03 2021-02-10T17:57:53Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:53Z- AHRS_M2 msg: 1612979873.82 epoch sec; seqNo:369 2021-02-10T17:57:53Z- AHRS_M2 msg: 4.30 phi; -0.17 theta; -0.18 psi 2021-02-10T17:57:53Z- waiting for 1612979876.03, time is 1612979873.03 2021-02-10T17:57:53Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:53Z- handleDepth()-Depth_Keller msg: 9.87 epoch sec; seqNo:1612979873824; depth 0.00 2021-02-10T17:57:53Z- waiting for 1612979876.03, time is 1612979873.03 2021-02-10T17:57:53Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:53Z- handleDvl() - RDI_Pathfinder msg: 1612979873.84 epoch sec; seqNo:152 2021-02-10T17:57:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.61 , 88.59 , 74.43 , 94.68 2021-02-10T17:57:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.03 , 0.13 2021-02-10T17:57:53Z- waiting for 1612979876.03, time is 1612979873.84 2021-02-10T17:57:53Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979873.85 epoch sec; seqNo:371; 4061758.82 north; 594531.11 east 2021-02-10T17:57:53Z- waiting for 1612979876.03, time is 1612979873.84 2021-02-10T17:57:53Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:54Z- AHRS_M2 msg: 1612979874.22 epoch sec; seqNo:370 2021-02-10T17:57:54Z- AHRS_M2 msg: 4.30 phi; -0.17 theta; -0.16 psi 2021-02-10T17:57:54Z- waiting for 1612979876.03, time is 1612979873.84 2021-02-10T17:57:54Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:54Z- handleDepth()-Depth_Keller msg: 9.94 epoch sec; seqNo:1612979874229; depth 0.00 2021-02-10T17:57:54Z- waiting for 1612979876.03, time is 1612979873.84 2021-02-10T17:57:54Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979874.24 epoch sec; seqNo:372; 4061758.44 north; 594531.12 east 2021-02-10T17:57:54Z- waiting for 1612979876.03, time is 1612979873.84 2021-02-10T17:57:54Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:54Z- AHRS_M2 msg: 1612979874.63 epoch sec; seqNo:371 2021-02-10T17:57:54Z- AHRS_M2 msg: 4.30 phi; -0.17 theta; -0.15 psi 2021-02-10T17:57:54Z- waiting for 1612979876.03, time is 1612979873.84 2021-02-10T17:57:54Z- sync is 0.80, coherence is 2.00 2021-02-10T17:57:54Z- handleDepth()-Depth_Keller msg: 9.99 epoch sec; seqNo:1612979874641; depth 0.00 2021-02-10T17:57:54Z- waiting for 1612979876.03, time is 1612979873.84 2021-02-10T17:57:54Z- sync is 0.80, coherence is 2.00 2021-02-10T17:57:54Z- handleDvl() - RDI_Pathfinder msg: 1612979874.65 epoch sec; seqNo:153 2021-02-10T17:57:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.43 , 86.22 , 73.20 , 93.53 2021-02-10T17:57:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.02 , 0.16 2021-02-10T17:57:54Z- waiting for 1612979876.03, time is 1612979874.65 2021-02-10T17:57:54Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979874.66 epoch sec; seqNo:373; 4061758.43 north; 594529.90 east 2021-02-10T17:57:54Z- waiting for 1612979876.03, time is 1612979874.65 2021-02-10T17:57:54Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:55Z- AHRS_M2 msg: 1612979875.03 epoch sec; seqNo:372 2021-02-10T17:57:55Z- AHRS_M2 msg: 4.30 phi; -0.17 theta; -0.16 psi 2021-02-10T17:57:55Z- waiting for 1612979876.03, time is 1612979874.65 2021-02-10T17:57:55Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:55Z- handleDepth()-Depth_Keller msg: 10.07 epoch sec; seqNo:1612979875036; depth 0.00 2021-02-10T17:57:55Z- waiting for 1612979876.03, time is 1612979874.65 2021-02-10T17:57:55Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979875.06 epoch sec; seqNo:374; 4061758.43 north; 594529.90 east 2021-02-10T17:57:55Z- waiting for 1612979876.03, time is 1612979874.65 2021-02-10T17:57:55Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:55Z- AHRS_M2 msg: 1612979875.44 epoch sec; seqNo:373 2021-02-10T17:57:55Z- AHRS_M2 msg: 4.31 phi; -0.17 theta; -0.17 psi 2021-02-10T17:57:55Z- waiting for 1612979876.03, time is 1612979874.65 2021-02-10T17:57:55Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:55Z- handleDepth()-Depth_Keller msg: 10.12 epoch sec; seqNo:1612979875440; depth 0.00 2021-02-10T17:57:55Z- waiting for 1612979876.03, time is 1612979874.65 2021-02-10T17:57:55Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979875.45 epoch sec; seqNo:375; 4061758.05 north; 594529.90 east 2021-02-10T17:57:55Z- waiting for 1612979876.03, time is 1612979874.65 2021-02-10T17:57:55Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:55Z- AHRS_M2 msg: 1612979875.84 epoch sec; seqNo:374 2021-02-10T17:57:55Z- AHRS_M2 msg: 4.31 phi; -0.17 theta; -0.17 psi 2021-02-10T17:57:55Z- waiting for 1612979876.03, time is 1612979874.65 2021-02-10T17:57:55Z- sync is 1.18, coherence is 2.00 2021-02-10T17:57:55Z- handleDepth()-Depth_Keller msg: 10.19 epoch sec; seqNo:1612979875844; depth 0.00 2021-02-10T17:57:55Z- waiting for 1612979876.03, time is 1612979874.65 2021-02-10T17:57:55Z- sync is 1.18, coherence is 2.00 2021-02-10T17:57:55Z- handleDvl() - RDI_Pathfinder msg: 1612979875.86 epoch sec; seqNo:154 2021-02-10T17:57:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.43 , 86.97 , 73.20 , 97.80 2021-02-10T17:57:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.02 , 0.12 2021-02-10T17:57:55Z- waiting for 1612979876.03, time is 1612979875.86 2021-02-10T17:57:55Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979875.87 epoch sec; seqNo:376; 4061758.04 north; 594528.68 east 2021-02-10T17:57:55Z- waiting for 1612979876.03, time is 1612979875.86 2021-02-10T17:57:55Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:56Z- AHRS_M2 msg: 1612979876.24 epoch sec; seqNo:375 2021-02-10T17:57:56Z- AHRS_M2 msg: 4.31 phi; -0.16 theta; -0.17 psi 2021-02-10T17:57:56Z- waiting for 1612979876.03, time is 1612979875.86 2021-02-10T17:57:56Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:56Z- handleDepth()-Depth_Keller msg: 10.24 epoch sec; seqNo:1612979876262; depth 0.00 2021-02-10T17:57:56Z- waiting for 1612979876.03, time is 1612979875.86 2021-02-10T17:57:56Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979876.28 epoch sec; seqNo:377; 4061758.04 north; 594528.68 east 2021-02-10T17:57:56Z- waiting for 1612979876.03, time is 1612979875.86 2021-02-10T17:57:56Z- sync is 0.42, coherence is 2.00 2021-02-10T17:57:56Z- AHRS_M2 msg: 1612979876.65 epoch sec; seqNo:376 2021-02-10T17:57:56Z- AHRS_M2 msg: 4.32 phi; -0.16 theta; -0.18 psi 2021-02-10T17:57:56Z- waiting for 1612979876.03, time is 1612979875.86 2021-02-10T17:57:56Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:56Z- handleDepth()-Depth_Keller msg: 10.29 epoch sec; seqNo:1612979876653; depth 0.00 2021-02-10T17:57:56Z- waiting for 1612979876.03, time is 1612979875.86 2021-02-10T17:57:56Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:56Z- handleDvl() - RDI_Pathfinder msg: 1612979876.67 epoch sec; seqNo:155 2021-02-10T17:57:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.02 , 87.44 , 74.02 , 92.32 2021-02-10T17:57:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , 0.02 , 0.05 2021-02-10T17:57:56Z- waiting for 1612979876.03, time is 1612979876.67 2021-02-10T17:57:56Z- sync is 0.03, coherence is 2.00 2021-02-10T17:57:56Z- LcmTrn::updateTrn() >>>> pose time 1612979876.65, meas time 1612979876.67 <<<< 2021-02-10T17:57:56Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979876.67 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:57:56Z- TerrainNav::motionUpdate() - currEstimate = (4061758, 594528.68, 10.29) 2021-02-10T17:57:56Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:57:56Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:57:56Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:57:56Z- TNavBF::mmse selected from filter -1 2021-02-10T17:57:56Z- variances([0], [2], and psi_berg) = 825.375327 833.191345 0.000000 2021-02-10T17:57:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:57:56Z- LcmTrn::cycle() - MLE : 4061719.54 594481.18 10.29 2021-02-10T17:57:56Z- LcmTrn::cycle() - MMSE : 4061758.04 594528.68 10.29 2021-02-10T17:57:56Z- LcmTrn::cycle() - COVAR: 825.38 833.19 28.01 0.00 2021-02-10T17:57:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979876.68 epoch sec; seqNo:378; 4061757.66 north; 594528.68 east 2021-02-10T17:57:56Z- waiting for 1612979879.67, time is 1612979876.67 2021-02-10T17:57:56Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:57Z- AHRS_M2 msg: 1612979877.06 epoch sec; seqNo:377 2021-02-10T17:57:57Z- AHRS_M2 msg: 4.32 phi; -0.16 theta; -0.18 psi 2021-02-10T17:57:57Z- waiting for 1612979879.67, time is 1612979876.67 2021-02-10T17:57:57Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:57Z- handleDepth()-Depth_Keller msg: 10.35 epoch sec; seqNo:1612979877065; depth 0.00 2021-02-10T17:57:57Z- waiting for 1612979879.67, time is 1612979876.67 2021-02-10T17:57:57Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979877.08 epoch sec; seqNo:379; 4061757.66 north; 594528.68 east 2021-02-10T17:57:57Z- waiting for 1612979879.67, time is 1612979876.67 2021-02-10T17:57:57Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:57Z- AHRS_M2 msg: 1612979877.46 epoch sec; seqNo:378 2021-02-10T17:57:57Z- AHRS_M2 msg: 4.33 phi; -0.16 theta; -0.18 psi 2021-02-10T17:57:57Z- waiting for 1612979879.67, time is 1612979876.67 2021-02-10T17:57:57Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:57Z- handleDepth()-Depth_Keller msg: 10.41 epoch sec; seqNo:1612979877465; depth 0.00 2021-02-10T17:57:57Z- waiting for 1612979879.67, time is 1612979876.67 2021-02-10T17:57:57Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979877.47 epoch sec; seqNo:380; 4061757.64 north; 594527.46 east 2021-02-10T17:57:57Z- waiting for 1612979879.67, time is 1612979876.67 2021-02-10T17:57:57Z- sync is 0.80, coherence is 2.00 2021-02-10T17:57:57Z- AHRS_M2 msg: 1612979877.86 epoch sec; seqNo:379 2021-02-10T17:57:57Z- AHRS_M2 msg: 4.33 phi; -0.16 theta; -0.17 psi 2021-02-10T17:57:57Z- waiting for 1612979879.67, time is 1612979876.67 2021-02-10T17:57:57Z- sync is 1.18, coherence is 2.00 2021-02-10T17:57:57Z- handleDepth()-Depth_Keller msg: 10.45 epoch sec; seqNo:1612979877874; depth 0.00 2021-02-10T17:57:57Z- waiting for 1612979879.67, time is 1612979876.67 2021-02-10T17:57:57Z- sync is 1.18, coherence is 2.00 2021-02-10T17:57:57Z- handleDvl() - RDI_Pathfinder msg: 1612979877.88 epoch sec; seqNo:156 2021-02-10T17:57:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.02 , 85.89 , 74.02 , 93.47 2021-02-10T17:57:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.06 , -0.03 2021-02-10T17:57:57Z- waiting for 1612979879.67, time is 1612979877.88 2021-02-10T17:57:57Z- sync is 0.03, coherence is 2.00 2021-02-10T17:57:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979877.89 epoch sec; seqNo:381; 4061757.26 north; 594527.47 east 2021-02-10T17:57:57Z- waiting for 1612979879.67, time is 1612979877.88 2021-02-10T17:57:57Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:58Z- AHRS_M2 msg: 1612979878.26 epoch sec; seqNo:380 2021-02-10T17:57:58Z- AHRS_M2 msg: 4.33 phi; -0.16 theta; -0.17 psi 2021-02-10T17:57:58Z- waiting for 1612979879.67, time is 1612979877.88 2021-02-10T17:57:58Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:58Z- handleDepth()-Depth_Keller msg: 10.52 epoch sec; seqNo:1612979878268; depth 0.00 2021-02-10T17:57:58Z- waiting for 1612979879.67, time is 1612979877.88 2021-02-10T17:57:58Z- sync is 0.38, coherence is 2.00 2021-02-10T17:57:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979878.28 epoch sec; seqNo:382; 4061757.26 north; 594527.47 east 2021-02-10T17:57:58Z- waiting for 1612979879.67, time is 1612979877.88 2021-02-10T17:57:58Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:58Z- AHRS_M2 msg: 1612979878.67 epoch sec; seqNo:381 2021-02-10T17:57:58Z- AHRS_M2 msg: 4.33 phi; -0.15 theta; -0.16 psi 2021-02-10T17:57:58Z- waiting for 1612979879.67, time is 1612979877.88 2021-02-10T17:57:58Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:58Z- handleDepth()-Depth_Keller msg: 10.57 epoch sec; seqNo:1612979878672; depth 0.00 2021-02-10T17:57:58Z- waiting for 1612979879.67, time is 1612979877.88 2021-02-10T17:57:58Z- sync is 0.78, coherence is 2.00 2021-02-10T17:57:58Z- handleDvl() - RDI_Pathfinder msg: 1612979878.68 epoch sec; seqNo:157 2021-02-10T17:57:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.02 , 85.89 , 73.61 , 94.55 2021-02-10T17:57:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.06 , -0.08 2021-02-10T17:57:58Z- waiting for 1612979879.67, time is 1612979878.68 2021-02-10T17:57:58Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979878.69 epoch sec; seqNo:383; 4061757.26 north; 594527.47 east 2021-02-10T17:57:58Z- waiting for 1612979879.67, time is 1612979878.68 2021-02-10T17:57:58Z- sync is 0.01, coherence is 2.00 2021-02-10T17:57:59Z- AHRS_M2 msg: 1612979879.07 epoch sec; seqNo:382 2021-02-10T17:57:59Z- AHRS_M2 msg: 4.34 phi; -0.15 theta; -0.15 psi 2021-02-10T17:57:59Z- waiting for 1612979879.67, time is 1612979878.68 2021-02-10T17:57:59Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:59Z- handleDepth()-Depth_Keller msg: 10.63 epoch sec; seqNo:1612979879077; depth 0.00 2021-02-10T17:57:59Z- waiting for 1612979879.67, time is 1612979878.68 2021-02-10T17:57:59Z- sync is 0.39, coherence is 2.00 2021-02-10T17:57:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979879.09 epoch sec; seqNo:384; 4061756.87 north; 594526.25 east 2021-02-10T17:57:59Z- waiting for 1612979879.67, time is 1612979878.68 2021-02-10T17:57:59Z- sync is 0.40, coherence is 2.00 2021-02-10T17:57:59Z- AHRS_M2 msg: 1612979879.48 epoch sec; seqNo:383 2021-02-10T17:57:59Z- AHRS_M2 msg: 4.34 phi; -0.15 theta; -0.14 psi 2021-02-10T17:57:59Z- waiting for 1612979879.67, time is 1612979878.68 2021-02-10T17:57:59Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:59Z- handleDepth()-Depth_Keller msg: 10.69 epoch sec; seqNo:1612979879480; depth 0.00 2021-02-10T17:57:59Z- waiting for 1612979879.67, time is 1612979878.68 2021-02-10T17:57:59Z- sync is 0.79, coherence is 2.00 2021-02-10T17:57:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979879.50 epoch sec; seqNo:385; 4061756.87 north; 594526.25 east 2021-02-10T17:57:59Z- waiting for 1612979879.67, time is 1612979878.68 2021-02-10T17:57:59Z- sync is 0.82, coherence is 2.00 2021-02-10T17:57:59Z- AHRS_M2 msg: 1612979879.88 epoch sec; seqNo:384 2021-02-10T17:57:59Z- AHRS_M2 msg: 4.34 phi; -0.14 theta; -0.14 psi 2021-02-10T17:57:59Z- waiting for 1612979879.67, time is 1612979878.68 2021-02-10T17:57:59Z- sync is 1.20, coherence is 2.00 2021-02-10T17:57:59Z- handleDepth()-Depth_Keller msg: 10.74 epoch sec; seqNo:1612979879884; depth 0.00 2021-02-10T17:57:59Z- waiting for 1612979879.67, time is 1612979878.68 2021-02-10T17:57:59Z- sync is 1.20, coherence is 2.00 2021-02-10T17:57:59Z- handleDvl() - RDI_Pathfinder msg: 1612979879.90 epoch sec; seqNo:158 2021-02-10T17:57:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.61 , 85.89 , 72.39 , 92.38 2021-02-10T17:57:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , 0.04 , -0.10 2021-02-10T17:57:59Z- waiting for 1612979879.67, time is 1612979879.90 2021-02-10T17:57:59Z- sync is 0.02, coherence is 2.00 2021-02-10T17:57:59Z- LcmTrn::updateTrn() >>>> pose time 1612979879.88, meas time 1612979879.90 <<<< 2021-02-10T17:57:59Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979879.90 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:57:59Z- TerrainNav::motionUpdate() - currEstimate = (4061757, 594526.25, 10.74) 2021-02-10T17:57:59Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:57:59Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:57:59Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:57:59Z- TNavBF::mmse selected from filter -1 2021-02-10T17:57:59Z- variances([0], [2], and psi_berg) = 825.005397 833.189189 0.000000 2021-02-10T17:57:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:57:59Z- LcmTrn::cycle() - MLE : 4061718.37 594478.75 10.74 2021-02-10T17:57:59Z- LcmTrn::cycle() - MMSE : 4061756.87 594526.25 10.74 2021-02-10T17:57:59Z- LcmTrn::cycle() - COVAR: 825.01 833.19 28.15 0.00 2021-02-10T17:57:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979879.92 epoch sec; seqNo:386; 4061756.87 north; 594526.25 east 2021-02-10T17:57:59Z- waiting for 1612979882.90, time is 1612979879.90 2021-02-10T17:57:59Z- sync is 0.03, coherence is 2.00 2021-02-10T17:58:00Z- AHRS_M2 msg: 1612979880.29 epoch sec; seqNo:385 2021-02-10T17:58:00Z- AHRS_M2 msg: 4.34 phi; -0.14 theta; -0.14 psi 2021-02-10T17:58:00Z- waiting for 1612979882.90, time is 1612979879.90 2021-02-10T17:58:00Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:00Z- handleDepth()-Depth_Keller msg: 10.79 epoch sec; seqNo:1612979880293; depth 0.00 2021-02-10T17:58:00Z- waiting for 1612979882.90, time is 1612979879.90 2021-02-10T17:58:00Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979880.30 epoch sec; seqNo:387; 4061756.48 north; 594525.04 east 2021-02-10T17:58:00Z- waiting for 1612979882.90, time is 1612979879.90 2021-02-10T17:58:00Z- sync is 0.41, coherence is 2.00 2021-02-10T17:58:00Z- AHRS_M2 msg: 1612979880.69 epoch sec; seqNo:386 2021-02-10T17:58:00Z- AHRS_M2 msg: 4.33 phi; -0.14 theta; -0.14 psi 2021-02-10T17:58:00Z- waiting for 1612979882.90, time is 1612979879.90 2021-02-10T17:58:00Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:00Z- handleDepth()-Depth_Keller msg: 10.86 epoch sec; seqNo:1612979880694; depth 0.00 2021-02-10T17:58:00Z- waiting for 1612979882.90, time is 1612979879.90 2021-02-10T17:58:00Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:00Z- handleDvl() - RDI_Pathfinder msg: 1612979880.71 epoch sec; seqNo:159 2021-02-10T17:58:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.43 , 83.79 , 72.39 , 91.37 2021-02-10T17:58:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.04 , -0.08 2021-02-10T17:58:00Z- waiting for 1612979882.90, time is 1612979880.71 2021-02-10T17:58:00Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979880.72 epoch sec; seqNo:388; 4061756.48 north; 594525.04 east 2021-02-10T17:58:00Z- waiting for 1612979882.90, time is 1612979880.71 2021-02-10T17:58:00Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:01Z- AHRS_M2 msg: 1612979881.09 epoch sec; seqNo:387 2021-02-10T17:58:01Z- AHRS_M2 msg: 4.33 phi; -0.14 theta; -0.15 psi 2021-02-10T17:58:01Z- waiting for 1612979882.90, time is 1612979880.71 2021-02-10T17:58:01Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:01Z- handleDepth()-Depth_Keller msg: 10.91 epoch sec; seqNo:1612979881096; depth 0.00 2021-02-10T17:58:01Z- waiting for 1612979882.90, time is 1612979880.71 2021-02-10T17:58:01Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979881.12 epoch sec; seqNo:389; 4061756.48 north; 594525.04 east 2021-02-10T17:58:01Z- waiting for 1612979882.90, time is 1612979880.71 2021-02-10T17:58:01Z- sync is 0.41, coherence is 2.00 2021-02-10T17:58:01Z- AHRS_M2 msg: 1612979881.51 epoch sec; seqNo:388 2021-02-10T17:58:01Z- AHRS_M2 msg: 4.33 phi; -0.14 theta; -0.15 psi 2021-02-10T17:58:01Z- waiting for 1612979882.90, time is 1612979880.71 2021-02-10T17:58:01Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:01Z- handleDepth()-Depth_Keller msg: 10.97 epoch sec; seqNo:1612979881544; depth 0.00 2021-02-10T17:58:01Z- waiting for 1612979882.90, time is 1612979880.71 2021-02-10T17:58:01Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:01Z- handleDvl() - RDI_Pathfinder msg: 1612979881.56 epoch sec; seqNo:160 2021-02-10T17:58:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.02 , 0.00 , 72.39 , 90.35 2021-02-10T17:58:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.05 , -0.07 2021-02-10T17:58:01Z- waiting for 1612979882.90, time is 1612979881.56 2021-02-10T17:58:01Z- sync is 0.05, coherence is 2.00 2021-02-10T17:58:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979881.57 epoch sec; seqNo:390; 4061756.09 north; 594523.82 east 2021-02-10T17:58:01Z- waiting for 1612979882.90, time is 1612979881.56 2021-02-10T17:58:01Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:01Z- AHRS_M2 msg: 1612979881.90 epoch sec; seqNo:389 2021-02-10T17:58:01Z- AHRS_M2 msg: 4.33 phi; -0.14 theta; -0.16 psi 2021-02-10T17:58:01Z- waiting for 1612979882.90, time is 1612979881.56 2021-02-10T17:58:01Z- sync is 0.34, coherence is 2.00 2021-02-10T17:58:01Z- handleDepth()-Depth_Keller msg: 11.02 epoch sec; seqNo:1612979881904; depth 0.00 2021-02-10T17:58:01Z- waiting for 1612979882.90, time is 1612979881.56 2021-02-10T17:58:01Z- sync is 0.34, coherence is 2.00 2021-02-10T17:58:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979881.91 epoch sec; seqNo:391; 4061756.09 north; 594523.82 east 2021-02-10T17:58:01Z- waiting for 1612979882.90, time is 1612979881.56 2021-02-10T17:58:01Z- sync is 0.36, coherence is 2.00 2021-02-10T17:58:02Z- AHRS_M2 msg: 1612979882.30 epoch sec; seqNo:390 2021-02-10T17:58:02Z- AHRS_M2 msg: 4.33 phi; -0.14 theta; -0.17 psi 2021-02-10T17:58:02Z- waiting for 1612979882.90, time is 1612979881.56 2021-02-10T17:58:02Z- sync is 0.75, coherence is 2.00 2021-02-10T17:58:02Z- handleDepth()-Depth_Keller msg: 11.07 epoch sec; seqNo:1612979882310; depth 0.00 2021-02-10T17:58:02Z- waiting for 1612979882.90, time is 1612979881.56 2021-02-10T17:58:02Z- sync is 0.75, coherence is 2.00 2021-02-10T17:58:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979882.32 epoch sec; seqNo:392; 4061755.71 north; 594523.82 east 2021-02-10T17:58:02Z- waiting for 1612979882.90, time is 1612979881.56 2021-02-10T17:58:02Z- sync is 0.76, coherence is 2.00 2021-02-10T17:58:02Z- AHRS_M2 msg: 1612979882.71 epoch sec; seqNo:391 2021-02-10T17:58:02Z- AHRS_M2 msg: 4.33 phi; -0.14 theta; -0.17 psi 2021-02-10T17:58:02Z- waiting for 1612979882.90, time is 1612979881.56 2021-02-10T17:58:02Z- sync is 1.15, coherence is 2.00 2021-02-10T17:58:02Z- handleDepth()-Depth_Keller msg: 11.12 epoch sec; seqNo:1612979882717; depth 0.00 2021-02-10T17:58:02Z- waiting for 1612979882.90, time is 1612979881.56 2021-02-10T17:58:02Z- sync is 1.15, coherence is 2.00 2021-02-10T17:58:02Z- handleDvl() - RDI_Pathfinder msg: 1612979882.73 epoch sec; seqNo:161 2021-02-10T17:58:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.20 , 85.01 , 73.20 , 90.42 2021-02-10T17:58:02Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.00 , -0.04 2021-02-10T17:58:02Z- waiting for 1612979882.90, time is 1612979882.73 2021-02-10T17:58:02Z- sync is 0.03, coherence is 2.00 2021-02-10T17:58:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979882.74 epoch sec; seqNo:393; 4061755.69 north; 594522.60 east 2021-02-10T17:58:02Z- waiting for 1612979882.90, time is 1612979882.73 2021-02-10T17:58:02Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:03Z- AHRS_M2 msg: 1612979883.11 epoch sec; seqNo:392 2021-02-10T17:58:03Z- AHRS_M2 msg: 4.34 phi; -0.13 theta; -0.17 psi 2021-02-10T17:58:03Z- waiting for 1612979882.90, time is 1612979882.73 2021-02-10T17:58:03Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:03Z- handleDepth()-Depth_Keller msg: 11.18 epoch sec; seqNo:1612979883116; depth 0.00 2021-02-10T17:58:03Z- waiting for 1612979882.90, time is 1612979882.73 2021-02-10T17:58:03Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979883.13 epoch sec; seqNo:394; 4061755.69 north; 594522.60 east 2021-02-10T17:58:03Z- waiting for 1612979882.90, time is 1612979882.73 2021-02-10T17:58:03Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:03Z- AHRS_M2 msg: 1612979883.53 epoch sec; seqNo:393 2021-02-10T17:58:03Z- AHRS_M2 msg: 4.34 phi; -0.13 theta; -0.17 psi 2021-02-10T17:58:03Z- waiting for 1612979882.90, time is 1612979882.73 2021-02-10T17:58:03Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:03Z- handleDepth()-Depth_Keller msg: 11.23 epoch sec; seqNo:1612979883540; depth 0.00 2021-02-10T17:58:03Z- waiting for 1612979882.90, time is 1612979882.73 2021-02-10T17:58:03Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:03Z- handleDvl() - RDI_Pathfinder msg: 1612979883.55 epoch sec; seqNo:162 2021-02-10T17:58:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.39 , 0.00 , 73.20 , 90.35 2021-02-10T17:58:03Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.04 , -0.04 2021-02-10T17:58:03Z- waiting for 1612979882.90, time is 1612979883.55 2021-02-10T17:58:03Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:03Z- LcmTrn::updateTrn() >>>> pose time 1612979883.53, meas time 1612979883.55 <<<< 2021-02-10T17:58:03Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979883.55 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:58:03Z- TerrainNav::motionUpdate() - currEstimate = (4061756, 594522.60, 11.23) 2021-02-10T17:58:03Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:58:03Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:58:03Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:58:03Z- TNavBF::mmse selected from filter -1 2021-02-10T17:58:03Z- variances([0], [2], and psi_berg) = 824.569080 833.186697 0.000000 2021-02-10T17:58:03Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:58:03Z- LcmTrn::cycle() - MLE : 4061717.19 594475.10 11.23 2021-02-10T17:58:03Z- LcmTrn::cycle() - MMSE : 4061755.69 594522.60 11.23 2021-02-10T17:58:03Z- LcmTrn::cycle() - COVAR: 824.57 833.19 28.34 0.00 2021-02-10T17:58:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979883.58 epoch sec; seqNo:395; 4061755.32 north; 594522.61 east 2021-02-10T17:58:03Z- waiting for 1612979886.55, time is 1612979883.55 2021-02-10T17:58:03Z- sync is 0.03, coherence is 2.00 2021-02-10T17:58:03Z- AHRS_M2 msg: 1612979883.92 epoch sec; seqNo:394 2021-02-10T17:58:03Z- AHRS_M2 msg: 4.34 phi; -0.13 theta; -0.17 psi 2021-02-10T17:58:03Z- waiting for 1612979886.55, time is 1612979883.55 2021-02-10T17:58:03Z- sync is 0.37, coherence is 2.00 2021-02-10T17:58:03Z- handleDepth()-Depth_Keller msg: 11.28 epoch sec; seqNo:1612979883933; depth 0.00 2021-02-10T17:58:03Z- waiting for 1612979886.55, time is 1612979883.55 2021-02-10T17:58:03Z- sync is 0.37, coherence is 2.00 2021-02-10T17:58:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979883.94 epoch sec; seqNo:396; 4061755.30 north; 594521.39 east 2021-02-10T17:58:03Z- waiting for 1612979886.55, time is 1612979883.55 2021-02-10T17:58:03Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:04Z- AHRS_M2 msg: 1612979884.32 epoch sec; seqNo:395 2021-02-10T17:58:04Z- AHRS_M2 msg: 4.34 phi; -0.13 theta; -0.17 psi 2021-02-10T17:58:04Z- waiting for 1612979886.55, time is 1612979883.55 2021-02-10T17:58:04Z- sync is 0.77, coherence is 2.00 2021-02-10T17:58:04Z- handleDepth()-Depth_Keller msg: 11.32 epoch sec; seqNo:1612979884328; depth 0.00 2021-02-10T17:58:04Z- waiting for 1612979886.55, time is 1612979883.55 2021-02-10T17:58:04Z- sync is 0.77, coherence is 2.00 2021-02-10T17:58:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979884.35 epoch sec; seqNo:397; 4061754.92 north; 594521.39 east 2021-02-10T17:58:04Z- waiting for 1612979886.55, time is 1612979883.55 2021-02-10T17:58:04Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:04Z- AHRS_M2 msg: 1612979884.73 epoch sec; seqNo:396 2021-02-10T17:58:04Z- AHRS_M2 msg: 4.33 phi; -0.13 theta; -0.17 psi 2021-02-10T17:58:04Z- waiting for 1612979886.55, time is 1612979883.55 2021-02-10T17:58:04Z- sync is 1.18, coherence is 2.00 2021-02-10T17:58:04Z- handleDepth()-Depth_Keller msg: 11.37 epoch sec; seqNo:1612979884732; depth 0.00 2021-02-10T17:58:04Z- waiting for 1612979886.55, time is 1612979883.55 2021-02-10T17:58:04Z- sync is 1.18, coherence is 2.00 2021-02-10T17:58:04Z- handleDvl() - RDI_Pathfinder msg: 1612979884.74 epoch sec; seqNo:163 2021-02-10T17:58:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.39 , 85.01 , 72.79 , 88.25 2021-02-10T17:58:04Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.03 , 0.04 2021-02-10T17:58:04Z- waiting for 1612979886.55, time is 1612979884.74 2021-02-10T17:58:04Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979884.77 epoch sec; seqNo:398; 4061754.92 north; 594521.39 east 2021-02-10T17:58:04Z- waiting for 1612979886.55, time is 1612979884.74 2021-02-10T17:58:04Z- sync is 0.03, coherence is 2.00 2021-02-10T17:58:05Z- AHRS_M2 msg: 1612979885.13 epoch sec; seqNo:397 2021-02-10T17:58:05Z- AHRS_M2 msg: 4.33 phi; -0.13 theta; -0.17 psi 2021-02-10T17:58:05Z- waiting for 1612979886.55, time is 1612979884.74 2021-02-10T17:58:05Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:05Z- handleDepth()-Depth_Keller msg: 11.43 epoch sec; seqNo:1612979885141; depth 0.00 2021-02-10T17:58:05Z- waiting for 1612979886.55, time is 1612979884.74 2021-02-10T17:58:05Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979885.15 epoch sec; seqNo:399; 4061754.91 north; 594520.17 east 2021-02-10T17:58:05Z- waiting for 1612979886.55, time is 1612979884.74 2021-02-10T17:58:05Z- sync is 0.41, coherence is 2.00 2021-02-10T17:58:05Z- AHRS_M2 msg: 1612979885.55 epoch sec; seqNo:398 2021-02-10T17:58:05Z- AHRS_M2 msg: 4.33 phi; -0.13 theta; -0.17 psi 2021-02-10T17:58:05Z- waiting for 1612979886.55, time is 1612979884.74 2021-02-10T17:58:05Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:05Z- handleDepth()-Depth_Keller msg: 11.47 epoch sec; seqNo:1612979885549; depth 0.00 2021-02-10T17:58:05Z- waiting for 1612979886.55, time is 1612979884.74 2021-02-10T17:58:05Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:05Z- handleDvl() - RDI_Pathfinder msg: 1612979885.56 epoch sec; seqNo:164 2021-02-10T17:58:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.39 , 0.00 , 72.79 , 89.34 2021-02-10T17:58:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.04 , 0.12 2021-02-10T17:58:05Z- waiting for 1612979886.55, time is 1612979885.56 2021-02-10T17:58:05Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979885.57 epoch sec; seqNo:400; 4061754.53 north; 594520.18 east 2021-02-10T17:58:05Z- waiting for 1612979886.55, time is 1612979885.56 2021-02-10T17:58:05Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:05Z- AHRS_M2 msg: 1612979885.94 epoch sec; seqNo:399 2021-02-10T17:58:05Z- AHRS_M2 msg: 4.33 phi; -0.13 theta; -0.17 psi 2021-02-10T17:58:05Z- waiting for 1612979886.55, time is 1612979885.56 2021-02-10T17:58:05Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:05Z- handleDepth()-Depth_Keller msg: 11.52 epoch sec; seqNo:1612979885954; depth 0.00 2021-02-10T17:58:05Z- waiting for 1612979886.55, time is 1612979885.56 2021-02-10T17:58:05Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979885.96 epoch sec; seqNo:401; 4061754.53 north; 594520.18 east 2021-02-10T17:58:05Z- waiting for 1612979886.55, time is 1612979885.56 2021-02-10T17:58:05Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:06Z- AHRS_M2 msg: 1612979886.34 epoch sec; seqNo:400 2021-02-10T17:58:06Z- AHRS_M2 msg: 4.34 phi; -0.13 theta; -0.17 psi 2021-02-10T17:58:06Z- waiting for 1612979886.55, time is 1612979885.56 2021-02-10T17:58:06Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:06Z- handleDepth()-Depth_Keller msg: 11.57 epoch sec; seqNo:1612979886349; depth 0.00 2021-02-10T17:58:06Z- waiting for 1612979886.55, time is 1612979885.56 2021-02-10T17:58:06Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979886.36 epoch sec; seqNo:402; 4061754.52 north; 594518.96 east 2021-02-10T17:58:06Z- waiting for 1612979886.55, time is 1612979885.56 2021-02-10T17:58:06Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:06Z- AHRS_M2 msg: 1612979886.75 epoch sec; seqNo:401 2021-02-10T17:58:06Z- AHRS_M2 msg: 4.34 phi; -0.13 theta; -0.17 psi 2021-02-10T17:58:06Z- waiting for 1612979886.55, time is 1612979885.56 2021-02-10T17:58:06Z- sync is 1.19, coherence is 2.00 2021-02-10T17:58:06Z- handleDepth()-Depth_Keller msg: 11.61 epoch sec; seqNo:1612979886753; depth 0.00 2021-02-10T17:58:06Z- waiting for 1612979886.55, time is 1612979885.56 2021-02-10T17:58:06Z- sync is 1.19, coherence is 2.00 2021-02-10T17:58:06Z- handleDvl() - RDI_Pathfinder msg: 1612979886.77 epoch sec; seqNo:165 2021-02-10T17:58:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.98 , 83.92 , 78.51 , 0.00 2021-02-10T17:58:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.07 , 0.14 2021-02-10T17:58:06Z- waiting for 1612979886.55, time is 1612979886.77 2021-02-10T17:58:06Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:06Z- LcmTrn::updateTrn() >>>> pose time 1612979886.75, meas time 1612979886.77 <<<< 2021-02-10T17:58:06Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979886.77 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:58:06Z- TerrainNav::motionUpdate() - currEstimate = (4061755, 594518.96, 11.61) 2021-02-10T17:58:06Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:58:06Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:58:06Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:58:06Z- TNavBF::mmse selected from filter -1 2021-02-10T17:58:06Z- variances([0], [2], and psi_berg) = 824.138717 833.184296 0.000000 2021-02-10T17:58:06Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:58:06Z- LcmTrn::cycle() - MLE : 4061716.02 594471.46 11.61 2021-02-10T17:58:06Z- LcmTrn::cycle() - MMSE : 4061754.52 594518.96 11.61 2021-02-10T17:58:06Z- LcmTrn::cycle() - COVAR: 824.14 833.18 28.54 0.00 2021-02-10T17:58:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979886.78 epoch sec; seqNo:403; 4061754.14 north; 594518.96 east 2021-02-10T17:58:06Z- waiting for 1612979889.77, time is 1612979886.77 2021-02-10T17:58:06Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:07Z- AHRS_M2 msg: 1612979887.15 epoch sec; seqNo:402 2021-02-10T17:58:07Z- AHRS_M2 msg: 4.35 phi; -0.13 theta; -0.18 psi 2021-02-10T17:58:07Z- waiting for 1612979889.77, time is 1612979886.77 2021-02-10T17:58:07Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:07Z- handleDepth()-Depth_Keller msg: 11.67 epoch sec; seqNo:1612979887156; depth 0.00 2021-02-10T17:58:07Z- waiting for 1612979889.77, time is 1612979886.77 2021-02-10T17:58:07Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979887.17 epoch sec; seqNo:404; 4061754.14 north; 594518.96 east 2021-02-10T17:58:07Z- waiting for 1612979889.77, time is 1612979886.77 2021-02-10T17:58:07Z- sync is 0.41, coherence is 2.00 2021-02-10T17:58:07Z- AHRS_M2 msg: 1612979887.57 epoch sec; seqNo:403 2021-02-10T17:58:07Z- AHRS_M2 msg: 4.35 phi; -0.13 theta; -0.18 psi 2021-02-10T17:58:07Z- waiting for 1612979889.77, time is 1612979886.77 2021-02-10T17:58:07Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:07Z- handleDepth()-Depth_Keller msg: 11.72 epoch sec; seqNo:1612979887576; depth 0.00 2021-02-10T17:58:07Z- waiting for 1612979889.77, time is 1612979886.77 2021-02-10T17:58:07Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:07Z- handleDvl() - RDI_Pathfinder msg: 1612979887.62 epoch sec; seqNo:166 2021-02-10T17:58:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.98 , 86.09 , 72.79 , 89.34 2021-02-10T17:58:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.10 , 0.12 2021-02-10T17:58:07Z- waiting for 1612979889.77, time is 1612979887.62 2021-02-10T17:58:07Z- sync is 0.05, coherence is 2.00 2021-02-10T17:58:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979887.63 epoch sec; seqNo:405; 4061754.13 north; 594517.74 east 2021-02-10T17:58:07Z- waiting for 1612979889.77, time is 1612979887.62 2021-02-10T17:58:07Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:07Z- AHRS_M2 msg: 1612979887.96 epoch sec; seqNo:404 2021-02-10T17:58:07Z- AHRS_M2 msg: 4.35 phi; -0.13 theta; -0.17 psi 2021-02-10T17:58:07Z- waiting for 1612979889.77, time is 1612979887.62 2021-02-10T17:58:07Z- sync is 0.35, coherence is 2.00 2021-02-10T17:58:07Z- handleDepth()-Depth_Keller msg: 11.77 epoch sec; seqNo:1612979887966; depth 0.00 2021-02-10T17:58:07Z- waiting for 1612979889.77, time is 1612979887.62 2021-02-10T17:58:07Z- sync is 0.35, coherence is 2.00 2021-02-10T17:58:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979887.98 epoch sec; seqNo:406; 4061754.13 north; 594517.74 east 2021-02-10T17:58:07Z- waiting for 1612979889.77, time is 1612979887.62 2021-02-10T17:58:07Z- sync is 0.36, coherence is 2.00 2021-02-10T17:58:08Z- AHRS_M2 msg: 1612979888.36 epoch sec; seqNo:405 2021-02-10T17:58:08Z- AHRS_M2 msg: 4.35 phi; -0.13 theta; -0.17 psi 2021-02-10T17:58:08Z- waiting for 1612979889.77, time is 1612979887.62 2021-02-10T17:58:08Z- sync is 0.75, coherence is 2.00 2021-02-10T17:58:08Z- handleDepth()-Depth_Keller msg: 11.81 epoch sec; seqNo:1612979888370; depth 0.00 2021-02-10T17:58:08Z- waiting for 1612979889.77, time is 1612979887.62 2021-02-10T17:58:08Z- sync is 0.75, coherence is 2.00 2021-02-10T17:58:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979888.38 epoch sec; seqNo:407; 4061754.13 north; 594517.74 east 2021-02-10T17:58:08Z- waiting for 1612979889.77, time is 1612979887.62 2021-02-10T17:58:08Z- sync is 0.76, coherence is 2.00 2021-02-10T17:58:08Z- AHRS_M2 msg: 1612979888.77 epoch sec; seqNo:406 2021-02-10T17:58:08Z- AHRS_M2 msg: 4.35 phi; -0.13 theta; -0.17 psi 2021-02-10T17:58:08Z- waiting for 1612979889.77, time is 1612979887.62 2021-02-10T17:58:08Z- sync is 1.15, coherence is 2.00 2021-02-10T17:58:08Z- handleDepth()-Depth_Keller msg: 11.85 epoch sec; seqNo:1612979888777; depth 0.00 2021-02-10T17:58:08Z- waiting for 1612979889.77, time is 1612979887.62 2021-02-10T17:58:08Z- sync is 1.15, coherence is 2.00 2021-02-10T17:58:08Z- handleDvl() - RDI_Pathfinder msg: 1612979888.80 epoch sec; seqNo:167 2021-02-10T17:58:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.16 , 86.09 , 70.75 , 90.42 2021-02-10T17:58:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.09 , 0.09 2021-02-10T17:58:08Z- waiting for 1612979889.77, time is 1612979888.80 2021-02-10T17:58:08Z- sync is 0.03, coherence is 2.00 2021-02-10T17:58:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979888.81 epoch sec; seqNo:408; 4061753.75 north; 594517.74 east 2021-02-10T17:58:08Z- waiting for 1612979889.77, time is 1612979888.80 2021-02-10T17:58:08Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:09Z- AHRS_M2 msg: 1612979889.17 epoch sec; seqNo:407 2021-02-10T17:58:09Z- AHRS_M2 msg: 4.35 phi; -0.13 theta; -0.17 psi 2021-02-10T17:58:09Z- waiting for 1612979889.77, time is 1612979888.80 2021-02-10T17:58:09Z- sync is 0.37, coherence is 2.00 2021-02-10T17:58:09Z- handleDepth()-Depth_Keller msg: 11.89 epoch sec; seqNo:1612979889176; depth 0.00 2021-02-10T17:58:09Z- waiting for 1612979889.77, time is 1612979888.80 2021-02-10T17:58:09Z- sync is 0.37, coherence is 2.00 2021-02-10T17:58:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979889.19 epoch sec; seqNo:409; 4061753.73 north; 594516.52 east 2021-02-10T17:58:09Z- waiting for 1612979889.77, time is 1612979888.80 2021-02-10T17:58:09Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:09Z- AHRS_M2 msg: 1612979889.60 epoch sec; seqNo:408 2021-02-10T17:58:09Z- AHRS_M2 msg: 4.35 phi; -0.13 theta; -0.17 psi 2021-02-10T17:58:09Z- waiting for 1612979889.77, time is 1612979888.80 2021-02-10T17:58:09Z- sync is 0.81, coherence is 2.00 2021-02-10T17:58:09Z- handleDepth()-Depth_Keller msg: 11.95 epoch sec; seqNo:1612979889610; depth 0.00 2021-02-10T17:58:09Z- waiting for 1612979889.77, time is 1612979888.80 2021-02-10T17:58:09Z- sync is 0.81, coherence is 2.00 2021-02-10T17:58:09Z- handleDvl() - RDI_Pathfinder msg: 1612979889.62 epoch sec; seqNo:168 2021-02-10T17:58:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.39 , 85.01 , 72.79 , 90.42 2021-02-10T17:58:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.06 , 0.03 2021-02-10T17:58:09Z- waiting for 1612979889.77, time is 1612979889.62 2021-02-10T17:58:09Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979889.63 epoch sec; seqNo:410; 4061753.73 north; 594516.52 east 2021-02-10T17:58:09Z- waiting for 1612979889.77, time is 1612979889.62 2021-02-10T17:58:09Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:09Z- AHRS_M2 msg: 1612979889.98 epoch sec; seqNo:409 2021-02-10T17:58:09Z- AHRS_M2 msg: 4.35 phi; -0.13 theta; -0.17 psi 2021-02-10T17:58:09Z- waiting for 1612979889.77, time is 1612979889.62 2021-02-10T17:58:09Z- sync is 0.36, coherence is 2.00 2021-02-10T17:58:09Z- handleDepth()-Depth_Keller msg: 12.01 epoch sec; seqNo:1612979889989; depth 0.00 2021-02-10T17:58:09Z- waiting for 1612979889.77, time is 1612979889.62 2021-02-10T17:58:09Z- sync is 0.36, coherence is 2.00 2021-02-10T17:58:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979890.01 epoch sec; seqNo:411; 4061753.35 north; 594516.53 east 2021-02-10T17:58:10Z- waiting for 1612979889.77, time is 1612979889.62 2021-02-10T17:58:10Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:10Z- AHRS_M2 msg: 1612979890.38 epoch sec; seqNo:410 2021-02-10T17:58:10Z- AHRS_M2 msg: 4.36 phi; -0.13 theta; -0.17 psi 2021-02-10T17:58:10Z- waiting for 1612979889.77, time is 1612979889.62 2021-02-10T17:58:10Z- sync is 0.76, coherence is 2.00 2021-02-10T17:58:10Z- handleDepth()-Depth_Keller msg: 12.06 epoch sec; seqNo:1612979890388; depth 0.00 2021-02-10T17:58:10Z- waiting for 1612979889.77, time is 1612979889.62 2021-02-10T17:58:10Z- sync is 0.76, coherence is 2.00 2021-02-10T17:58:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979890.40 epoch sec; seqNo:412; 4061753.34 north; 594515.31 east 2021-02-10T17:58:10Z- waiting for 1612979889.77, time is 1612979889.62 2021-02-10T17:58:10Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:10Z- AHRS_M2 msg: 1612979890.79 epoch sec; seqNo:411 2021-02-10T17:58:10Z- AHRS_M2 msg: 4.36 phi; -0.13 theta; -0.17 psi 2021-02-10T17:58:10Z- waiting for 1612979889.77, time is 1612979889.62 2021-02-10T17:58:10Z- sync is 1.17, coherence is 2.00 2021-02-10T17:58:10Z- handleDepth()-Depth_Keller msg: 12.07 epoch sec; seqNo:1612979890798; depth 0.00 2021-02-10T17:58:10Z- waiting for 1612979889.77, time is 1612979889.62 2021-02-10T17:58:10Z- sync is 1.17, coherence is 2.00 2021-02-10T17:58:10Z- handleDvl() - RDI_Pathfinder msg: 1612979890.81 epoch sec; seqNo:169 2021-02-10T17:58:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.98 , 86.02 , 72.39 , 89.27 2021-02-10T17:58:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.05 , -0.00 2021-02-10T17:58:10Z- waiting for 1612979889.77, time is 1612979890.81 2021-02-10T17:58:10Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:10Z- LcmTrn::updateTrn() >>>> pose time 1612979890.79, meas time 1612979890.81 <<<< 2021-02-10T17:58:10Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979890.81 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:58:10Z- TerrainNav::motionUpdate() - currEstimate = (4061753, 594515.31, 12.07) 2021-02-10T17:58:10Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:58:10Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:58:10Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:58:10Z- TNavBF::mmse selected from filter -1 2021-02-10T17:58:10Z- variances([0], [2], and psi_berg) = 823.714129 833.181982 0.000000 2021-02-10T17:58:10Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:58:10Z- LcmTrn::cycle() - MLE : 4061714.84 594468.81 12.07 2021-02-10T17:58:10Z- LcmTrn::cycle() - MMSE : 4061753.34 594515.31 12.07 2021-02-10T17:58:10Z- LcmTrn::cycle() - COVAR: 823.71 833.18 28.73 0.00 2021-02-10T17:58:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979890.82 epoch sec; seqNo:413; 4061753.34 north; 594515.31 east 2021-02-10T17:58:10Z- waiting for 1612979893.81, time is 1612979890.81 2021-02-10T17:58:10Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:11Z- AHRS_M2 msg: 1612979891.19 epoch sec; seqNo:412 2021-02-10T17:58:11Z- AHRS_M2 msg: 4.36 phi; -0.13 theta; -0.17 psi 2021-02-10T17:58:11Z- waiting for 1612979893.81, time is 1612979890.81 2021-02-10T17:58:11Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:11Z- handleDepth()-Depth_Keller msg: 12.14 epoch sec; seqNo:1612979891201; depth 0.00 2021-02-10T17:58:11Z- waiting for 1612979893.81, time is 1612979890.81 2021-02-10T17:58:11Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979891.22 epoch sec; seqNo:414; 4061753.34 north; 594515.31 east 2021-02-10T17:58:11Z- waiting for 1612979893.81, time is 1612979890.81 2021-02-10T17:58:11Z- sync is 0.41, coherence is 2.00 2021-02-10T17:58:11Z- AHRS_M2 msg: 1612979891.62 epoch sec; seqNo:413 2021-02-10T17:58:11Z- AHRS_M2 msg: 4.36 phi; -0.13 theta; -0.17 psi 2021-02-10T17:58:11Z- waiting for 1612979893.81, time is 1612979890.81 2021-02-10T17:58:11Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:11Z- handleDepth()-Depth_Keller msg: 12.19 epoch sec; seqNo:1612979891620; depth 0.00 2021-02-10T17:58:11Z- waiting for 1612979893.81, time is 1612979890.81 2021-02-10T17:58:11Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:11Z- handleDvl() - RDI_Pathfinder msg: 1612979891.63 epoch sec; seqNo:170 2021-02-10T17:58:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.98 , 85.01 , 71.98 , 89.34 2021-02-10T17:58:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.05 , -0.02 2021-02-10T17:58:11Z- waiting for 1612979893.81, time is 1612979891.63 2021-02-10T17:58:11Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979891.65 epoch sec; seqNo:415; 4061752.95 north; 594514.09 east 2021-02-10T17:58:11Z- waiting for 1612979893.81, time is 1612979891.63 2021-02-10T17:58:11Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:12Z- AHRS_M2 msg: 1612979892.00 epoch sec; seqNo:414 2021-02-10T17:58:12Z- AHRS_M2 msg: 4.35 phi; -0.13 theta; -0.17 psi 2021-02-10T17:58:12Z- waiting for 1612979893.81, time is 1612979891.63 2021-02-10T17:58:12Z- sync is 0.37, coherence is 2.00 2021-02-10T17:58:12Z- handleDepth()-Depth_Keller msg: 12.23 epoch sec; seqNo:1612979892013; depth 0.00 2021-02-10T17:58:12Z- waiting for 1612979893.81, time is 1612979891.63 2021-02-10T17:58:12Z- sync is 0.37, coherence is 2.00 2021-02-10T17:58:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979892.02 epoch sec; seqNo:416; 4061752.95 north; 594514.09 east 2021-02-10T17:58:12Z- waiting for 1612979893.81, time is 1612979891.63 2021-02-10T17:58:12Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:12Z- AHRS_M2 msg: 1612979892.40 epoch sec; seqNo:415 2021-02-10T17:58:12Z- AHRS_M2 msg: 4.35 phi; -0.13 theta; -0.17 psi 2021-02-10T17:58:12Z- waiting for 1612979893.81, time is 1612979891.63 2021-02-10T17:58:12Z- sync is 0.77, coherence is 2.00 2021-02-10T17:58:12Z- handleDepth()-Depth_Keller msg: 12.28 epoch sec; seqNo:1612979892408; depth 0.00 2021-02-10T17:58:12Z- waiting for 1612979893.81, time is 1612979891.63 2021-02-10T17:58:12Z- sync is 0.77, coherence is 2.00 2021-02-10T17:58:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979892.43 epoch sec; seqNo:417; 4061752.95 north; 594514.09 east 2021-02-10T17:58:12Z- waiting for 1612979893.81, time is 1612979891.63 2021-02-10T17:58:12Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:12Z- AHRS_M2 msg: 1612979892.81 epoch sec; seqNo:416 2021-02-10T17:58:12Z- AHRS_M2 msg: 4.35 phi; -0.13 theta; -0.18 psi 2021-02-10T17:58:12Z- waiting for 1612979893.81, time is 1612979891.63 2021-02-10T17:58:12Z- sync is 1.18, coherence is 2.00 2021-02-10T17:58:12Z- handleDepth()-Depth_Keller msg: 12.33 epoch sec; seqNo:1612979892818; depth 0.00 2021-02-10T17:58:12Z- waiting for 1612979893.81, time is 1612979891.63 2021-02-10T17:58:12Z- sync is 1.18, coherence is 2.00 2021-02-10T17:58:12Z- handleDvl() - RDI_Pathfinder msg: 1612979892.83 epoch sec; seqNo:171 2021-02-10T17:58:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.16 , 0.00 , 73.20 , 89.34 2021-02-10T17:58:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.01 , -0.03 2021-02-10T17:58:12Z- waiting for 1612979893.81, time is 1612979892.83 2021-02-10T17:58:12Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979892.86 epoch sec; seqNo:418; 4061752.57 north; 594514.10 east 2021-02-10T17:58:12Z- waiting for 1612979893.81, time is 1612979892.83 2021-02-10T17:58:12Z- sync is 0.03, coherence is 2.00 2021-02-10T17:58:13Z- AHRS_M2 msg: 1612979893.21 epoch sec; seqNo:417 2021-02-10T17:58:13Z- AHRS_M2 msg: 4.36 phi; -0.13 theta; -0.18 psi 2021-02-10T17:58:13Z- waiting for 1612979893.81, time is 1612979892.83 2021-02-10T17:58:13Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:13Z- handleDepth()-Depth_Keller msg: 12.37 epoch sec; seqNo:1612979893216; depth 0.00 2021-02-10T17:58:13Z- waiting for 1612979893.81, time is 1612979892.83 2021-02-10T17:58:13Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979893.23 epoch sec; seqNo:419; 4061752.56 north; 594512.88 east 2021-02-10T17:58:13Z- waiting for 1612979893.81, time is 1612979892.83 2021-02-10T17:58:13Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:13Z- AHRS_M2 msg: 1612979893.62 epoch sec; seqNo:418 2021-02-10T17:58:13Z- AHRS_M2 msg: 4.36 phi; -0.14 theta; -0.18 psi 2021-02-10T17:58:13Z- waiting for 1612979893.81, time is 1612979892.83 2021-02-10T17:58:13Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:13Z- handleDepth()-Depth_Keller msg: 12.41 epoch sec; seqNo:1612979893627; depth 0.00 2021-02-10T17:58:13Z- waiting for 1612979893.81, time is 1612979892.83 2021-02-10T17:58:13Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:13Z- handleDvl() - RDI_Pathfinder msg: 1612979893.64 epoch sec; seqNo:172 2021-02-10T17:58:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.75 , 85.01 , 71.57 , 89.34 2021-02-10T17:58:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.04 , -0.09 2021-02-10T17:58:13Z- waiting for 1612979893.81, time is 1612979893.64 2021-02-10T17:58:13Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979893.65 epoch sec; seqNo:420; 4061752.18 north; 594512.88 east 2021-02-10T17:58:13Z- waiting for 1612979893.81, time is 1612979893.64 2021-02-10T17:58:13Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:14Z- AHRS_M2 msg: 1612979894.02 epoch sec; seqNo:419 2021-02-10T17:58:14Z- AHRS_M2 msg: 4.37 phi; -0.14 theta; -0.19 psi 2021-02-10T17:58:14Z- waiting for 1612979893.81, time is 1612979893.64 2021-02-10T17:58:14Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:14Z- handleDepth()-Depth_Keller msg: 12.45 epoch sec; seqNo:1612979894025; depth 0.00 2021-02-10T17:58:14Z- waiting for 1612979893.81, time is 1612979893.64 2021-02-10T17:58:14Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979894.05 epoch sec; seqNo:421; 4061752.18 north; 594512.88 east 2021-02-10T17:58:14Z- waiting for 1612979893.81, time is 1612979893.64 2021-02-10T17:58:14Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:14Z- AHRS_M2 msg: 1612979894.43 epoch sec; seqNo:420 2021-02-10T17:58:14Z- AHRS_M2 msg: 4.38 phi; -0.14 theta; -0.19 psi 2021-02-10T17:58:14Z- waiting for 1612979893.81, time is 1612979893.64 2021-02-10T17:58:14Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:14Z- handleDepth()-Depth_Keller msg: 12.50 epoch sec; seqNo:1612979894441; depth 0.00 2021-02-10T17:58:14Z- waiting for 1612979893.81, time is 1612979893.64 2021-02-10T17:58:14Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979894.45 epoch sec; seqNo:422; 4061752.16 north; 594511.66 east 2021-02-10T17:58:14Z- waiting for 1612979893.81, time is 1612979893.64 2021-02-10T17:58:14Z- sync is 0.81, coherence is 2.00 2021-02-10T17:58:14Z- AHRS_M2 msg: 1612979894.83 epoch sec; seqNo:421 2021-02-10T17:58:14Z- AHRS_M2 msg: 4.38 phi; -0.14 theta; -0.19 psi 2021-02-10T17:58:14Z- waiting for 1612979893.81, time is 1612979893.64 2021-02-10T17:58:14Z- sync is 1.19, coherence is 2.00 2021-02-10T17:58:14Z- handleDepth()-Depth_Keller msg: 12.54 epoch sec; seqNo:1612979894835; depth 0.00 2021-02-10T17:58:14Z- waiting for 1612979893.81, time is 1612979893.64 2021-02-10T17:58:14Z- sync is 1.19, coherence is 2.00 2021-02-10T17:58:14Z- handleDvl() - RDI_Pathfinder msg: 1612979894.85 epoch sec; seqNo:173 2021-02-10T17:58:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.16 , 86.09 , 71.57 , 0.00 2021-02-10T17:58:14Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.03 , -0.11 2021-02-10T17:58:14Z- waiting for 1612979893.81, time is 1612979894.85 2021-02-10T17:58:14Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:14Z- LcmTrn::updateTrn() >>>> pose time 1612979894.83, meas time 1612979894.85 <<<< 2021-02-10T17:58:14Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979894.85 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:58:14Z- TerrainNav::motionUpdate() - currEstimate = (4061752, 594511.66, 12.54) 2021-02-10T17:58:14Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:58:14Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:58:14Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:58:14Z- TNavBF::mmse selected from filter -1 2021-02-10T17:58:14Z- variances([0], [2], and psi_berg) = 823.295147 833.179750 0.000000 2021-02-10T17:58:14Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:58:14Z- LcmTrn::cycle() - MLE : 4061713.66 594465.16 12.54 2021-02-10T17:58:14Z- LcmTrn::cycle() - MMSE : 4061752.16 594511.66 12.54 2021-02-10T17:58:14Z- LcmTrn::cycle() - COVAR: 823.30 833.18 28.93 0.00 2021-02-10T17:58:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979894.86 epoch sec; seqNo:423; 4061751.78 north; 594511.66 east 2021-02-10T17:58:14Z- waiting for 1612979897.85, time is 1612979894.85 2021-02-10T17:58:14Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:15Z- AHRS_M2 msg: 1612979895.23 epoch sec; seqNo:422 2021-02-10T17:58:15Z- AHRS_M2 msg: 4.38 phi; -0.14 theta; -0.18 psi 2021-02-10T17:58:15Z- waiting for 1612979897.85, time is 1612979894.85 2021-02-10T17:58:15Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:15Z- handleDepth()-Depth_Keller msg: 12.58 epoch sec; seqNo:1612979895236; depth 0.00 2021-02-10T17:58:15Z- waiting for 1612979897.85, time is 1612979894.85 2021-02-10T17:58:15Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979895.25 epoch sec; seqNo:424; 4061751.78 north; 594511.66 east 2021-02-10T17:58:15Z- waiting for 1612979897.85, time is 1612979894.85 2021-02-10T17:58:15Z- sync is 0.41, coherence is 2.00 2021-02-10T17:58:15Z- AHRS_M2 msg: 1612979895.64 epoch sec; seqNo:423 2021-02-10T17:58:15Z- AHRS_M2 msg: 4.38 phi; -0.15 theta; -0.18 psi 2021-02-10T17:58:15Z- waiting for 1612979897.85, time is 1612979894.85 2021-02-10T17:58:15Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:15Z- handleDepth()-Depth_Keller msg: 12.62 epoch sec; seqNo:1612979895645; depth 0.00 2021-02-10T17:58:15Z- waiting for 1612979897.85, time is 1612979894.85 2021-02-10T17:58:15Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:15Z- handleDvl() - RDI_Pathfinder msg: 1612979895.66 epoch sec; seqNo:174 2021-02-10T17:58:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-02-10T17:58:15Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-02-10T17:58:15Z- waiting for 1612979897.85, time is 1612979895.66 2021-02-10T17:58:15Z- sync is 0.03, coherence is 2.00 2021-02-10T17:58:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979895.67 epoch sec; seqNo:425; 4061751.39 north; 594510.45 east 2021-02-10T17:58:15Z- waiting for 1612979897.85, time is 1612979895.66 2021-02-10T17:58:15Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:16Z- AHRS_M2 msg: 1612979896.04 epoch sec; seqNo:424 2021-02-10T17:58:16Z- AHRS_M2 msg: 4.38 phi; -0.15 theta; -0.18 psi 2021-02-10T17:58:16Z- waiting for 1612979897.85, time is 1612979895.66 2021-02-10T17:58:16Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:16Z- handleDepth()-Depth_Keller msg: 12.66 epoch sec; seqNo:1612979896045; depth 0.00 2021-02-10T17:58:16Z- waiting for 1612979897.85, time is 1612979895.66 2021-02-10T17:58:16Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979896.06 epoch sec; seqNo:426; 4061751.39 north; 594510.45 east 2021-02-10T17:58:16Z- waiting for 1612979897.85, time is 1612979895.66 2021-02-10T17:58:16Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:16Z- AHRS_M2 msg: 1612979896.44 epoch sec; seqNo:425 2021-02-10T17:58:16Z- AHRS_M2 msg: 4.38 phi; -0.15 theta; -0.17 psi 2021-02-10T17:58:16Z- waiting for 1612979897.85, time is 1612979895.66 2021-02-10T17:58:16Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:16Z- handleDepth()-Depth_Keller msg: 12.72 epoch sec; seqNo:1612979896453; depth 0.00 2021-02-10T17:58:16Z- waiting for 1612979897.85, time is 1612979895.66 2021-02-10T17:58:16Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:16Z- handleDvl() - RDI_Pathfinder msg: 1612979896.46 epoch sec; seqNo:175 2021-02-10T17:58:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 71.34 , 0.00 , 70.42 , 0.00 2021-02-10T17:58:16Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-02-10T17:58:16Z- waiting for 1612979897.85, time is 1612979896.46 2021-02-10T17:58:16Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979896.48 epoch sec; seqNo:427; 4061751.39 north; 594510.45 east 2021-02-10T17:58:16Z- waiting for 1612979897.85, time is 1612979896.46 2021-02-10T17:58:16Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:16Z- AHRS_M2 msg: 1612979896.85 epoch sec; seqNo:426 2021-02-10T17:58:16Z- AHRS_M2 msg: 4.38 phi; -0.15 theta; -0.17 psi 2021-02-10T17:58:16Z- waiting for 1612979897.85, time is 1612979896.46 2021-02-10T17:58:16Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:16Z- handleDepth()-Depth_Keller msg: 12.78 epoch sec; seqNo:1612979896860; depth 0.00 2021-02-10T17:58:16Z- waiting for 1612979897.85, time is 1612979896.46 2021-02-10T17:58:16Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979896.87 epoch sec; seqNo:428; 4061751.00 north; 594509.23 east 2021-02-10T17:58:16Z- waiting for 1612979897.85, time is 1612979896.46 2021-02-10T17:58:16Z- sync is 0.41, coherence is 2.00 2021-02-10T17:58:17Z- AHRS_M2 msg: 1612979897.26 epoch sec; seqNo:427 2021-02-10T17:58:17Z- AHRS_M2 msg: 4.38 phi; -0.16 theta; -0.18 psi 2021-02-10T17:58:17Z- waiting for 1612979897.85, time is 1612979896.46 2021-02-10T17:58:17Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:17Z- handleDepth()-Depth_Keller msg: 12.82 epoch sec; seqNo:1612979897269; depth 0.00 2021-02-10T17:58:17Z- waiting for 1612979897.85, time is 1612979896.46 2021-02-10T17:58:17Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979897.30 epoch sec; seqNo:429; 4061751.00 north; 594509.23 east 2021-02-10T17:58:17Z- waiting for 1612979897.85, time is 1612979896.46 2021-02-10T17:58:17Z- sync is 0.83, coherence is 2.00 2021-02-10T17:58:17Z- AHRS_M2 msg: 1612979897.66 epoch sec; seqNo:428 2021-02-10T17:58:17Z- AHRS_M2 msg: 4.38 phi; -0.16 theta; -0.18 psi 2021-02-10T17:58:17Z- waiting for 1612979897.85, time is 1612979896.46 2021-02-10T17:58:17Z- sync is 1.20, coherence is 2.00 2021-02-10T17:58:17Z- handleDepth()-Depth_Keller msg: 12.88 epoch sec; seqNo:1612979897669; depth 0.00 2021-02-10T17:58:17Z- waiting for 1612979897.85, time is 1612979896.46 2021-02-10T17:58:17Z- sync is 1.20, coherence is 2.00 2021-02-10T17:58:17Z- handleDvl() - RDI_Pathfinder msg: 1612979897.68 epoch sec; seqNo:176 2021-02-10T17:58:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 70.88 , 0.00 , 70.88 , 0.00 2021-02-10T17:58:17Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-02-10T17:58:17Z- waiting for 1612979897.85, time is 1612979897.68 2021-02-10T17:58:17Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979897.69 epoch sec; seqNo:430; 4061750.62 north; 594509.24 east 2021-02-10T17:58:17Z- waiting for 1612979897.85, time is 1612979897.68 2021-02-10T17:58:17Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:18Z- AHRS_M2 msg: 1612979898.06 epoch sec; seqNo:429 2021-02-10T17:58:18Z- AHRS_M2 msg: 4.38 phi; -0.16 theta; -0.18 psi 2021-02-10T17:58:18Z- waiting for 1612979897.85, time is 1612979897.68 2021-02-10T17:58:18Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:18Z- handleDepth()-Depth_Keller msg: 12.94 epoch sec; seqNo:1612979898070; depth 0.00 2021-02-10T17:58:18Z- waiting for 1612979897.85, time is 1612979897.68 2021-02-10T17:58:18Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979898.08 epoch sec; seqNo:431; 4061750.62 north; 594509.24 east 2021-02-10T17:58:18Z- waiting for 1612979897.85, time is 1612979897.68 2021-02-10T17:58:18Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:18Z- AHRS_M2 msg: 1612979898.46 epoch sec; seqNo:430 2021-02-10T17:58:18Z- AHRS_M2 msg: 4.38 phi; -0.16 theta; -0.18 psi 2021-02-10T17:58:18Z- waiting for 1612979897.85, time is 1612979897.68 2021-02-10T17:58:18Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:18Z- handleDepth()-Depth_Keller msg: 12.99 epoch sec; seqNo:1612979898473; depth 0.00 2021-02-10T17:58:18Z- waiting for 1612979897.85, time is 1612979897.68 2021-02-10T17:58:18Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:18Z- handleDvl() - RDI_Pathfinder msg: 1612979898.49 epoch sec; seqNo:177 2021-02-10T17:58:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 70.42 , 0.00 , 69.96 , 0.00 2021-02-10T17:58:18Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-02-10T17:58:18Z- waiting for 1612979897.85, time is 1612979898.49 2021-02-10T17:58:18Z- sync is 0.03, coherence is 2.00 2021-02-10T17:58:18Z- LcmTrn::updateTrn() >>>> pose time 1612979898.46, meas time 1612979898.49 <<<< 2021-02-10T17:58:18Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979898.49 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:58:18Z- TerrainNav::motionUpdate() - currEstimate = (4061751, 594509.24, 12.99) 2021-02-10T17:58:18Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:58:18Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:58:18Z- TerrainNav::motionUpdate() - Invalid velocity 2021-02-10T17:58:18Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-02-10T17:58:18Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:58:18Z- TNavBF::mmse selected from filter -1 2021-02-10T17:58:18Z- variances([0], [2], and psi_berg) = 822.937159 833.177884 0.000000 2021-02-10T17:58:18Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:58:18Z- LcmTrn::cycle() - MLE : 4061712.12 594463.74 12.99 2021-02-10T17:58:18Z- LcmTrn::cycle() - MMSE : 4061750.62 594509.24 12.99 2021-02-10T17:58:18Z- LcmTrn::cycle() - COVAR: 822.94 833.18 29.07 0.00 2021-02-10T17:58:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979898.50 epoch sec; seqNo:432; 4061750.61 north; 594508.01 east 2021-02-10T17:58:18Z- waiting for 1612979901.49, time is 1612979898.49 2021-02-10T17:58:18Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:18Z- AHRS_M2 msg: 1612979898.87 epoch sec; seqNo:431 2021-02-10T17:58:18Z- AHRS_M2 msg: 4.38 phi; -0.17 theta; -0.18 psi 2021-02-10T17:58:18Z- waiting for 1612979901.49, time is 1612979898.49 2021-02-10T17:58:18Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:18Z- handleDepth()-Depth_Keller msg: 13.05 epoch sec; seqNo:1612979898872; depth 0.00 2021-02-10T17:58:18Z- waiting for 1612979901.49, time is 1612979898.49 2021-02-10T17:58:18Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979898.88 epoch sec; seqNo:433; 4061750.23 north; 594508.02 east 2021-02-10T17:58:18Z- waiting for 1612979901.49, time is 1612979898.49 2021-02-10T17:58:18Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:19Z- AHRS_M2 msg: 1612979899.29 epoch sec; seqNo:432 2021-02-10T17:58:19Z- AHRS_M2 msg: 4.38 phi; -0.17 theta; -0.18 psi 2021-02-10T17:58:19Z- waiting for 1612979901.49, time is 1612979898.49 2021-02-10T17:58:19Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:19Z- handleDepth()-Depth_Keller msg: 13.10 epoch sec; seqNo:1612979899297; depth 0.00 2021-02-10T17:58:19Z- waiting for 1612979901.49, time is 1612979898.49 2021-02-10T17:58:19Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:19Z- handleDvl() - RDI_Pathfinder msg: 1612979899.31 epoch sec; seqNo:178 2021-02-10T17:58:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-02-10T17:58:19Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-02-10T17:58:19Z- waiting for 1612979901.49, time is 1612979899.31 2021-02-10T17:58:19Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979899.34 epoch sec; seqNo:434; 4061750.23 north; 594508.02 east 2021-02-10T17:58:19Z- waiting for 1612979901.49, time is 1612979899.31 2021-02-10T17:58:19Z- sync is 0.03, coherence is 2.00 2021-02-10T17:58:19Z- AHRS_M2 msg: 1612979899.67 epoch sec; seqNo:433 2021-02-10T17:58:19Z- AHRS_M2 msg: 4.38 phi; -0.17 theta; -0.18 psi 2021-02-10T17:58:19Z- waiting for 1612979901.49, time is 1612979899.31 2021-02-10T17:58:19Z- sync is 0.37, coherence is 2.00 2021-02-10T17:58:19Z- handleDepth()-Depth_Keller msg: 13.17 epoch sec; seqNo:1612979899690; depth 0.00 2021-02-10T17:58:19Z- waiting for 1612979901.49, time is 1612979899.31 2021-02-10T17:58:19Z- sync is 0.37, coherence is 2.00 2021-02-10T17:58:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979899.70 epoch sec; seqNo:435; 4061749.84 north; 594506.80 east 2021-02-10T17:58:19Z- waiting for 1612979901.49, time is 1612979899.31 2021-02-10T17:58:19Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:20Z- AHRS_M2 msg: 1612979900.08 epoch sec; seqNo:434 2021-02-10T17:58:20Z- AHRS_M2 msg: 4.38 phi; -0.17 theta; -0.18 psi 2021-02-10T17:58:20Z- waiting for 1612979901.49, time is 1612979899.31 2021-02-10T17:58:20Z- sync is 0.77, coherence is 2.00 2021-02-10T17:58:20Z- handleDepth()-Depth_Keller msg: 13.23 epoch sec; seqNo:1612979900084; depth 0.00 2021-02-10T17:58:20Z- waiting for 1612979901.49, time is 1612979899.31 2021-02-10T17:58:20Z- sync is 0.77, coherence is 2.00 2021-02-10T17:58:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979900.09 epoch sec; seqNo:436; 4061749.84 north; 594506.80 east 2021-02-10T17:58:20Z- waiting for 1612979901.49, time is 1612979899.31 2021-02-10T17:58:20Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:20Z- AHRS_M2 msg: 1612979900.49 epoch sec; seqNo:435 2021-02-10T17:58:20Z- AHRS_M2 msg: 4.38 phi; -0.17 theta; -0.18 psi 2021-02-10T17:58:20Z- waiting for 1612979901.49, time is 1612979899.31 2021-02-10T17:58:20Z- sync is 1.18, coherence is 2.00 2021-02-10T17:58:20Z- handleDepth()-Depth_Keller msg: 13.28 epoch sec; seqNo:1612979900494; depth 0.00 2021-02-10T17:58:20Z- waiting for 1612979901.49, time is 1612979899.31 2021-02-10T17:58:20Z- sync is 1.18, coherence is 2.00 2021-02-10T17:58:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979900.53 epoch sec; seqNo:437; 4061749.84 north; 594506.80 east 2021-02-10T17:58:20Z- waiting for 1612979901.49, time is 1612979899.31 2021-02-10T17:58:20Z- sync is 1.22, coherence is 2.00 2021-02-10T17:58:20Z- AHRS_M2 msg: 1612979900.89 epoch sec; seqNo:436 2021-02-10T17:58:20Z- AHRS_M2 msg: 4.38 phi; -0.18 theta; -0.18 psi 2021-02-10T17:58:20Z- waiting for 1612979901.49, time is 1612979899.31 2021-02-10T17:58:20Z- sync is 1.58, coherence is 2.00 2021-02-10T17:58:20Z- handleDepth()-Depth_Keller msg: 13.36 epoch sec; seqNo:1612979900898; depth 0.00 2021-02-10T17:58:20Z- waiting for 1612979901.49, time is 1612979899.31 2021-02-10T17:58:20Z- sync is 1.58, coherence is 2.00 2021-02-10T17:58:20Z- handleDvl() - RDI_Pathfinder msg: 1612979900.91 epoch sec; seqNo:179 2021-02-10T17:58:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.16 , 85.01 , 70.34 , 0.00 2021-02-10T17:58:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.11 , 0.11 2021-02-10T17:58:20Z- waiting for 1612979901.49, time is 1612979900.91 2021-02-10T17:58:20Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979900.92 epoch sec; seqNo:438; 4061749.44 north; 594505.59 east 2021-02-10T17:58:20Z- waiting for 1612979901.49, time is 1612979900.91 2021-02-10T17:58:20Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:21Z- AHRS_M2 msg: 1612979901.29 epoch sec; seqNo:437 2021-02-10T17:58:21Z- AHRS_M2 msg: 4.38 phi; -0.18 theta; -0.19 psi 2021-02-10T17:58:21Z- waiting for 1612979901.49, time is 1612979900.91 2021-02-10T17:58:21Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:21Z- handleDepth()-Depth_Keller msg: 13.40 epoch sec; seqNo:1612979901296; depth 0.00 2021-02-10T17:58:21Z- waiting for 1612979901.49, time is 1612979900.91 2021-02-10T17:58:21Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979901.31 epoch sec; seqNo:439; 4061749.44 north; 594505.59 east 2021-02-10T17:58:21Z- waiting for 1612979901.49, time is 1612979900.91 2021-02-10T17:58:21Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:21Z- AHRS_M2 msg: 1612979901.70 epoch sec; seqNo:438 2021-02-10T17:58:21Z- AHRS_M2 msg: 4.38 phi; -0.18 theta; -0.19 psi 2021-02-10T17:58:21Z- waiting for 1612979901.49, time is 1612979900.91 2021-02-10T17:58:21Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:21Z- handleDepth()-Depth_Keller msg: 13.47 epoch sec; seqNo:1612979901703; depth 0.00 2021-02-10T17:58:21Z- waiting for 1612979901.49, time is 1612979900.91 2021-02-10T17:58:21Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:21Z- handleDvl() - RDI_Pathfinder msg: 1612979901.72 epoch sec; seqNo:180 2021-02-10T17:58:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.34 , 86.09 , 69.93 , 91.50 2021-02-10T17:58:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.11 , 0.11 2021-02-10T17:58:21Z- waiting for 1612979901.49, time is 1612979901.72 2021-02-10T17:58:21Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:21Z- LcmTrn::updateTrn() >>>> pose time 1612979901.70, meas time 1612979901.72 <<<< 2021-02-10T17:58:21Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979901.72 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:58:21Z- TerrainNav::motionUpdate() - currEstimate = (4061749, 594505.59, 13.47) 2021-02-10T17:58:21Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:58:21Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:58:21Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:58:21Z- TNavBF::mmse selected from filter -1 2021-02-10T17:58:21Z- variances([0], [2], and psi_berg) = 822.528194 833.175793 0.000000 2021-02-10T17:58:21Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:58:21Z- LcmTrn::cycle() - MLE : 4061711.94 594456.09 13.47 2021-02-10T17:58:21Z- LcmTrn::cycle() - MMSE : 4061749.44 594505.59 13.47 2021-02-10T17:58:21Z- LcmTrn::cycle() - COVAR: 822.53 833.18 29.27 0.00 2021-02-10T17:58:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979901.74 epoch sec; seqNo:440; 4061749.44 north; 594505.59 east 2021-02-10T17:58:21Z- waiting for 1612979904.72, time is 1612979901.72 2021-02-10T17:58:21Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:22Z- AHRS_M2 msg: 1612979902.10 epoch sec; seqNo:439 2021-02-10T17:58:22Z- AHRS_M2 msg: 4.38 phi; -0.18 theta; -0.19 psi 2021-02-10T17:58:22Z- waiting for 1612979904.72, time is 1612979901.72 2021-02-10T17:58:22Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:22Z- handleDepth()-Depth_Keller msg: 13.53 epoch sec; seqNo:1612979902108; depth 0.00 2021-02-10T17:58:22Z- waiting for 1612979904.72, time is 1612979901.72 2021-02-10T17:58:22Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979902.12 epoch sec; seqNo:441; 4061749.43 north; 594504.37 east 2021-02-10T17:58:22Z- waiting for 1612979904.72, time is 1612979901.72 2021-02-10T17:58:22Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:22Z- AHRS_M2 msg: 1612979902.50 epoch sec; seqNo:440 2021-02-10T17:58:22Z- AHRS_M2 msg: 4.38 phi; -0.18 theta; -0.19 psi 2021-02-10T17:58:22Z- waiting for 1612979904.72, time is 1612979901.72 2021-02-10T17:58:22Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:22Z- handleDepth()-Depth_Keller msg: 13.61 epoch sec; seqNo:1612979902514; depth 0.00 2021-02-10T17:58:22Z- waiting for 1612979904.72, time is 1612979901.72 2021-02-10T17:58:22Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979902.53 epoch sec; seqNo:442; 4061749.43 north; 594504.37 east 2021-02-10T17:58:22Z- waiting for 1612979904.72, time is 1612979901.72 2021-02-10T17:58:22Z- sync is 0.81, coherence is 2.00 2021-02-10T17:58:22Z- AHRS_M2 msg: 1612979902.91 epoch sec; seqNo:441 2021-02-10T17:58:22Z- AHRS_M2 msg: 4.38 phi; -0.19 theta; -0.19 psi 2021-02-10T17:58:22Z- waiting for 1612979904.72, time is 1612979901.72 2021-02-10T17:58:22Z- sync is 1.19, coherence is 2.00 2021-02-10T17:58:22Z- handleDepth()-Depth_Keller msg: 13.65 epoch sec; seqNo:1612979902917; depth 0.00 2021-02-10T17:58:22Z- waiting for 1612979904.72, time is 1612979901.72 2021-02-10T17:58:22Z- sync is 1.19, coherence is 2.00 2021-02-10T17:58:22Z- handleDvl() - RDI_Pathfinder msg: 1612979902.93 epoch sec; seqNo:181 2021-02-10T17:58:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.93 , 87.17 , 69.52 , 91.50 2021-02-10T17:58:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.06 , 0.06 2021-02-10T17:58:22Z- waiting for 1612979904.72, time is 1612979902.93 2021-02-10T17:58:22Z- sync is 0.03, coherence is 2.00 2021-02-10T17:58:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979902.94 epoch sec; seqNo:443; 4061749.05 north; 594504.37 east 2021-02-10T17:58:22Z- waiting for 1612979904.72, time is 1612979902.93 2021-02-10T17:58:22Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:23Z- AHRS_M2 msg: 1612979903.31 epoch sec; seqNo:442 2021-02-10T17:58:23Z- AHRS_M2 msg: 4.38 phi; -0.19 theta; -0.20 psi 2021-02-10T17:58:23Z- waiting for 1612979904.72, time is 1612979902.93 2021-02-10T17:58:23Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:23Z- handleDepth()-Depth_Keller msg: 13.73 epoch sec; seqNo:1612979903317; depth 0.00 2021-02-10T17:58:23Z- waiting for 1612979904.72, time is 1612979902.93 2021-02-10T17:58:23Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979903.33 epoch sec; seqNo:444; 4061749.05 north; 594504.37 east 2021-02-10T17:58:23Z- waiting for 1612979904.72, time is 1612979902.93 2021-02-10T17:58:23Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:23Z- AHRS_M2 msg: 1612979903.71 epoch sec; seqNo:443 2021-02-10T17:58:23Z- AHRS_M2 msg: 4.38 phi; -0.19 theta; -0.19 psi 2021-02-10T17:58:23Z- waiting for 1612979904.72, time is 1612979902.93 2021-02-10T17:58:23Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:23Z- handleDepth()-Depth_Keller msg: 13.79 epoch sec; seqNo:1612979903720; depth 0.00 2021-02-10T17:58:23Z- waiting for 1612979904.72, time is 1612979902.93 2021-02-10T17:58:23Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:23Z- handleDvl() - RDI_Pathfinder msg: 1612979903.74 epoch sec; seqNo:182 2021-02-10T17:58:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.34 , 87.17 , 69.52 , 91.50 2021-02-10T17:58:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.07 , 0.03 2021-02-10T17:58:23Z- waiting for 1612979904.72, time is 1612979903.74 2021-02-10T17:58:23Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979903.75 epoch sec; seqNo:445; 4061749.04 north; 594503.15 east 2021-02-10T17:58:23Z- waiting for 1612979904.72, time is 1612979903.74 2021-02-10T17:58:23Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:24Z- AHRS_M2 msg: 1612979904.12 epoch sec; seqNo:444 2021-02-10T17:58:24Z- AHRS_M2 msg: 4.38 phi; -0.19 theta; -0.19 psi 2021-02-10T17:58:24Z- waiting for 1612979904.72, time is 1612979903.74 2021-02-10T17:58:24Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:24Z- handleDepth()-Depth_Keller msg: 13.84 epoch sec; seqNo:1612979904129; depth 0.00 2021-02-10T17:58:24Z- waiting for 1612979904.72, time is 1612979903.74 2021-02-10T17:58:24Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979904.14 epoch sec; seqNo:446; 4061748.66 north; 594503.15 east 2021-02-10T17:58:24Z- waiting for 1612979904.72, time is 1612979903.74 2021-02-10T17:58:24Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:24Z- AHRS_M2 msg: 1612979904.52 epoch sec; seqNo:445 2021-02-10T17:58:24Z- AHRS_M2 msg: 4.37 phi; -0.19 theta; -0.19 psi 2021-02-10T17:58:24Z- waiting for 1612979904.72, time is 1612979903.74 2021-02-10T17:58:24Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:24Z- handleDepth()-Depth_Keller msg: 13.91 epoch sec; seqNo:1612979904529; depth 0.00 2021-02-10T17:58:24Z- waiting for 1612979904.72, time is 1612979903.74 2021-02-10T17:58:24Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979904.54 epoch sec; seqNo:447; 4061748.66 north; 594503.15 east 2021-02-10T17:58:24Z- waiting for 1612979904.72, time is 1612979903.74 2021-02-10T17:58:24Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:24Z- AHRS_M2 msg: 1612979904.93 epoch sec; seqNo:446 2021-02-10T17:58:24Z- AHRS_M2 msg: 4.37 phi; -0.19 theta; -0.19 psi 2021-02-10T17:58:24Z- waiting for 1612979904.72, time is 1612979903.74 2021-02-10T17:58:24Z- sync is 1.19, coherence is 2.00 2021-02-10T17:58:24Z- handleDepth()-Depth_Keller msg: 13.98 epoch sec; seqNo:1612979904941; depth 0.00 2021-02-10T17:58:24Z- waiting for 1612979904.72, time is 1612979903.74 2021-02-10T17:58:24Z- sync is 1.19, coherence is 2.00 2021-02-10T17:58:24Z- handleDvl() - RDI_Pathfinder msg: 1612979904.95 epoch sec; seqNo:183 2021-02-10T17:58:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-02-10T17:58:24Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-02-10T17:58:24Z- waiting for 1612979904.72, time is 1612979904.95 2021-02-10T17:58:24Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:24Z- LcmTrn::updateTrn() >>>> pose time 1612979904.93, meas time 1612979904.95 <<<< 2021-02-10T17:58:24Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1612979904.95, ping # 0. 2021-02-10T17:58:24Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979904.95 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:58:24Z- TerrainNav::motionUpdate() - currEstimate = (4061749, 594503.15, 13.98) 2021-02-10T17:58:24Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:58:24Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:58:24Z- TerrainNav::motionUpdate() - Invalid velocity 2021-02-10T17:58:24Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-02-10T17:58:24Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:58:24Z- TNavBF::mmse selected from filter -1 2021-02-10T17:58:24Z- variances([0], [2], and psi_berg) = 822.198499 833.174143 0.000000 2021-02-10T17:58:24Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:58:24Z- LcmTrn::cycle() - MLE : 4061711.16 594454.65 13.98 2021-02-10T17:58:24Z- LcmTrn::cycle() - MMSE : 4061748.66 594503.15 13.98 2021-02-10T17:58:24Z- LcmTrn::cycle() - COVAR: 822.20 833.17 29.40 0.00 2021-02-10T17:58:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979904.96 epoch sec; seqNo:448; 4061748.65 north; 594501.93 east 2021-02-10T17:58:24Z- waiting for 1612979907.95, time is 1612979904.95 2021-02-10T17:58:24Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:25Z- AHRS_M2 msg: 1612979905.33 epoch sec; seqNo:447 2021-02-10T17:58:25Z- AHRS_M2 msg: 4.37 phi; -0.19 theta; -0.19 psi 2021-02-10T17:58:25Z- waiting for 1612979907.95, time is 1612979904.95 2021-02-10T17:58:25Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:25Z- handleDepth()-Depth_Keller msg: 14.05 epoch sec; seqNo:1612979905346; depth 0.00 2021-02-10T17:58:25Z- waiting for 1612979907.95, time is 1612979904.95 2021-02-10T17:58:25Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979905.36 epoch sec; seqNo:449; 4061748.65 north; 594501.93 east 2021-02-10T17:58:25Z- waiting for 1612979907.95, time is 1612979904.95 2021-02-10T17:58:25Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:25Z- AHRS_M2 msg: 1612979905.73 epoch sec; seqNo:448 2021-02-10T17:58:25Z- AHRS_M2 msg: 4.37 phi; -0.19 theta; -0.19 psi 2021-02-10T17:58:25Z- waiting for 1612979907.95, time is 1612979904.95 2021-02-10T17:58:25Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:25Z- handleDepth()-Depth_Keller msg: 14.12 epoch sec; seqNo:1612979905745; depth 0.00 2021-02-10T17:58:25Z- waiting for 1612979907.95, time is 1612979904.95 2021-02-10T17:58:25Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:25Z- handleDvl() - RDI_Pathfinder msg: 1612979905.76 epoch sec; seqNo:184 2021-02-10T17:58:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.34 , 87.17 , 69.11 , 98.14 2021-02-10T17:58:25Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.03 , -0.03 2021-02-10T17:58:25Z- waiting for 1612979907.95, time is 1612979905.76 2021-02-10T17:58:25Z- sync is 0.03, coherence is 2.00 2021-02-10T17:58:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979905.78 epoch sec; seqNo:450; 4061748.27 north; 594501.94 east 2021-02-10T17:58:25Z- waiting for 1612979907.95, time is 1612979905.76 2021-02-10T17:58:25Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:26Z- AHRS_M2 msg: 1612979906.14 epoch sec; seqNo:449 2021-02-10T17:58:26Z- AHRS_M2 msg: 4.36 phi; -0.20 theta; -0.19 psi 2021-02-10T17:58:26Z- waiting for 1612979907.95, time is 1612979905.76 2021-02-10T17:58:26Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:26Z- handleDepth()-Depth_Keller msg: 14.19 epoch sec; seqNo:1612979906144; depth 0.00 2021-02-10T17:58:26Z- waiting for 1612979907.95, time is 1612979905.76 2021-02-10T17:58:26Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979906.15 epoch sec; seqNo:451; 4061748.25 north; 594500.72 east 2021-02-10T17:58:26Z- waiting for 1612979907.95, time is 1612979905.76 2021-02-10T17:58:26Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:26Z- AHRS_M2 msg: 1612979906.55 epoch sec; seqNo:450 2021-02-10T17:58:26Z- AHRS_M2 msg: 4.36 phi; -0.20 theta; -0.19 psi 2021-02-10T17:58:26Z- waiting for 1612979907.95, time is 1612979905.76 2021-02-10T17:58:26Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:26Z- handleDepth()-Depth_Keller msg: 14.26 epoch sec; seqNo:1612979906553; depth 0.00 2021-02-10T17:58:26Z- waiting for 1612979907.95, time is 1612979905.76 2021-02-10T17:58:26Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979906.57 epoch sec; seqNo:452; 4061748.25 north; 594500.72 east 2021-02-10T17:58:26Z- waiting for 1612979907.95, time is 1612979905.76 2021-02-10T17:58:26Z- sync is 0.81, coherence is 2.00 2021-02-10T17:58:26Z- AHRS_M2 msg: 1612979906.95 epoch sec; seqNo:451 2021-02-10T17:58:26Z- AHRS_M2 msg: 4.36 phi; -0.20 theta; -0.19 psi 2021-02-10T17:58:26Z- waiting for 1612979907.95, time is 1612979905.76 2021-02-10T17:58:26Z- sync is 1.18, coherence is 2.00 2021-02-10T17:58:26Z- handleDepth()-Depth_Keller msg: 14.32 epoch sec; seqNo:1612979906953; depth 0.00 2021-02-10T17:58:26Z- waiting for 1612979907.95, time is 1612979905.76 2021-02-10T17:58:26Z- sync is 1.18, coherence is 2.00 2021-02-10T17:58:26Z- handleDvl() - RDI_Pathfinder msg: 1612979906.97 epoch sec; seqNo:185 2021-02-10T17:58:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.93 , 84.87 , 67.89 , 91.37 2021-02-10T17:58:26Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.01 , -0.03 2021-02-10T17:58:26Z- waiting for 1612979907.95, time is 1612979906.97 2021-02-10T17:58:26Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979906.98 epoch sec; seqNo:453; 4061747.88 north; 594500.72 east 2021-02-10T17:58:26Z- waiting for 1612979907.95, time is 1612979906.97 2021-02-10T17:58:26Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:27Z- AHRS_M2 msg: 1612979907.36 epoch sec; seqNo:452 2021-02-10T17:58:27Z- AHRS_M2 msg: 4.36 phi; -0.20 theta; -0.19 psi 2021-02-10T17:58:27Z- waiting for 1612979907.95, time is 1612979906.97 2021-02-10T17:58:27Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:27Z- handleDepth()-Depth_Keller msg: 14.41 epoch sec; seqNo:1612979907361; depth 0.00 2021-02-10T17:58:27Z- waiting for 1612979907.95, time is 1612979906.97 2021-02-10T17:58:27Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979907.38 epoch sec; seqNo:454; 4061747.86 north; 594499.50 east 2021-02-10T17:58:27Z- waiting for 1612979907.95, time is 1612979906.97 2021-02-10T17:58:27Z- sync is 0.41, coherence is 2.00 2021-02-10T17:58:27Z- AHRS_M2 msg: 1612979907.76 epoch sec; seqNo:453 2021-02-10T17:58:27Z- AHRS_M2 msg: 4.36 phi; -0.20 theta; -0.19 psi 2021-02-10T17:58:27Z- waiting for 1612979907.95, time is 1612979906.97 2021-02-10T17:58:27Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:27Z- handleDepth()-Depth_Keller msg: 14.46 epoch sec; seqNo:1612979907760; depth 0.00 2021-02-10T17:58:27Z- waiting for 1612979907.95, time is 1612979906.97 2021-02-10T17:58:27Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:27Z- handleDvl() - RDI_Pathfinder msg: 1612979907.77 epoch sec; seqNo:186 2021-02-10T17:58:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.34 , 0.00 , 68.71 , 91.50 2021-02-10T17:58:27Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.01 , -0.03 2021-02-10T17:58:27Z- waiting for 1612979907.95, time is 1612979907.77 2021-02-10T17:58:27Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979907.82 epoch sec; seqNo:455; 4061747.48 north; 594499.51 east 2021-02-10T17:58:27Z- waiting for 1612979907.95, time is 1612979907.77 2021-02-10T17:58:27Z- sync is 0.05, coherence is 2.00 2021-02-10T17:58:28Z- AHRS_M2 msg: 1612979908.16 epoch sec; seqNo:454 2021-02-10T17:58:28Z- AHRS_M2 msg: 4.36 phi; -0.20 theta; -0.19 psi 2021-02-10T17:58:28Z- waiting for 1612979907.95, time is 1612979907.77 2021-02-10T17:58:28Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:28Z- handleDepth()-Depth_Keller msg: 14.53 epoch sec; seqNo:1612979908165; depth 0.00 2021-02-10T17:58:28Z- waiting for 1612979907.95, time is 1612979907.77 2021-02-10T17:58:28Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979908.18 epoch sec; seqNo:456; 4061747.48 north; 594499.51 east 2021-02-10T17:58:28Z- waiting for 1612979907.95, time is 1612979907.77 2021-02-10T17:58:28Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:28Z- AHRS_M2 msg: 1612979908.58 epoch sec; seqNo:455 2021-02-10T17:58:28Z- AHRS_M2 msg: 4.36 phi; -0.21 theta; -0.19 psi 2021-02-10T17:58:28Z- waiting for 1612979907.95, time is 1612979907.77 2021-02-10T17:58:28Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:28Z- handleDepth()-Depth_Keller msg: 14.61 epoch sec; seqNo:1612979908599; depth 0.00 2021-02-10T17:58:28Z- waiting for 1612979907.95, time is 1612979907.77 2021-02-10T17:58:28Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:28Z- handleDvl() - RDI_Pathfinder msg: 1612979908.61 epoch sec; seqNo:187 2021-02-10T17:58:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.52 , 87.17 , 67.89 , 90.42 2021-02-10T17:58:28Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.05 , -0.03 2021-02-10T17:58:28Z- waiting for 1612979907.95, time is 1612979908.61 2021-02-10T17:58:28Z- sync is 0.04, coherence is 2.00 2021-02-10T17:58:28Z- LcmTrn::updateTrn() >>>> pose time 1612979908.58, meas time 1612979908.61 <<<< 2021-02-10T17:58:28Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979908.61 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:58:28Z- TerrainNav::motionUpdate() - currEstimate = (4061747, 594499.51, 14.61) 2021-02-10T17:58:28Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:58:28Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:58:28Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:58:28Z- TNavBF::mmse selected from filter -1 2021-02-10T17:58:28Z- variances([0], [2], and psi_berg) = 821.798777 833.172177 0.000000 2021-02-10T17:58:28Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:58:28Z- LcmTrn::cycle() - MLE : 4061709.98 594451.01 14.61 2021-02-10T17:58:28Z- LcmTrn::cycle() - MMSE : 4061747.48 594499.51 14.61 2021-02-10T17:58:28Z- LcmTrn::cycle() - COVAR: 821.80 833.17 29.59 0.00 2021-02-10T17:58:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979908.62 epoch sec; seqNo:457; 4061747.47 north; 594498.29 east 2021-02-10T17:58:28Z- waiting for 1612979911.61, time is 1612979908.61 2021-02-10T17:58:28Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:28Z- AHRS_M2 msg: 1612979908.97 epoch sec; seqNo:456 2021-02-10T17:58:28Z- AHRS_M2 msg: 4.36 phi; -0.21 theta; -0.19 psi 2021-02-10T17:58:28Z- waiting for 1612979911.61, time is 1612979908.61 2021-02-10T17:58:28Z- sync is 0.36, coherence is 2.00 2021-02-10T17:58:28Z- handleDepth()-Depth_Keller msg: 14.69 epoch sec; seqNo:1612979908972; depth 0.00 2021-02-10T17:58:28Z- waiting for 1612979911.61, time is 1612979908.61 2021-02-10T17:58:28Z- sync is 0.36, coherence is 2.00 2021-02-10T17:58:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979908.98 epoch sec; seqNo:458; 4061747.09 north; 594498.29 east 2021-02-10T17:58:28Z- waiting for 1612979911.61, time is 1612979908.61 2021-02-10T17:58:28Z- sync is 0.37, coherence is 2.00 2021-02-10T17:58:29Z- AHRS_M2 msg: 1612979909.37 epoch sec; seqNo:457 2021-02-10T17:58:29Z- AHRS_M2 msg: 4.36 phi; -0.21 theta; -0.19 psi 2021-02-10T17:58:29Z- waiting for 1612979911.61, time is 1612979908.61 2021-02-10T17:58:29Z- sync is 0.76, coherence is 2.00 2021-02-10T17:58:29Z- handleDepth()-Depth_Keller msg: 14.75 epoch sec; seqNo:1612979909377; depth 0.00 2021-02-10T17:58:29Z- waiting for 1612979911.61, time is 1612979908.61 2021-02-10T17:58:29Z- sync is 0.76, coherence is 2.00 2021-02-10T17:58:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979909.38 epoch sec; seqNo:459; 4061747.09 north; 594498.29 east 2021-02-10T17:58:29Z- waiting for 1612979911.61, time is 1612979908.61 2021-02-10T17:58:29Z- sync is 0.77, coherence is 2.00 2021-02-10T17:58:29Z- AHRS_M2 msg: 1612979909.78 epoch sec; seqNo:458 2021-02-10T17:58:29Z- AHRS_M2 msg: 4.36 phi; -0.21 theta; -0.19 psi 2021-02-10T17:58:29Z- waiting for 1612979911.61, time is 1612979908.61 2021-02-10T17:58:29Z- sync is 1.17, coherence is 2.00 2021-02-10T17:58:29Z- handleDepth()-Depth_Keller msg: 14.81 epoch sec; seqNo:1612979909793; depth 0.00 2021-02-10T17:58:29Z- waiting for 1612979911.61, time is 1612979908.61 2021-02-10T17:58:29Z- sync is 1.17, coherence is 2.00 2021-02-10T17:58:29Z- handleDvl() - RDI_Pathfinder msg: 1612979909.81 epoch sec; seqNo:188 2021-02-10T17:58:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.11 , 85.01 , 67.89 , 90.42 2021-02-10T17:58:29Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.08 , -0.00 2021-02-10T17:58:29Z- waiting for 1612979911.61, time is 1612979909.81 2021-02-10T17:58:29Z- sync is 0.03, coherence is 2.00 2021-02-10T17:58:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979909.82 epoch sec; seqNo:460; 4061747.08 north; 594497.07 east 2021-02-10T17:58:29Z- waiting for 1612979911.61, time is 1612979909.81 2021-02-10T17:58:29Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:30Z- AHRS_M2 msg: 1612979910.18 epoch sec; seqNo:459 2021-02-10T17:58:30Z- AHRS_M2 msg: 4.35 phi; -0.21 theta; -0.19 psi 2021-02-10T17:58:30Z- waiting for 1612979911.61, time is 1612979909.81 2021-02-10T17:58:30Z- sync is 0.37, coherence is 2.00 2021-02-10T17:58:30Z- handleDepth()-Depth_Keller msg: 14.89 epoch sec; seqNo:1612979910189; depth 0.00 2021-02-10T17:58:30Z- waiting for 1612979911.61, time is 1612979909.81 2021-02-10T17:58:30Z- sync is 0.37, coherence is 2.00 2021-02-10T17:58:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979910.21 epoch sec; seqNo:461; 4061747.08 north; 594497.07 east 2021-02-10T17:58:30Z- waiting for 1612979911.61, time is 1612979909.81 2021-02-10T17:58:30Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:30Z- AHRS_M2 msg: 1612979910.60 epoch sec; seqNo:460 2021-02-10T17:58:30Z- AHRS_M2 msg: 4.35 phi; -0.21 theta; -0.19 psi 2021-02-10T17:58:30Z- waiting for 1612979911.61, time is 1612979909.81 2021-02-10T17:58:30Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:30Z- handleDepth()-Depth_Keller msg: 14.97 epoch sec; seqNo:1612979910615; depth 0.00 2021-02-10T17:58:30Z- waiting for 1612979911.61, time is 1612979909.81 2021-02-10T17:58:30Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:30Z- handleDvl() - RDI_Pathfinder msg: 1612979910.63 epoch sec; seqNo:189 2021-02-10T17:58:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.93 , 83.92 , 67.89 , 90.42 2021-02-10T17:58:30Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.06 , 0.02 2021-02-10T17:58:30Z- waiting for 1612979911.61, time is 1612979910.63 2021-02-10T17:58:30Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979910.64 epoch sec; seqNo:462; 4061746.70 north; 594497.07 east 2021-02-10T17:58:30Z- waiting for 1612979911.61, time is 1612979910.63 2021-02-10T17:58:30Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:30Z- AHRS_M2 msg: 1612979910.99 epoch sec; seqNo:461 2021-02-10T17:58:30Z- AHRS_M2 msg: 4.35 phi; -0.21 theta; -0.19 psi 2021-02-10T17:58:30Z- waiting for 1612979911.61, time is 1612979910.63 2021-02-10T17:58:30Z- sync is 0.36, coherence is 2.00 2021-02-10T17:58:30Z- handleDepth()-Depth_Keller msg: 15.05 epoch sec; seqNo:1612979910992; depth 0.00 2021-02-10T17:58:30Z- waiting for 1612979911.61, time is 1612979910.63 2021-02-10T17:58:30Z- sync is 0.36, coherence is 2.00 2021-02-10T17:58:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979911.01 epoch sec; seqNo:463; 4061746.68 north; 594495.85 east 2021-02-10T17:58:31Z- waiting for 1612979911.61, time is 1612979910.63 2021-02-10T17:58:31Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:31Z- AHRS_M2 msg: 1612979911.40 epoch sec; seqNo:462 2021-02-10T17:58:31Z- AHRS_M2 msg: 4.34 phi; -0.21 theta; -0.19 psi 2021-02-10T17:58:31Z- waiting for 1612979911.61, time is 1612979910.63 2021-02-10T17:58:31Z- sync is 0.77, coherence is 2.00 2021-02-10T17:58:31Z- handleDepth()-Depth_Keller msg: 15.12 epoch sec; seqNo:1612979911403; depth 0.00 2021-02-10T17:58:31Z- waiting for 1612979911.61, time is 1612979910.63 2021-02-10T17:58:31Z- sync is 0.77, coherence is 2.00 2021-02-10T17:58:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979911.41 epoch sec; seqNo:464; 4061746.68 north; 594495.85 east 2021-02-10T17:58:31Z- waiting for 1612979911.61, time is 1612979910.63 2021-02-10T17:58:31Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:31Z- AHRS_M2 msg: 1612979911.80 epoch sec; seqNo:463 2021-02-10T17:58:31Z- AHRS_M2 msg: 4.34 phi; -0.21 theta; -0.19 psi 2021-02-10T17:58:31Z- waiting for 1612979911.61, time is 1612979910.63 2021-02-10T17:58:31Z- sync is 1.18, coherence is 2.00 2021-02-10T17:58:31Z- handleDepth()-Depth_Keller msg: 15.19 epoch sec; seqNo:1612979911807; depth 0.00 2021-02-10T17:58:31Z- waiting for 1612979911.61, time is 1612979910.63 2021-02-10T17:58:31Z- sync is 1.18, coherence is 2.00 2021-02-10T17:58:31Z- handleDvl() - RDI_Pathfinder msg: 1612979911.82 epoch sec; seqNo:190 2021-02-10T17:58:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.52 , 86.09 , 67.07 , 90.42 2021-02-10T17:58:31Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.05 , 0.07 2021-02-10T17:58:31Z- waiting for 1612979911.61, time is 1612979911.82 2021-02-10T17:58:31Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:31Z- LcmTrn::updateTrn() >>>> pose time 1612979911.80, meas time 1612979911.82 <<<< 2021-02-10T17:58:31Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979911.82 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:58:31Z- TerrainNav::motionUpdate() - currEstimate = (4061747, 594495.85, 15.19) 2021-02-10T17:58:31Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:58:31Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:58:31Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:58:31Z- TNavBF::mmse selected from filter -1 2021-02-10T17:58:31Z- variances([0], [2], and psi_berg) = 821.408861 833.170297 0.000000 2021-02-10T17:58:31Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:58:31Z- LcmTrn::cycle() - MLE : 4061709.18 594448.35 15.19 2021-02-10T17:58:31Z- LcmTrn::cycle() - MMSE : 4061746.68 594495.85 15.19 2021-02-10T17:58:31Z- LcmTrn::cycle() - COVAR: 821.41 833.17 29.78 0.00 2021-02-10T17:58:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979911.83 epoch sec; seqNo:465; 4061746.31 north; 594495.86 east 2021-02-10T17:58:31Z- waiting for 1612979914.82, time is 1612979911.82 2021-02-10T17:58:31Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:32Z- AHRS_M2 msg: 1612979912.20 epoch sec; seqNo:464 2021-02-10T17:58:32Z- AHRS_M2 msg: 4.33 phi; -0.22 theta; -0.19 psi 2021-02-10T17:58:32Z- waiting for 1612979914.82, time is 1612979911.82 2021-02-10T17:58:32Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:32Z- handleDepth()-Depth_Keller msg: 15.29 epoch sec; seqNo:1612979912204; depth 0.00 2021-02-10T17:58:32Z- waiting for 1612979914.82, time is 1612979911.82 2021-02-10T17:58:32Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979912.22 epoch sec; seqNo:466; 4061746.29 north; 594494.64 east 2021-02-10T17:58:32Z- waiting for 1612979914.82, time is 1612979911.82 2021-02-10T17:58:32Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:32Z- AHRS_M2 msg: 1612979912.60 epoch sec; seqNo:465 2021-02-10T17:58:32Z- AHRS_M2 msg: 4.33 phi; -0.22 theta; -0.19 psi 2021-02-10T17:58:32Z- waiting for 1612979914.82, time is 1612979911.82 2021-02-10T17:58:32Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:32Z- handleDepth()-Depth_Keller msg: 15.36 epoch sec; seqNo:1612979912608; depth 0.00 2021-02-10T17:58:32Z- waiting for 1612979914.82, time is 1612979911.82 2021-02-10T17:58:32Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:32Z- handleDvl() - RDI_Pathfinder msg: 1612979912.62 epoch sec; seqNo:191 2021-02-10T17:58:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.30 , 85.01 , 67.07 , 0.00 2021-02-10T17:58:32Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.05 , 0.08 2021-02-10T17:58:32Z- waiting for 1612979914.82, time is 1612979912.62 2021-02-10T17:58:32Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979912.63 epoch sec; seqNo:467; 4061746.29 north; 594494.64 east 2021-02-10T17:58:32Z- waiting for 1612979914.82, time is 1612979912.62 2021-02-10T17:58:32Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:33Z- AHRS_M2 msg: 1612979913.01 epoch sec; seqNo:466 2021-02-10T17:58:33Z- AHRS_M2 msg: 4.33 phi; -0.22 theta; -0.19 psi 2021-02-10T17:58:33Z- waiting for 1612979914.82, time is 1612979912.62 2021-02-10T17:58:33Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:33Z- handleDepth()-Depth_Keller msg: 15.44 epoch sec; seqNo:1612979913021; depth 0.00 2021-02-10T17:58:33Z- waiting for 1612979914.82, time is 1612979912.62 2021-02-10T17:58:33Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979913.03 epoch sec; seqNo:468; 4061745.91 north; 594494.64 east 2021-02-10T17:58:33Z- waiting for 1612979914.82, time is 1612979912.62 2021-02-10T17:58:33Z- sync is 0.41, coherence is 2.00 2021-02-10T17:58:33Z- AHRS_M2 msg: 1612979913.41 epoch sec; seqNo:467 2021-02-10T17:58:33Z- AHRS_M2 msg: 4.33 phi; -0.22 theta; -0.20 psi 2021-02-10T17:58:33Z- waiting for 1612979914.82, time is 1612979912.62 2021-02-10T17:58:33Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:33Z- handleDepth()-Depth_Keller msg: 15.51 epoch sec; seqNo:1612979913416; depth 0.00 2021-02-10T17:58:33Z- waiting for 1612979914.82, time is 1612979912.62 2021-02-10T17:58:33Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979913.44 epoch sec; seqNo:469; 4061745.91 north; 594494.64 east 2021-02-10T17:58:33Z- waiting for 1612979914.82, time is 1612979912.62 2021-02-10T17:58:33Z- sync is 0.82, coherence is 2.00 2021-02-10T17:58:33Z- AHRS_M2 msg: 1612979913.82 epoch sec; seqNo:468 2021-02-10T17:58:33Z- AHRS_M2 msg: 4.33 phi; -0.22 theta; -0.20 psi 2021-02-10T17:58:33Z- waiting for 1612979914.82, time is 1612979912.62 2021-02-10T17:58:33Z- sync is 1.20, coherence is 2.00 2021-02-10T17:58:33Z- handleDepth()-Depth_Keller msg: 15.59 epoch sec; seqNo:1612979913825; depth 0.00 2021-02-10T17:58:33Z- waiting for 1612979914.82, time is 1612979912.62 2021-02-10T17:58:33Z- sync is 1.20, coherence is 2.00 2021-02-10T17:58:33Z- handleDvl() - RDI_Pathfinder msg: 1612979913.84 epoch sec; seqNo:192 2021-02-10T17:58:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.11 , 85.01 , 67.07 , 90.42 2021-02-10T17:58:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.03 , 0.05 2021-02-10T17:58:33Z- waiting for 1612979914.82, time is 1612979913.84 2021-02-10T17:58:33Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979913.86 epoch sec; seqNo:470; 4061745.90 north; 594493.42 east 2021-02-10T17:58:33Z- waiting for 1612979914.82, time is 1612979913.84 2021-02-10T17:58:33Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:34Z- AHRS_M2 msg: 1612979914.22 epoch sec; seqNo:469 2021-02-10T17:58:34Z- AHRS_M2 msg: 4.34 phi; -0.22 theta; -0.19 psi 2021-02-10T17:58:34Z- waiting for 1612979914.82, time is 1612979913.84 2021-02-10T17:58:34Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:34Z- handleDepth()-Depth_Keller msg: 15.67 epoch sec; seqNo:1612979914231; depth 0.00 2021-02-10T17:58:34Z- waiting for 1612979914.82, time is 1612979913.84 2021-02-10T17:58:34Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979914.24 epoch sec; seqNo:471; 4061745.52 north; 594493.43 east 2021-02-10T17:58:34Z- waiting for 1612979914.82, time is 1612979913.84 2021-02-10T17:58:34Z- sync is 0.41, coherence is 2.00 2021-02-10T17:58:34Z- AHRS_M2 msg: 1612979914.62 epoch sec; seqNo:470 2021-02-10T17:58:34Z- AHRS_M2 msg: 4.34 phi; -0.22 theta; -0.19 psi 2021-02-10T17:58:34Z- waiting for 1612979914.82, time is 1612979913.84 2021-02-10T17:58:34Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:34Z- handleDepth()-Depth_Keller msg: 15.74 epoch sec; seqNo:1612979914631; depth 0.00 2021-02-10T17:58:34Z- waiting for 1612979914.82, time is 1612979913.84 2021-02-10T17:58:34Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:34Z- handleDvl() - RDI_Pathfinder msg: 1612979914.64 epoch sec; seqNo:193 2021-02-10T17:58:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.71 , 0.00 , 66.66 , 91.50 2021-02-10T17:58:34Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.03 , 0.03 2021-02-10T17:58:34Z- waiting for 1612979914.82, time is 1612979914.64 2021-02-10T17:58:34Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979914.65 epoch sec; seqNo:472; 4061745.52 north; 594493.43 east 2021-02-10T17:58:34Z- waiting for 1612979914.82, time is 1612979914.64 2021-02-10T17:58:34Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:35Z- AHRS_M2 msg: 1612979915.03 epoch sec; seqNo:471 2021-02-10T17:58:35Z- AHRS_M2 msg: 4.34 phi; -0.22 theta; -0.19 psi 2021-02-10T17:58:35Z- waiting for 1612979914.82, time is 1612979914.64 2021-02-10T17:58:35Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:35Z- handleDepth()-Depth_Keller msg: 15.83 epoch sec; seqNo:1612979915037; depth 0.00 2021-02-10T17:58:35Z- waiting for 1612979914.82, time is 1612979914.64 2021-02-10T17:58:35Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979915.05 epoch sec; seqNo:473; 4061745.51 north; 594492.20 east 2021-02-10T17:58:35Z- waiting for 1612979914.82, time is 1612979914.64 2021-02-10T17:58:35Z- sync is 0.41, coherence is 2.00 2021-02-10T17:58:35Z- AHRS_M2 msg: 1612979915.43 epoch sec; seqNo:472 2021-02-10T17:58:35Z- AHRS_M2 msg: 4.34 phi; -0.22 theta; -0.19 psi 2021-02-10T17:58:35Z- waiting for 1612979914.82, time is 1612979914.64 2021-02-10T17:58:35Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:35Z- handleDepth()-Depth_Keller msg: 15.90 epoch sec; seqNo:1612979915436; depth 0.00 2021-02-10T17:58:35Z- waiting for 1612979914.82, time is 1612979914.64 2021-02-10T17:58:35Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979915.44 epoch sec; seqNo:474; 4061745.13 north; 594492.21 east 2021-02-10T17:58:35Z- waiting for 1612979914.82, time is 1612979914.64 2021-02-10T17:58:35Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:35Z- AHRS_M2 msg: 1612979915.84 epoch sec; seqNo:473 2021-02-10T17:58:35Z- AHRS_M2 msg: 4.33 phi; -0.22 theta; -0.18 psi 2021-02-10T17:58:35Z- waiting for 1612979914.82, time is 1612979914.64 2021-02-10T17:58:35Z- sync is 1.19, coherence is 2.00 2021-02-10T17:58:35Z- handleDepth()-Depth_Keller msg: 15.97 epoch sec; seqNo:1612979915845; depth 0.00 2021-02-10T17:58:35Z- waiting for 1612979914.82, time is 1612979914.64 2021-02-10T17:58:35Z- sync is 1.19, coherence is 2.00 2021-02-10T17:58:35Z- handleDvl() - RDI_Pathfinder msg: 1612979915.86 epoch sec; seqNo:194 2021-02-10T17:58:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.11 , 83.92 , 66.25 , 91.50 2021-02-10T17:58:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , 0.05 , 0.03 2021-02-10T17:58:35Z- waiting for 1612979914.82, time is 1612979915.86 2021-02-10T17:58:35Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:35Z- LcmTrn::updateTrn() >>>> pose time 1612979915.84, meas time 1612979915.86 <<<< 2021-02-10T17:58:35Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979915.86 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:58:35Z- TerrainNav::motionUpdate() - currEstimate = (4061745, 594492.21, 15.97) 2021-02-10T17:58:35Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:58:35Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:58:35Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:58:35Z- TNavBF::mmse selected from filter -1 2021-02-10T17:58:35Z- variances([0], [2], and psi_berg) = 821.012225 833.168423 0.000000 2021-02-10T17:58:35Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:58:35Z- LcmTrn::cycle() - MLE : 4061708.63 594443.71 15.97 2021-02-10T17:58:35Z- LcmTrn::cycle() - MMSE : 4061745.13 594492.21 15.97 2021-02-10T17:58:35Z- LcmTrn::cycle() - COVAR: 821.01 833.17 29.99 0.00 2021-02-10T17:58:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979915.87 epoch sec; seqNo:475; 4061745.13 north; 594492.21 east 2021-02-10T17:58:35Z- waiting for 1612979918.86, time is 1612979915.86 2021-02-10T17:58:35Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:36Z- AHRS_M2 msg: 1612979916.24 epoch sec; seqNo:474 2021-02-10T17:58:36Z- AHRS_M2 msg: 4.33 phi; -0.22 theta; -0.18 psi 2021-02-10T17:58:36Z- waiting for 1612979918.86, time is 1612979915.86 2021-02-10T17:58:36Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:36Z- handleDepth()-Depth_Keller msg: 16.07 epoch sec; seqNo:1612979916247; depth 0.00 2021-02-10T17:58:36Z- waiting for 1612979918.86, time is 1612979915.86 2021-02-10T17:58:36Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979916.26 epoch sec; seqNo:476; 4061744.74 north; 594490.99 east 2021-02-10T17:58:36Z- waiting for 1612979918.86, time is 1612979915.86 2021-02-10T17:58:36Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:36Z- AHRS_M2 msg: 1612979916.64 epoch sec; seqNo:475 2021-02-10T17:58:36Z- AHRS_M2 msg: 4.33 phi; -0.22 theta; -0.18 psi 2021-02-10T17:58:36Z- waiting for 1612979918.86, time is 1612979915.86 2021-02-10T17:58:36Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:36Z- handleDepth()-Depth_Keller msg: 16.14 epoch sec; seqNo:1612979916648; depth 0.00 2021-02-10T17:58:36Z- waiting for 1612979918.86, time is 1612979915.86 2021-02-10T17:58:36Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:36Z- handleDvl() - RDI_Pathfinder msg: 1612979916.66 epoch sec; seqNo:195 2021-02-10T17:58:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.30 , 85.01 , 66.25 , 0.00 2021-02-10T17:58:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.04 , 0.05 2021-02-10T17:58:36Z- waiting for 1612979918.86, time is 1612979916.66 2021-02-10T17:58:36Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979916.69 epoch sec; seqNo:477; 4061744.74 north; 594490.99 east 2021-02-10T17:58:36Z- waiting for 1612979918.86, time is 1612979916.66 2021-02-10T17:58:36Z- sync is 0.03, coherence is 2.00 2021-02-10T17:58:37Z- AHRS_M2 msg: 1612979917.05 epoch sec; seqNo:476 2021-02-10T17:58:37Z- AHRS_M2 msg: 4.33 phi; -0.23 theta; -0.19 psi 2021-02-10T17:58:37Z- waiting for 1612979918.86, time is 1612979916.66 2021-02-10T17:58:37Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:37Z- handleDepth()-Depth_Keller msg: 16.22 epoch sec; seqNo:1612979917068; depth 0.00 2021-02-10T17:58:37Z- waiting for 1612979918.86, time is 1612979916.66 2021-02-10T17:58:37Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979917.11 epoch sec; seqNo:478; 4061744.74 north; 594490.99 east 2021-02-10T17:58:37Z- waiting for 1612979918.86, time is 1612979916.66 2021-02-10T17:58:37Z- sync is 0.45, coherence is 2.00 2021-02-10T17:58:37Z- AHRS_M2 msg: 1612979917.45 epoch sec; seqNo:477 2021-02-10T17:58:37Z- AHRS_M2 msg: 4.33 phi; -0.23 theta; -0.19 psi 2021-02-10T17:58:37Z- waiting for 1612979918.86, time is 1612979916.66 2021-02-10T17:58:37Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:37Z- handleDepth()-Depth_Keller msg: 16.31 epoch sec; seqNo:1612979917456; depth 0.00 2021-02-10T17:58:37Z- waiting for 1612979918.86, time is 1612979916.66 2021-02-10T17:58:37Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979917.47 epoch sec; seqNo:479; 4061744.36 north; 594491.00 east 2021-02-10T17:58:37Z- waiting for 1612979918.86, time is 1612979916.66 2021-02-10T17:58:37Z- sync is 0.81, coherence is 2.00 2021-02-10T17:58:37Z- AHRS_M2 msg: 1612979917.86 epoch sec; seqNo:478 2021-02-10T17:58:37Z- AHRS_M2 msg: 4.33 phi; -0.23 theta; -0.19 psi 2021-02-10T17:58:37Z- waiting for 1612979918.86, time is 1612979916.66 2021-02-10T17:58:37Z- sync is 1.20, coherence is 2.00 2021-02-10T17:58:37Z- handleDepth()-Depth_Keller msg: 16.37 epoch sec; seqNo:1612979917865; depth 0.00 2021-02-10T17:58:37Z- waiting for 1612979918.86, time is 1612979916.66 2021-02-10T17:58:37Z- sync is 1.20, coherence is 2.00 2021-02-10T17:58:37Z- handleDvl() - RDI_Pathfinder msg: 1612979917.88 epoch sec; seqNo:196 2021-02-10T17:58:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.30 , 85.01 , 65.84 , 98.00 2021-02-10T17:58:37Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.03 , 0.05 2021-02-10T17:58:37Z- waiting for 1612979918.86, time is 1612979917.88 2021-02-10T17:58:37Z- sync is 0.03, coherence is 2.00 2021-02-10T17:58:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979917.89 epoch sec; seqNo:480; 4061744.34 north; 594489.78 east 2021-02-10T17:58:37Z- waiting for 1612979918.86, time is 1612979917.88 2021-02-10T17:58:37Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:38Z- AHRS_M2 msg: 1612979918.26 epoch sec; seqNo:479 2021-02-10T17:58:38Z- AHRS_M2 msg: 4.33 phi; -0.23 theta; -0.19 psi 2021-02-10T17:58:38Z- waiting for 1612979918.86, time is 1612979917.88 2021-02-10T17:58:38Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:38Z- handleDepth()-Depth_Keller msg: 16.46 epoch sec; seqNo:1612979918265; depth 0.00 2021-02-10T17:58:38Z- waiting for 1612979918.86, time is 1612979917.88 2021-02-10T17:58:38Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979918.28 epoch sec; seqNo:481; 4061744.34 north; 594489.78 east 2021-02-10T17:58:38Z- waiting for 1612979918.86, time is 1612979917.88 2021-02-10T17:58:38Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:38Z- AHRS_M2 msg: 1612979918.66 epoch sec; seqNo:480 2021-02-10T17:58:38Z- AHRS_M2 msg: 4.33 phi; -0.23 theta; -0.19 psi 2021-02-10T17:58:38Z- waiting for 1612979918.86, time is 1612979917.88 2021-02-10T17:58:38Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:38Z- handleDepth()-Depth_Keller msg: 16.54 epoch sec; seqNo:1612979918668; depth 0.00 2021-02-10T17:58:38Z- waiting for 1612979918.86, time is 1612979917.88 2021-02-10T17:58:38Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:38Z- handleDvl() - RDI_Pathfinder msg: 1612979918.68 epoch sec; seqNo:197 2021-02-10T17:58:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.71 , 85.01 , 65.84 , 90.42 2021-02-10T17:58:38Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.01 , 0.04 2021-02-10T17:58:38Z- waiting for 1612979918.86, time is 1612979918.68 2021-02-10T17:58:38Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979918.69 epoch sec; seqNo:482; 4061743.97 north; 594489.78 east 2021-02-10T17:58:38Z- waiting for 1612979918.86, time is 1612979918.68 2021-02-10T17:58:38Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:39Z- AHRS_M2 msg: 1612979919.07 epoch sec; seqNo:481 2021-02-10T17:58:39Z- AHRS_M2 msg: 4.33 phi; -0.23 theta; -0.19 psi 2021-02-10T17:58:39Z- waiting for 1612979918.86, time is 1612979918.68 2021-02-10T17:58:39Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:39Z- handleDepth()-Depth_Keller msg: 16.63 epoch sec; seqNo:1612979919074; depth 0.00 2021-02-10T17:58:39Z- waiting for 1612979918.86, time is 1612979918.68 2021-02-10T17:58:39Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979919.09 epoch sec; seqNo:483; 4061743.95 north; 594488.56 east 2021-02-10T17:58:39Z- waiting for 1612979918.86, time is 1612979918.68 2021-02-10T17:58:39Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:39Z- AHRS_M2 msg: 1612979919.47 epoch sec; seqNo:482 2021-02-10T17:58:39Z- AHRS_M2 msg: 4.34 phi; -0.23 theta; -0.19 psi 2021-02-10T17:58:39Z- waiting for 1612979918.86, time is 1612979918.68 2021-02-10T17:58:39Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:39Z- handleDepth()-Depth_Keller msg: 16.70 epoch sec; seqNo:1612979919481; depth 0.00 2021-02-10T17:58:39Z- waiting for 1612979918.86, time is 1612979918.68 2021-02-10T17:58:39Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979919.49 epoch sec; seqNo:484; 4061743.95 north; 594488.56 east 2021-02-10T17:58:39Z- waiting for 1612979918.86, time is 1612979918.68 2021-02-10T17:58:39Z- sync is 0.81, coherence is 2.00 2021-02-10T17:58:39Z- AHRS_M2 msg: 1612979919.88 epoch sec; seqNo:483 2021-02-10T17:58:39Z- AHRS_M2 msg: 4.34 phi; -0.23 theta; -0.19 psi 2021-02-10T17:58:39Z- waiting for 1612979918.86, time is 1612979918.68 2021-02-10T17:58:39Z- sync is 1.20, coherence is 2.00 2021-02-10T17:58:39Z- handleDepth()-Depth_Keller msg: 16.79 epoch sec; seqNo:1612979919885; depth 0.00 2021-02-10T17:58:39Z- waiting for 1612979918.86, time is 1612979918.68 2021-02-10T17:58:39Z- sync is 1.20, coherence is 2.00 2021-02-10T17:58:39Z- handleDvl() - RDI_Pathfinder msg: 1612979919.90 epoch sec; seqNo:198 2021-02-10T17:58:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.89 , 85.01 , 65.84 , 90.42 2021-02-10T17:58:39Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.00 , 0.00 2021-02-10T17:58:39Z- waiting for 1612979918.86, time is 1612979919.90 2021-02-10T17:58:39Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:39Z- LcmTrn::updateTrn() >>>> pose time 1612979919.88, meas time 1612979919.90 <<<< 2021-02-10T17:58:39Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979919.90 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:58:39Z- TerrainNav::motionUpdate() - currEstimate = (4061744, 594488.56, 16.79) 2021-02-10T17:58:39Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:58:39Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:58:39Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:58:39Z- TNavBF::mmse selected from filter -1 2021-02-10T17:58:39Z- variances([0], [2], and psi_berg) = 820.626800 833.166637 0.000000 2021-02-10T17:58:39Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:58:39Z- LcmTrn::cycle() - MLE : 4061707.45 594441.06 16.79 2021-02-10T17:58:39Z- LcmTrn::cycle() - MMSE : 4061743.95 594488.56 16.79 2021-02-10T17:58:39Z- LcmTrn::cycle() - COVAR: 820.63 833.17 30.18 0.00 2021-02-10T17:58:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979919.91 epoch sec; seqNo:485; 4061743.57 north; 594488.56 east 2021-02-10T17:58:39Z- waiting for 1612979922.90, time is 1612979919.90 2021-02-10T17:58:39Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:40Z- AHRS_M2 msg: 1612979920.28 epoch sec; seqNo:484 2021-02-10T17:58:40Z- AHRS_M2 msg: 4.34 phi; -0.23 theta; -0.19 psi 2021-02-10T17:58:40Z- waiting for 1612979922.90, time is 1612979919.90 2021-02-10T17:58:40Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:40Z- handleDepth()-Depth_Keller msg: 16.88 epoch sec; seqNo:1612979920294; depth 0.00 2021-02-10T17:58:40Z- waiting for 1612979922.90, time is 1612979919.90 2021-02-10T17:58:40Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979920.31 epoch sec; seqNo:486; 4061743.56 north; 594487.34 east 2021-02-10T17:58:40Z- waiting for 1612979922.90, time is 1612979919.90 2021-02-10T17:58:40Z- sync is 0.41, coherence is 2.00 2021-02-10T17:58:40Z- AHRS_M2 msg: 1612979920.68 epoch sec; seqNo:485 2021-02-10T17:58:40Z- AHRS_M2 msg: 4.34 phi; -0.23 theta; -0.18 psi 2021-02-10T17:58:40Z- waiting for 1612979922.90, time is 1612979919.90 2021-02-10T17:58:40Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:40Z- handleDepth()-Depth_Keller msg: 16.96 epoch sec; seqNo:1612979920688; depth 0.00 2021-02-10T17:58:40Z- waiting for 1612979922.90, time is 1612979919.90 2021-02-10T17:58:40Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:40Z- handleDvl() - RDI_Pathfinder msg: 1612979920.70 epoch sec; seqNo:199 2021-02-10T17:58:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.89 , 83.92 , 64.62 , 89.34 2021-02-10T17:58:40Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.01 , -0.01 2021-02-10T17:58:40Z- waiting for 1612979922.90, time is 1612979920.70 2021-02-10T17:58:40Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979920.73 epoch sec; seqNo:487; 4061743.18 north; 594487.35 east 2021-02-10T17:58:40Z- waiting for 1612979922.90, time is 1612979920.70 2021-02-10T17:58:40Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:41Z- AHRS_M2 msg: 1612979921.09 epoch sec; seqNo:486 2021-02-10T17:58:41Z- AHRS_M2 msg: 4.34 phi; -0.23 theta; -0.18 psi 2021-02-10T17:58:41Z- waiting for 1612979922.90, time is 1612979920.70 2021-02-10T17:58:41Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:41Z- handleDepth()-Depth_Keller msg: 17.06 epoch sec; seqNo:1612979921092; depth 0.00 2021-02-10T17:58:41Z- waiting for 1612979922.90, time is 1612979920.70 2021-02-10T17:58:41Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979921.10 epoch sec; seqNo:488; 4061743.18 north; 594487.35 east 2021-02-10T17:58:41Z- waiting for 1612979922.90, time is 1612979920.70 2021-02-10T17:58:41Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:41Z- AHRS_M2 msg: 1612979921.49 epoch sec; seqNo:487 2021-02-10T17:58:41Z- AHRS_M2 msg: 4.34 phi; -0.23 theta; -0.18 psi 2021-02-10T17:58:41Z- waiting for 1612979922.90, time is 1612979920.70 2021-02-10T17:58:41Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:41Z- handleDepth()-Depth_Keller msg: 17.14 epoch sec; seqNo:1612979921497; depth 0.00 2021-02-10T17:58:41Z- waiting for 1612979922.90, time is 1612979920.70 2021-02-10T17:58:41Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:41Z- handleDvl() - RDI_Pathfinder msg: 1612979921.51 epoch sec; seqNo:200 2021-02-10T17:58:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.89 , 79.75 , 64.62 , 0.00 2021-02-10T17:58:41Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.04 , -0.03 2021-02-10T17:58:41Z- waiting for 1612979922.90, time is 1612979921.51 2021-02-10T17:58:41Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979921.52 epoch sec; seqNo:489; 4061743.17 north; 594486.13 east 2021-02-10T17:58:41Z- waiting for 1612979922.90, time is 1612979921.51 2021-02-10T17:58:41Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:41Z- AHRS_M2 msg: 1612979921.89 epoch sec; seqNo:488 2021-02-10T17:58:41Z- AHRS_M2 msg: 4.34 phi; -0.23 theta; -0.18 psi 2021-02-10T17:58:41Z- waiting for 1612979922.90, time is 1612979921.51 2021-02-10T17:58:41Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:41Z- handleDepth()-Depth_Keller msg: 17.21 epoch sec; seqNo:1612979921900; depth 0.00 2021-02-10T17:58:41Z- waiting for 1612979922.90, time is 1612979921.51 2021-02-10T17:58:41Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979921.92 epoch sec; seqNo:490; 4061742.79 north; 594486.13 east 2021-02-10T17:58:41Z- waiting for 1612979922.90, time is 1612979921.51 2021-02-10T17:58:41Z- sync is 0.41, coherence is 2.00 2021-02-10T17:58:42Z- AHRS_M2 msg: 1612979922.30 epoch sec; seqNo:489 2021-02-10T17:58:42Z- AHRS_M2 msg: 4.34 phi; -0.23 theta; -0.18 psi 2021-02-10T17:58:42Z- waiting for 1612979922.90, time is 1612979921.51 2021-02-10T17:58:42Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:42Z- handleDepth()-Depth_Keller msg: 17.31 epoch sec; seqNo:1612979922306; depth 0.00 2021-02-10T17:58:42Z- waiting for 1612979922.90, time is 1612979921.51 2021-02-10T17:58:42Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:42Z- handleDvl() - RDI_Pathfinder msg: 1612979922.32 epoch sec; seqNo:201 2021-02-10T17:58:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.69 , 79.03 , 64.78 , 0.00 2021-02-10T17:58:42Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.05 , -0.02 2021-02-10T17:58:42Z- waiting for 1612979922.90, time is 1612979922.32 2021-02-10T17:58:42Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979922.34 epoch sec; seqNo:491; 4061742.79 north; 594486.13 east 2021-02-10T17:58:42Z- waiting for 1612979922.90, time is 1612979922.32 2021-02-10T17:58:42Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:42Z- AHRS_M2 msg: 1612979922.71 epoch sec; seqNo:490 2021-02-10T17:58:42Z- AHRS_M2 msg: 4.34 phi; -0.23 theta; -0.18 psi 2021-02-10T17:58:42Z- waiting for 1612979922.90, time is 1612979922.32 2021-02-10T17:58:42Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:42Z- handleDepth()-Depth_Keller msg: 17.40 epoch sec; seqNo:1612979922718; depth 0.00 2021-02-10T17:58:42Z- waiting for 1612979922.90, time is 1612979922.32 2021-02-10T17:58:42Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979922.73 epoch sec; seqNo:492; 4061742.78 north; 594484.91 east 2021-02-10T17:58:42Z- waiting for 1612979922.90, time is 1612979922.32 2021-02-10T17:58:42Z- sync is 0.41, coherence is 2.00 2021-02-10T17:58:43Z- AHRS_M2 msg: 1612979923.11 epoch sec; seqNo:491 2021-02-10T17:58:43Z- AHRS_M2 msg: 4.33 phi; -0.23 theta; -0.18 psi 2021-02-10T17:58:43Z- waiting for 1612979922.90, time is 1612979922.32 2021-02-10T17:58:43Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:43Z- handleDepth()-Depth_Keller msg: 17.48 epoch sec; seqNo:1612979923112; depth 0.00 2021-02-10T17:58:43Z- waiting for 1612979922.90, time is 1612979922.32 2021-02-10T17:58:43Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979923.12 epoch sec; seqNo:493; 4061742.40 north; 594484.92 east 2021-02-10T17:58:43Z- waiting for 1612979922.90, time is 1612979922.32 2021-02-10T17:58:43Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:43Z- AHRS_M2 msg: 1612979923.51 epoch sec; seqNo:492 2021-02-10T17:58:43Z- AHRS_M2 msg: 4.33 phi; -0.23 theta; -0.18 psi 2021-02-10T17:58:43Z- waiting for 1612979922.90, time is 1612979922.32 2021-02-10T17:58:43Z- sync is 1.19, coherence is 2.00 2021-02-10T17:58:43Z- handleDepth()-Depth_Keller msg: 17.57 epoch sec; seqNo:1612979923516; depth 0.00 2021-02-10T17:58:43Z- waiting for 1612979922.90, time is 1612979922.32 2021-02-10T17:58:43Z- sync is 1.19, coherence is 2.00 2021-02-10T17:58:43Z- handleDvl() - RDI_Pathfinder msg: 1612979923.53 epoch sec; seqNo:202 2021-02-10T17:58:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.69 , 78.71 , 64.46 , 0.00 2021-02-10T17:58:43Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.06 , -0.00 2021-02-10T17:58:43Z- waiting for 1612979922.90, time is 1612979923.53 2021-02-10T17:58:43Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:43Z- LcmTrn::updateTrn() >>>> pose time 1612979923.51, meas time 1612979923.53 <<<< 2021-02-10T17:58:43Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979923.53 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:58:43Z- TerrainNav::motionUpdate() - currEstimate = (4061742, 594484.92, 17.57) 2021-02-10T17:58:43Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:58:43Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:58:43Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:58:43Z- TNavBF::mmse selected from filter -1 2021-02-10T17:58:43Z- variances([0], [2], and psi_berg) = 820.239524 833.164878 0.000000 2021-02-10T17:58:43Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:58:43Z- LcmTrn::cycle() - MLE : 4061705.90 594437.42 17.57 2021-02-10T17:58:43Z- LcmTrn::cycle() - MMSE : 4061742.40 594484.92 17.57 2021-02-10T17:58:43Z- LcmTrn::cycle() - COVAR: 820.24 833.16 30.38 0.00 2021-02-10T17:58:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979923.54 epoch sec; seqNo:494; 4061742.40 north; 594484.92 east 2021-02-10T17:58:43Z- waiting for 1612979926.53, time is 1612979923.53 2021-02-10T17:58:43Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:43Z- AHRS_M2 msg: 1612979923.91 epoch sec; seqNo:493 2021-02-10T17:58:43Z- AHRS_M2 msg: 4.33 phi; -0.23 theta; -0.18 psi 2021-02-10T17:58:43Z- waiting for 1612979926.53, time is 1612979923.53 2021-02-10T17:58:43Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:43Z- handleDepth()-Depth_Keller msg: 17.65 epoch sec; seqNo:1612979923929; depth 0.00 2021-02-10T17:58:43Z- waiting for 1612979926.53, time is 1612979923.53 2021-02-10T17:58:43Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979923.94 epoch sec; seqNo:495; 4061742.38 north; 594483.70 east 2021-02-10T17:58:43Z- waiting for 1612979926.53, time is 1612979923.53 2021-02-10T17:58:43Z- sync is 0.41, coherence is 2.00 2021-02-10T17:58:44Z- AHRS_M2 msg: 1612979924.32 epoch sec; seqNo:494 2021-02-10T17:58:44Z- AHRS_M2 msg: 4.33 phi; -0.23 theta; -0.18 psi 2021-02-10T17:58:44Z- waiting for 1612979926.53, time is 1612979923.53 2021-02-10T17:58:44Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:44Z- handleDepth()-Depth_Keller msg: 17.73 epoch sec; seqNo:1612979924327; depth 0.00 2021-02-10T17:58:44Z- waiting for 1612979926.53, time is 1612979923.53 2021-02-10T17:58:44Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:44Z- handleDvl() - RDI_Pathfinder msg: 1612979924.35 epoch sec; seqNo:203 2021-02-10T17:58:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.05 , 78.38 , 64.13 , 0.00 2021-02-10T17:58:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.03 , 0.02 2021-02-10T17:58:44Z- waiting for 1612979926.53, time is 1612979924.35 2021-02-10T17:58:44Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979924.36 epoch sec; seqNo:496; 4061742.00 north; 594483.70 east 2021-02-10T17:58:44Z- waiting for 1612979926.53, time is 1612979924.35 2021-02-10T17:58:44Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:44Z- AHRS_M2 msg: 1612979924.72 epoch sec; seqNo:495 2021-02-10T17:58:44Z- AHRS_M2 msg: 4.33 phi; -0.23 theta; -0.18 psi 2021-02-10T17:58:44Z- waiting for 1612979926.53, time is 1612979924.35 2021-02-10T17:58:44Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:44Z- handleDepth()-Depth_Keller msg: 17.84 epoch sec; seqNo:1612979924730; depth 0.00 2021-02-10T17:58:44Z- waiting for 1612979926.53, time is 1612979924.35 2021-02-10T17:58:44Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979924.74 epoch sec; seqNo:497; 4061742.00 north; 594483.70 east 2021-02-10T17:58:44Z- waiting for 1612979926.53, time is 1612979924.35 2021-02-10T17:58:44Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:45Z- AHRS_M2 msg: 1612979925.13 epoch sec; seqNo:496 2021-02-10T17:58:45Z- AHRS_M2 msg: 4.33 phi; -0.23 theta; -0.18 psi 2021-02-10T17:58:45Z- waiting for 1612979926.53, time is 1612979924.35 2021-02-10T17:58:45Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:45Z- handleDepth()-Depth_Keller msg: 17.91 epoch sec; seqNo:1612979925134; depth 0.00 2021-02-10T17:58:45Z- waiting for 1612979926.53, time is 1612979924.35 2021-02-10T17:58:45Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979925.14 epoch sec; seqNo:498; 4061741.63 north; 594483.70 east 2021-02-10T17:58:45Z- waiting for 1612979926.53, time is 1612979924.35 2021-02-10T17:58:45Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:45Z- AHRS_M2 msg: 1612979925.53 epoch sec; seqNo:497 2021-02-10T17:58:45Z- AHRS_M2 msg: 4.33 phi; -0.23 theta; -0.18 psi 2021-02-10T17:58:45Z- waiting for 1612979926.53, time is 1612979924.35 2021-02-10T17:58:45Z- sync is 1.18, coherence is 2.00 2021-02-10T17:58:45Z- handleDepth()-Depth_Keller msg: 18.01 epoch sec; seqNo:1612979925536; depth 0.00 2021-02-10T17:58:45Z- waiting for 1612979926.53, time is 1612979924.35 2021-02-10T17:58:45Z- sync is 1.18, coherence is 2.00 2021-02-10T17:58:45Z- handleDvl() - RDI_Pathfinder msg: 1612979925.55 epoch sec; seqNo:204 2021-02-10T17:58:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.05 , 78.71 , 64.13 , 0.00 2021-02-10T17:58:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.02 , 0.05 2021-02-10T17:58:45Z- waiting for 1612979926.53, time is 1612979925.55 2021-02-10T17:58:45Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979925.57 epoch sec; seqNo:499; 4061741.61 north; 594482.48 east 2021-02-10T17:58:45Z- waiting for 1612979926.53, time is 1612979925.55 2021-02-10T17:58:45Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:45Z- AHRS_M2 msg: 1612979925.93 epoch sec; seqNo:498 2021-02-10T17:58:45Z- AHRS_M2 msg: 4.33 phi; -0.24 theta; -0.18 psi 2021-02-10T17:58:45Z- waiting for 1612979926.53, time is 1612979925.55 2021-02-10T17:58:45Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:45Z- handleDepth()-Depth_Keller msg: 18.09 epoch sec; seqNo:1612979925941; depth 0.00 2021-02-10T17:58:45Z- waiting for 1612979926.53, time is 1612979925.55 2021-02-10T17:58:45Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979925.95 epoch sec; seqNo:500; 4061741.61 north; 594482.48 east 2021-02-10T17:58:45Z- waiting for 1612979926.53, time is 1612979925.55 2021-02-10T17:58:45Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:46Z- AHRS_M2 msg: 1612979926.34 epoch sec; seqNo:499 2021-02-10T17:58:46Z- AHRS_M2 msg: 4.33 phi; -0.24 theta; -0.18 psi 2021-02-10T17:58:46Z- waiting for 1612979926.53, time is 1612979925.55 2021-02-10T17:58:46Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:46Z- handleDepth()-Depth_Keller msg: 18.17 epoch sec; seqNo:1612979926344; depth 0.00 2021-02-10T17:58:46Z- waiting for 1612979926.53, time is 1612979925.55 2021-02-10T17:58:46Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:46Z- handleDvl() - RDI_Pathfinder msg: 1612979926.36 epoch sec; seqNo:205 2021-02-10T17:58:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 66.72 , 0.00 , 63.81 , 0.00 2021-02-10T17:58:46Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-02-10T17:58:46Z- waiting for 1612979926.53, time is 1612979926.36 2021-02-10T17:58:46Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979926.37 epoch sec; seqNo:501; 4061741.23 north; 594482.49 east 2021-02-10T17:58:46Z- waiting for 1612979926.53, time is 1612979926.36 2021-02-10T17:58:46Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:46Z- AHRS_M2 msg: 1612979926.75 epoch sec; seqNo:500 2021-02-10T17:58:46Z- AHRS_M2 msg: 4.33 phi; -0.24 theta; -0.19 psi 2021-02-10T17:58:46Z- waiting for 1612979926.53, time is 1612979926.36 2021-02-10T17:58:46Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:46Z- handleDepth()-Depth_Keller msg: 18.26 epoch sec; seqNo:1612979926758; depth 0.00 2021-02-10T17:58:46Z- waiting for 1612979926.53, time is 1612979926.36 2021-02-10T17:58:46Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979926.78 epoch sec; seqNo:502; 4061741.22 north; 594481.27 east 2021-02-10T17:58:46Z- waiting for 1612979926.53, time is 1612979926.36 2021-02-10T17:58:46Z- sync is 0.42, coherence is 2.00 2021-02-10T17:58:47Z- AHRS_M2 msg: 1612979927.15 epoch sec; seqNo:501 2021-02-10T17:58:47Z- AHRS_M2 msg: 4.33 phi; -0.24 theta; -0.19 psi 2021-02-10T17:58:47Z- waiting for 1612979926.53, time is 1612979926.36 2021-02-10T17:58:47Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:47Z- handleDepth()-Depth_Keller msg: 18.36 epoch sec; seqNo:1612979927155; depth 0.00 2021-02-10T17:58:47Z- waiting for 1612979926.53, time is 1612979926.36 2021-02-10T17:58:47Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979927.17 epoch sec; seqNo:503; 4061741.22 north; 594481.27 east 2021-02-10T17:58:47Z- waiting for 1612979926.53, time is 1612979926.36 2021-02-10T17:58:47Z- sync is 0.82, coherence is 2.00 2021-02-10T17:58:47Z- AHRS_M2 msg: 1612979927.55 epoch sec; seqNo:502 2021-02-10T17:58:47Z- AHRS_M2 msg: 4.33 phi; -0.24 theta; -0.18 psi 2021-02-10T17:58:47Z- waiting for 1612979926.53, time is 1612979926.36 2021-02-10T17:58:47Z- sync is 1.20, coherence is 2.00 2021-02-10T17:58:47Z- handleDepth()-Depth_Keller msg: 18.43 epoch sec; seqNo:1612979927556; depth 0.00 2021-02-10T17:58:47Z- waiting for 1612979926.53, time is 1612979926.36 2021-02-10T17:58:47Z- sync is 1.20, coherence is 2.00 2021-02-10T17:58:47Z- handleDvl() - RDI_Pathfinder msg: 1612979927.57 epoch sec; seqNo:206 2021-02-10T17:58:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.93 , 78.45 , 63.83 , 0.00 2021-02-10T17:58:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.01 , 0.08 2021-02-10T17:58:47Z- waiting for 1612979926.53, time is 1612979927.57 2021-02-10T17:58:47Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:47Z- LcmTrn::updateTrn() >>>> pose time 1612979927.55, meas time 1612979927.57 <<<< 2021-02-10T17:58:47Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979927.57 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:58:47Z- TerrainNav::motionUpdate() - currEstimate = (4061741, 594481.27, 18.43) 2021-02-10T17:58:47Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:58:47Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:58:47Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:58:47Z- TNavBF::mmse selected from filter -1 2021-02-10T17:58:47Z- variances([0], [2], and psi_berg) = 819.863051 833.163199 0.000000 2021-02-10T17:58:47Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:58:47Z- LcmTrn::cycle() - MLE : 4061704.72 594433.77 18.43 2021-02-10T17:58:47Z- LcmTrn::cycle() - MMSE : 4061741.22 594481.27 18.43 2021-02-10T17:58:47Z- LcmTrn::cycle() - COVAR: 819.86 833.16 30.58 0.00 2021-02-10T17:58:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979927.60 epoch sec; seqNo:504; 4061740.84 north; 594481.27 east 2021-02-10T17:58:47Z- waiting for 1612979930.57, time is 1612979927.57 2021-02-10T17:58:47Z- sync is 0.03, coherence is 2.00 2021-02-10T17:58:47Z- AHRS_M2 msg: 1612979927.96 epoch sec; seqNo:503 2021-02-10T17:58:47Z- AHRS_M2 msg: 4.34 phi; -0.24 theta; -0.18 psi 2021-02-10T17:58:47Z- waiting for 1612979930.57, time is 1612979927.57 2021-02-10T17:58:47Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:47Z- handleDepth()-Depth_Keller msg: 18.53 epoch sec; seqNo:1612979927960; depth 0.00 2021-02-10T17:58:47Z- waiting for 1612979930.57, time is 1612979927.57 2021-02-10T17:58:47Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979927.97 epoch sec; seqNo:505; 4061740.83 north; 594480.05 east 2021-02-10T17:58:47Z- waiting for 1612979930.57, time is 1612979927.57 2021-02-10T17:58:47Z- sync is 0.41, coherence is 2.00 2021-02-10T17:58:48Z- AHRS_M2 msg: 1612979928.36 epoch sec; seqNo:504 2021-02-10T17:58:48Z- AHRS_M2 msg: 4.34 phi; -0.24 theta; -0.18 psi 2021-02-10T17:58:48Z- waiting for 1612979930.57, time is 1612979927.57 2021-02-10T17:58:48Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:48Z- handleDepth()-Depth_Keller msg: 18.61 epoch sec; seqNo:1612979928368; depth 0.00 2021-02-10T17:58:48Z- waiting for 1612979930.57, time is 1612979927.57 2021-02-10T17:58:48Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:48Z- handleDvl() - RDI_Pathfinder msg: 1612979928.38 epoch sec; seqNo:207 2021-02-10T17:58:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 66.72 , 0.00 , 63.16 , 0.00 2021-02-10T17:58:48Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-02-10T17:58:48Z- waiting for 1612979930.57, time is 1612979928.38 2021-02-10T17:58:48Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979928.39 epoch sec; seqNo:506; 4061740.83 north; 594480.05 east 2021-02-10T17:58:48Z- waiting for 1612979930.57, time is 1612979928.38 2021-02-10T17:58:48Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:48Z- AHRS_M2 msg: 1612979928.77 epoch sec; seqNo:505 2021-02-10T17:58:48Z- AHRS_M2 msg: 4.34 phi; -0.24 theta; -0.18 psi 2021-02-10T17:58:48Z- waiting for 1612979930.57, time is 1612979928.38 2021-02-10T17:58:48Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:48Z- handleDepth()-Depth_Keller msg: 18.72 epoch sec; seqNo:1612979928780; depth 0.00 2021-02-10T17:58:48Z- waiting for 1612979930.57, time is 1612979928.38 2021-02-10T17:58:48Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979928.80 epoch sec; seqNo:507; 4061740.45 north; 594480.06 east 2021-02-10T17:58:48Z- waiting for 1612979930.57, time is 1612979928.38 2021-02-10T17:58:48Z- sync is 0.41, coherence is 2.00 2021-02-10T17:58:49Z- AHRS_M2 msg: 1612979929.17 epoch sec; seqNo:506 2021-02-10T17:58:49Z- AHRS_M2 msg: 4.33 phi; -0.24 theta; -0.18 psi 2021-02-10T17:58:49Z- waiting for 1612979930.57, time is 1612979928.38 2021-02-10T17:58:49Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:49Z- handleDepth()-Depth_Keller msg: 18.80 epoch sec; seqNo:1612979929175; depth 0.00 2021-02-10T17:58:49Z- waiting for 1612979930.57, time is 1612979928.38 2021-02-10T17:58:49Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979929.18 epoch sec; seqNo:508; 4061740.45 north; 594480.06 east 2021-02-10T17:58:49Z- waiting for 1612979930.57, time is 1612979928.38 2021-02-10T17:58:49Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:49Z- AHRS_M2 msg: 1612979929.57 epoch sec; seqNo:507 2021-02-10T17:58:49Z- AHRS_M2 msg: 4.33 phi; -0.24 theta; -0.17 psi 2021-02-10T17:58:49Z- waiting for 1612979930.57, time is 1612979928.38 2021-02-10T17:58:49Z- sync is 1.19, coherence is 2.00 2021-02-10T17:58:49Z- handleDepth()-Depth_Keller msg: 18.88 epoch sec; seqNo:1612979929577; depth 0.00 2021-02-10T17:58:49Z- waiting for 1612979930.57, time is 1612979928.38 2021-02-10T17:58:49Z- sync is 1.19, coherence is 2.00 2021-02-10T17:58:49Z- handleDvl() - RDI_Pathfinder msg: 1612979929.59 epoch sec; seqNo:208 2021-02-10T17:58:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 66.93 , 0.00 , 63.38 , 0.00 2021-02-10T17:58:49Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-02-10T17:58:49Z- waiting for 1612979930.57, time is 1612979929.59 2021-02-10T17:58:49Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979929.60 epoch sec; seqNo:509; 4061740.43 north; 594478.84 east 2021-02-10T17:58:49Z- waiting for 1612979930.57, time is 1612979929.59 2021-02-10T17:58:49Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:49Z- AHRS_M2 msg: 1612979929.97 epoch sec; seqNo:508 2021-02-10T17:58:49Z- AHRS_M2 msg: 4.33 phi; -0.24 theta; -0.17 psi 2021-02-10T17:58:49Z- waiting for 1612979930.57, time is 1612979929.59 2021-02-10T17:58:49Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:49Z- handleDepth()-Depth_Keller msg: 18.97 epoch sec; seqNo:1612979929985; depth 0.00 2021-02-10T17:58:49Z- waiting for 1612979930.57, time is 1612979929.59 2021-02-10T17:58:49Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979929.99 epoch sec; seqNo:510; 4061740.06 north; 594478.84 east 2021-02-10T17:58:50Z- waiting for 1612979930.57, time is 1612979929.59 2021-02-10T17:58:50Z- sync is 0.41, coherence is 2.00 2021-02-10T17:58:50Z- AHRS_M2 msg: 1612979930.38 epoch sec; seqNo:509 2021-02-10T17:58:50Z- AHRS_M2 msg: 4.33 phi; -0.24 theta; -0.17 psi 2021-02-10T17:58:50Z- waiting for 1612979930.57, time is 1612979929.59 2021-02-10T17:58:50Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:50Z- handleDepth()-Depth_Keller msg: 19.07 epoch sec; seqNo:1612979930384; depth 0.00 2021-02-10T17:58:50Z- waiting for 1612979930.57, time is 1612979929.59 2021-02-10T17:58:50Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:50Z- handleDvl() - RDI_Pathfinder msg: 1612979930.41 epoch sec; seqNo:209 2021-02-10T17:58:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.49 , 77.12 , 62.94 , 0.00 2021-02-10T17:58:50Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.01 , 0.06 2021-02-10T17:58:50Z- waiting for 1612979930.57, time is 1612979930.41 2021-02-10T17:58:50Z- sync is 0.03, coherence is 2.00 2021-02-10T17:58:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979930.42 epoch sec; seqNo:511; 4061740.06 north; 594478.84 east 2021-02-10T17:58:50Z- waiting for 1612979930.57, time is 1612979930.41 2021-02-10T17:58:50Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:50Z- AHRS_M2 msg: 1612979930.79 epoch sec; seqNo:510 2021-02-10T17:58:50Z- AHRS_M2 msg: 4.33 phi; -0.24 theta; -0.17 psi 2021-02-10T17:58:50Z- waiting for 1612979930.57, time is 1612979930.41 2021-02-10T17:58:50Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:50Z- handleDepth()-Depth_Keller msg: 19.17 epoch sec; seqNo:1612979930795; depth 0.00 2021-02-10T17:58:50Z- waiting for 1612979930.57, time is 1612979930.41 2021-02-10T17:58:50Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979930.81 epoch sec; seqNo:512; 4061740.04 north; 594477.62 east 2021-02-10T17:58:50Z- waiting for 1612979930.57, time is 1612979930.41 2021-02-10T17:58:50Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:51Z- AHRS_M2 msg: 1612979931.19 epoch sec; seqNo:511 2021-02-10T17:58:51Z- AHRS_M2 msg: 4.33 phi; -0.24 theta; -0.17 psi 2021-02-10T17:58:51Z- waiting for 1612979930.57, time is 1612979930.41 2021-02-10T17:58:51Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:51Z- handleDepth()-Depth_Keller msg: 19.25 epoch sec; seqNo:1612979931203; depth 0.00 2021-02-10T17:58:51Z- waiting for 1612979930.57, time is 1612979930.41 2021-02-10T17:58:51Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979931.23 epoch sec; seqNo:513; 4061739.66 north; 594477.62 east 2021-02-10T17:58:51Z- waiting for 1612979930.57, time is 1612979930.41 2021-02-10T17:58:51Z- sync is 0.82, coherence is 2.00 2021-02-10T17:58:51Z- AHRS_M2 msg: 1612979931.59 epoch sec; seqNo:512 2021-02-10T17:58:51Z- AHRS_M2 msg: 4.33 phi; -0.24 theta; -0.18 psi 2021-02-10T17:58:51Z- waiting for 1612979930.57, time is 1612979930.41 2021-02-10T17:58:51Z- sync is 1.19, coherence is 2.00 2021-02-10T17:58:51Z- handleDepth()-Depth_Keller msg: 19.33 epoch sec; seqNo:1612979931596; depth 0.00 2021-02-10T17:58:51Z- waiting for 1612979930.57, time is 1612979930.41 2021-02-10T17:58:51Z- sync is 1.19, coherence is 2.00 2021-02-10T17:58:51Z- handleDvl() - RDI_Pathfinder msg: 1612979931.61 epoch sec; seqNo:210 2021-02-10T17:58:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.40 , 77.09 , 62.84 , 85.51 2021-02-10T17:58:51Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.01 , 0.03 2021-02-10T17:58:51Z- waiting for 1612979930.57, time is 1612979931.61 2021-02-10T17:58:51Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:51Z- LcmTrn::updateTrn() >>>> pose time 1612979931.59, meas time 1612979931.61 <<<< 2021-02-10T17:58:51Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979931.61 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:58:51Z- TerrainNav::motionUpdate() - currEstimate = (4061740, 594477.62, 19.33) 2021-02-10T17:58:51Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:58:51Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:58:51Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:58:51Z- TNavBF::mmse selected from filter -1 2021-02-10T17:58:51Z- variances([0], [2], and psi_berg) = 819.484632 833.161543 0.000000 2021-02-10T17:58:51Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:58:51Z- LcmTrn::cycle() - MLE : 4061703.16 594430.12 19.33 2021-02-10T17:58:51Z- LcmTrn::cycle() - MMSE : 4061739.66 594477.62 19.33 2021-02-10T17:58:51Z- LcmTrn::cycle() - COVAR: 819.48 833.16 30.78 0.00 2021-02-10T17:58:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979931.62 epoch sec; seqNo:514; 4061739.66 north; 594477.62 east 2021-02-10T17:58:51Z- waiting for 1612979934.61, time is 1612979931.61 2021-02-10T17:58:51Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:51Z- AHRS_M2 msg: 1612979932.00 epoch sec; seqNo:513 2021-02-10T17:58:51Z- AHRS_M2 msg: 4.33 phi; -0.24 theta; -0.18 psi 2021-02-10T17:58:51Z- waiting for 1612979934.61, time is 1612979931.61 2021-02-10T17:58:51Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:52Z- handleDepth()-Depth_Keller msg: 19.43 epoch sec; seqNo:1612979932005; depth 0.00 2021-02-10T17:58:52Z- waiting for 1612979934.61, time is 1612979931.61 2021-02-10T17:58:52Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979932.02 epoch sec; seqNo:515; 4061739.28 north; 594477.63 east 2021-02-10T17:58:52Z- waiting for 1612979934.61, time is 1612979931.61 2021-02-10T17:58:52Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:52Z- AHRS_M2 msg: 1612979932.40 epoch sec; seqNo:514 2021-02-10T17:58:52Z- AHRS_M2 msg: 4.34 phi; -0.24 theta; -0.18 psi 2021-02-10T17:58:52Z- waiting for 1612979934.61, time is 1612979931.61 2021-02-10T17:58:52Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:52Z- handleDepth()-Depth_Keller msg: 19.50 epoch sec; seqNo:1612979932408; depth 0.00 2021-02-10T17:58:52Z- waiting for 1612979934.61, time is 1612979931.61 2021-02-10T17:58:52Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979932.42 epoch sec; seqNo:516; 4061739.27 north; 594476.41 east 2021-02-10T17:58:52Z- waiting for 1612979934.61, time is 1612979931.61 2021-02-10T17:58:52Z- sync is 0.80, coherence is 2.00 2021-02-10T17:58:52Z- AHRS_M2 msg: 1612979932.83 epoch sec; seqNo:515 2021-02-10T17:58:52Z- AHRS_M2 msg: 4.34 phi; -0.24 theta; -0.18 psi 2021-02-10T17:58:52Z- waiting for 1612979934.61, time is 1612979931.61 2021-02-10T17:58:52Z- sync is 1.22, coherence is 2.00 2021-02-10T17:58:52Z- handleDepth()-Depth_Keller msg: 19.60 epoch sec; seqNo:1612979932835; depth 0.00 2021-02-10T17:58:52Z- waiting for 1612979934.61, time is 1612979931.61 2021-02-10T17:58:52Z- sync is 1.22, coherence is 2.00 2021-02-10T17:58:52Z- handleDvl() - RDI_Pathfinder msg: 1612979932.85 epoch sec; seqNo:211 2021-02-10T17:58:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.84 , 76.48 , 61.75 , 0.00 2021-02-10T17:58:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.03 , -0.03 2021-02-10T17:58:52Z- waiting for 1612979934.61, time is 1612979932.85 2021-02-10T17:58:52Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979932.87 epoch sec; seqNo:517; 4061739.27 north; 594476.41 east 2021-02-10T17:58:52Z- waiting for 1612979934.61, time is 1612979932.85 2021-02-10T17:58:52Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:53Z- AHRS_M2 msg: 1612979933.22 epoch sec; seqNo:516 2021-02-10T17:58:53Z- AHRS_M2 msg: 4.34 phi; -0.24 theta; -0.18 psi 2021-02-10T17:58:53Z- waiting for 1612979934.61, time is 1612979932.85 2021-02-10T17:58:53Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:53Z- handleDepth()-Depth_Keller msg: 19.69 epoch sec; seqNo:1612979933227; depth 0.00 2021-02-10T17:58:53Z- waiting for 1612979934.61, time is 1612979932.85 2021-02-10T17:58:53Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:53Z- handleDvl() - RDI_Pathfinder msg: 1612979933.24 epoch sec; seqNo:212 2021-02-10T17:58:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.75 , 76.44 , 61.87 , 0.00 2021-02-10T17:58:53Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.02 , -0.06 2021-02-10T17:58:53Z- waiting for 1612979934.61, time is 1612979933.24 2021-02-10T17:58:53Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979933.25 epoch sec; seqNo:518; 4061738.89 north; 594476.41 east 2021-02-10T17:58:53Z- waiting for 1612979934.61, time is 1612979933.24 2021-02-10T17:58:53Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:53Z- AHRS_M2 msg: 1612979933.61 epoch sec; seqNo:517 2021-02-10T17:58:53Z- AHRS_M2 msg: 4.35 phi; -0.24 theta; -0.18 psi 2021-02-10T17:58:53Z- waiting for 1612979934.61, time is 1612979933.24 2021-02-10T17:58:53Z- sync is 0.37, coherence is 2.00 2021-02-10T17:58:53Z- handleDepth()-Depth_Keller msg: 19.78 epoch sec; seqNo:1612979933616; depth 0.00 2021-02-10T17:58:53Z- waiting for 1612979934.61, time is 1612979933.24 2021-02-10T17:58:53Z- sync is 0.37, coherence is 2.00 2021-02-10T17:58:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979933.63 epoch sec; seqNo:519; 4061738.88 north; 594475.19 east 2021-02-10T17:58:53Z- waiting for 1612979934.61, time is 1612979933.24 2021-02-10T17:58:53Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:54Z- AHRS_M2 msg: 1612979934.02 epoch sec; seqNo:518 2021-02-10T17:58:54Z- AHRS_M2 msg: 4.35 phi; -0.23 theta; -0.18 psi 2021-02-10T17:58:54Z- waiting for 1612979934.61, time is 1612979933.24 2021-02-10T17:58:54Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:54Z- handleDepth()-Depth_Keller msg: 19.86 epoch sec; seqNo:1612979934021; depth 0.00 2021-02-10T17:58:54Z- waiting for 1612979934.61, time is 1612979933.24 2021-02-10T17:58:54Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979934.03 epoch sec; seqNo:520; 4061738.50 north; 594475.20 east 2021-02-10T17:58:54Z- waiting for 1612979934.61, time is 1612979933.24 2021-02-10T17:58:54Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:54Z- AHRS_M2 msg: 1612979934.43 epoch sec; seqNo:519 2021-02-10T17:58:54Z- AHRS_M2 msg: 4.35 phi; -0.23 theta; -0.17 psi 2021-02-10T17:58:54Z- waiting for 1612979934.61, time is 1612979933.24 2021-02-10T17:58:54Z- sync is 1.19, coherence is 2.00 2021-02-10T17:58:54Z- handleDepth()-Depth_Keller msg: 19.96 epoch sec; seqNo:1612979934431; depth 0.00 2021-02-10T17:58:54Z- waiting for 1612979934.61, time is 1612979933.24 2021-02-10T17:58:54Z- sync is 1.19, coherence is 2.00 2021-02-10T17:58:54Z- handleDvl() - RDI_Pathfinder msg: 1612979934.44 epoch sec; seqNo:213 2021-02-10T17:58:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.43 , 75.79 , 62.19 , 0.00 2021-02-10T17:58:54Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.01 , -0.08 2021-02-10T17:58:54Z- waiting for 1612979934.61, time is 1612979934.44 2021-02-10T17:58:54Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979934.46 epoch sec; seqNo:521; 4061738.50 north; 594475.20 east 2021-02-10T17:58:54Z- waiting for 1612979934.61, time is 1612979934.44 2021-02-10T17:58:54Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:54Z- AHRS_M2 msg: 1612979934.82 epoch sec; seqNo:520 2021-02-10T17:58:54Z- AHRS_M2 msg: 4.35 phi; -0.23 theta; -0.17 psi 2021-02-10T17:58:54Z- waiting for 1612979934.61, time is 1612979934.44 2021-02-10T17:58:54Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:54Z- handleDepth()-Depth_Keller msg: 20.05 epoch sec; seqNo:1612979934828; depth 0.00 2021-02-10T17:58:54Z- waiting for 1612979934.61, time is 1612979934.44 2021-02-10T17:58:54Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979934.85 epoch sec; seqNo:522; 4061738.49 north; 594473.98 east 2021-02-10T17:58:54Z- waiting for 1612979934.61, time is 1612979934.44 2021-02-10T17:58:54Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:55Z- AHRS_M2 msg: 1612979935.23 epoch sec; seqNo:521 2021-02-10T17:58:55Z- AHRS_M2 msg: 4.35 phi; -0.23 theta; -0.17 psi 2021-02-10T17:58:55Z- waiting for 1612979934.61, time is 1612979934.44 2021-02-10T17:58:55Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:55Z- handleDepth()-Depth_Keller msg: 20.13 epoch sec; seqNo:1612979935233; depth 0.00 2021-02-10T17:58:55Z- waiting for 1612979934.61, time is 1612979934.44 2021-02-10T17:58:55Z- sync is 0.78, coherence is 2.00 2021-02-10T17:58:55Z- handleDvl() - RDI_Pathfinder msg: 1612979935.24 epoch sec; seqNo:214 2021-02-10T17:58:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.43 , 75.14 , 61.87 , 0.00 2021-02-10T17:58:55Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , 0.04 , -0.04 2021-02-10T17:58:55Z- waiting for 1612979934.61, time is 1612979935.24 2021-02-10T17:58:55Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:55Z- LcmTrn::updateTrn() >>>> pose time 1612979935.23, meas time 1612979935.24 <<<< 2021-02-10T17:58:55Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979935.24 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:58:55Z- TerrainNav::motionUpdate() - currEstimate = (4061738, 594473.98, 20.13) 2021-02-10T17:58:55Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:58:55Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:58:55Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:58:55Z- TNavBF::mmse selected from filter -1 2021-02-10T17:58:55Z- variances([0], [2], and psi_berg) = 819.116636 833.159962 0.000000 2021-02-10T17:58:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:58:55Z- LcmTrn::cycle() - MLE : 4061701.99 594426.48 20.13 2021-02-10T17:58:55Z- LcmTrn::cycle() - MMSE : 4061738.49 594473.98 20.13 2021-02-10T17:58:55Z- LcmTrn::cycle() - COVAR: 819.12 833.16 30.98 0.00 2021-02-10T17:58:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979935.27 epoch sec; seqNo:523; 4061738.11 north; 594473.98 east 2021-02-10T17:58:55Z- waiting for 1612979938.24, time is 1612979935.24 2021-02-10T17:58:55Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:55Z- AHRS_M2 msg: 1612979935.63 epoch sec; seqNo:522 2021-02-10T17:58:55Z- AHRS_M2 msg: 4.35 phi; -0.23 theta; -0.16 psi 2021-02-10T17:58:55Z- waiting for 1612979938.24, time is 1612979935.24 2021-02-10T17:58:55Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:55Z- handleDepth()-Depth_Keller msg: 20.22 epoch sec; seqNo:1612979935636; depth 0.00 2021-02-10T17:58:55Z- waiting for 1612979938.24, time is 1612979935.24 2021-02-10T17:58:55Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979935.65 epoch sec; seqNo:524; 4061738.11 north; 594473.98 east 2021-02-10T17:58:55Z- waiting for 1612979938.24, time is 1612979935.24 2021-02-10T17:58:55Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:56Z- AHRS_M2 msg: 1612979936.04 epoch sec; seqNo:523 2021-02-10T17:58:56Z- AHRS_M2 msg: 4.34 phi; -0.22 theta; -0.16 psi 2021-02-10T17:58:56Z- waiting for 1612979938.24, time is 1612979935.24 2021-02-10T17:58:56Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:56Z- handleDepth()-Depth_Keller msg: 20.30 epoch sec; seqNo:1612979936041; depth 0.00 2021-02-10T17:58:56Z- waiting for 1612979938.24, time is 1612979935.24 2021-02-10T17:58:56Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979936.06 epoch sec; seqNo:525; 4061737.72 north; 594472.76 east 2021-02-10T17:58:56Z- waiting for 1612979938.24, time is 1612979935.24 2021-02-10T17:58:56Z- sync is 0.82, coherence is 2.00 2021-02-10T17:58:56Z- AHRS_M2 msg: 1612979936.44 epoch sec; seqNo:524 2021-02-10T17:58:56Z- AHRS_M2 msg: 4.34 phi; -0.22 theta; -0.16 psi 2021-02-10T17:58:56Z- waiting for 1612979938.24, time is 1612979935.24 2021-02-10T17:58:56Z- sync is 1.20, coherence is 2.00 2021-02-10T17:58:56Z- handleDepth()-Depth_Keller msg: 20.40 epoch sec; seqNo:1612979936444; depth 0.00 2021-02-10T17:58:56Z- waiting for 1612979938.24, time is 1612979935.24 2021-02-10T17:58:56Z- sync is 1.20, coherence is 2.00 2021-02-10T17:58:56Z- handleDvl() - RDI_Pathfinder msg: 1612979936.46 epoch sec; seqNo:215 2021-02-10T17:58:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.10 , 74.17 , 61.87 , 0.00 2021-02-10T17:58:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , 0.05 , 0.01 2021-02-10T17:58:56Z- waiting for 1612979938.24, time is 1612979936.46 2021-02-10T17:58:56Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979936.48 epoch sec; seqNo:526; 4061737.72 north; 594472.76 east 2021-02-10T17:58:56Z- waiting for 1612979938.24, time is 1612979936.46 2021-02-10T17:58:56Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:56Z- AHRS_M2 msg: 1612979936.84 epoch sec; seqNo:525 2021-02-10T17:58:56Z- AHRS_M2 msg: 4.34 phi; -0.22 theta; -0.16 psi 2021-02-10T17:58:56Z- waiting for 1612979938.24, time is 1612979936.46 2021-02-10T17:58:56Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:56Z- handleDepth()-Depth_Keller msg: 20.48 epoch sec; seqNo:1612979936853; depth 0.00 2021-02-10T17:58:56Z- waiting for 1612979938.24, time is 1612979936.46 2021-02-10T17:58:56Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979936.86 epoch sec; seqNo:527; 4061737.72 north; 594472.76 east 2021-02-10T17:58:56Z- waiting for 1612979938.24, time is 1612979936.46 2021-02-10T17:58:56Z- sync is 0.41, coherence is 2.00 2021-02-10T17:58:57Z- AHRS_M2 msg: 1612979937.25 epoch sec; seqNo:526 2021-02-10T17:58:57Z- AHRS_M2 msg: 4.33 phi; -0.22 theta; -0.16 psi 2021-02-10T17:58:57Z- waiting for 1612979938.24, time is 1612979936.46 2021-02-10T17:58:57Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:57Z- handleDepth()-Depth_Keller msg: 20.57 epoch sec; seqNo:1612979937254; depth 0.00 2021-02-10T17:58:57Z- waiting for 1612979938.24, time is 1612979936.46 2021-02-10T17:58:57Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:57Z- handleDvl() - RDI_Pathfinder msg: 1612979937.27 epoch sec; seqNo:216 2021-02-10T17:58:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.05 , 74.57 , 61.68 , 0.00 2021-02-10T17:58:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , 0.02 , 0.07 2021-02-10T17:58:57Z- waiting for 1612979938.24, time is 1612979937.27 2021-02-10T17:58:57Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979937.28 epoch sec; seqNo:528; 4061737.32 north; 594471.55 east 2021-02-10T17:58:57Z- waiting for 1612979938.24, time is 1612979937.27 2021-02-10T17:58:57Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:57Z- AHRS_M2 msg: 1612979937.65 epoch sec; seqNo:527 2021-02-10T17:58:57Z- AHRS_M2 msg: 4.33 phi; -0.22 theta; -0.17 psi 2021-02-10T17:58:57Z- waiting for 1612979938.24, time is 1612979937.27 2021-02-10T17:58:57Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:57Z- handleDepth()-Depth_Keller msg: 20.67 epoch sec; seqNo:1612979937662; depth 0.00 2021-02-10T17:58:57Z- waiting for 1612979938.24, time is 1612979937.27 2021-02-10T17:58:57Z- sync is 0.39, coherence is 2.00 2021-02-10T17:58:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979937.67 epoch sec; seqNo:529; 4061737.32 north; 594471.55 east 2021-02-10T17:58:57Z- waiting for 1612979938.24, time is 1612979937.27 2021-02-10T17:58:57Z- sync is 0.41, coherence is 2.00 2021-02-10T17:58:58Z- handleDepth()-Depth_Keller msg: 20.75 epoch sec; seqNo:1612979938074; depth 0.00 2021-02-10T17:58:58Z- waiting for 1612979938.24, time is 1612979937.27 2021-02-10T17:58:58Z- sync is 0.41, coherence is 2.00 2021-02-10T17:58:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979938.09 epoch sec; seqNo:530; 4061737.32 north; 594471.55 east 2021-02-10T17:58:58Z- waiting for 1612979938.24, time is 1612979937.27 2021-02-10T17:58:58Z- sync is 0.82, coherence is 2.00 2021-02-10T17:58:58Z- AHRS_M2 msg: 1612979938.46 epoch sec; seqNo:528 2021-02-10T17:58:58Z- AHRS_M2 msg: 4.33 phi; -0.22 theta; -0.17 psi 2021-02-10T17:58:58Z- waiting for 1612979938.24, time is 1612979937.27 2021-02-10T17:58:58Z- sync is 1.19, coherence is 2.00 2021-02-10T17:58:58Z- handleDepth()-Depth_Keller msg: 20.84 epoch sec; seqNo:1612979938465; depth 0.00 2021-02-10T17:58:58Z- waiting for 1612979938.24, time is 1612979937.27 2021-02-10T17:58:58Z- sync is 1.19, coherence is 2.00 2021-02-10T17:58:58Z- handleDvl() - RDI_Pathfinder msg: 1612979938.48 epoch sec; seqNo:217 2021-02-10T17:58:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.44 , 75.18 , 61.37 , 0.00 2021-02-10T17:58:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.01 , 0.09 2021-02-10T17:58:58Z- waiting for 1612979938.24, time is 1612979938.48 2021-02-10T17:58:58Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:58Z- LcmTrn::updateTrn() >>>> pose time 1612979938.46, meas time 1612979938.48 <<<< 2021-02-10T17:58:58Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979938.48 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:58:58Z- TerrainNav::motionUpdate() - currEstimate = (4061737, 594471.55, 20.84) 2021-02-10T17:58:58Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:58:58Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:58:58Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:58:58Z- TNavBF::mmse selected from filter -1 2021-02-10T17:58:58Z- variances([0], [2], and psi_berg) = 818.811630 833.158674 0.000000 2021-02-10T17:58:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:58:58Z- LcmTrn::cycle() - MLE : 4061701.82 594423.05 20.84 2021-02-10T17:58:58Z- LcmTrn::cycle() - MMSE : 4061737.32 594471.55 20.84 2021-02-10T17:58:58Z- LcmTrn::cycle() - COVAR: 818.81 833.16 31.11 0.00 2021-02-10T17:58:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979938.49 epoch sec; seqNo:531; 4061736.93 north; 594470.33 east 2021-02-10T17:58:58Z- waiting for 1612979941.48, time is 1612979938.48 2021-02-10T17:58:58Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:58Z- AHRS_M2 msg: 1612979938.88 epoch sec; seqNo:529 2021-02-10T17:58:58Z- AHRS_M2 msg: 4.33 phi; -0.22 theta; -0.17 psi 2021-02-10T17:58:58Z- waiting for 1612979941.48, time is 1612979938.48 2021-02-10T17:58:58Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:58Z- handleDepth()-Depth_Keller msg: 20.92 epoch sec; seqNo:1612979938879; depth 0.00 2021-02-10T17:58:58Z- waiting for 1612979941.48, time is 1612979938.48 2021-02-10T17:58:58Z- sync is 0.40, coherence is 2.00 2021-02-10T17:58:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979938.89 epoch sec; seqNo:532; 4061736.93 north; 594470.33 east 2021-02-10T17:58:58Z- waiting for 1612979941.48, time is 1612979938.48 2021-02-10T17:58:58Z- sync is 0.41, coherence is 2.00 2021-02-10T17:58:59Z- AHRS_M2 msg: 1612979939.27 epoch sec; seqNo:530 2021-02-10T17:58:59Z- AHRS_M2 msg: 4.34 phi; -0.22 theta; -0.17 psi 2021-02-10T17:58:59Z- waiting for 1612979941.48, time is 1612979938.48 2021-02-10T17:58:59Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:59Z- handleDepth()-Depth_Keller msg: 21.00 epoch sec; seqNo:1612979939272; depth 0.00 2021-02-10T17:58:59Z- waiting for 1612979941.48, time is 1612979938.48 2021-02-10T17:58:59Z- sync is 0.79, coherence is 2.00 2021-02-10T17:58:59Z- handleDvl() - RDI_Pathfinder msg: 1612979939.29 epoch sec; seqNo:218 2021-02-10T17:58:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.13 , 74.57 , 61.37 , 0.00 2021-02-10T17:58:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.03 , 0.06 2021-02-10T17:58:59Z- waiting for 1612979941.48, time is 1612979939.29 2021-02-10T17:58:59Z- sync is 0.02, coherence is 2.00 2021-02-10T17:58:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979939.30 epoch sec; seqNo:533; 4061736.55 north; 594470.34 east 2021-02-10T17:58:59Z- waiting for 1612979941.48, time is 1612979939.29 2021-02-10T17:58:59Z- sync is 0.01, coherence is 2.00 2021-02-10T17:58:59Z- AHRS_M2 msg: 1612979939.67 epoch sec; seqNo:531 2021-02-10T17:58:59Z- AHRS_M2 msg: 4.34 phi; -0.22 theta; -0.17 psi 2021-02-10T17:58:59Z- waiting for 1612979941.48, time is 1612979939.29 2021-02-10T17:58:59Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:59Z- handleDepth()-Depth_Keller msg: 21.09 epoch sec; seqNo:1612979939676; depth 0.00 2021-02-10T17:58:59Z- waiting for 1612979941.48, time is 1612979939.29 2021-02-10T17:58:59Z- sync is 0.38, coherence is 2.00 2021-02-10T17:58:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979939.69 epoch sec; seqNo:534; 4061736.54 north; 594469.12 east 2021-02-10T17:58:59Z- waiting for 1612979941.48, time is 1612979939.29 2021-02-10T17:58:59Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:00Z- AHRS_M2 msg: 1612979940.08 epoch sec; seqNo:532 2021-02-10T17:59:00Z- AHRS_M2 msg: 4.35 phi; -0.22 theta; -0.17 psi 2021-02-10T17:59:00Z- waiting for 1612979941.48, time is 1612979939.29 2021-02-10T17:59:00Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:00Z- handleDepth()-Depth_Keller msg: 21.19 epoch sec; seqNo:1612979940083; depth 0.00 2021-02-10T17:59:00Z- waiting for 1612979941.48, time is 1612979939.29 2021-02-10T17:59:00Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979940.09 epoch sec; seqNo:535; 4061736.54 north; 594469.12 east 2021-02-10T17:59:00Z- waiting for 1612979941.48, time is 1612979939.29 2021-02-10T17:59:00Z- sync is 0.80, coherence is 2.00 2021-02-10T17:59:00Z- AHRS_M2 msg: 1612979940.49 epoch sec; seqNo:533 2021-02-10T17:59:00Z- AHRS_M2 msg: 4.35 phi; -0.22 theta; -0.16 psi 2021-02-10T17:59:00Z- waiting for 1612979941.48, time is 1612979939.29 2021-02-10T17:59:00Z- sync is 1.20, coherence is 2.00 2021-02-10T17:59:00Z- handleDepth()-Depth_Keller msg: 21.27 epoch sec; seqNo:1612979940490; depth 0.00 2021-02-10T17:59:00Z- waiting for 1612979941.48, time is 1612979939.29 2021-02-10T17:59:00Z- sync is 1.20, coherence is 2.00 2021-02-10T17:59:00Z- handleDvl() - RDI_Pathfinder msg: 1612979940.50 epoch sec; seqNo:219 2021-02-10T17:59:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.13 , 73.95 , 60.76 , 0.00 2021-02-10T17:59:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.03 , 0.04 2021-02-10T17:59:00Z- waiting for 1612979941.48, time is 1612979940.50 2021-02-10T17:59:00Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979940.51 epoch sec; seqNo:536; 4061736.16 north; 594469.12 east 2021-02-10T17:59:00Z- waiting for 1612979941.48, time is 1612979940.50 2021-02-10T17:59:00Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:00Z- AHRS_M2 msg: 1612979940.88 epoch sec; seqNo:534 2021-02-10T17:59:00Z- AHRS_M2 msg: 4.36 phi; -0.22 theta; -0.16 psi 2021-02-10T17:59:00Z- waiting for 1612979941.48, time is 1612979940.50 2021-02-10T17:59:00Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:00Z- handleDepth()-Depth_Keller msg: 21.36 epoch sec; seqNo:1612979940888; depth 0.00 2021-02-10T17:59:00Z- waiting for 1612979941.48, time is 1612979940.50 2021-02-10T17:59:00Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979940.90 epoch sec; seqNo:537; 4061736.16 north; 594469.12 east 2021-02-10T17:59:00Z- waiting for 1612979941.48, time is 1612979940.50 2021-02-10T17:59:00Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:01Z- AHRS_M2 msg: 1612979941.29 epoch sec; seqNo:535 2021-02-10T17:59:01Z- AHRS_M2 msg: 4.36 phi; -0.21 theta; -0.15 psi 2021-02-10T17:59:01Z- waiting for 1612979941.48, time is 1612979940.50 2021-02-10T17:59:01Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:01Z- handleDepth()-Depth_Keller msg: 21.46 epoch sec; seqNo:1612979941292; depth 0.00 2021-02-10T17:59:01Z- waiting for 1612979941.48, time is 1612979940.50 2021-02-10T17:59:01Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:01Z- handleDvl() - RDI_Pathfinder msg: 1612979941.30 epoch sec; seqNo:220 2021-02-10T17:59:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.13 , 73.34 , 60.45 , 0.00 2021-02-10T17:59:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.03 , 0.02 2021-02-10T17:59:01Z- waiting for 1612979941.48, time is 1612979941.30 2021-02-10T17:59:01Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979941.33 epoch sec; seqNo:538; 4061735.77 north; 594467.90 east 2021-02-10T17:59:01Z- waiting for 1612979941.48, time is 1612979941.30 2021-02-10T17:59:01Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:01Z- AHRS_M2 msg: 1612979941.69 epoch sec; seqNo:536 2021-02-10T17:59:01Z- AHRS_M2 msg: 4.37 phi; -0.21 theta; -0.15 psi 2021-02-10T17:59:01Z- waiting for 1612979941.48, time is 1612979941.30 2021-02-10T17:59:01Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:01Z- handleDepth()-Depth_Keller msg: 21.54 epoch sec; seqNo:1612979941701; depth 0.00 2021-02-10T17:59:01Z- waiting for 1612979941.48, time is 1612979941.30 2021-02-10T17:59:01Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979941.71 epoch sec; seqNo:539; 4061735.77 north; 594467.90 east 2021-02-10T17:59:01Z- waiting for 1612979941.48, time is 1612979941.30 2021-02-10T17:59:01Z- sync is 0.41, coherence is 2.00 2021-02-10T17:59:02Z- AHRS_M2 msg: 1612979942.10 epoch sec; seqNo:537 2021-02-10T17:59:02Z- AHRS_M2 msg: 4.37 phi; -0.21 theta; -0.15 psi 2021-02-10T17:59:02Z- waiting for 1612979941.48, time is 1612979941.30 2021-02-10T17:59:02Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:02Z- handleDepth()-Depth_Keller msg: 21.61 epoch sec; seqNo:1612979942109; depth 0.00 2021-02-10T17:59:02Z- waiting for 1612979941.48, time is 1612979941.30 2021-02-10T17:59:02Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979942.12 epoch sec; seqNo:540; 4061735.77 north; 594467.90 east 2021-02-10T17:59:02Z- waiting for 1612979941.48, time is 1612979941.30 2021-02-10T17:59:02Z- sync is 0.81, coherence is 2.00 2021-02-10T17:59:02Z- AHRS_M2 msg: 1612979942.50 epoch sec; seqNo:538 2021-02-10T17:59:02Z- AHRS_M2 msg: 4.37 phi; -0.21 theta; -0.14 psi 2021-02-10T17:59:02Z- waiting for 1612979941.48, time is 1612979941.30 2021-02-10T17:59:02Z- sync is 1.20, coherence is 2.00 2021-02-10T17:59:02Z- handleDepth()-Depth_Keller msg: 21.71 epoch sec; seqNo:1612979942504; depth 0.00 2021-02-10T17:59:02Z- waiting for 1612979941.48, time is 1612979941.30 2021-02-10T17:59:02Z- sync is 1.20, coherence is 2.00 2021-02-10T17:59:02Z- handleDvl() - RDI_Pathfinder msg: 1612979942.53 epoch sec; seqNo:221 2021-02-10T17:59:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.13 , 72.11 , 60.14 , 0.00 2021-02-10T17:59:02Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.03 , 0.02 2021-02-10T17:59:02Z- waiting for 1612979941.48, time is 1612979942.53 2021-02-10T17:59:02Z- sync is 0.03, coherence is 2.00 2021-02-10T17:59:02Z- LcmTrn::updateTrn() >>>> pose time 1612979942.50, meas time 1612979942.53 <<<< 2021-02-10T17:59:02Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979942.53 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:59:02Z- TerrainNav::motionUpdate() - currEstimate = (4061736, 594467.90, 21.71) 2021-02-10T17:59:02Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:59:02Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:59:02Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:59:02Z- TNavBF::mmse selected from filter -1 2021-02-10T17:59:02Z- variances([0], [2], and psi_berg) = 818.444954 833.157148 0.000000 2021-02-10T17:59:02Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:59:02Z- LcmTrn::cycle() - MLE : 4061700.27 594419.40 21.71 2021-02-10T17:59:02Z- LcmTrn::cycle() - MMSE : 4061735.77 594467.90 21.71 2021-02-10T17:59:02Z- LcmTrn::cycle() - COVAR: 818.44 833.16 31.32 0.00 2021-02-10T17:59:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979942.54 epoch sec; seqNo:541; 4061735.38 north; 594466.69 east 2021-02-10T17:59:02Z- waiting for 1612979945.53, time is 1612979942.53 2021-02-10T17:59:02Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:02Z- AHRS_M2 msg: 1612979942.90 epoch sec; seqNo:539 2021-02-10T17:59:02Z- AHRS_M2 msg: 4.37 phi; -0.21 theta; -0.14 psi 2021-02-10T17:59:02Z- waiting for 1612979945.53, time is 1612979942.53 2021-02-10T17:59:02Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:02Z- handleDepth()-Depth_Keller msg: 21.78 epoch sec; seqNo:1612979942913; depth 0.00 2021-02-10T17:59:02Z- waiting for 1612979945.53, time is 1612979942.53 2021-02-10T17:59:02Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979942.92 epoch sec; seqNo:542; 4061735.38 north; 594466.69 east 2021-02-10T17:59:02Z- waiting for 1612979945.53, time is 1612979942.53 2021-02-10T17:59:02Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:03Z- AHRS_M2 msg: 1612979943.31 epoch sec; seqNo:540 2021-02-10T17:59:03Z- AHRS_M2 msg: 4.38 phi; -0.21 theta; -0.14 psi 2021-02-10T17:59:03Z- waiting for 1612979945.53, time is 1612979942.53 2021-02-10T17:59:03Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:03Z- handleDepth()-Depth_Keller msg: 21.88 epoch sec; seqNo:1612979943312; depth 0.00 2021-02-10T17:59:03Z- waiting for 1612979945.53, time is 1612979942.53 2021-02-10T17:59:03Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:03Z- handleDvl() - RDI_Pathfinder msg: 1612979943.32 epoch sec; seqNo:222 2021-02-10T17:59:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.13 , 72.11 , 60.14 , 78.86 2021-02-10T17:59:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.03 , 0.03 2021-02-10T17:59:03Z- waiting for 1612979945.53, time is 1612979943.32 2021-02-10T17:59:03Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979943.33 epoch sec; seqNo:543; 4061735.38 north; 594466.69 east 2021-02-10T17:59:03Z- waiting for 1612979945.53, time is 1612979943.32 2021-02-10T17:59:03Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:03Z- AHRS_M2 msg: 1612979943.71 epoch sec; seqNo:541 2021-02-10T17:59:03Z- AHRS_M2 msg: 4.38 phi; -0.21 theta; -0.14 psi 2021-02-10T17:59:03Z- waiting for 1612979945.53, time is 1612979943.32 2021-02-10T17:59:03Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:03Z- handleDepth()-Depth_Keller msg: 21.98 epoch sec; seqNo:1612979943718; depth 0.00 2021-02-10T17:59:03Z- waiting for 1612979945.53, time is 1612979943.32 2021-02-10T17:59:03Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979943.73 epoch sec; seqNo:544; 4061734.98 north; 594465.47 east 2021-02-10T17:59:03Z- waiting for 1612979945.53, time is 1612979943.32 2021-02-10T17:59:03Z- sync is 0.41, coherence is 2.00 2021-02-10T17:59:04Z- AHRS_M2 msg: 1612979944.12 epoch sec; seqNo:542 2021-02-10T17:59:04Z- AHRS_M2 msg: 4.38 phi; -0.21 theta; -0.14 psi 2021-02-10T17:59:04Z- waiting for 1612979945.53, time is 1612979943.32 2021-02-10T17:59:04Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:04Z- handleDepth()-Depth_Keller msg: 22.04 epoch sec; seqNo:1612979944120; depth 0.00 2021-02-10T17:59:04Z- waiting for 1612979945.53, time is 1612979943.32 2021-02-10T17:59:04Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979944.13 epoch sec; seqNo:545; 4061734.98 north; 594465.47 east 2021-02-10T17:59:04Z- waiting for 1612979945.53, time is 1612979943.32 2021-02-10T17:59:04Z- sync is 0.81, coherence is 2.00 2021-02-10T17:59:04Z- AHRS_M2 msg: 1612979944.52 epoch sec; seqNo:543 2021-02-10T17:59:04Z- AHRS_M2 msg: 4.39 phi; -0.21 theta; -0.14 psi 2021-02-10T17:59:04Z- waiting for 1612979945.53, time is 1612979943.32 2021-02-10T17:59:04Z- sync is 1.20, coherence is 2.00 2021-02-10T17:59:04Z- handleDepth()-Depth_Keller msg: 22.12 epoch sec; seqNo:1612979944524; depth 0.00 2021-02-10T17:59:04Z- waiting for 1612979945.53, time is 1612979943.32 2021-02-10T17:59:04Z- sync is 1.20, coherence is 2.00 2021-02-10T17:59:04Z- handleDvl() - RDI_Pathfinder msg: 1612979944.54 epoch sec; seqNo:223 2021-02-10T17:59:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.48 , 71.58 , 59.92 , 0.00 2021-02-10T17:59:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.03 , 0.04 2021-02-10T17:59:04Z- waiting for 1612979945.53, time is 1612979944.54 2021-02-10T17:59:04Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979944.55 epoch sec; seqNo:546; 4061734.98 north; 594465.47 east 2021-02-10T17:59:04Z- waiting for 1612979945.53, time is 1612979944.54 2021-02-10T17:59:04Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:04Z- AHRS_M2 msg: 1612979944.92 epoch sec; seqNo:544 2021-02-10T17:59:04Z- AHRS_M2 msg: 4.39 phi; -0.21 theta; -0.14 psi 2021-02-10T17:59:04Z- waiting for 1612979945.53, time is 1612979944.54 2021-02-10T17:59:04Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:04Z- handleDepth()-Depth_Keller msg: 22.21 epoch sec; seqNo:1612979944929; depth 0.00 2021-02-10T17:59:04Z- waiting for 1612979945.53, time is 1612979944.54 2021-02-10T17:59:04Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979944.94 epoch sec; seqNo:547; 4061734.60 north; 594465.47 east 2021-02-10T17:59:04Z- waiting for 1612979945.53, time is 1612979944.54 2021-02-10T17:59:04Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:05Z- AHRS_M2 msg: 1612979945.33 epoch sec; seqNo:545 2021-02-10T17:59:05Z- AHRS_M2 msg: 4.39 phi; -0.21 theta; -0.14 psi 2021-02-10T17:59:05Z- waiting for 1612979945.53, time is 1612979944.54 2021-02-10T17:59:05Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:05Z- handleDepth()-Depth_Keller msg: 22.29 epoch sec; seqNo:1612979945346; depth 0.00 2021-02-10T17:59:05Z- waiting for 1612979945.53, time is 1612979944.54 2021-02-10T17:59:05Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:05Z- handleDvl() - RDI_Pathfinder msg: 1612979945.36 epoch sec; seqNo:224 2021-02-10T17:59:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.52 , 71.19 , 59.84 , 0.00 2021-02-10T17:59:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.02 , 0.03 2021-02-10T17:59:05Z- waiting for 1612979945.53, time is 1612979945.36 2021-02-10T17:59:05Z- sync is 0.03, coherence is 2.00 2021-02-10T17:59:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979945.37 epoch sec; seqNo:548; 4061734.59 north; 594464.25 east 2021-02-10T17:59:05Z- waiting for 1612979945.53, time is 1612979945.36 2021-02-10T17:59:05Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:05Z- AHRS_M2 msg: 1612979945.73 epoch sec; seqNo:546 2021-02-10T17:59:05Z- AHRS_M2 msg: 4.40 phi; -0.21 theta; -0.14 psi 2021-02-10T17:59:05Z- waiting for 1612979945.53, time is 1612979945.36 2021-02-10T17:59:05Z- sync is 0.37, coherence is 2.00 2021-02-10T17:59:05Z- handleDepth()-Depth_Keller msg: 22.38 epoch sec; seqNo:1612979945741; depth 0.00 2021-02-10T17:59:05Z- waiting for 1612979945.53, time is 1612979945.36 2021-02-10T17:59:05Z- sync is 0.37, coherence is 2.00 2021-02-10T17:59:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979945.75 epoch sec; seqNo:549; 4061734.59 north; 594464.25 east 2021-02-10T17:59:05Z- waiting for 1612979945.53, time is 1612979945.36 2021-02-10T17:59:05Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:06Z- AHRS_M2 msg: 1612979946.14 epoch sec; seqNo:547 2021-02-10T17:59:06Z- AHRS_M2 msg: 4.41 phi; -0.20 theta; -0.15 psi 2021-02-10T17:59:06Z- waiting for 1612979945.53, time is 1612979945.36 2021-02-10T17:59:06Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:06Z- handleDepth()-Depth_Keller msg: 22.45 epoch sec; seqNo:1612979946146; depth 0.00 2021-02-10T17:59:06Z- waiting for 1612979945.53, time is 1612979945.36 2021-02-10T17:59:06Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979946.16 epoch sec; seqNo:550; 4061734.21 north; 594464.26 east 2021-02-10T17:59:06Z- waiting for 1612979945.53, time is 1612979945.36 2021-02-10T17:59:06Z- sync is 0.80, coherence is 2.00 2021-02-10T17:59:06Z- AHRS_M2 msg: 1612979946.54 epoch sec; seqNo:548 2021-02-10T17:59:06Z- AHRS_M2 msg: 4.41 phi; -0.20 theta; -0.15 psi 2021-02-10T17:59:06Z- waiting for 1612979945.53, time is 1612979945.36 2021-02-10T17:59:06Z- sync is 1.18, coherence is 2.00 2021-02-10T17:59:06Z- handleDepth()-Depth_Keller msg: 22.54 epoch sec; seqNo:1612979946546; depth 0.00 2021-02-10T17:59:06Z- waiting for 1612979945.53, time is 1612979945.36 2021-02-10T17:59:06Z- sync is 1.18, coherence is 2.00 2021-02-10T17:59:06Z- handleDvl() - RDI_Pathfinder msg: 1612979946.56 epoch sec; seqNo:225 2021-02-10T17:59:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.21 , 71.50 , 59.84 , 78.55 2021-02-10T17:59:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.02 , -0.00 2021-02-10T17:59:06Z- waiting for 1612979945.53, time is 1612979946.56 2021-02-10T17:59:06Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:06Z- LcmTrn::updateTrn() >>>> pose time 1612979946.54, meas time 1612979946.56 <<<< 2021-02-10T17:59:06Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979946.56 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:59:06Z- TerrainNav::motionUpdate() - currEstimate = (4061734, 594464.26, 22.54) 2021-02-10T17:59:06Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:59:06Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:59:06Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:59:06Z- TNavBF::mmse selected from filter -1 2021-02-10T17:59:06Z- variances([0], [2], and psi_berg) = 818.082257 833.155665 0.000000 2021-02-10T17:59:06Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:59:06Z- LcmTrn::cycle() - MLE : 4061698.71 594415.76 22.54 2021-02-10T17:59:06Z- LcmTrn::cycle() - MMSE : 4061734.21 594464.26 22.54 2021-02-10T17:59:06Z- LcmTrn::cycle() - COVAR: 818.08 833.16 31.52 0.00 2021-02-10T17:59:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979946.57 epoch sec; seqNo:551; 4061734.20 north; 594463.04 east 2021-02-10T17:59:06Z- waiting for 1612979949.56, time is 1612979946.56 2021-02-10T17:59:06Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:06Z- AHRS_M2 msg: 1612979946.94 epoch sec; seqNo:549 2021-02-10T17:59:06Z- AHRS_M2 msg: 4.42 phi; -0.20 theta; -0.15 psi 2021-02-10T17:59:06Z- waiting for 1612979949.56, time is 1612979946.56 2021-02-10T17:59:06Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:06Z- handleDepth()-Depth_Keller msg: 22.62 epoch sec; seqNo:1612979946959; depth 0.00 2021-02-10T17:59:06Z- waiting for 1612979949.56, time is 1612979946.56 2021-02-10T17:59:06Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979946.97 epoch sec; seqNo:552; 4061734.20 north; 594463.04 east 2021-02-10T17:59:06Z- waiting for 1612979949.56, time is 1612979946.56 2021-02-10T17:59:06Z- sync is 0.42, coherence is 2.00 2021-02-10T17:59:07Z- AHRS_M2 msg: 1612979947.35 epoch sec; seqNo:550 2021-02-10T17:59:07Z- AHRS_M2 msg: 4.43 phi; -0.20 theta; -0.15 psi 2021-02-10T17:59:07Z- waiting for 1612979949.56, time is 1612979946.56 2021-02-10T17:59:07Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:07Z- handleDepth()-Depth_Keller msg: 22.69 epoch sec; seqNo:1612979947352; depth 0.00 2021-02-10T17:59:07Z- waiting for 1612979949.56, time is 1612979946.56 2021-02-10T17:59:07Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:07Z- handleDvl() - RDI_Pathfinder msg: 1612979947.36 epoch sec; seqNo:226 2021-02-10T17:59:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.84 , 71.26 , 59.27 , 0.00 2021-02-10T17:59:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.01 , -0.04 2021-02-10T17:59:07Z- waiting for 1612979949.56, time is 1612979947.36 2021-02-10T17:59:07Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979947.38 epoch sec; seqNo:553; 4061733.82 north; 594463.04 east 2021-02-10T17:59:07Z- waiting for 1612979949.56, time is 1612979947.36 2021-02-10T17:59:07Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:07Z- AHRS_M2 msg: 1612979947.75 epoch sec; seqNo:551 2021-02-10T17:59:07Z- AHRS_M2 msg: 4.43 phi; -0.20 theta; -0.15 psi 2021-02-10T17:59:07Z- waiting for 1612979949.56, time is 1612979947.36 2021-02-10T17:59:07Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:07Z- handleDepth()-Depth_Keller msg: 22.78 epoch sec; seqNo:1612979947756; depth 0.00 2021-02-10T17:59:07Z- waiting for 1612979949.56, time is 1612979947.36 2021-02-10T17:59:07Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979947.77 epoch sec; seqNo:554; 4061733.82 north; 594463.04 east 2021-02-10T17:59:07Z- waiting for 1612979949.56, time is 1612979947.36 2021-02-10T17:59:07Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:08Z- AHRS_M2 msg: 1612979948.16 epoch sec; seqNo:552 2021-02-10T17:59:08Z- AHRS_M2 msg: 4.43 phi; -0.20 theta; -0.15 psi 2021-02-10T17:59:08Z- waiting for 1612979949.56, time is 1612979947.36 2021-02-10T17:59:08Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:08Z- handleDepth()-Depth_Keller msg: 22.85 epoch sec; seqNo:1612979948171; depth 0.00 2021-02-10T17:59:08Z- waiting for 1612979949.56, time is 1612979947.36 2021-02-10T17:59:08Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979948.20 epoch sec; seqNo:555; 4061733.81 north; 594461.82 east 2021-02-10T17:59:08Z- waiting for 1612979949.56, time is 1612979947.36 2021-02-10T17:59:08Z- sync is 0.83, coherence is 2.00 2021-02-10T17:59:08Z- AHRS_M2 msg: 1612979948.56 epoch sec; seqNo:553 2021-02-10T17:59:08Z- AHRS_M2 msg: 4.44 phi; -0.20 theta; -0.15 psi 2021-02-10T17:59:08Z- waiting for 1612979949.56, time is 1612979947.36 2021-02-10T17:59:08Z- sync is 1.20, coherence is 2.00 2021-02-10T17:59:08Z- handleDepth()-Depth_Keller msg: 22.94 epoch sec; seqNo:1612979948564; depth 0.00 2021-02-10T17:59:08Z- waiting for 1612979949.56, time is 1612979947.36 2021-02-10T17:59:08Z- sync is 1.20, coherence is 2.00 2021-02-10T17:59:08Z- handleDvl() - RDI_Pathfinder msg: 1612979948.58 epoch sec; seqNo:227 2021-02-10T17:59:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.60 , 71.19 , 59.22 , 0.00 2021-02-10T17:59:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.02 , -0.06 2021-02-10T17:59:08Z- waiting for 1612979949.56, time is 1612979948.58 2021-02-10T17:59:08Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979948.60 epoch sec; seqNo:556; 4061733.43 north; 594461.83 east 2021-02-10T17:59:08Z- waiting for 1612979949.56, time is 1612979948.58 2021-02-10T17:59:08Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:08Z- AHRS_M2 msg: 1612979948.96 epoch sec; seqNo:554 2021-02-10T17:59:08Z- AHRS_M2 msg: 4.44 phi; -0.20 theta; -0.15 psi 2021-02-10T17:59:08Z- waiting for 1612979949.56, time is 1612979948.58 2021-02-10T17:59:08Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:08Z- handleDepth()-Depth_Keller msg: 23.02 epoch sec; seqNo:1612979948968; depth 0.00 2021-02-10T17:59:08Z- waiting for 1612979949.56, time is 1612979948.58 2021-02-10T17:59:08Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979948.98 epoch sec; seqNo:557; 4061733.43 north; 594461.83 east 2021-02-10T17:59:08Z- waiting for 1612979949.56, time is 1612979948.58 2021-02-10T17:59:08Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:09Z- AHRS_M2 msg: 1612979949.37 epoch sec; seqNo:555 2021-02-10T17:59:09Z- AHRS_M2 msg: 4.44 phi; -0.20 theta; -0.16 psi 2021-02-10T17:59:09Z- waiting for 1612979949.56, time is 1612979948.58 2021-02-10T17:59:09Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:09Z- handleDepth()-Depth_Keller msg: 23.06 epoch sec; seqNo:1612979949373; depth 0.00 2021-02-10T17:59:09Z- waiting for 1612979949.56, time is 1612979948.58 2021-02-10T17:59:09Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:09Z- handleDvl() - RDI_Pathfinder msg: 1612979949.38 epoch sec; seqNo:228 2021-02-10T17:59:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.29 , 71.50 , 59.22 , 0.00 2021-02-10T17:59:09Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.03 , -0.05 2021-02-10T17:59:09Z- waiting for 1612979949.56, time is 1612979949.38 2021-02-10T17:59:09Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979949.39 epoch sec; seqNo:558; 4061733.41 north; 594460.61 east 2021-02-10T17:59:09Z- waiting for 1612979949.56, time is 1612979949.38 2021-02-10T17:59:09Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:09Z- AHRS_M2 msg: 1612979949.77 epoch sec; seqNo:556 2021-02-10T17:59:09Z- AHRS_M2 msg: 4.45 phi; -0.20 theta; -0.16 psi 2021-02-10T17:59:09Z- waiting for 1612979949.56, time is 1612979949.38 2021-02-10T17:59:09Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:09Z- handleDepth()-Depth_Keller msg: 23.16 epoch sec; seqNo:1612979949788; depth 0.00 2021-02-10T17:59:09Z- waiting for 1612979949.56, time is 1612979949.38 2021-02-10T17:59:09Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979949.81 epoch sec; seqNo:559; 4061733.03 north; 594460.61 east 2021-02-10T17:59:09Z- waiting for 1612979949.56, time is 1612979949.38 2021-02-10T17:59:09Z- sync is 0.42, coherence is 2.00 2021-02-10T17:59:10Z- AHRS_M2 msg: 1612979950.19 epoch sec; seqNo:557 2021-02-10T17:59:10Z- AHRS_M2 msg: 4.45 phi; -0.20 theta; -0.16 psi 2021-02-10T17:59:10Z- waiting for 1612979949.56, time is 1612979949.38 2021-02-10T17:59:10Z- sync is 0.80, coherence is 2.00 2021-02-10T17:59:10Z- handleDepth()-Depth_Keller msg: 23.23 epoch sec; seqNo:1612979950214; depth 0.00 2021-02-10T17:59:10Z- waiting for 1612979949.56, time is 1612979949.38 2021-02-10T17:59:10Z- sync is 0.80, coherence is 2.00 2021-02-10T17:59:10Z- handleDvl() - RDI_Pathfinder msg: 1612979950.23 epoch sec; seqNo:229 2021-02-10T17:59:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.68 , 71.19 , 58.92 , 77.02 2021-02-10T17:59:10Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.02 , -0.02 2021-02-10T17:59:10Z- waiting for 1612979949.56, time is 1612979950.23 2021-02-10T17:59:10Z- sync is 0.04, coherence is 2.00 2021-02-10T17:59:10Z- LcmTrn::updateTrn() >>>> pose time 1612979950.19, meas time 1612979950.23 <<<< 2021-02-10T17:59:10Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979950.23 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:59:10Z- TerrainNav::motionUpdate() - currEstimate = (4061733, 594460.61, 23.23) 2021-02-10T17:59:10Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:59:10Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:59:10Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:59:10Z- TNavBF::mmse selected from filter -1 2021-02-10T17:59:10Z- variances([0], [2], and psi_berg) = 817.729321 833.154245 0.000000 2021-02-10T17:59:10Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:59:10Z- LcmTrn::cycle() - MLE : 4061697.53 594412.11 23.23 2021-02-10T17:59:10Z- LcmTrn::cycle() - MMSE : 4061733.03 594460.61 23.23 2021-02-10T17:59:10Z- LcmTrn::cycle() - COVAR: 817.73 833.15 31.71 0.00 2021-02-10T17:59:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979950.24 epoch sec; seqNo:560; 4061733.02 north; 594459.39 east 2021-02-10T17:59:10Z- waiting for 1612979953.23, time is 1612979950.23 2021-02-10T17:59:10Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:10Z- AHRS_M2 msg: 1612979950.58 epoch sec; seqNo:558 2021-02-10T17:59:10Z- AHRS_M2 msg: 4.45 phi; -0.20 theta; -0.16 psi 2021-02-10T17:59:10Z- waiting for 1612979953.23, time is 1612979950.23 2021-02-10T17:59:10Z- sync is 0.35, coherence is 2.00 2021-02-10T17:59:10Z- handleDepth()-Depth_Keller msg: 23.32 epoch sec; seqNo:1612979950584; depth 0.00 2021-02-10T17:59:10Z- waiting for 1612979953.23, time is 1612979950.23 2021-02-10T17:59:10Z- sync is 0.35, coherence is 2.00 2021-02-10T17:59:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979950.60 epoch sec; seqNo:561; 4061733.02 north; 594459.39 east 2021-02-10T17:59:10Z- waiting for 1612979953.23, time is 1612979950.23 2021-02-10T17:59:10Z- sync is 0.36, coherence is 2.00 2021-02-10T17:59:10Z- AHRS_M2 msg: 1612979950.98 epoch sec; seqNo:559 2021-02-10T17:59:10Z- AHRS_M2 msg: 4.45 phi; -0.20 theta; -0.16 psi 2021-02-10T17:59:10Z- waiting for 1612979953.23, time is 1612979950.23 2021-02-10T17:59:10Z- sync is 0.75, coherence is 2.00 2021-02-10T17:59:10Z- handleDepth()-Depth_Keller msg: 23.38 epoch sec; seqNo:1612979950997; depth 0.00 2021-02-10T17:59:10Z- waiting for 1612979953.23, time is 1612979950.23 2021-02-10T17:59:10Z- sync is 0.75, coherence is 2.00 2021-02-10T17:59:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979951.01 epoch sec; seqNo:562; 4061732.64 north; 594459.39 east 2021-02-10T17:59:11Z- waiting for 1612979953.23, time is 1612979950.23 2021-02-10T17:59:11Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:11Z- AHRS_M2 msg: 1612979951.39 epoch sec; seqNo:560 2021-02-10T17:59:11Z- AHRS_M2 msg: 4.45 phi; -0.20 theta; -0.16 psi 2021-02-10T17:59:11Z- waiting for 1612979953.23, time is 1612979950.23 2021-02-10T17:59:11Z- sync is 1.16, coherence is 2.00 2021-02-10T17:59:11Z- handleDepth()-Depth_Keller msg: 23.45 epoch sec; seqNo:1612979951392; depth 0.00 2021-02-10T17:59:11Z- waiting for 1612979953.23, time is 1612979950.23 2021-02-10T17:59:11Z- sync is 1.16, coherence is 2.00 2021-02-10T17:59:11Z- handleDvl() - RDI_Pathfinder msg: 1612979951.41 epoch sec; seqNo:230 2021-02-10T17:59:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.68 , 70.88 , 58.30 , 0.00 2021-02-10T17:59:11Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , -0.01 , 0.03 2021-02-10T17:59:11Z- waiting for 1612979953.23, time is 1612979951.41 2021-02-10T17:59:11Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979951.42 epoch sec; seqNo:563; 4061732.63 north; 594458.17 east 2021-02-10T17:59:11Z- waiting for 1612979953.23, time is 1612979951.41 2021-02-10T17:59:11Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:11Z- AHRS_M2 msg: 1612979951.79 epoch sec; seqNo:561 2021-02-10T17:59:11Z- AHRS_M2 msg: 4.45 phi; -0.20 theta; -0.16 psi 2021-02-10T17:59:11Z- waiting for 1612979953.23, time is 1612979951.41 2021-02-10T17:59:11Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:11Z- handleDepth()-Depth_Keller msg: 23.55 epoch sec; seqNo:1612979951800; depth 0.00 2021-02-10T17:59:11Z- waiting for 1612979953.23, time is 1612979951.41 2021-02-10T17:59:11Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979951.81 epoch sec; seqNo:564; 4061732.63 north; 594458.17 east 2021-02-10T17:59:11Z- waiting for 1612979953.23, time is 1612979951.41 2021-02-10T17:59:11Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:12Z- AHRS_M2 msg: 1612979952.21 epoch sec; seqNo:562 2021-02-10T17:59:12Z- AHRS_M2 msg: 4.45 phi; -0.20 theta; -0.16 psi 2021-02-10T17:59:12Z- waiting for 1612979953.23, time is 1612979951.41 2021-02-10T17:59:12Z- sync is 0.80, coherence is 2.00 2021-02-10T17:59:12Z- handleDepth()-Depth_Keller msg: 23.63 epoch sec; seqNo:1612979952213; depth 0.00 2021-02-10T17:59:12Z- waiting for 1612979953.23, time is 1612979951.41 2021-02-10T17:59:12Z- sync is 0.80, coherence is 2.00 2021-02-10T17:59:12Z- handleDvl() - RDI_Pathfinder msg: 1612979952.22 epoch sec; seqNo:231 2021-02-10T17:59:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.15 , 71.00 , 58.54 , 76.51 2021-02-10T17:59:12Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.01 , 0.08 2021-02-10T17:59:12Z- waiting for 1612979953.23, time is 1612979952.22 2021-02-10T17:59:12Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979952.23 epoch sec; seqNo:565; 4061732.63 north; 594458.17 east 2021-02-10T17:59:12Z- waiting for 1612979953.23, time is 1612979952.22 2021-02-10T17:59:12Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:12Z- AHRS_M2 msg: 1612979952.60 epoch sec; seqNo:563 2021-02-10T17:59:12Z- AHRS_M2 msg: 4.45 phi; -0.20 theta; -0.17 psi 2021-02-10T17:59:12Z- waiting for 1612979953.23, time is 1612979952.22 2021-02-10T17:59:12Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:12Z- handleDepth()-Depth_Keller msg: 23.72 epoch sec; seqNo:1612979952614; depth 0.00 2021-02-10T17:59:12Z- waiting for 1612979953.23, time is 1612979952.22 2021-02-10T17:59:12Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979952.62 epoch sec; seqNo:566; 4061732.24 north; 594456.96 east 2021-02-10T17:59:12Z- waiting for 1612979953.23, time is 1612979952.22 2021-02-10T17:59:12Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:13Z- handleDepth()-Depth_Keller msg: 23.79 epoch sec; seqNo:1612979953025; depth 0.00 2021-02-10T17:59:13Z- waiting for 1612979953.23, time is 1612979952.22 2021-02-10T17:59:13Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979953.04 epoch sec; seqNo:567; 4061732.24 north; 594456.96 east 2021-02-10T17:59:13Z- waiting for 1612979953.23, time is 1612979952.22 2021-02-10T17:59:13Z- sync is 0.81, coherence is 2.00 2021-02-10T17:59:13Z- AHRS_M2 msg: 1612979953.41 epoch sec; seqNo:564 2021-02-10T17:59:13Z- AHRS_M2 msg: 4.45 phi; -0.20 theta; -0.17 psi 2021-02-10T17:59:13Z- waiting for 1612979953.23, time is 1612979952.22 2021-02-10T17:59:13Z- sync is 1.18, coherence is 2.00 2021-02-10T17:59:13Z- handleDepth()-Depth_Keller msg: 23.87 epoch sec; seqNo:1612979953413; depth 0.00 2021-02-10T17:59:13Z- waiting for 1612979953.23, time is 1612979952.22 2021-02-10T17:59:13Z- sync is 1.18, coherence is 2.00 2021-02-10T17:59:13Z- handleDvl() - RDI_Pathfinder msg: 1612979953.42 epoch sec; seqNo:232 2021-02-10T17:59:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.06 , 71.19 , 58.30 , 0.00 2021-02-10T17:59:13Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.03 , 0.10 2021-02-10T17:59:13Z- waiting for 1612979953.23, time is 1612979953.42 2021-02-10T17:59:13Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:13Z- LcmTrn::updateTrn() >>>> pose time 1612979953.41, meas time 1612979953.42 <<<< 2021-02-10T17:59:13Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979953.42 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:59:13Z- TerrainNav::motionUpdate() - currEstimate = (4061732, 594456.96, 23.87) 2021-02-10T17:59:13Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:59:13Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:59:13Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:59:13Z- TNavBF::mmse selected from filter -1 2021-02-10T17:59:13Z- variances([0], [2], and psi_berg) = 817.384385 833.152880 0.000000 2021-02-10T17:59:13Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:59:13Z- LcmTrn::cycle() - MLE : 4061696.74 594408.46 23.87 2021-02-10T17:59:13Z- LcmTrn::cycle() - MMSE : 4061732.24 594456.96 23.87 2021-02-10T17:59:13Z- LcmTrn::cycle() - COVAR: 817.38 833.15 31.90 0.00 2021-02-10T17:59:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979953.43 epoch sec; seqNo:568; 4061732.24 north; 594456.96 east 2021-02-10T17:59:13Z- waiting for 1612979956.42, time is 1612979953.42 2021-02-10T17:59:13Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:13Z- AHRS_M2 msg: 1612979953.81 epoch sec; seqNo:565 2021-02-10T17:59:13Z- AHRS_M2 msg: 4.45 phi; -0.20 theta; -0.17 psi 2021-02-10T17:59:13Z- waiting for 1612979956.42, time is 1612979953.42 2021-02-10T17:59:13Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:13Z- handleDepth()-Depth_Keller msg: 23.96 epoch sec; seqNo:1612979953825; depth 0.00 2021-02-10T17:59:13Z- waiting for 1612979956.42, time is 1612979953.42 2021-02-10T17:59:13Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979953.84 epoch sec; seqNo:569; 4061732.24 north; 594456.96 east 2021-02-10T17:59:13Z- waiting for 1612979956.42, time is 1612979953.42 2021-02-10T17:59:13Z- sync is 0.41, coherence is 2.00 2021-02-10T17:59:14Z- AHRS_M2 msg: 1612979954.21 epoch sec; seqNo:566 2021-02-10T17:59:14Z- AHRS_M2 msg: 4.45 phi; -0.21 theta; -0.18 psi 2021-02-10T17:59:14Z- waiting for 1612979956.42, time is 1612979953.42 2021-02-10T17:59:14Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:14Z- handleDepth()-Depth_Keller msg: 24.04 epoch sec; seqNo:1612979954221; depth 0.00 2021-02-10T17:59:14Z- waiting for 1612979956.42, time is 1612979953.42 2021-02-10T17:59:14Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:14Z- handleDvl() - RDI_Pathfinder msg: 1612979954.24 epoch sec; seqNo:233 2021-02-10T17:59:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.15 , 71.58 , 58.54 , 76.22 2021-02-10T17:59:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.05 , 0.09 2021-02-10T17:59:14Z- waiting for 1612979956.42, time is 1612979954.24 2021-02-10T17:59:14Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979954.25 epoch sec; seqNo:570; 4061731.84 north; 594455.74 east 2021-02-10T17:59:14Z- waiting for 1612979956.42, time is 1612979954.24 2021-02-10T17:59:14Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:14Z- AHRS_M2 msg: 1612979954.62 epoch sec; seqNo:567 2021-02-10T17:59:14Z- AHRS_M2 msg: 4.45 phi; -0.21 theta; -0.18 psi 2021-02-10T17:59:14Z- waiting for 1612979956.42, time is 1612979954.24 2021-02-10T17:59:14Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:14Z- handleDepth()-Depth_Keller msg: 24.11 epoch sec; seqNo:1612979954624; depth 0.00 2021-02-10T17:59:14Z- waiting for 1612979956.42, time is 1612979954.24 2021-02-10T17:59:14Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979954.63 epoch sec; seqNo:571; 4061731.84 north; 594455.74 east 2021-02-10T17:59:14Z- waiting for 1612979956.42, time is 1612979954.24 2021-02-10T17:59:14Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:15Z- AHRS_M2 msg: 1612979955.02 epoch sec; seqNo:568 2021-02-10T17:59:15Z- AHRS_M2 msg: 4.45 phi; -0.21 theta; -0.18 psi 2021-02-10T17:59:15Z- waiting for 1612979956.42, time is 1612979954.24 2021-02-10T17:59:15Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:15Z- handleDepth()-Depth_Keller msg: 24.20 epoch sec; seqNo:1612979955028; depth 0.00 2021-02-10T17:59:15Z- waiting for 1612979956.42, time is 1612979954.24 2021-02-10T17:59:15Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979955.04 epoch sec; seqNo:572; 4061731.84 north; 594455.74 east 2021-02-10T17:59:15Z- waiting for 1612979956.42, time is 1612979954.24 2021-02-10T17:59:15Z- sync is 0.80, coherence is 2.00 2021-02-10T17:59:15Z- AHRS_M2 msg: 1612979955.43 epoch sec; seqNo:569 2021-02-10T17:59:15Z- AHRS_M2 msg: 4.45 phi; -0.21 theta; -0.18 psi 2021-02-10T17:59:15Z- waiting for 1612979956.42, time is 1612979954.24 2021-02-10T17:59:15Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:15Z- handleDepth()-Depth_Keller msg: 24.29 epoch sec; seqNo:1612979955441; depth 0.00 2021-02-10T17:59:15Z- waiting for 1612979956.42, time is 1612979954.24 2021-02-10T17:59:15Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:15Z- handleDvl() - RDI_Pathfinder msg: 1612979955.45 epoch sec; seqNo:234 2021-02-10T17:59:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.45 , 71.80 , 58.30 , 76.71 2021-02-10T17:59:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.02 , 0.05 2021-02-10T17:59:15Z- waiting for 1612979956.42, time is 1612979955.45 2021-02-10T17:59:15Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979955.46 epoch sec; seqNo:573; 4061731.83 north; 594454.52 east 2021-02-10T17:59:15Z- waiting for 1612979956.42, time is 1612979955.45 2021-02-10T17:59:15Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:15Z- AHRS_M2 msg: 1612979955.84 epoch sec; seqNo:570 2021-02-10T17:59:15Z- AHRS_M2 msg: 4.45 phi; -0.21 theta; -0.19 psi 2021-02-10T17:59:15Z- waiting for 1612979956.42, time is 1612979955.45 2021-02-10T17:59:15Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:15Z- handleDepth()-Depth_Keller msg: 24.36 epoch sec; seqNo:1612979955841; depth 0.00 2021-02-10T17:59:15Z- waiting for 1612979956.42, time is 1612979955.45 2021-02-10T17:59:15Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979955.87 epoch sec; seqNo:574; 4061731.83 north; 594454.52 east 2021-02-10T17:59:15Z- waiting for 1612979956.42, time is 1612979955.45 2021-02-10T17:59:15Z- sync is 0.42, coherence is 2.00 2021-02-10T17:59:16Z- AHRS_M2 msg: 1612979956.24 epoch sec; seqNo:571 2021-02-10T17:59:16Z- AHRS_M2 msg: 4.45 phi; -0.21 theta; -0.19 psi 2021-02-10T17:59:16Z- waiting for 1612979956.42, time is 1612979955.45 2021-02-10T17:59:16Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:16Z- handleDepth()-Depth_Keller msg: 24.45 epoch sec; seqNo:1612979956240; depth 0.00 2021-02-10T17:59:16Z- waiting for 1612979956.42, time is 1612979955.45 2021-02-10T17:59:16Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:16Z- handleDvl() - RDI_Pathfinder msg: 1612979956.25 epoch sec; seqNo:235 2021-02-10T17:59:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.14 , 71.80 , 57.69 , 0.00 2021-02-10T17:59:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.00 , 0.00 2021-02-10T17:59:16Z- waiting for 1612979956.42, time is 1612979956.25 2021-02-10T17:59:16Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979956.26 epoch sec; seqNo:575; 4061731.45 north; 594454.53 east 2021-02-10T17:59:16Z- waiting for 1612979956.42, time is 1612979956.25 2021-02-10T17:59:16Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:16Z- AHRS_M2 msg: 1612979956.64 epoch sec; seqNo:572 2021-02-10T17:59:16Z- AHRS_M2 msg: 4.45 phi; -0.21 theta; -0.19 psi 2021-02-10T17:59:16Z- waiting for 1612979956.42, time is 1612979956.25 2021-02-10T17:59:16Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:16Z- handleDepth()-Depth_Keller msg: 24.53 epoch sec; seqNo:1612979956645; depth 0.00 2021-02-10T17:59:16Z- waiting for 1612979956.42, time is 1612979956.25 2021-02-10T17:59:16Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979956.66 epoch sec; seqNo:576; 4061731.44 north; 594453.31 east 2021-02-10T17:59:16Z- waiting for 1612979956.42, time is 1612979956.25 2021-02-10T17:59:16Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:17Z- AHRS_M2 msg: 1612979957.04 epoch sec; seqNo:573 2021-02-10T17:59:17Z- AHRS_M2 msg: 4.45 phi; -0.21 theta; -0.19 psi 2021-02-10T17:59:17Z- waiting for 1612979956.42, time is 1612979956.25 2021-02-10T17:59:17Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:17Z- handleDepth()-Depth_Keller msg: 24.60 epoch sec; seqNo:1612979957048; depth 0.00 2021-02-10T17:59:17Z- waiting for 1612979956.42, time is 1612979956.25 2021-02-10T17:59:17Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979957.06 epoch sec; seqNo:577; 4061731.44 north; 594453.31 east 2021-02-10T17:59:17Z- waiting for 1612979956.42, time is 1612979956.25 2021-02-10T17:59:17Z- sync is 0.81, coherence is 2.00 2021-02-10T17:59:17Z- AHRS_M2 msg: 1612979957.45 epoch sec; seqNo:574 2021-02-10T17:59:17Z- AHRS_M2 msg: 4.45 phi; -0.21 theta; -0.19 psi 2021-02-10T17:59:17Z- waiting for 1612979956.42, time is 1612979956.25 2021-02-10T17:59:17Z- sync is 1.20, coherence is 2.00 2021-02-10T17:59:17Z- handleDepth()-Depth_Keller msg: 24.68 epoch sec; seqNo:1612979957452; depth 0.00 2021-02-10T17:59:17Z- waiting for 1612979956.42, time is 1612979956.25 2021-02-10T17:59:17Z- sync is 1.20, coherence is 2.00 2021-02-10T17:59:17Z- handleDvl() - RDI_Pathfinder msg: 1612979957.46 epoch sec; seqNo:236 2021-02-10T17:59:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 59.70 , 71.87 , 57.67 , 0.00 2021-02-10T17:59:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.02 , -0.03 2021-02-10T17:59:17Z- waiting for 1612979956.42, time is 1612979957.46 2021-02-10T17:59:17Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:17Z- LcmTrn::updateTrn() >>>> pose time 1612979957.45, meas time 1612979957.46 <<<< 2021-02-10T17:59:17Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979957.46 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:59:17Z- TerrainNav::motionUpdate() - currEstimate = (4061731, 594453.31, 24.68) 2021-02-10T17:59:17Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:59:17Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:59:17Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:59:17Z- TNavBF::mmse selected from filter -1 2021-02-10T17:59:17Z- variances([0], [2], and psi_berg) = 817.042925 833.151549 0.000000 2021-02-10T17:59:17Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:59:17Z- LcmTrn::cycle() - MLE : 4061695.94 594404.81 24.68 2021-02-10T17:59:17Z- LcmTrn::cycle() - MMSE : 4061731.44 594453.31 24.68 2021-02-10T17:59:17Z- LcmTrn::cycle() - COVAR: 817.04 833.15 32.09 0.00 2021-02-10T17:59:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979957.48 epoch sec; seqNo:578; 4061731.06 north; 594453.31 east 2021-02-10T17:59:17Z- waiting for 1612979960.46, time is 1612979957.46 2021-02-10T17:59:17Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:17Z- AHRS_M2 msg: 1612979957.87 epoch sec; seqNo:575 2021-02-10T17:59:17Z- AHRS_M2 msg: 4.45 phi; -0.21 theta; -0.19 psi 2021-02-10T17:59:17Z- waiting for 1612979960.46, time is 1612979957.46 2021-02-10T17:59:17Z- sync is 0.41, coherence is 2.00 2021-02-10T17:59:17Z- handleDepth()-Depth_Keller msg: 24.78 epoch sec; seqNo:1612979957881; depth 0.00 2021-02-10T17:59:17Z- waiting for 1612979960.46, time is 1612979957.46 2021-02-10T17:59:17Z- sync is 0.41, coherence is 2.00 2021-02-10T17:59:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979957.91 epoch sec; seqNo:579; 4061731.05 north; 594452.09 east 2021-02-10T17:59:17Z- waiting for 1612979960.46, time is 1612979957.46 2021-02-10T17:59:17Z- sync is 0.45, coherence is 2.00 2021-02-10T17:59:18Z- AHRS_M2 msg: 1612979958.26 epoch sec; seqNo:576 2021-02-10T17:59:18Z- AHRS_M2 msg: 4.45 phi; -0.20 theta; -0.19 psi 2021-02-10T17:59:18Z- waiting for 1612979960.46, time is 1612979957.46 2021-02-10T17:59:18Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:18Z- handleDepth()-Depth_Keller msg: 24.86 epoch sec; seqNo:1612979958261; depth 0.00 2021-02-10T17:59:18Z- waiting for 1612979960.46, time is 1612979957.46 2021-02-10T17:59:18Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:18Z- handleDvl() - RDI_Pathfinder msg: 1612979958.27 epoch sec; seqNo:237 2021-02-10T17:59:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 59.41 , 71.58 , 57.67 , 75.35 2021-02-10T17:59:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.04 , -0.05 2021-02-10T17:59:18Z- waiting for 1612979960.46, time is 1612979958.27 2021-02-10T17:59:18Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979958.28 epoch sec; seqNo:580; 4061731.05 north; 594452.09 east 2021-02-10T17:59:18Z- waiting for 1612979960.46, time is 1612979958.27 2021-02-10T17:59:18Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:18Z- AHRS_M2 msg: 1612979958.66 epoch sec; seqNo:577 2021-02-10T17:59:18Z- AHRS_M2 msg: 4.45 phi; -0.20 theta; -0.19 psi 2021-02-10T17:59:18Z- waiting for 1612979960.46, time is 1612979958.27 2021-02-10T17:59:18Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:18Z- handleDepth()-Depth_Keller msg: 24.93 epoch sec; seqNo:1612979958664; depth 0.00 2021-02-10T17:59:18Z- waiting for 1612979960.46, time is 1612979958.27 2021-02-10T17:59:18Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979958.68 epoch sec; seqNo:581; 4061731.05 north; 594452.09 east 2021-02-10T17:59:18Z- waiting for 1612979960.46, time is 1612979958.27 2021-02-10T17:59:18Z- sync is 0.41, coherence is 2.00 2021-02-10T17:59:19Z- AHRS_M2 msg: 1612979959.06 epoch sec; seqNo:578 2021-02-10T17:59:19Z- AHRS_M2 msg: 4.45 phi; -0.20 theta; -0.19 psi 2021-02-10T17:59:19Z- waiting for 1612979960.46, time is 1612979958.27 2021-02-10T17:59:19Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:19Z- handleDepth()-Depth_Keller msg: 25.01 epoch sec; seqNo:1612979959068; depth 0.00 2021-02-10T17:59:19Z- waiting for 1612979960.46, time is 1612979958.27 2021-02-10T17:59:19Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979959.08 epoch sec; seqNo:582; 4061730.67 north; 594452.09 east 2021-02-10T17:59:19Z- waiting for 1612979960.46, time is 1612979958.27 2021-02-10T17:59:19Z- sync is 0.80, coherence is 2.00 2021-02-10T17:59:19Z- AHRS_M2 msg: 1612979959.47 epoch sec; seqNo:579 2021-02-10T17:59:19Z- AHRS_M2 msg: 4.45 phi; -0.20 theta; -0.19 psi 2021-02-10T17:59:19Z- waiting for 1612979960.46, time is 1612979958.27 2021-02-10T17:59:19Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:19Z- handleDepth()-Depth_Keller msg: 25.07 epoch sec; seqNo:1612979959472; depth 0.00 2021-02-10T17:59:19Z- waiting for 1612979960.46, time is 1612979958.27 2021-02-10T17:59:19Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:19Z- handleDvl() - RDI_Pathfinder msg: 1612979959.49 epoch sec; seqNo:238 2021-02-10T17:59:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 59.22 , 71.19 , 57.69 , 0.00 2021-02-10T17:59:19Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.04 , -0.04 2021-02-10T17:59:19Z- waiting for 1612979960.46, time is 1612979959.49 2021-02-10T17:59:19Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979959.50 epoch sec; seqNo:583; 4061730.65 north; 594450.87 east 2021-02-10T17:59:19Z- waiting for 1612979960.46, time is 1612979959.49 2021-02-10T17:59:19Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:19Z- AHRS_M2 msg: 1612979959.88 epoch sec; seqNo:580 2021-02-10T17:59:19Z- AHRS_M2 msg: 4.45 phi; -0.20 theta; -0.20 psi 2021-02-10T17:59:19Z- waiting for 1612979960.46, time is 1612979959.49 2021-02-10T17:59:19Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:19Z- handleDepth()-Depth_Keller msg: 25.16 epoch sec; seqNo:1612979959882; depth 0.00 2021-02-10T17:59:19Z- waiting for 1612979960.46, time is 1612979959.49 2021-02-10T17:59:19Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979959.89 epoch sec; seqNo:584; 4061730.65 north; 594450.87 east 2021-02-10T17:59:19Z- waiting for 1612979960.46, time is 1612979959.49 2021-02-10T17:59:19Z- sync is 0.41, coherence is 2.00 2021-02-10T17:59:20Z- AHRS_M2 msg: 1612979960.28 epoch sec; seqNo:581 2021-02-10T17:59:20Z- AHRS_M2 msg: 4.44 phi; -0.20 theta; -0.20 psi 2021-02-10T17:59:20Z- waiting for 1612979960.46, time is 1612979959.49 2021-02-10T17:59:20Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:20Z- handleDepth()-Depth_Keller msg: 25.24 epoch sec; seqNo:1612979960290; depth 0.00 2021-02-10T17:59:20Z- waiting for 1612979960.46, time is 1612979959.49 2021-02-10T17:59:20Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:20Z- handleDvl() - RDI_Pathfinder msg: 1612979960.30 epoch sec; seqNo:239 2021-02-10T17:59:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 59.12 , 71.00 , 57.09 , 0.00 2021-02-10T17:59:20Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.05 , -0.02 2021-02-10T17:59:20Z- waiting for 1612979960.46, time is 1612979960.30 2021-02-10T17:59:20Z- sync is 0.03, coherence is 2.00 2021-02-10T17:59:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979960.31 epoch sec; seqNo:585; 4061730.28 north; 594450.88 east 2021-02-10T17:59:20Z- waiting for 1612979960.46, time is 1612979960.30 2021-02-10T17:59:20Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:20Z- AHRS_M2 msg: 1612979960.68 epoch sec; seqNo:582 2021-02-10T17:59:20Z- AHRS_M2 msg: 4.44 phi; -0.20 theta; -0.20 psi 2021-02-10T17:59:20Z- waiting for 1612979960.46, time is 1612979960.30 2021-02-10T17:59:20Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:20Z- handleDepth()-Depth_Keller msg: 25.34 epoch sec; seqNo:1612979960689; depth 0.00 2021-02-10T17:59:20Z- waiting for 1612979960.46, time is 1612979960.30 2021-02-10T17:59:20Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979960.70 epoch sec; seqNo:586; 4061730.26 north; 594449.66 east 2021-02-10T17:59:20Z- waiting for 1612979960.46, time is 1612979960.30 2021-02-10T17:59:20Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:21Z- AHRS_M2 msg: 1612979961.08 epoch sec; seqNo:583 2021-02-10T17:59:21Z- AHRS_M2 msg: 4.44 phi; -0.20 theta; -0.20 psi 2021-02-10T17:59:21Z- waiting for 1612979960.46, time is 1612979960.30 2021-02-10T17:59:21Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:21Z- handleDepth()-Depth_Keller msg: 25.40 epoch sec; seqNo:1612979961093; depth 0.00 2021-02-10T17:59:21Z- waiting for 1612979960.46, time is 1612979960.30 2021-02-10T17:59:21Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979961.10 epoch sec; seqNo:587; 4061730.26 north; 594449.66 east 2021-02-10T17:59:21Z- waiting for 1612979960.46, time is 1612979960.30 2021-02-10T17:59:21Z- sync is 0.80, coherence is 2.00 2021-02-10T17:59:21Z- AHRS_M2 msg: 1612979961.49 epoch sec; seqNo:584 2021-02-10T17:59:21Z- AHRS_M2 msg: 4.43 phi; -0.20 theta; -0.20 psi 2021-02-10T17:59:21Z- waiting for 1612979960.46, time is 1612979960.30 2021-02-10T17:59:21Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:21Z- handleDepth()-Depth_Keller msg: 25.47 epoch sec; seqNo:1612979961500; depth 0.00 2021-02-10T17:59:21Z- waiting for 1612979960.46, time is 1612979960.30 2021-02-10T17:59:21Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:21Z- handleDvl() - RDI_Pathfinder msg: 1612979961.51 epoch sec; seqNo:240 2021-02-10T17:59:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 58.54 , 71.00 , 57.09 , 74.48 2021-02-10T17:59:21Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.05 , 0.00 2021-02-10T17:59:21Z- waiting for 1612979960.46, time is 1612979961.51 2021-02-10T17:59:21Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:21Z- LcmTrn::updateTrn() >>>> pose time 1612979961.49, meas time 1612979961.51 <<<< 2021-02-10T17:59:21Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979961.51 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:59:21Z- TerrainNav::motionUpdate() - currEstimate = (4061730, 594449.66, 25.47) 2021-02-10T17:59:21Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:59:21Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:59:21Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:59:21Z- TNavBF::mmse selected from filter -1 2021-02-10T17:59:21Z- variances([0], [2], and psi_berg) = 816.700596 833.150236 0.000000 2021-02-10T17:59:21Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:59:21Z- LcmTrn::cycle() - MLE : 4061694.76 594401.16 25.47 2021-02-10T17:59:21Z- LcmTrn::cycle() - MMSE : 4061730.26 594449.66 25.47 2021-02-10T17:59:21Z- LcmTrn::cycle() - COVAR: 816.70 833.15 32.29 0.00 2021-02-10T17:59:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979961.53 epoch sec; seqNo:588; 4061729.88 north; 594449.66 east 2021-02-10T17:59:21Z- waiting for 1612979964.51, time is 1612979961.51 2021-02-10T17:59:21Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:21Z- AHRS_M2 msg: 1612979961.89 epoch sec; seqNo:585 2021-02-10T17:59:21Z- AHRS_M2 msg: 4.43 phi; -0.20 theta; -0.20 psi 2021-02-10T17:59:21Z- waiting for 1612979964.51, time is 1612979961.51 2021-02-10T17:59:21Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:21Z- handleDepth()-Depth_Keller msg: 25.57 epoch sec; seqNo:1612979961896; depth 0.00 2021-02-10T17:59:21Z- waiting for 1612979964.51, time is 1612979961.51 2021-02-10T17:59:21Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979961.92 epoch sec; seqNo:589; 4061729.87 north; 594448.44 east 2021-02-10T17:59:21Z- waiting for 1612979964.51, time is 1612979961.51 2021-02-10T17:59:21Z- sync is 0.41, coherence is 2.00 2021-02-10T17:59:22Z- AHRS_M2 msg: 1612979962.30 epoch sec; seqNo:586 2021-02-10T17:59:22Z- AHRS_M2 msg: 4.43 phi; -0.20 theta; -0.20 psi 2021-02-10T17:59:22Z- waiting for 1612979964.51, time is 1612979961.51 2021-02-10T17:59:22Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:22Z- handleDepth()-Depth_Keller msg: 25.65 epoch sec; seqNo:1612979962301; depth 0.00 2021-02-10T17:59:22Z- waiting for 1612979964.51, time is 1612979961.51 2021-02-10T17:59:22Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:22Z- handleDvl() - RDI_Pathfinder msg: 1612979962.32 epoch sec; seqNo:241 2021-02-10T17:59:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 58.30 , 70.27 , 56.77 , 74.26 2021-02-10T17:59:22Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.03 , 0.00 2021-02-10T17:59:22Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:22Z- sync is 0.03, coherence is 2.00 2021-02-10T17:59:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979962.33 epoch sec; seqNo:590; 4061729.87 north; 594448.44 east 2021-02-10T17:59:22Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:22Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:22Z- AHRS_M2 msg: 1612979962.70 epoch sec; seqNo:587 2021-02-10T17:59:22Z- AHRS_M2 msg: 4.43 phi; -0.20 theta; -0.20 psi 2021-02-10T17:59:22Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:22Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:22Z- handleDepth()-Depth_Keller msg: 25.73 epoch sec; seqNo:1612979962704; depth 0.00 2021-02-10T17:59:22Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:22Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979962.72 epoch sec; seqNo:591; 4061729.49 north; 594448.44 east 2021-02-10T17:59:22Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:22Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:23Z- AHRS_M2 msg: 1612979963.11 epoch sec; seqNo:588 2021-02-10T17:59:23Z- AHRS_M2 msg: 4.43 phi; -0.20 theta; -0.20 psi 2021-02-10T17:59:23Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:23Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:23Z- handleDepth()-Depth_Keller msg: 25.81 epoch sec; seqNo:1612979963114; depth 0.00 2021-02-10T17:59:23Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:23Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979963.17 epoch sec; seqNo:592; 4061729.48 north; 594447.22 east 2021-02-10T17:59:23Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:23Z- sync is 0.85, coherence is 2.00 2021-02-10T17:59:23Z- AHRS_M2 msg: 1612979963.51 epoch sec; seqNo:589 2021-02-10T17:59:23Z- AHRS_M2 msg: 4.43 phi; -0.20 theta; -0.20 psi 2021-02-10T17:59:23Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:23Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:23Z- handleDepth()-Depth_Keller msg: 25.89 epoch sec; seqNo:1612979963517; depth 0.00 2021-02-10T17:59:23Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:23Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979963.53 epoch sec; seqNo:593; 4061729.48 north; 594447.22 east 2021-02-10T17:59:23Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:23Z- sync is 1.20, coherence is 2.00 2021-02-10T17:59:23Z- AHRS_M2 msg: 1612979963.91 epoch sec; seqNo:590 2021-02-10T17:59:23Z- AHRS_M2 msg: 4.43 phi; -0.21 theta; -0.20 psi 2021-02-10T17:59:23Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:23Z- sync is 1.59, coherence is 2.00 2021-02-10T17:59:23Z- handleDepth()-Depth_Keller msg: 25.96 epoch sec; seqNo:1612979963917; depth 0.00 2021-02-10T17:59:23Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:23Z- sync is 1.59, coherence is 2.00 2021-02-10T17:59:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979963.94 epoch sec; seqNo:594; 4061729.10 north; 594447.23 east 2021-02-10T17:59:23Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:23Z- sync is 1.61, coherence is 2.00 2021-02-10T17:59:24Z- AHRS_M2 msg: 1612979964.32 epoch sec; seqNo:591 2021-02-10T17:59:24Z- AHRS_M2 msg: 4.43 phi; -0.21 theta; -0.20 psi 2021-02-10T17:59:24Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:24Z- sync is 1.99, coherence is 2.00 2021-02-10T17:59:24Z- handleDepth()-Depth_Keller msg: 26.05 epoch sec; seqNo:1612979964320; depth 0.00 2021-02-10T17:59:24Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:24Z- sync is 1.99, coherence is 2.00 2021-02-10T17:59:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979964.34 epoch sec; seqNo:595; 4061729.10 north; 594447.23 east 2021-02-10T17:59:24Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:24Z- sync is 2.01, coherence is 2.00 2021-02-10T17:59:24Z- AHRS_M2 msg: 1612979964.72 epoch sec; seqNo:592 2021-02-10T17:59:24Z- AHRS_M2 msg: 4.42 phi; -0.21 theta; -0.20 psi 2021-02-10T17:59:24Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:24Z- sync is 2.40, coherence is 2.00 2021-02-10T17:59:24Z- handleDepth()-Depth_Keller msg: 26.12 epoch sec; seqNo:1612979964729; depth 0.00 2021-02-10T17:59:24Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:24Z- sync is 2.40, coherence is 2.00 2021-02-10T17:59:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979964.74 epoch sec; seqNo:596; 4061729.08 north; 594446.01 east 2021-02-10T17:59:24Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:24Z- sync is 2.41, coherence is 2.00 2021-02-10T17:59:25Z- AHRS_M2 msg: 1612979965.12 epoch sec; seqNo:593 2021-02-10T17:59:25Z- AHRS_M2 msg: 4.42 phi; -0.21 theta; -0.20 psi 2021-02-10T17:59:25Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:25Z- sync is 2.80, coherence is 2.00 2021-02-10T17:59:25Z- handleDepth()-Depth_Keller msg: 26.21 epoch sec; seqNo:1612979965137; depth 0.00 2021-02-10T17:59:25Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:25Z- sync is 2.80, coherence is 2.00 2021-02-10T17:59:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979965.15 epoch sec; seqNo:597; 4061728.71 north; 594446.01 east 2021-02-10T17:59:25Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:25Z- sync is 2.83, coherence is 2.00 2021-02-10T17:59:25Z- AHRS_M2 msg: 1612979965.53 epoch sec; seqNo:594 2021-02-10T17:59:25Z- AHRS_M2 msg: 4.42 phi; -0.21 theta; -0.20 psi 2021-02-10T17:59:25Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:25Z- sync is 3.21, coherence is 2.00 2021-02-10T17:59:25Z- handleDepth()-Depth_Keller msg: 26.28 epoch sec; seqNo:1612979965533; depth 0.00 2021-02-10T17:59:25Z- waiting for 1612979964.51, time is 1612979962.32 2021-02-10T17:59:25Z- sync is 3.21, coherence is 2.00 2021-02-10T17:59:25Z- handleDvl() - RDI_Pathfinder msg: 1612979965.55 epoch sec; seqNo:242 2021-02-10T17:59:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.67 , 69.26 , 56.22 , 73.90 2021-02-10T17:59:25Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.03 , 0.02 2021-02-10T17:59:25Z- waiting for 1612979964.51, time is 1612979965.55 2021-02-10T17:59:25Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:25Z- LcmTrn::updateTrn() >>>> pose time 1612979965.53, meas time 1612979965.55 <<<< 2021-02-10T17:59:25Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979965.55 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:59:25Z- TerrainNav::motionUpdate() - currEstimate = (4061729, 594446.01, 26.28) 2021-02-10T17:59:25Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:59:25Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:59:25Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:59:25Z- TNavBF::mmse selected from filter -1 2021-02-10T17:59:25Z- variances([0], [2], and psi_berg) = 816.356011 833.148933 0.000000 2021-02-10T17:59:25Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:59:25Z- LcmTrn::cycle() - MLE : 4061693.21 594397.51 26.28 2021-02-10T17:59:25Z- LcmTrn::cycle() - MMSE : 4061728.71 594446.01 26.28 2021-02-10T17:59:25Z- LcmTrn::cycle() - COVAR: 816.36 833.15 32.49 0.00 2021-02-10T17:59:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979965.56 epoch sec; seqNo:598; 4061728.71 north; 594446.01 east 2021-02-10T17:59:25Z- waiting for 1612979968.55, time is 1612979965.55 2021-02-10T17:59:25Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:25Z- AHRS_M2 msg: 1612979965.93 epoch sec; seqNo:595 2021-02-10T17:59:25Z- AHRS_M2 msg: 4.42 phi; -0.21 theta; -0.20 psi 2021-02-10T17:59:25Z- waiting for 1612979968.55, time is 1612979965.55 2021-02-10T17:59:25Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:25Z- handleDepth()-Depth_Keller msg: 26.37 epoch sec; seqNo:1612979965936; depth 0.00 2021-02-10T17:59:25Z- waiting for 1612979968.55, time is 1612979965.55 2021-02-10T17:59:25Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979965.95 epoch sec; seqNo:599; 4061728.69 north; 594444.79 east 2021-02-10T17:59:25Z- waiting for 1612979968.55, time is 1612979965.55 2021-02-10T17:59:25Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:26Z- AHRS_M2 msg: 1612979966.34 epoch sec; seqNo:596 2021-02-10T17:59:26Z- AHRS_M2 msg: 4.41 phi; -0.21 theta; -0.20 psi 2021-02-10T17:59:26Z- waiting for 1612979968.55, time is 1612979965.55 2021-02-10T17:59:26Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:26Z- handleDepth()-Depth_Keller msg: 26.46 epoch sec; seqNo:1612979966345; depth 0.00 2021-02-10T17:59:26Z- waiting for 1612979968.55, time is 1612979965.55 2021-02-10T17:59:26Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:26Z- handleDvl() - RDI_Pathfinder msg: 1612979966.36 epoch sec; seqNo:243 2021-02-10T17:59:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.38 , 69.35 , 55.85 , 73.64 2021-02-10T17:59:26Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.02 , 0.04 2021-02-10T17:59:26Z- waiting for 1612979968.55, time is 1612979966.36 2021-02-10T17:59:26Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979966.37 epoch sec; seqNo:600; 4061728.31 north; 594444.80 east 2021-02-10T17:59:26Z- waiting for 1612979968.55, time is 1612979966.36 2021-02-10T17:59:26Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:26Z- AHRS_M2 msg: 1612979966.74 epoch sec; seqNo:597 2021-02-10T17:59:26Z- AHRS_M2 msg: 4.41 phi; -0.21 theta; -0.20 psi 2021-02-10T17:59:26Z- waiting for 1612979968.55, time is 1612979966.36 2021-02-10T17:59:26Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:26Z- handleDepth()-Depth_Keller msg: 26.55 epoch sec; seqNo:1612979966746; depth 0.00 2021-02-10T17:59:26Z- waiting for 1612979968.55, time is 1612979966.36 2021-02-10T17:59:26Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979966.76 epoch sec; seqNo:601; 4061728.31 north; 594444.80 east 2021-02-10T17:59:26Z- waiting for 1612979968.55, time is 1612979966.36 2021-02-10T17:59:26Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:27Z- AHRS_M2 msg: 1612979967.15 epoch sec; seqNo:598 2021-02-10T17:59:27Z- AHRS_M2 msg: 4.41 phi; -0.21 theta; -0.20 psi 2021-02-10T17:59:27Z- waiting for 1612979968.55, time is 1612979966.36 2021-02-10T17:59:27Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:27Z- handleDepth()-Depth_Keller msg: 26.62 epoch sec; seqNo:1612979967156; depth 0.00 2021-02-10T17:59:27Z- waiting for 1612979968.55, time is 1612979966.36 2021-02-10T17:59:27Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979967.18 epoch sec; seqNo:602; 4061728.30 north; 594443.58 east 2021-02-10T17:59:27Z- waiting for 1612979968.55, time is 1612979966.36 2021-02-10T17:59:27Z- sync is 0.82, coherence is 2.00 2021-02-10T17:59:27Z- AHRS_M2 msg: 1612979967.55 epoch sec; seqNo:599 2021-02-10T17:59:27Z- AHRS_M2 msg: 4.41 phi; -0.21 theta; -0.20 psi 2021-02-10T17:59:27Z- waiting for 1612979968.55, time is 1612979966.36 2021-02-10T17:59:27Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:27Z- handleDepth()-Depth_Keller msg: 26.71 epoch sec; seqNo:1612979967557; depth 0.00 2021-02-10T17:59:27Z- waiting for 1612979968.55, time is 1612979966.36 2021-02-10T17:59:27Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:27Z- handleDvl() - RDI_Pathfinder msg: 1612979967.57 epoch sec; seqNo:244 2021-02-10T17:59:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.07 , 69.04 , 55.85 , 73.64 2021-02-10T17:59:27Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.02 , 0.06 2021-02-10T17:59:27Z- waiting for 1612979968.55, time is 1612979967.57 2021-02-10T17:59:27Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979967.59 epoch sec; seqNo:603; 4061728.30 north; 594443.58 east 2021-02-10T17:59:27Z- waiting for 1612979968.55, time is 1612979967.57 2021-02-10T17:59:27Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:27Z- AHRS_M2 msg: 1612979967.95 epoch sec; seqNo:600 2021-02-10T17:59:27Z- AHRS_M2 msg: 4.41 phi; -0.21 theta; -0.20 psi 2021-02-10T17:59:27Z- waiting for 1612979968.55, time is 1612979967.57 2021-02-10T17:59:27Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:27Z- handleDepth()-Depth_Keller msg: 26.80 epoch sec; seqNo:1612979967965; depth 0.00 2021-02-10T17:59:27Z- waiting for 1612979968.55, time is 1612979967.57 2021-02-10T17:59:27Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979967.98 epoch sec; seqNo:604; 4061727.92 north; 594443.58 east 2021-02-10T17:59:27Z- waiting for 1612979968.55, time is 1612979967.57 2021-02-10T17:59:27Z- sync is 0.41, coherence is 2.00 2021-02-10T17:59:28Z- AHRS_M2 msg: 1612979968.36 epoch sec; seqNo:601 2021-02-10T17:59:28Z- AHRS_M2 msg: 4.40 phi; -0.21 theta; -0.20 psi 2021-02-10T17:59:28Z- waiting for 1612979968.55, time is 1612979967.57 2021-02-10T17:59:28Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:28Z- handleDepth()-Depth_Keller msg: 26.87 epoch sec; seqNo:1612979968370; depth 0.00 2021-02-10T17:59:28Z- waiting for 1612979968.55, time is 1612979967.57 2021-02-10T17:59:28Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:28Z- handleDvl() - RDI_Pathfinder msg: 1612979968.38 epoch sec; seqNo:245 2021-02-10T17:59:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.46 , 69.35 , 55.85 , 0.00 2021-02-10T17:59:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.00 , 0.06 2021-02-10T17:59:28Z- waiting for 1612979968.55, time is 1612979968.38 2021-02-10T17:59:28Z- sync is 0.03, coherence is 2.00 2021-02-10T17:59:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979968.39 epoch sec; seqNo:605; 4061727.91 north; 594442.36 east 2021-02-10T17:59:28Z- waiting for 1612979968.55, time is 1612979968.38 2021-02-10T17:59:28Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:28Z- AHRS_M2 msg: 1612979968.76 epoch sec; seqNo:602 2021-02-10T17:59:28Z- AHRS_M2 msg: 4.40 phi; -0.21 theta; -0.20 psi 2021-02-10T17:59:28Z- waiting for 1612979968.55, time is 1612979968.38 2021-02-10T17:59:28Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:28Z- handleDepth()-Depth_Keller msg: 26.96 epoch sec; seqNo:1612979968764; depth 0.00 2021-02-10T17:59:28Z- waiting for 1612979968.55, time is 1612979968.38 2021-02-10T17:59:28Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979968.78 epoch sec; seqNo:606; 4061727.91 north; 594442.36 east 2021-02-10T17:59:28Z- waiting for 1612979968.55, time is 1612979968.38 2021-02-10T17:59:28Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:29Z- AHRS_M2 msg: 1612979969.18 epoch sec; seqNo:603 2021-02-10T17:59:29Z- AHRS_M2 msg: 4.40 phi; -0.21 theta; -0.20 psi 2021-02-10T17:59:29Z- waiting for 1612979968.55, time is 1612979968.38 2021-02-10T17:59:29Z- sync is 0.80, coherence is 2.00 2021-02-10T17:59:29Z- handleDepth()-Depth_Keller msg: 27.02 epoch sec; seqNo:1612979969191; depth 0.00 2021-02-10T17:59:29Z- waiting for 1612979968.55, time is 1612979968.38 2021-02-10T17:59:29Z- sync is 0.80, coherence is 2.00 2021-02-10T17:59:29Z- handleDvl() - RDI_Pathfinder msg: 1612979969.21 epoch sec; seqNo:246 2021-02-10T17:59:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.80 , 69.55 , 55.64 , 73.61 2021-02-10T17:59:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.02 , 0.05 2021-02-10T17:59:29Z- waiting for 1612979968.55, time is 1612979969.21 2021-02-10T17:59:29Z- sync is 0.04, coherence is 2.00 2021-02-10T17:59:29Z- LcmTrn::updateTrn() >>>> pose time 1612979969.18, meas time 1612979969.21 <<<< 2021-02-10T17:59:29Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979969.21 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:59:29Z- TerrainNav::motionUpdate() - currEstimate = (4061728, 594442.36, 27.02) 2021-02-10T17:59:29Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:59:29Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:59:29Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:59:29Z- TNavBF::mmse selected from filter -1 2021-02-10T17:59:29Z- variances([0], [2], and psi_berg) = 816.024619 833.147699 0.000000 2021-02-10T17:59:29Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:59:29Z- LcmTrn::cycle() - MLE : 4061692.41 594395.86 27.02 2021-02-10T17:59:29Z- LcmTrn::cycle() - MMSE : 4061727.91 594442.36 27.02 2021-02-10T17:59:29Z- LcmTrn::cycle() - COVAR: 816.02 833.15 32.68 0.00 2021-02-10T17:59:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979969.22 epoch sec; seqNo:607; 4061727.53 north; 594442.36 east 2021-02-10T17:59:29Z- waiting for 1612979972.21, time is 1612979969.21 2021-02-10T17:59:29Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:29Z- AHRS_M2 msg: 1612979969.57 epoch sec; seqNo:604 2021-02-10T17:59:29Z- AHRS_M2 msg: 4.40 phi; -0.22 theta; -0.20 psi 2021-02-10T17:59:29Z- waiting for 1612979972.21, time is 1612979969.21 2021-02-10T17:59:29Z- sync is 0.36, coherence is 2.00 2021-02-10T17:59:29Z- handleDepth()-Depth_Keller msg: 27.12 epoch sec; seqNo:1612979969573; depth 0.00 2021-02-10T17:59:29Z- waiting for 1612979972.21, time is 1612979969.21 2021-02-10T17:59:29Z- sync is 0.36, coherence is 2.00 2021-02-10T17:59:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979969.58 epoch sec; seqNo:608; 4061727.53 north; 594442.36 east 2021-02-10T17:59:29Z- waiting for 1612979972.21, time is 1612979969.21 2021-02-10T17:59:29Z- sync is 0.37, coherence is 2.00 2021-02-10T17:59:29Z- AHRS_M2 msg: 1612979969.97 epoch sec; seqNo:605 2021-02-10T17:59:29Z- AHRS_M2 msg: 4.40 phi; -0.22 theta; -0.20 psi 2021-02-10T17:59:29Z- waiting for 1612979972.21, time is 1612979969.21 2021-02-10T17:59:29Z- sync is 0.76, coherence is 2.00 2021-02-10T17:59:29Z- handleDepth()-Depth_Keller msg: 27.21 epoch sec; seqNo:1612979969977; depth 0.00 2021-02-10T17:59:29Z- waiting for 1612979972.21, time is 1612979969.21 2021-02-10T17:59:29Z- sync is 0.76, coherence is 2.00 2021-02-10T17:59:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979969.99 epoch sec; seqNo:609; 4061727.52 north; 594441.14 east 2021-02-10T17:59:29Z- waiting for 1612979972.21, time is 1612979969.21 2021-02-10T17:59:29Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:30Z- AHRS_M2 msg: 1612979970.38 epoch sec; seqNo:606 2021-02-10T17:59:30Z- AHRS_M2 msg: 4.40 phi; -0.22 theta; -0.20 psi 2021-02-10T17:59:30Z- waiting for 1612979972.21, time is 1612979969.21 2021-02-10T17:59:30Z- sync is 1.16, coherence is 2.00 2021-02-10T17:59:30Z- handleDepth()-Depth_Keller msg: 27.29 epoch sec; seqNo:1612979970380; depth 0.00 2021-02-10T17:59:30Z- waiting for 1612979972.21, time is 1612979969.21 2021-02-10T17:59:30Z- sync is 1.16, coherence is 2.00 2021-02-10T17:59:30Z- handleDvl() - RDI_Pathfinder msg: 1612979970.39 epoch sec; seqNo:247 2021-02-10T17:59:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.46 , 68.43 , 54.93 , 73.64 2021-02-10T17:59:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.04 , 0.02 2021-02-10T17:59:30Z- waiting for 1612979972.21, time is 1612979970.39 2021-02-10T17:59:30Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979970.40 epoch sec; seqNo:610; 4061727.52 north; 594441.14 east 2021-02-10T17:59:30Z- waiting for 1612979972.21, time is 1612979970.39 2021-02-10T17:59:30Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:30Z- AHRS_M2 msg: 1612979970.80 epoch sec; seqNo:607 2021-02-10T17:59:30Z- AHRS_M2 msg: 4.40 phi; -0.22 theta; -0.20 psi 2021-02-10T17:59:30Z- waiting for 1612979972.21, time is 1612979970.39 2021-02-10T17:59:30Z- sync is 0.41, coherence is 2.00 2021-02-10T17:59:30Z- handleDepth()-Depth_Keller msg: 27.38 epoch sec; seqNo:1612979970860; depth 0.00 2021-02-10T17:59:30Z- waiting for 1612979972.21, time is 1612979970.39 2021-02-10T17:59:30Z- sync is 0.41, coherence is 2.00 2021-02-10T17:59:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979970.92 epoch sec; seqNo:611; 4061727.14 north; 594441.15 east 2021-02-10T17:59:30Z- waiting for 1612979972.21, time is 1612979970.39 2021-02-10T17:59:30Z- sync is 0.53, coherence is 2.00 2021-02-10T17:59:31Z- AHRS_M2 msg: 1612979971.22 epoch sec; seqNo:608 2021-02-10T17:59:31Z- AHRS_M2 msg: 4.40 phi; -0.22 theta; -0.20 psi 2021-02-10T17:59:31Z- waiting for 1612979972.21, time is 1612979970.39 2021-02-10T17:59:31Z- sync is 0.83, coherence is 2.00 2021-02-10T17:59:31Z- handleDepth()-Depth_Keller msg: 27.47 epoch sec; seqNo:1612979971222; depth 0.00 2021-02-10T17:59:31Z- waiting for 1612979972.21, time is 1612979970.39 2021-02-10T17:59:31Z- sync is 0.83, coherence is 2.00 2021-02-10T17:59:31Z- handleDvl() - RDI_Pathfinder msg: 1612979971.23 epoch sec; seqNo:248 2021-02-10T17:59:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.51 , 68.39 , 54.48 , 73.32 2021-02-10T17:59:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.04 , -0.02 2021-02-10T17:59:31Z- waiting for 1612979972.21, time is 1612979971.23 2021-02-10T17:59:31Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979971.26 epoch sec; seqNo:612; 4061727.12 north; 594439.93 east 2021-02-10T17:59:31Z- waiting for 1612979972.21, time is 1612979971.23 2021-02-10T17:59:31Z- sync is 0.03, coherence is 2.00 2021-02-10T17:59:31Z- AHRS_M2 msg: 1612979971.62 epoch sec; seqNo:609 2021-02-10T17:59:31Z- AHRS_M2 msg: 4.40 phi; -0.22 theta; -0.20 psi 2021-02-10T17:59:31Z- waiting for 1612979972.21, time is 1612979971.23 2021-02-10T17:59:31Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:31Z- handleDepth()-Depth_Keller msg: 27.54 epoch sec; seqNo:1612979971624; depth 0.00 2021-02-10T17:59:31Z- waiting for 1612979972.21, time is 1612979971.23 2021-02-10T17:59:31Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979971.64 epoch sec; seqNo:613; 4061726.74 north; 594439.93 east 2021-02-10T17:59:31Z- waiting for 1612979972.21, time is 1612979971.23 2021-02-10T17:59:31Z- sync is 0.41, coherence is 2.00 2021-02-10T17:59:32Z- AHRS_M2 msg: 1612979972.02 epoch sec; seqNo:610 2021-02-10T17:59:32Z- AHRS_M2 msg: 4.40 phi; -0.22 theta; -0.20 psi 2021-02-10T17:59:32Z- waiting for 1612979972.21, time is 1612979971.23 2021-02-10T17:59:32Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:32Z- handleDepth()-Depth_Keller msg: 27.63 epoch sec; seqNo:1612979972031; depth 0.00 2021-02-10T17:59:32Z- waiting for 1612979972.21, time is 1612979971.23 2021-02-10T17:59:32Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979972.04 epoch sec; seqNo:614; 4061726.74 north; 594439.93 east 2021-02-10T17:59:32Z- waiting for 1612979972.21, time is 1612979971.23 2021-02-10T17:59:32Z- sync is 0.81, coherence is 2.00 2021-02-10T17:59:32Z- AHRS_M2 msg: 1612979972.43 epoch sec; seqNo:611 2021-02-10T17:59:32Z- AHRS_M2 msg: 4.40 phi; -0.22 theta; -0.19 psi 2021-02-10T17:59:32Z- waiting for 1612979972.21, time is 1612979971.23 2021-02-10T17:59:32Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:32Z- handleDepth()-Depth_Keller msg: 27.71 epoch sec; seqNo:1612979972432; depth 0.00 2021-02-10T17:59:32Z- waiting for 1612979972.21, time is 1612979971.23 2021-02-10T17:59:32Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:32Z- handleDvl() - RDI_Pathfinder msg: 1612979972.45 epoch sec; seqNo:249 2021-02-10T17:59:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.51 , 67.81 , 53.90 , 73.03 2021-02-10T17:59:32Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.02 , -0.05 2021-02-10T17:59:32Z- waiting for 1612979972.21, time is 1612979972.45 2021-02-10T17:59:32Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:32Z- LcmTrn::updateTrn() >>>> pose time 1612979972.43, meas time 1612979972.45 <<<< 2021-02-10T17:59:32Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979972.45 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:59:32Z- TerrainNav::motionUpdate() - currEstimate = (4061727, 594439.93, 27.71) 2021-02-10T17:59:32Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:59:32Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:59:32Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:59:32Z- TNavBF::mmse selected from filter -1 2021-02-10T17:59:32Z- variances([0], [2], and psi_berg) = 815.746080 833.146677 0.000000 2021-02-10T17:59:32Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:59:32Z- LcmTrn::cycle() - MLE : 4061691.24 594393.43 27.71 2021-02-10T17:59:32Z- LcmTrn::cycle() - MMSE : 4061726.74 594439.93 27.71 2021-02-10T17:59:32Z- LcmTrn::cycle() - COVAR: 815.75 833.15 32.82 0.00 2021-02-10T17:59:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979972.46 epoch sec; seqNo:615; 4061726.73 north; 594438.71 east 2021-02-10T17:59:32Z- waiting for 1612979975.45, time is 1612979972.45 2021-02-10T17:59:32Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:32Z- AHRS_M2 msg: 1612979972.83 epoch sec; seqNo:612 2021-02-10T17:59:32Z- AHRS_M2 msg: 4.41 phi; -0.22 theta; -0.19 psi 2021-02-10T17:59:32Z- waiting for 1612979975.45, time is 1612979972.45 2021-02-10T17:59:32Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:32Z- handleDepth()-Depth_Keller msg: 27.81 epoch sec; seqNo:1612979972836; depth 0.00 2021-02-10T17:59:32Z- waiting for 1612979975.45, time is 1612979972.45 2021-02-10T17:59:32Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979972.88 epoch sec; seqNo:616; 4061726.35 north; 594438.72 east 2021-02-10T17:59:32Z- waiting for 1612979975.45, time is 1612979972.45 2021-02-10T17:59:32Z- sync is 0.43, coherence is 2.00 2021-02-10T17:59:33Z- AHRS_M2 msg: 1612979973.24 epoch sec; seqNo:613 2021-02-10T17:59:33Z- AHRS_M2 msg: 4.41 phi; -0.22 theta; -0.19 psi 2021-02-10T17:59:33Z- waiting for 1612979975.45, time is 1612979972.45 2021-02-10T17:59:33Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:33Z- handleDepth()-Depth_Keller msg: 27.88 epoch sec; seqNo:1612979973240; depth 0.00 2021-02-10T17:59:33Z- waiting for 1612979975.45, time is 1612979972.45 2021-02-10T17:59:33Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:33Z- handleDvl() - RDI_Pathfinder msg: 1612979973.26 epoch sec; seqNo:250 2021-02-10T17:59:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.22 , 67.24 , 53.32 , 72.16 2021-02-10T17:59:33Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.01 , -0.06 2021-02-10T17:59:33Z- waiting for 1612979975.45, time is 1612979973.26 2021-02-10T17:59:33Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979973.27 epoch sec; seqNo:617; 4061726.35 north; 594438.72 east 2021-02-10T17:59:33Z- waiting for 1612979975.45, time is 1612979973.26 2021-02-10T17:59:33Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:33Z- AHRS_M2 msg: 1612979973.64 epoch sec; seqNo:614 2021-02-10T17:59:33Z- AHRS_M2 msg: 4.41 phi; -0.22 theta; -0.19 psi 2021-02-10T17:59:33Z- waiting for 1612979975.45, time is 1612979973.26 2021-02-10T17:59:33Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:33Z- handleDepth()-Depth_Keller msg: 27.97 epoch sec; seqNo:1612979973653; depth 0.00 2021-02-10T17:59:33Z- waiting for 1612979975.45, time is 1612979973.26 2021-02-10T17:59:33Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979973.66 epoch sec; seqNo:618; 4061726.34 north; 594437.50 east 2021-02-10T17:59:33Z- waiting for 1612979975.45, time is 1612979973.26 2021-02-10T17:59:33Z- sync is 0.41, coherence is 2.00 2021-02-10T17:59:34Z- AHRS_M2 msg: 1612979974.04 epoch sec; seqNo:615 2021-02-10T17:59:34Z- AHRS_M2 msg: 4.41 phi; -0.22 theta; -0.18 psi 2021-02-10T17:59:34Z- waiting for 1612979975.45, time is 1612979973.26 2021-02-10T17:59:34Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:34Z- handleDepth()-Depth_Keller msg: 28.05 epoch sec; seqNo:1612979974053; depth 0.00 2021-02-10T17:59:34Z- waiting for 1612979975.45, time is 1612979973.26 2021-02-10T17:59:34Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979974.07 epoch sec; seqNo:619; 4061725.96 north; 594437.50 east 2021-02-10T17:59:34Z- waiting for 1612979975.45, time is 1612979973.26 2021-02-10T17:59:34Z- sync is 0.82, coherence is 2.00 2021-02-10T17:59:34Z- AHRS_M2 msg: 1612979974.45 epoch sec; seqNo:616 2021-02-10T17:59:34Z- AHRS_M2 msg: 4.41 phi; -0.22 theta; -0.18 psi 2021-02-10T17:59:34Z- waiting for 1612979975.45, time is 1612979973.26 2021-02-10T17:59:34Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:34Z- handleDepth()-Depth_Keller msg: 28.12 epoch sec; seqNo:1612979974452; depth 0.00 2021-02-10T17:59:34Z- waiting for 1612979975.45, time is 1612979973.26 2021-02-10T17:59:34Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:34Z- handleDvl() - RDI_Pathfinder msg: 1612979974.46 epoch sec; seqNo:251 2021-02-10T17:59:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 55.93 , 66.36 , 53.03 , 72.16 2021-02-10T17:59:34Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.01 , -0.04 2021-02-10T17:59:34Z- waiting for 1612979975.45, time is 1612979974.46 2021-02-10T17:59:34Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979974.47 epoch sec; seqNo:620; 4061725.96 north; 594437.50 east 2021-02-10T17:59:34Z- waiting for 1612979975.45, time is 1612979974.46 2021-02-10T17:59:34Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:34Z- AHRS_M2 msg: 1612979974.85 epoch sec; seqNo:617 2021-02-10T17:59:34Z- AHRS_M2 msg: 4.41 phi; -0.22 theta; -0.18 psi 2021-02-10T17:59:34Z- waiting for 1612979975.45, time is 1612979974.46 2021-02-10T17:59:34Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:34Z- handleDepth()-Depth_Keller msg: 28.22 epoch sec; seqNo:1612979974858; depth 0.00 2021-02-10T17:59:34Z- waiting for 1612979975.45, time is 1612979974.46 2021-02-10T17:59:34Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979974.87 epoch sec; seqNo:621; 4061725.95 north; 594436.28 east 2021-02-10T17:59:34Z- waiting for 1612979975.45, time is 1612979974.46 2021-02-10T17:59:34Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:35Z- AHRS_M2 msg: 1612979975.26 epoch sec; seqNo:618 2021-02-10T17:59:35Z- AHRS_M2 msg: 4.40 phi; -0.22 theta; -0.18 psi 2021-02-10T17:59:35Z- waiting for 1612979975.45, time is 1612979974.46 2021-02-10T17:59:35Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:35Z- handleDepth()-Depth_Keller msg: 28.31 epoch sec; seqNo:1612979975264; depth 0.00 2021-02-10T17:59:35Z- waiting for 1612979975.45, time is 1612979974.46 2021-02-10T17:59:35Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:35Z- handleDvl() - RDI_Pathfinder msg: 1612979975.28 epoch sec; seqNo:252 2021-02-10T17:59:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 55.93 , 66.07 , 52.46 , 71.29 2021-02-10T17:59:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.03 , 0.00 2021-02-10T17:59:35Z- waiting for 1612979975.45, time is 1612979975.28 2021-02-10T17:59:35Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979975.30 epoch sec; seqNo:622; 4061725.57 north; 594436.28 east 2021-02-10T17:59:35Z- waiting for 1612979975.45, time is 1612979975.28 2021-02-10T17:59:35Z- sync is 0.03, coherence is 2.00 2021-02-10T17:59:35Z- AHRS_M2 msg: 1612979975.66 epoch sec; seqNo:619 2021-02-10T17:59:35Z- AHRS_M2 msg: 4.40 phi; -0.22 theta; -0.18 psi 2021-02-10T17:59:35Z- waiting for 1612979975.45, time is 1612979975.28 2021-02-10T17:59:35Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:35Z- handleDepth()-Depth_Keller msg: 28.38 epoch sec; seqNo:1612979975664; depth 0.00 2021-02-10T17:59:35Z- waiting for 1612979975.45, time is 1612979975.28 2021-02-10T17:59:35Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979975.67 epoch sec; seqNo:623; 4061725.57 north; 594436.28 east 2021-02-10T17:59:35Z- waiting for 1612979975.45, time is 1612979975.28 2021-02-10T17:59:35Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:36Z- AHRS_M2 msg: 1612979976.06 epoch sec; seqNo:620 2021-02-10T17:59:36Z- AHRS_M2 msg: 4.40 phi; -0.22 theta; -0.18 psi 2021-02-10T17:59:36Z- waiting for 1612979975.45, time is 1612979975.28 2021-02-10T17:59:36Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:36Z- handleDepth()-Depth_Keller msg: 28.46 epoch sec; seqNo:1612979976071; depth 0.00 2021-02-10T17:59:36Z- waiting for 1612979975.45, time is 1612979975.28 2021-02-10T17:59:36Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979976.08 epoch sec; seqNo:624; 4061725.57 north; 594436.28 east 2021-02-10T17:59:36Z- waiting for 1612979975.45, time is 1612979975.28 2021-02-10T17:59:36Z- sync is 0.80, coherence is 2.00 2021-02-10T17:59:36Z- AHRS_M2 msg: 1612979976.47 epoch sec; seqNo:621 2021-02-10T17:59:36Z- AHRS_M2 msg: 4.40 phi; -0.22 theta; -0.18 psi 2021-02-10T17:59:36Z- waiting for 1612979975.45, time is 1612979975.28 2021-02-10T17:59:36Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:36Z- handleDepth()-Depth_Keller msg: 28.55 epoch sec; seqNo:1612979976477; depth 0.00 2021-02-10T17:59:36Z- waiting for 1612979975.45, time is 1612979975.28 2021-02-10T17:59:36Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:36Z- handleDvl() - RDI_Pathfinder msg: 1612979976.49 epoch sec; seqNo:253 2021-02-10T17:59:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 55.64 , 66.07 , 52.17 , 71.58 2021-02-10T17:59:36Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.03 , 0.04 2021-02-10T17:59:36Z- waiting for 1612979975.45, time is 1612979976.49 2021-02-10T17:59:36Z- sync is 0.03, coherence is 2.00 2021-02-10T17:59:36Z- LcmTrn::updateTrn() >>>> pose time 1612979976.47, meas time 1612979976.49 <<<< 2021-02-10T17:59:36Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979976.49 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:59:36Z- TerrainNav::motionUpdate() - currEstimate = (4061726, 594436.28, 28.55) 2021-02-10T17:59:36Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:59:36Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:59:36Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:59:36Z- TNavBF::mmse selected from filter -1 2021-02-10T17:59:36Z- variances([0], [2], and psi_berg) = 815.416351 833.145481 0.000000 2021-02-10T17:59:36Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:59:36Z- LcmTrn::cycle() - MLE : 4061690.07 594389.78 28.55 2021-02-10T17:59:36Z- LcmTrn::cycle() - MMSE : 4061725.57 594436.28 28.55 2021-02-10T17:59:36Z- LcmTrn::cycle() - COVAR: 815.42 833.15 33.01 0.00 2021-02-10T17:59:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979976.51 epoch sec; seqNo:625; 4061725.18 north; 594435.07 east 2021-02-10T17:59:36Z- waiting for 1612979979.49, time is 1612979976.49 2021-02-10T17:59:36Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:36Z- AHRS_M2 msg: 1612979976.87 epoch sec; seqNo:622 2021-02-10T17:59:36Z- AHRS_M2 msg: 4.40 phi; -0.22 theta; -0.18 psi 2021-02-10T17:59:36Z- waiting for 1612979979.49, time is 1612979976.49 2021-02-10T17:59:36Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:36Z- handleDepth()-Depth_Keller msg: 28.66 epoch sec; seqNo:1612979976877; depth 0.00 2021-02-10T17:59:36Z- waiting for 1612979979.49, time is 1612979976.49 2021-02-10T17:59:36Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979976.89 epoch sec; seqNo:626; 4061725.18 north; 594435.07 east 2021-02-10T17:59:36Z- waiting for 1612979979.49, time is 1612979976.49 2021-02-10T17:59:36Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:37Z- AHRS_M2 msg: 1612979977.28 epoch sec; seqNo:623 2021-02-10T17:59:37Z- AHRS_M2 msg: 4.40 phi; -0.22 theta; -0.18 psi 2021-02-10T17:59:37Z- waiting for 1612979979.49, time is 1612979976.49 2021-02-10T17:59:37Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:37Z- handleDepth()-Depth_Keller msg: 28.72 epoch sec; seqNo:1612979977290; depth 0.00 2021-02-10T17:59:37Z- waiting for 1612979979.49, time is 1612979976.49 2021-02-10T17:59:37Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:37Z- handleDvl() - RDI_Pathfinder msg: 1612979977.31 epoch sec; seqNo:254 2021-02-10T17:59:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.77 , 65.79 , 52.17 , 71.58 2021-02-10T17:59:37Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.03 , 0.07 2021-02-10T17:59:37Z- waiting for 1612979979.49, time is 1612979977.31 2021-02-10T17:59:37Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979977.32 epoch sec; seqNo:627; 4061725.18 north; 594435.07 east 2021-02-10T17:59:37Z- waiting for 1612979979.49, time is 1612979977.31 2021-02-10T17:59:37Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:37Z- AHRS_M2 msg: 1612979977.68 epoch sec; seqNo:624 2021-02-10T17:59:37Z- AHRS_M2 msg: 4.40 phi; -0.22 theta; -0.18 psi 2021-02-10T17:59:37Z- waiting for 1612979979.49, time is 1612979977.31 2021-02-10T17:59:37Z- sync is 0.37, coherence is 2.00 2021-02-10T17:59:37Z- handleDepth()-Depth_Keller msg: 28.82 epoch sec; seqNo:1612979977684; depth 0.00 2021-02-10T17:59:37Z- waiting for 1612979979.49, time is 1612979977.31 2021-02-10T17:59:37Z- sync is 0.37, coherence is 2.00 2021-02-10T17:59:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979977.70 epoch sec; seqNo:628; 4061725.16 north; 594433.85 east 2021-02-10T17:59:37Z- waiting for 1612979979.49, time is 1612979977.31 2021-02-10T17:59:37Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:38Z- AHRS_M2 msg: 1612979978.08 epoch sec; seqNo:625 2021-02-10T17:59:38Z- AHRS_M2 msg: 4.39 phi; -0.22 theta; -0.18 psi 2021-02-10T17:59:38Z- waiting for 1612979979.49, time is 1612979977.31 2021-02-10T17:59:38Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:38Z- handleDepth()-Depth_Keller msg: 28.90 epoch sec; seqNo:1612979978093; depth 0.00 2021-02-10T17:59:38Z- waiting for 1612979979.49, time is 1612979977.31 2021-02-10T17:59:38Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979978.11 epoch sec; seqNo:629; 4061724.78 north; 594433.85 east 2021-02-10T17:59:38Z- waiting for 1612979979.49, time is 1612979977.31 2021-02-10T17:59:38Z- sync is 0.80, coherence is 2.00 2021-02-10T17:59:38Z- AHRS_M2 msg: 1612979978.49 epoch sec; seqNo:626 2021-02-10T17:59:38Z- AHRS_M2 msg: 4.39 phi; -0.22 theta; -0.18 psi 2021-02-10T17:59:38Z- waiting for 1612979979.49, time is 1612979977.31 2021-02-10T17:59:38Z- sync is 1.18, coherence is 2.00 2021-02-10T17:59:38Z- handleDepth()-Depth_Keller msg: 28.98 epoch sec; seqNo:1612979978499; depth 0.00 2021-02-10T17:59:38Z- waiting for 1612979979.49, time is 1612979977.31 2021-02-10T17:59:38Z- sync is 1.18, coherence is 2.00 2021-02-10T17:59:38Z- handleDvl() - RDI_Pathfinder msg: 1612979978.51 epoch sec; seqNo:255 2021-02-10T17:59:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 55.06 , 66.07 , 51.87 , 71.00 2021-02-10T17:59:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.02 , 0.08 2021-02-10T17:59:38Z- waiting for 1612979979.49, time is 1612979978.51 2021-02-10T17:59:38Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979978.52 epoch sec; seqNo:630; 4061724.78 north; 594433.85 east 2021-02-10T17:59:38Z- waiting for 1612979979.49, time is 1612979978.51 2021-02-10T17:59:38Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:38Z- AHRS_M2 msg: 1612979978.90 epoch sec; seqNo:627 2021-02-10T17:59:38Z- AHRS_M2 msg: 4.39 phi; -0.22 theta; -0.18 psi 2021-02-10T17:59:38Z- waiting for 1612979979.49, time is 1612979978.51 2021-02-10T17:59:38Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:38Z- handleDepth()-Depth_Keller msg: 29.07 epoch sec; seqNo:1612979978903; depth 0.00 2021-02-10T17:59:38Z- waiting for 1612979979.49, time is 1612979978.51 2021-02-10T17:59:38Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979978.91 epoch sec; seqNo:631; 4061724.77 north; 594432.63 east 2021-02-10T17:59:38Z- waiting for 1612979979.49, time is 1612979978.51 2021-02-10T17:59:38Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:39Z- AHRS_M2 msg: 1612979979.30 epoch sec; seqNo:628 2021-02-10T17:59:39Z- AHRS_M2 msg: 4.39 phi; -0.23 theta; -0.18 psi 2021-02-10T17:59:39Z- waiting for 1612979979.49, time is 1612979978.51 2021-02-10T17:59:39Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:39Z- handleDepth()-Depth_Keller msg: 29.16 epoch sec; seqNo:1612979979315; depth 0.00 2021-02-10T17:59:39Z- waiting for 1612979979.49, time is 1612979978.51 2021-02-10T17:59:39Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:39Z- handleDvl() - RDI_Pathfinder msg: 1612979979.33 epoch sec; seqNo:256 2021-02-10T17:59:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.77 , 65.49 , 51.58 , 71.57 2021-02-10T17:59:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.01 , 0.06 2021-02-10T17:59:39Z- waiting for 1612979979.49, time is 1612979979.33 2021-02-10T17:59:39Z- sync is 0.03, coherence is 2.00 2021-02-10T17:59:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979979.34 epoch sec; seqNo:632; 4061724.39 north; 594432.63 east 2021-02-10T17:59:39Z- waiting for 1612979979.49, time is 1612979979.33 2021-02-10T17:59:39Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:39Z- AHRS_M2 msg: 1612979979.70 epoch sec; seqNo:629 2021-02-10T17:59:39Z- AHRS_M2 msg: 4.39 phi; -0.23 theta; -0.18 psi 2021-02-10T17:59:39Z- waiting for 1612979979.49, time is 1612979979.33 2021-02-10T17:59:39Z- sync is 0.37, coherence is 2.00 2021-02-10T17:59:39Z- handleDepth()-Depth_Keller msg: 29.23 epoch sec; seqNo:1612979979709; depth 0.00 2021-02-10T17:59:39Z- waiting for 1612979979.49, time is 1612979979.33 2021-02-10T17:59:39Z- sync is 0.37, coherence is 2.00 2021-02-10T17:59:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979979.72 epoch sec; seqNo:633; 4061724.39 north; 594432.63 east 2021-02-10T17:59:39Z- waiting for 1612979979.49, time is 1612979979.33 2021-02-10T17:59:39Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:40Z- AHRS_M2 msg: 1612979980.10 epoch sec; seqNo:630 2021-02-10T17:59:40Z- AHRS_M2 msg: 4.39 phi; -0.23 theta; -0.18 psi 2021-02-10T17:59:40Z- waiting for 1612979979.49, time is 1612979979.33 2021-02-10T17:59:40Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:40Z- handleDepth()-Depth_Keller msg: 29.33 epoch sec; seqNo:1612979980108; depth 0.00 2021-02-10T17:59:40Z- waiting for 1612979979.49, time is 1612979979.33 2021-02-10T17:59:40Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979980.12 epoch sec; seqNo:634; 4061724.38 north; 594431.41 east 2021-02-10T17:59:40Z- waiting for 1612979979.49, time is 1612979979.33 2021-02-10T17:59:40Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:40Z- AHRS_M2 msg: 1612979980.51 epoch sec; seqNo:631 2021-02-10T17:59:40Z- AHRS_M2 msg: 4.39 phi; -0.23 theta; -0.18 psi 2021-02-10T17:59:40Z- waiting for 1612979979.49, time is 1612979979.33 2021-02-10T17:59:40Z- sync is 1.18, coherence is 2.00 2021-02-10T17:59:40Z- handleDepth()-Depth_Keller msg: 29.42 epoch sec; seqNo:1612979980513; depth 0.00 2021-02-10T17:59:40Z- waiting for 1612979979.49, time is 1612979979.33 2021-02-10T17:59:40Z- sync is 1.18, coherence is 2.00 2021-02-10T17:59:40Z- handleDvl() - RDI_Pathfinder msg: 1612979980.53 epoch sec; seqNo:257 2021-02-10T17:59:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.48 , 65.79 , 51.29 , 71.00 2021-02-10T17:59:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , 0.04 2021-02-10T17:59:40Z- waiting for 1612979979.49, time is 1612979980.53 2021-02-10T17:59:40Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:40Z- LcmTrn::updateTrn() >>>> pose time 1612979980.51, meas time 1612979980.53 <<<< 2021-02-10T17:59:40Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979980.53 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:59:40Z- TerrainNav::motionUpdate() - currEstimate = (4061724, 594431.41, 29.42) 2021-02-10T17:59:40Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:59:40Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:59:40Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:59:40Z- TNavBF::mmse selected from filter -1 2021-02-10T17:59:40Z- variances([0], [2], and psi_berg) = 815.042856 833.144146 0.000000 2021-02-10T17:59:40Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:59:40Z- LcmTrn::cycle() - MLE : 4061689.88 594382.91 29.42 2021-02-10T17:59:40Z- LcmTrn::cycle() - MMSE : 4061724.38 594431.41 29.42 2021-02-10T17:59:40Z- LcmTrn::cycle() - COVAR: 815.04 833.14 33.27 0.00 2021-02-10T17:59:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979980.54 epoch sec; seqNo:635; 4061724.38 north; 594431.41 east 2021-02-10T17:59:40Z- waiting for 1612979983.53, time is 1612979980.53 2021-02-10T17:59:40Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:40Z- AHRS_M2 msg: 1612979980.91 epoch sec; seqNo:632 2021-02-10T17:59:40Z- AHRS_M2 msg: 4.40 phi; -0.23 theta; -0.18 psi 2021-02-10T17:59:40Z- waiting for 1612979983.53, time is 1612979980.53 2021-02-10T17:59:40Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:40Z- handleDepth()-Depth_Keller msg: 29.50 epoch sec; seqNo:1612979980916; depth 0.00 2021-02-10T17:59:40Z- waiting for 1612979983.53, time is 1612979980.53 2021-02-10T17:59:40Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979980.94 epoch sec; seqNo:636; 4061724.00 north; 594431.42 east 2021-02-10T17:59:40Z- waiting for 1612979983.53, time is 1612979980.53 2021-02-10T17:59:40Z- sync is 0.41, coherence is 2.00 2021-02-10T17:59:41Z- AHRS_M2 msg: 1612979981.32 epoch sec; seqNo:633 2021-02-10T17:59:41Z- AHRS_M2 msg: 4.40 phi; -0.23 theta; -0.19 psi 2021-02-10T17:59:41Z- waiting for 1612979983.53, time is 1612979980.53 2021-02-10T17:59:41Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:41Z- handleDepth()-Depth_Keller msg: 29.59 epoch sec; seqNo:1612979981325; depth 0.00 2021-02-10T17:59:41Z- waiting for 1612979983.53, time is 1612979980.53 2021-02-10T17:59:41Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:41Z- handleDvl() - RDI_Pathfinder msg: 1612979981.34 epoch sec; seqNo:258 2021-02-10T17:59:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.19 , 65.50 , 51.29 , 71.29 2021-02-10T17:59:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.06 , 0.01 2021-02-10T17:59:41Z- waiting for 1612979983.53, time is 1612979981.34 2021-02-10T17:59:41Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979981.35 epoch sec; seqNo:637; 4061724.00 north; 594431.42 east 2021-02-10T17:59:41Z- waiting for 1612979983.53, time is 1612979981.34 2021-02-10T17:59:41Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:41Z- AHRS_M2 msg: 1612979981.72 epoch sec; seqNo:634 2021-02-10T17:59:41Z- AHRS_M2 msg: 4.40 phi; -0.23 theta; -0.19 psi 2021-02-10T17:59:41Z- waiting for 1612979983.53, time is 1612979981.34 2021-02-10T17:59:41Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:41Z- handleDepth()-Depth_Keller msg: 29.68 epoch sec; seqNo:1612979981725; depth 0.00 2021-02-10T17:59:41Z- waiting for 1612979983.53, time is 1612979981.34 2021-02-10T17:59:41Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979981.74 epoch sec; seqNo:638; 4061723.98 north; 594430.20 east 2021-02-10T17:59:41Z- waiting for 1612979983.53, time is 1612979981.34 2021-02-10T17:59:41Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:42Z- AHRS_M2 msg: 1612979982.12 epoch sec; seqNo:635 2021-02-10T17:59:42Z- AHRS_M2 msg: 4.40 phi; -0.23 theta; -0.19 psi 2021-02-10T17:59:42Z- waiting for 1612979983.53, time is 1612979981.34 2021-02-10T17:59:42Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:42Z- handleDepth()-Depth_Keller msg: 29.76 epoch sec; seqNo:1612979982128; depth 0.00 2021-02-10T17:59:42Z- waiting for 1612979983.53, time is 1612979981.34 2021-02-10T17:59:42Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979982.15 epoch sec; seqNo:639; 4061723.61 north; 594430.20 east 2021-02-10T17:59:42Z- waiting for 1612979983.53, time is 1612979981.34 2021-02-10T17:59:42Z- sync is 0.82, coherence is 2.00 2021-02-10T17:59:42Z- AHRS_M2 msg: 1612979982.53 epoch sec; seqNo:636 2021-02-10T17:59:42Z- AHRS_M2 msg: 4.40 phi; -0.23 theta; -0.19 psi 2021-02-10T17:59:42Z- waiting for 1612979983.53, time is 1612979981.34 2021-02-10T17:59:42Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:42Z- handleDepth()-Depth_Keller msg: 29.85 epoch sec; seqNo:1612979982532; depth 0.00 2021-02-10T17:59:42Z- waiting for 1612979983.53, time is 1612979981.34 2021-02-10T17:59:42Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:42Z- handleDvl() - RDI_Pathfinder msg: 1612979982.54 epoch sec; seqNo:259 2021-02-10T17:59:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.32 , 64.91 , 51.58 , 71.00 2021-02-10T17:59:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.06 , -0.01 2021-02-10T17:59:42Z- waiting for 1612979983.53, time is 1612979982.54 2021-02-10T17:59:42Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979982.55 epoch sec; seqNo:640; 4061723.61 north; 594430.20 east 2021-02-10T17:59:42Z- waiting for 1612979983.53, time is 1612979982.54 2021-02-10T17:59:42Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:42Z- AHRS_M2 msg: 1612979982.94 epoch sec; seqNo:637 2021-02-10T17:59:42Z- AHRS_M2 msg: 4.40 phi; -0.23 theta; -0.18 psi 2021-02-10T17:59:42Z- waiting for 1612979983.53, time is 1612979982.54 2021-02-10T17:59:42Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:42Z- handleDepth()-Depth_Keller msg: 29.93 epoch sec; seqNo:1612979982947; depth 0.00 2021-02-10T17:59:42Z- waiting for 1612979983.53, time is 1612979982.54 2021-02-10T17:59:42Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979982.96 epoch sec; seqNo:641; 4061723.21 north; 594428.99 east 2021-02-10T17:59:42Z- waiting for 1612979983.53, time is 1612979982.54 2021-02-10T17:59:42Z- sync is 0.41, coherence is 2.00 2021-02-10T17:59:43Z- AHRS_M2 msg: 1612979983.34 epoch sec; seqNo:638 2021-02-10T17:59:43Z- AHRS_M2 msg: 4.40 phi; -0.23 theta; -0.18 psi 2021-02-10T17:59:43Z- waiting for 1612979983.53, time is 1612979982.54 2021-02-10T17:59:43Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:43Z- handleDepth()-Depth_Keller msg: 30.02 epoch sec; seqNo:1612979983353; depth 0.00 2021-02-10T17:59:43Z- waiting for 1612979983.53, time is 1612979982.54 2021-02-10T17:59:43Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:43Z- handleDvl() - RDI_Pathfinder msg: 1612979983.36 epoch sec; seqNo:260 2021-02-10T17:59:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.03 , 64.91 , 51.58 , 70.42 2021-02-10T17:59:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.06 , -0.02 2021-02-10T17:59:43Z- waiting for 1612979983.53, time is 1612979983.36 2021-02-10T17:59:43Z- sync is 0.03, coherence is 2.00 2021-02-10T17:59:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979983.37 epoch sec; seqNo:642; 4061723.21 north; 594428.99 east 2021-02-10T17:59:43Z- waiting for 1612979983.53, time is 1612979983.36 2021-02-10T17:59:43Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:43Z- AHRS_M2 msg: 1612979983.74 epoch sec; seqNo:639 2021-02-10T17:59:43Z- AHRS_M2 msg: 4.40 phi; -0.23 theta; -0.18 psi 2021-02-10T17:59:43Z- waiting for 1612979983.53, time is 1612979983.36 2021-02-10T17:59:43Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:43Z- handleDepth()-Depth_Keller msg: 30.11 epoch sec; seqNo:1612979983744; depth 0.00 2021-02-10T17:59:43Z- waiting for 1612979983.53, time is 1612979983.36 2021-02-10T17:59:43Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979983.76 epoch sec; seqNo:643; 4061723.21 north; 594428.99 east 2021-02-10T17:59:43Z- waiting for 1612979983.53, time is 1612979983.36 2021-02-10T17:59:43Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:44Z- AHRS_M2 msg: 1612979984.14 epoch sec; seqNo:640 2021-02-10T17:59:44Z- AHRS_M2 msg: 4.40 phi; -0.23 theta; -0.19 psi 2021-02-10T17:59:44Z- waiting for 1612979983.53, time is 1612979983.36 2021-02-10T17:59:44Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:44Z- handleDepth()-Depth_Keller msg: 30.19 epoch sec; seqNo:1612979984155; depth 0.00 2021-02-10T17:59:44Z- waiting for 1612979983.53, time is 1612979983.36 2021-02-10T17:59:44Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979984.19 epoch sec; seqNo:644; 4061722.83 north; 594428.99 east 2021-02-10T17:59:44Z- waiting for 1612979983.53, time is 1612979983.36 2021-02-10T17:59:44Z- sync is 0.83, coherence is 2.00 2021-02-10T17:59:44Z- AHRS_M2 msg: 1612979984.55 epoch sec; seqNo:641 2021-02-10T17:59:44Z- AHRS_M2 msg: 4.40 phi; -0.23 theta; -0.18 psi 2021-02-10T17:59:44Z- waiting for 1612979983.53, time is 1612979983.36 2021-02-10T17:59:44Z- sync is 1.18, coherence is 2.00 2021-02-10T17:59:44Z- handleDepth()-Depth_Keller msg: 30.26 epoch sec; seqNo:1612979984555; depth 0.00 2021-02-10T17:59:44Z- waiting for 1612979983.53, time is 1612979983.36 2021-02-10T17:59:44Z- sync is 1.18, coherence is 2.00 2021-02-10T17:59:44Z- handleDvl() - RDI_Pathfinder msg: 1612979984.57 epoch sec; seqNo:261 2021-02-10T17:59:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.64 , 64.36 , 51.55 , 70.36 2021-02-10T17:59:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.05 , -0.02 2021-02-10T17:59:44Z- waiting for 1612979983.53, time is 1612979984.57 2021-02-10T17:59:44Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:44Z- LcmTrn::updateTrn() >>>> pose time 1612979984.55, meas time 1612979984.57 <<<< 2021-02-10T17:59:44Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979984.57 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:59:44Z- TerrainNav::motionUpdate() - currEstimate = (4061723, 594428.99, 30.26) 2021-02-10T17:59:44Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:59:44Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:59:44Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:59:44Z- TNavBF::mmse selected from filter -1 2021-02-10T17:59:44Z- variances([0], [2], and psi_berg) = 814.763091 833.143161 0.000000 2021-02-10T17:59:44Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:59:44Z- LcmTrn::cycle() - MLE : 4061688.33 594380.49 30.26 2021-02-10T17:59:44Z- LcmTrn::cycle() - MMSE : 4061722.83 594428.99 30.26 2021-02-10T17:59:44Z- LcmTrn::cycle() - COVAR: 814.76 833.14 33.42 0.00 2021-02-10T17:59:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979984.58 epoch sec; seqNo:645; 4061722.82 north; 594427.77 east 2021-02-10T17:59:44Z- waiting for 1612979987.57, time is 1612979984.57 2021-02-10T17:59:44Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:44Z- AHRS_M2 msg: 1612979984.95 epoch sec; seqNo:642 2021-02-10T17:59:44Z- AHRS_M2 msg: 4.40 phi; -0.23 theta; -0.18 psi 2021-02-10T17:59:44Z- waiting for 1612979987.57, time is 1612979984.57 2021-02-10T17:59:44Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:44Z- handleDepth()-Depth_Keller msg: 30.36 epoch sec; seqNo:1612979984974; depth 0.00 2021-02-10T17:59:44Z- waiting for 1612979987.57, time is 1612979984.57 2021-02-10T17:59:44Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979985.01 epoch sec; seqNo:646; 4061722.44 north; 594427.77 east 2021-02-10T17:59:45Z- waiting for 1612979987.57, time is 1612979984.57 2021-02-10T17:59:45Z- sync is 0.45, coherence is 2.00 2021-02-10T17:59:45Z- AHRS_M2 msg: 1612979985.36 epoch sec; seqNo:643 2021-02-10T17:59:45Z- AHRS_M2 msg: 4.40 phi; -0.23 theta; -0.18 psi 2021-02-10T17:59:45Z- waiting for 1612979987.57, time is 1612979984.57 2021-02-10T17:59:45Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:45Z- handleDepth()-Depth_Keller msg: 30.44 epoch sec; seqNo:1612979985360; depth 0.00 2021-02-10T17:59:45Z- waiting for 1612979987.57, time is 1612979984.57 2021-02-10T17:59:45Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:45Z- handleDvl() - RDI_Pathfinder msg: 1612979985.37 epoch sec; seqNo:262 2021-02-10T17:59:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.36 , 64.09 , 51.27 , 69.82 2021-02-10T17:59:45Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.03 , -0.01 2021-02-10T17:59:45Z- waiting for 1612979987.57, time is 1612979985.37 2021-02-10T17:59:45Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979985.40 epoch sec; seqNo:647; 4061722.44 north; 594427.77 east 2021-02-10T17:59:45Z- waiting for 1612979987.57, time is 1612979985.37 2021-02-10T17:59:45Z- sync is 0.03, coherence is 2.00 2021-02-10T17:59:45Z- AHRS_M2 msg: 1612979985.76 epoch sec; seqNo:644 2021-02-10T17:59:45Z- AHRS_M2 msg: 4.40 phi; -0.23 theta; -0.18 psi 2021-02-10T17:59:45Z- waiting for 1612979987.57, time is 1612979985.37 2021-02-10T17:59:45Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:45Z- handleDepth()-Depth_Keller msg: 30.54 epoch sec; seqNo:1612979985769; depth 0.00 2021-02-10T17:59:45Z- waiting for 1612979987.57, time is 1612979985.37 2021-02-10T17:59:45Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979985.78 epoch sec; seqNo:648; 4061722.43 north; 594426.55 east 2021-02-10T17:59:45Z- waiting for 1612979987.57, time is 1612979985.37 2021-02-10T17:59:45Z- sync is 0.41, coherence is 2.00 2021-02-10T17:59:46Z- AHRS_M2 msg: 1612979986.19 epoch sec; seqNo:645 2021-02-10T17:59:46Z- AHRS_M2 msg: 4.40 phi; -0.23 theta; -0.18 psi 2021-02-10T17:59:46Z- waiting for 1612979987.57, time is 1612979985.37 2021-02-10T17:59:46Z- sync is 0.82, coherence is 2.00 2021-02-10T17:59:46Z- handleDepth()-Depth_Keller msg: 30.60 epoch sec; seqNo:1612979986192; depth 0.00 2021-02-10T17:59:46Z- waiting for 1612979987.57, time is 1612979985.37 2021-02-10T17:59:46Z- sync is 0.82, coherence is 2.00 2021-02-10T17:59:46Z- handleDvl() - RDI_Pathfinder msg: 1612979986.20 epoch sec; seqNo:263 2021-02-10T17:59:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.82 , 63.55 , 51.01 , 69.55 2021-02-10T17:59:46Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.00 , 0.00 2021-02-10T17:59:46Z- waiting for 1612979987.57, time is 1612979986.20 2021-02-10T17:59:46Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979986.21 epoch sec; seqNo:649; 4061722.05 north; 594426.56 east 2021-02-10T17:59:46Z- waiting for 1612979987.57, time is 1612979986.20 2021-02-10T17:59:46Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:46Z- AHRS_M2 msg: 1612979986.57 epoch sec; seqNo:646 2021-02-10T17:59:46Z- AHRS_M2 msg: 4.40 phi; -0.23 theta; -0.17 psi 2021-02-10T17:59:46Z- waiting for 1612979987.57, time is 1612979986.20 2021-02-10T17:59:46Z- sync is 0.36, coherence is 2.00 2021-02-10T17:59:46Z- handleDepth()-Depth_Keller msg: 30.70 epoch sec; seqNo:1612979986577; depth 0.00 2021-02-10T17:59:46Z- waiting for 1612979987.57, time is 1612979986.20 2021-02-10T17:59:46Z- sync is 0.36, coherence is 2.00 2021-02-10T17:59:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979986.60 epoch sec; seqNo:650; 4061722.05 north; 594426.56 east 2021-02-10T17:59:46Z- waiting for 1612979987.57, time is 1612979986.20 2021-02-10T17:59:46Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:46Z- AHRS_M2 msg: 1612979986.97 epoch sec; seqNo:647 2021-02-10T17:59:46Z- AHRS_M2 msg: 4.40 phi; -0.23 theta; -0.17 psi 2021-02-10T17:59:46Z- waiting for 1612979987.57, time is 1612979986.20 2021-02-10T17:59:46Z- sync is 0.77, coherence is 2.00 2021-02-10T17:59:46Z- handleDepth()-Depth_Keller msg: 30.77 epoch sec; seqNo:1612979986976; depth 0.00 2021-02-10T17:59:46Z- waiting for 1612979987.57, time is 1612979986.20 2021-02-10T17:59:46Z- sync is 0.77, coherence is 2.00 2021-02-10T17:59:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979986.98 epoch sec; seqNo:651; 4061722.04 north; 594425.34 east 2021-02-10T17:59:46Z- waiting for 1612979987.57, time is 1612979986.20 2021-02-10T17:59:46Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:47Z- AHRS_M2 msg: 1612979987.38 epoch sec; seqNo:648 2021-02-10T17:59:47Z- AHRS_M2 msg: 4.40 phi; -0.23 theta; -0.17 psi 2021-02-10T17:59:47Z- waiting for 1612979987.57, time is 1612979986.20 2021-02-10T17:59:47Z- sync is 1.17, coherence is 2.00 2021-02-10T17:59:47Z- handleDepth()-Depth_Keller msg: 30.85 epoch sec; seqNo:1612979987382; depth 0.00 2021-02-10T17:59:47Z- waiting for 1612979987.57, time is 1612979986.20 2021-02-10T17:59:47Z- sync is 1.17, coherence is 2.00 2021-02-10T17:59:47Z- handleDvl() - RDI_Pathfinder msg: 1612979987.39 epoch sec; seqNo:264 2021-02-10T17:59:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.82 , 63.01 , 50.46 , 69.01 2021-02-10T17:59:47Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.01 , 0.02 2021-02-10T17:59:47Z- waiting for 1612979987.57, time is 1612979987.39 2021-02-10T17:59:47Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979987.40 epoch sec; seqNo:652; 4061721.66 north; 594425.34 east 2021-02-10T17:59:47Z- waiting for 1612979987.57, time is 1612979987.39 2021-02-10T17:59:47Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:47Z- AHRS_M2 msg: 1612979987.78 epoch sec; seqNo:649 2021-02-10T17:59:47Z- AHRS_M2 msg: 4.40 phi; -0.23 theta; -0.17 psi 2021-02-10T17:59:47Z- waiting for 1612979987.57, time is 1612979987.39 2021-02-10T17:59:47Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:47Z- handleDepth()-Depth_Keller msg: 30.96 epoch sec; seqNo:1612979987789; depth 0.00 2021-02-10T17:59:47Z- waiting for 1612979987.57, time is 1612979987.39 2021-02-10T17:59:47Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979987.80 epoch sec; seqNo:653; 4061721.66 north; 594425.34 east 2021-02-10T17:59:47Z- waiting for 1612979987.57, time is 1612979987.39 2021-02-10T17:59:47Z- sync is 0.41, coherence is 2.00 2021-02-10T17:59:48Z- AHRS_M2 msg: 1612979988.19 epoch sec; seqNo:650 2021-02-10T17:59:48Z- AHRS_M2 msg: 4.40 phi; -0.23 theta; -0.16 psi 2021-02-10T17:59:48Z- waiting for 1612979987.57, time is 1612979987.39 2021-02-10T17:59:48Z- sync is 0.80, coherence is 2.00 2021-02-10T17:59:48Z- handleDepth()-Depth_Keller msg: 31.05 epoch sec; seqNo:1612979988203; depth 0.00 2021-02-10T17:59:48Z- waiting for 1612979987.57, time is 1612979987.39 2021-02-10T17:59:48Z- sync is 0.80, coherence is 2.00 2021-02-10T17:59:48Z- handleDvl() - RDI_Pathfinder msg: 1612979988.21 epoch sec; seqNo:265 2021-02-10T17:59:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.55 , 61.92 , 50.46 , 68.74 2021-02-10T17:59:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.04 , 0.03 2021-02-10T17:59:48Z- waiting for 1612979987.57, time is 1612979988.21 2021-02-10T17:59:48Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:48Z- LcmTrn::updateTrn() >>>> pose time 1612979988.19, meas time 1612979988.21 <<<< 2021-02-10T17:59:48Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979988.21 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:59:48Z- TerrainNav::motionUpdate() - currEstimate = (4061722, 594425.34, 31.05) 2021-02-10T17:59:48Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:59:48Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:59:48Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:59:48Z- TNavBF::mmse selected from filter -1 2021-02-10T17:59:48Z- variances([0], [2], and psi_berg) = 814.442465 833.142045 0.000000 2021-02-10T17:59:48Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:59:48Z- LcmTrn::cycle() - MLE : 4061687.16 594376.84 31.05 2021-02-10T17:59:48Z- LcmTrn::cycle() - MMSE : 4061721.66 594425.34 31.05 2021-02-10T17:59:48Z- LcmTrn::cycle() - COVAR: 814.44 833.14 33.61 0.00 2021-02-10T17:59:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979988.23 epoch sec; seqNo:654; 4061721.64 north; 594424.12 east 2021-02-10T17:59:48Z- waiting for 1612979991.21, time is 1612979988.21 2021-02-10T17:59:48Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:48Z- AHRS_M2 msg: 1612979988.59 epoch sec; seqNo:651 2021-02-10T17:59:48Z- AHRS_M2 msg: 4.40 phi; -0.23 theta; -0.16 psi 2021-02-10T17:59:48Z- waiting for 1612979991.21, time is 1612979988.21 2021-02-10T17:59:48Z- sync is 0.37, coherence is 2.00 2021-02-10T17:59:48Z- handleDepth()-Depth_Keller msg: 31.14 epoch sec; seqNo:1612979988593; depth 0.00 2021-02-10T17:59:48Z- waiting for 1612979991.21, time is 1612979988.21 2021-02-10T17:59:48Z- sync is 0.37, coherence is 2.00 2021-02-10T17:59:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979988.60 epoch sec; seqNo:655; 4061721.64 north; 594424.12 east 2021-02-10T17:59:48Z- waiting for 1612979991.21, time is 1612979988.21 2021-02-10T17:59:48Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:48Z- AHRS_M2 msg: 1612979988.99 epoch sec; seqNo:652 2021-02-10T17:59:48Z- AHRS_M2 msg: 4.40 phi; -0.22 theta; -0.16 psi 2021-02-10T17:59:48Z- waiting for 1612979991.21, time is 1612979988.21 2021-02-10T17:59:48Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:48Z- handleDepth()-Depth_Keller msg: 31.21 epoch sec; seqNo:1612979988997; depth 0.00 2021-02-10T17:59:48Z- waiting for 1612979991.21, time is 1612979988.21 2021-02-10T17:59:48Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979989.01 epoch sec; seqNo:656; 4061721.27 north; 594424.13 east 2021-02-10T17:59:49Z- waiting for 1612979991.21, time is 1612979988.21 2021-02-10T17:59:49Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:49Z- AHRS_M2 msg: 1612979989.40 epoch sec; seqNo:653 2021-02-10T17:59:49Z- AHRS_M2 msg: 4.40 phi; -0.22 theta; -0.16 psi 2021-02-10T17:59:49Z- waiting for 1612979991.21, time is 1612979988.21 2021-02-10T17:59:49Z- sync is 1.18, coherence is 2.00 2021-02-10T17:59:49Z- handleDepth()-Depth_Keller msg: 31.30 epoch sec; seqNo:1612979989411; depth 0.00 2021-02-10T17:59:49Z- waiting for 1612979991.21, time is 1612979988.21 2021-02-10T17:59:49Z- sync is 1.18, coherence is 2.00 2021-02-10T17:59:49Z- handleDvl() - RDI_Pathfinder msg: 1612979989.42 epoch sec; seqNo:266 2021-02-10T17:59:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.55 , 61.92 , 50.46 , 68.74 2021-02-10T17:59:49Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.03 , 0.04 2021-02-10T17:59:49Z- waiting for 1612979991.21, time is 1612979989.42 2021-02-10T17:59:49Z- sync is 0.03, coherence is 2.00 2021-02-10T17:59:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979989.43 epoch sec; seqNo:657; 4061721.25 north; 594422.91 east 2021-02-10T17:59:49Z- waiting for 1612979991.21, time is 1612979989.42 2021-02-10T17:59:49Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:49Z- AHRS_M2 msg: 1612979989.80 epoch sec; seqNo:654 2021-02-10T17:59:49Z- AHRS_M2 msg: 4.40 phi; -0.22 theta; -0.16 psi 2021-02-10T17:59:49Z- waiting for 1612979991.21, time is 1612979989.42 2021-02-10T17:59:49Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:49Z- handleDepth()-Depth_Keller msg: 31.40 epoch sec; seqNo:1612979989806; depth 0.00 2021-02-10T17:59:49Z- waiting for 1612979991.21, time is 1612979989.42 2021-02-10T17:59:49Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979989.82 epoch sec; seqNo:658; 4061721.25 north; 594422.91 east 2021-02-10T17:59:49Z- waiting for 1612979991.21, time is 1612979989.42 2021-02-10T17:59:49Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:50Z- AHRS_M2 msg: 1612979990.20 epoch sec; seqNo:655 2021-02-10T17:59:50Z- AHRS_M2 msg: 4.40 phi; -0.22 theta; -0.16 psi 2021-02-10T17:59:50Z- waiting for 1612979991.21, time is 1612979989.42 2021-02-10T17:59:50Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:50Z- handleDepth()-Depth_Keller msg: 31.48 epoch sec; seqNo:1612979990208; depth 0.00 2021-02-10T17:59:50Z- waiting for 1612979991.21, time is 1612979989.42 2021-02-10T17:59:50Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:50Z- handleDvl() - RDI_Pathfinder msg: 1612979990.22 epoch sec; seqNo:267 2021-02-10T17:59:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.55 , 61.09 , 50.46 , 68.18 2021-02-10T17:59:50Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.03 , 0.06 2021-02-10T17:59:50Z- waiting for 1612979991.21, time is 1612979990.22 2021-02-10T17:59:50Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979990.23 epoch sec; seqNo:659; 4061720.87 north; 594422.91 east 2021-02-10T17:59:50Z- waiting for 1612979991.21, time is 1612979990.22 2021-02-10T17:59:50Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:50Z- AHRS_M2 msg: 1612979990.61 epoch sec; seqNo:656 2021-02-10T17:59:50Z- AHRS_M2 msg: 4.41 phi; -0.22 theta; -0.16 psi 2021-02-10T17:59:50Z- waiting for 1612979991.21, time is 1612979990.22 2021-02-10T17:59:50Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:50Z- handleDepth()-Depth_Keller msg: 31.57 epoch sec; seqNo:1612979990615; depth 0.00 2021-02-10T17:59:50Z- waiting for 1612979991.21, time is 1612979990.22 2021-02-10T17:59:50Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979990.62 epoch sec; seqNo:660; 4061720.87 north; 594422.91 east 2021-02-10T17:59:50Z- waiting for 1612979991.21, time is 1612979990.22 2021-02-10T17:59:50Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:51Z- AHRS_M2 msg: 1612979991.01 epoch sec; seqNo:657 2021-02-10T17:59:51Z- AHRS_M2 msg: 4.41 phi; -0.22 theta; -0.16 psi 2021-02-10T17:59:51Z- waiting for 1612979991.21, time is 1612979990.22 2021-02-10T17:59:51Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:51Z- handleDepth()-Depth_Keller msg: 31.66 epoch sec; seqNo:1612979991016; depth 0.00 2021-02-10T17:59:51Z- waiting for 1612979991.21, time is 1612979990.22 2021-02-10T17:59:51Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979991.03 epoch sec; seqNo:661; 4061720.86 north; 594421.69 east 2021-02-10T17:59:51Z- waiting for 1612979991.21, time is 1612979990.22 2021-02-10T17:59:51Z- sync is 0.81, coherence is 2.00 2021-02-10T17:59:51Z- AHRS_M2 msg: 1612979991.42 epoch sec; seqNo:658 2021-02-10T17:59:51Z- AHRS_M2 msg: 4.41 phi; -0.22 theta; -0.16 psi 2021-02-10T17:59:51Z- waiting for 1612979991.21, time is 1612979990.22 2021-02-10T17:59:51Z- sync is 1.20, coherence is 2.00 2021-02-10T17:59:51Z- handleDepth()-Depth_Keller msg: 31.75 epoch sec; seqNo:1612979991420; depth 0.00 2021-02-10T17:59:51Z- waiting for 1612979991.21, time is 1612979990.22 2021-02-10T17:59:51Z- sync is 1.20, coherence is 2.00 2021-02-10T17:59:51Z- handleDvl() - RDI_Pathfinder msg: 1612979991.43 epoch sec; seqNo:268 2021-02-10T17:59:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.55 , 61.09 , 50.18 , 67.64 2021-02-10T17:59:51Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.01 , 0.06 2021-02-10T17:59:51Z- waiting for 1612979991.21, time is 1612979991.43 2021-02-10T17:59:51Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:51Z- LcmTrn::updateTrn() >>>> pose time 1612979991.42, meas time 1612979991.43 <<<< 2021-02-10T17:59:51Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979991.43 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:59:51Z- TerrainNav::motionUpdate() - currEstimate = (4061721, 594421.69, 31.75) 2021-02-10T17:59:51Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:59:51Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:59:51Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:59:51Z- TNavBF::mmse selected from filter -1 2021-02-10T17:59:51Z- variances([0], [2], and psi_berg) = 814.128680 833.140967 0.000000 2021-02-10T17:59:51Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:59:51Z- LcmTrn::cycle() - MLE : 4061686.36 594374.19 31.75 2021-02-10T17:59:51Z- LcmTrn::cycle() - MMSE : 4061720.86 594421.69 31.75 2021-02-10T17:59:51Z- LcmTrn::cycle() - COVAR: 814.13 833.14 33.80 0.00 2021-02-10T17:59:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979991.46 epoch sec; seqNo:662; 4061720.86 north; 594421.69 east 2021-02-10T17:59:51Z- waiting for 1612979994.43, time is 1612979991.43 2021-02-10T17:59:51Z- sync is 0.03, coherence is 2.00 2021-02-10T17:59:51Z- AHRS_M2 msg: 1612979991.82 epoch sec; seqNo:659 2021-02-10T17:59:51Z- AHRS_M2 msg: 4.41 phi; -0.22 theta; -0.16 psi 2021-02-10T17:59:51Z- waiting for 1612979994.43, time is 1612979991.43 2021-02-10T17:59:51Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:51Z- handleDepth()-Depth_Keller msg: 31.85 epoch sec; seqNo:1612979991824; depth 0.00 2021-02-10T17:59:51Z- waiting for 1612979994.43, time is 1612979991.43 2021-02-10T17:59:51Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979991.83 epoch sec; seqNo:663; 4061720.48 north; 594421.69 east 2021-02-10T17:59:51Z- waiting for 1612979994.43, time is 1612979991.43 2021-02-10T17:59:51Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:52Z- AHRS_M2 msg: 1612979992.23 epoch sec; seqNo:660 2021-02-10T17:59:52Z- AHRS_M2 msg: 4.41 phi; -0.22 theta; -0.16 psi 2021-02-10T17:59:52Z- waiting for 1612979994.43, time is 1612979991.43 2021-02-10T17:59:52Z- sync is 0.80, coherence is 2.00 2021-02-10T17:59:52Z- handleDepth()-Depth_Keller msg: 31.91 epoch sec; seqNo:1612979992233; depth 0.00 2021-02-10T17:59:52Z- waiting for 1612979994.43, time is 1612979991.43 2021-02-10T17:59:52Z- sync is 0.80, coherence is 2.00 2021-02-10T17:59:52Z- handleDvl() - RDI_Pathfinder msg: 1612979992.24 epoch sec; seqNo:269 2021-02-10T17:59:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.55 , 60.82 , 49.64 , 67.09 2021-02-10T17:59:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.01 , 0.07 2021-02-10T17:59:52Z- waiting for 1612979994.43, time is 1612979992.24 2021-02-10T17:59:52Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979992.26 epoch sec; seqNo:664; 4061720.47 north; 594420.47 east 2021-02-10T17:59:52Z- waiting for 1612979994.43, time is 1612979992.24 2021-02-10T17:59:52Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:52Z- AHRS_M2 msg: 1612979992.63 epoch sec; seqNo:661 2021-02-10T17:59:52Z- AHRS_M2 msg: 4.41 phi; -0.22 theta; -0.16 psi 2021-02-10T17:59:52Z- waiting for 1612979994.43, time is 1612979992.24 2021-02-10T17:59:52Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:52Z- handleDepth()-Depth_Keller msg: 32.01 epoch sec; seqNo:1612979992633; depth 0.00 2021-02-10T17:59:52Z- waiting for 1612979994.43, time is 1612979992.24 2021-02-10T17:59:52Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979992.66 epoch sec; seqNo:665; 4061720.47 north; 594420.47 east 2021-02-10T17:59:52Z- waiting for 1612979994.43, time is 1612979992.24 2021-02-10T17:59:52Z- sync is 0.41, coherence is 2.00 2021-02-10T17:59:53Z- AHRS_M2 msg: 1612979993.03 epoch sec; seqNo:662 2021-02-10T17:59:53Z- AHRS_M2 msg: 4.41 phi; -0.22 theta; -0.16 psi 2021-02-10T17:59:53Z- waiting for 1612979994.43, time is 1612979992.24 2021-02-10T17:59:53Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:53Z- handleDepth()-Depth_Keller msg: 32.08 epoch sec; seqNo:1612979993037; depth 0.00 2021-02-10T17:59:53Z- waiting for 1612979994.43, time is 1612979992.24 2021-02-10T17:59:53Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979993.05 epoch sec; seqNo:666; 4061720.09 north; 594420.48 east 2021-02-10T17:59:53Z- waiting for 1612979994.43, time is 1612979992.24 2021-02-10T17:59:53Z- sync is 0.80, coherence is 2.00 2021-02-10T17:59:53Z- AHRS_M2 msg: 1612979993.43 epoch sec; seqNo:663 2021-02-10T17:59:53Z- AHRS_M2 msg: 4.41 phi; -0.22 theta; -0.16 psi 2021-02-10T17:59:53Z- waiting for 1612979994.43, time is 1612979992.24 2021-02-10T17:59:53Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:53Z- handleDepth()-Depth_Keller msg: 32.18 epoch sec; seqNo:1612979993440; depth 0.00 2021-02-10T17:59:53Z- waiting for 1612979994.43, time is 1612979992.24 2021-02-10T17:59:53Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:53Z- handleDvl() - RDI_Pathfinder msg: 1612979993.45 epoch sec; seqNo:270 2021-02-10T17:59:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.55 , 60.27 , 49.64 , 66.82 2021-02-10T17:59:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.03 , 0.06 2021-02-10T17:59:53Z- waiting for 1612979994.43, time is 1612979993.45 2021-02-10T17:59:53Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979993.46 epoch sec; seqNo:667; 4061720.08 north; 594419.26 east 2021-02-10T17:59:53Z- waiting for 1612979994.43, time is 1612979993.45 2021-02-10T17:59:53Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:53Z- AHRS_M2 msg: 1612979993.84 epoch sec; seqNo:664 2021-02-10T17:59:53Z- AHRS_M2 msg: 4.41 phi; -0.22 theta; -0.16 psi 2021-02-10T17:59:53Z- waiting for 1612979994.43, time is 1612979993.45 2021-02-10T17:59:53Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:53Z- handleDepth()-Depth_Keller msg: 32.25 epoch sec; seqNo:1612979993846; depth 0.00 2021-02-10T17:59:53Z- waiting for 1612979994.43, time is 1612979993.45 2021-02-10T17:59:53Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979993.86 epoch sec; seqNo:668; 4061720.08 north; 594419.26 east 2021-02-10T17:59:53Z- waiting for 1612979994.43, time is 1612979993.45 2021-02-10T17:59:53Z- sync is 0.41, coherence is 2.00 2021-02-10T17:59:54Z- AHRS_M2 msg: 1612979994.24 epoch sec; seqNo:665 2021-02-10T17:59:54Z- AHRS_M2 msg: 4.41 phi; -0.22 theta; -0.17 psi 2021-02-10T17:59:54Z- waiting for 1612979994.43, time is 1612979993.45 2021-02-10T17:59:54Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:54Z- handleDepth()-Depth_Keller msg: 32.34 epoch sec; seqNo:1612979994248; depth 0.00 2021-02-10T17:59:54Z- waiting for 1612979994.43, time is 1612979993.45 2021-02-10T17:59:54Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:54Z- handleDvl() - RDI_Pathfinder msg: 1612979994.27 epoch sec; seqNo:271 2021-02-10T17:59:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.55 , 60.00 , 49.09 , 66.82 2021-02-10T17:59:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.05 , 0.04 2021-02-10T17:59:54Z- waiting for 1612979994.43, time is 1612979994.27 2021-02-10T17:59:54Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979994.28 epoch sec; seqNo:669; 4061719.70 north; 594419.26 east 2021-02-10T17:59:54Z- waiting for 1612979994.43, time is 1612979994.27 2021-02-10T17:59:54Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:54Z- AHRS_M2 msg: 1612979994.65 epoch sec; seqNo:666 2021-02-10T17:59:54Z- AHRS_M2 msg: 4.41 phi; -0.21 theta; -0.17 psi 2021-02-10T17:59:54Z- waiting for 1612979994.43, time is 1612979994.27 2021-02-10T17:59:54Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:54Z- handleDepth()-Depth_Keller msg: 32.41 epoch sec; seqNo:1612979994652; depth 0.00 2021-02-10T17:59:54Z- waiting for 1612979994.43, time is 1612979994.27 2021-02-10T17:59:54Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979994.66 epoch sec; seqNo:670; 4061719.70 north; 594419.26 east 2021-02-10T17:59:54Z- waiting for 1612979994.43, time is 1612979994.27 2021-02-10T17:59:54Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:55Z- AHRS_M2 msg: 1612979995.05 epoch sec; seqNo:667 2021-02-10T17:59:55Z- AHRS_M2 msg: 4.42 phi; -0.21 theta; -0.17 psi 2021-02-10T17:59:55Z- waiting for 1612979994.43, time is 1612979994.27 2021-02-10T17:59:55Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:55Z- handleDepth()-Depth_Keller msg: 32.49 epoch sec; seqNo:1612979995058; depth 0.00 2021-02-10T17:59:55Z- waiting for 1612979994.43, time is 1612979994.27 2021-02-10T17:59:55Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979995.07 epoch sec; seqNo:671; 4061719.68 north; 594418.04 east 2021-02-10T17:59:55Z- waiting for 1612979994.43, time is 1612979994.27 2021-02-10T17:59:55Z- sync is 0.80, coherence is 2.00 2021-02-10T17:59:55Z- AHRS_M2 msg: 1612979995.46 epoch sec; seqNo:668 2021-02-10T17:59:55Z- AHRS_M2 msg: 4.42 phi; -0.21 theta; -0.17 psi 2021-02-10T17:59:55Z- waiting for 1612979994.43, time is 1612979994.27 2021-02-10T17:59:55Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:55Z- handleDepth()-Depth_Keller msg: 32.57 epoch sec; seqNo:1612979995466; depth 0.00 2021-02-10T17:59:55Z- waiting for 1612979994.43, time is 1612979994.27 2021-02-10T17:59:55Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:55Z- handleDvl() - RDI_Pathfinder msg: 1612979995.48 epoch sec; seqNo:272 2021-02-10T17:59:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.55 , 59.46 , 49.09 , 65.73 2021-02-10T17:59:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.06 , 0.01 2021-02-10T17:59:55Z- waiting for 1612979994.43, time is 1612979995.48 2021-02-10T17:59:55Z- sync is 0.03, coherence is 2.00 2021-02-10T17:59:55Z- LcmTrn::updateTrn() >>>> pose time 1612979995.46, meas time 1612979995.48 <<<< 2021-02-10T17:59:55Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979995.48 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:59:55Z- TerrainNav::motionUpdate() - currEstimate = (4061720, 594418.04, 32.57) 2021-02-10T17:59:55Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:59:55Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:59:55Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:59:55Z- TNavBF::mmse selected from filter -1 2021-02-10T17:59:55Z- variances([0], [2], and psi_berg) = 813.813730 833.139899 0.000000 2021-02-10T17:59:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:59:55Z- LcmTrn::cycle() - MLE : 4061686.18 594369.54 32.57 2021-02-10T17:59:55Z- LcmTrn::cycle() - MMSE : 4061719.68 594418.04 32.57 2021-02-10T17:59:55Z- LcmTrn::cycle() - COVAR: 813.81 833.14 34.00 0.00 2021-02-10T17:59:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979995.49 epoch sec; seqNo:672; 4061719.30 north; 594418.05 east 2021-02-10T17:59:55Z- waiting for 1612979998.48, time is 1612979995.48 2021-02-10T17:59:55Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:55Z- AHRS_M2 msg: 1612979995.86 epoch sec; seqNo:669 2021-02-10T17:59:55Z- AHRS_M2 msg: 4.42 phi; -0.21 theta; -0.17 psi 2021-02-10T17:59:55Z- waiting for 1612979998.48, time is 1612979995.48 2021-02-10T17:59:55Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:55Z- handleDepth()-Depth_Keller msg: 32.66 epoch sec; seqNo:1612979995867; depth 0.00 2021-02-10T17:59:55Z- waiting for 1612979998.48, time is 1612979995.48 2021-02-10T17:59:55Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979995.89 epoch sec; seqNo:673; 4061719.30 north; 594418.05 east 2021-02-10T17:59:55Z- waiting for 1612979998.48, time is 1612979995.48 2021-02-10T17:59:55Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:56Z- AHRS_M2 msg: 1612979996.27 epoch sec; seqNo:670 2021-02-10T17:59:56Z- AHRS_M2 msg: 4.43 phi; -0.21 theta; -0.17 psi 2021-02-10T17:59:56Z- waiting for 1612979998.48, time is 1612979995.48 2021-02-10T17:59:56Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:56Z- handleDepth()-Depth_Keller msg: 32.73 epoch sec; seqNo:1612979996274; depth 0.00 2021-02-10T17:59:56Z- waiting for 1612979998.48, time is 1612979995.48 2021-02-10T17:59:56Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:56Z- handleDvl() - RDI_Pathfinder msg: 1612979996.29 epoch sec; seqNo:273 2021-02-10T17:59:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.55 , 59.46 , 49.09 , 66.27 2021-02-10T17:59:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.06 , -0.03 2021-02-10T17:59:56Z- waiting for 1612979998.48, time is 1612979996.29 2021-02-10T17:59:56Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979996.31 epoch sec; seqNo:674; 4061719.29 north; 594416.83 east 2021-02-10T17:59:56Z- waiting for 1612979998.48, time is 1612979996.29 2021-02-10T17:59:56Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:56Z- AHRS_M2 msg: 1612979996.67 epoch sec; seqNo:671 2021-02-10T17:59:56Z- AHRS_M2 msg: 4.44 phi; -0.21 theta; -0.16 psi 2021-02-10T17:59:56Z- waiting for 1612979998.48, time is 1612979996.29 2021-02-10T17:59:56Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:56Z- handleDepth()-Depth_Keller msg: 32.81 epoch sec; seqNo:1612979996681; depth 0.00 2021-02-10T17:59:56Z- waiting for 1612979998.48, time is 1612979996.29 2021-02-10T17:59:56Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979996.69 epoch sec; seqNo:675; 4061718.91 north; 594416.83 east 2021-02-10T17:59:56Z- waiting for 1612979998.48, time is 1612979996.29 2021-02-10T17:59:56Z- sync is 0.41, coherence is 2.00 2021-02-10T17:59:57Z- AHRS_M2 msg: 1612979997.07 epoch sec; seqNo:672 2021-02-10T17:59:57Z- AHRS_M2 msg: 4.44 phi; -0.21 theta; -0.16 psi 2021-02-10T17:59:57Z- waiting for 1612979998.48, time is 1612979996.29 2021-02-10T17:59:57Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:57Z- handleDepth()-Depth_Keller msg: 32.89 epoch sec; seqNo:1612979997083; depth 0.00 2021-02-10T17:59:57Z- waiting for 1612979998.48, time is 1612979996.29 2021-02-10T17:59:57Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979997.10 epoch sec; seqNo:676; 4061718.91 north; 594416.83 east 2021-02-10T17:59:57Z- waiting for 1612979998.48, time is 1612979996.29 2021-02-10T17:59:57Z- sync is 0.81, coherence is 2.00 2021-02-10T17:59:57Z- AHRS_M2 msg: 1612979997.48 epoch sec; seqNo:673 2021-02-10T17:59:57Z- AHRS_M2 msg: 4.44 phi; -0.21 theta; -0.16 psi 2021-02-10T17:59:57Z- waiting for 1612979998.48, time is 1612979996.29 2021-02-10T17:59:57Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:57Z- handleDepth()-Depth_Keller msg: 32.97 epoch sec; seqNo:1612979997480; depth 0.00 2021-02-10T17:59:57Z- waiting for 1612979998.48, time is 1612979996.29 2021-02-10T17:59:57Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:57Z- handleDvl() - RDI_Pathfinder msg: 1612979997.49 epoch sec; seqNo:274 2021-02-10T17:59:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.27 , 57.82 , 48.55 , 66.00 2021-02-10T17:59:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.05 , -0.05 2021-02-10T17:59:57Z- waiting for 1612979998.48, time is 1612979997.49 2021-02-10T17:59:57Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979997.51 epoch sec; seqNo:677; 4061718.90 north; 594415.61 east 2021-02-10T17:59:57Z- waiting for 1612979998.48, time is 1612979997.49 2021-02-10T17:59:57Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:57Z- AHRS_M2 msg: 1612979997.89 epoch sec; seqNo:674 2021-02-10T17:59:57Z- AHRS_M2 msg: 4.45 phi; -0.21 theta; -0.16 psi 2021-02-10T17:59:57Z- waiting for 1612979998.48, time is 1612979997.49 2021-02-10T17:59:57Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:57Z- handleDepth()-Depth_Keller msg: 33.04 epoch sec; seqNo:1612979997898; depth 0.00 2021-02-10T17:59:57Z- waiting for 1612979998.48, time is 1612979997.49 2021-02-10T17:59:57Z- sync is 0.40, coherence is 2.00 2021-02-10T17:59:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979997.91 epoch sec; seqNo:678; 4061718.52 north; 594415.61 east 2021-02-10T17:59:57Z- waiting for 1612979998.48, time is 1612979997.49 2021-02-10T17:59:57Z- sync is 0.42, coherence is 2.00 2021-02-10T17:59:58Z- AHRS_M2 msg: 1612979998.28 epoch sec; seqNo:675 2021-02-10T17:59:58Z- AHRS_M2 msg: 4.45 phi; -0.21 theta; -0.16 psi 2021-02-10T17:59:58Z- waiting for 1612979998.48, time is 1612979997.49 2021-02-10T17:59:58Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:58Z- handleDepth()-Depth_Keller msg: 33.10 epoch sec; seqNo:1612979998289; depth 0.00 2021-02-10T17:59:58Z- waiting for 1612979998.48, time is 1612979997.49 2021-02-10T17:59:58Z- sync is 0.79, coherence is 2.00 2021-02-10T17:59:58Z- handleDvl() - RDI_Pathfinder msg: 1612979998.31 epoch sec; seqNo:275 2021-02-10T17:59:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.14 , 57.27 , 48.58 , 64.94 2021-02-10T17:59:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.03 , -0.03 2021-02-10T17:59:58Z- waiting for 1612979998.48, time is 1612979998.31 2021-02-10T17:59:58Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979998.32 epoch sec; seqNo:679; 4061718.52 north; 594415.61 east 2021-02-10T17:59:58Z- waiting for 1612979998.48, time is 1612979998.31 2021-02-10T17:59:58Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:58Z- AHRS_M2 msg: 1612979998.69 epoch sec; seqNo:676 2021-02-10T17:59:58Z- AHRS_M2 msg: 4.45 phi; -0.20 theta; -0.16 psi 2021-02-10T17:59:58Z- waiting for 1612979998.48, time is 1612979998.31 2021-02-10T17:59:58Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:58Z- handleDepth()-Depth_Keller msg: 33.18 epoch sec; seqNo:1612979998697; depth 0.00 2021-02-10T17:59:58Z- waiting for 1612979998.48, time is 1612979998.31 2021-02-10T17:59:58Z- sync is 0.38, coherence is 2.00 2021-02-10T17:59:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979998.72 epoch sec; seqNo:680; 4061718.52 north; 594415.61 east 2021-02-10T17:59:58Z- waiting for 1612979998.48, time is 1612979998.31 2021-02-10T17:59:58Z- sync is 0.42, coherence is 2.00 2021-02-10T17:59:59Z- AHRS_M2 msg: 1612979999.09 epoch sec; seqNo:677 2021-02-10T17:59:59Z- AHRS_M2 msg: 4.45 phi; -0.20 theta; -0.16 psi 2021-02-10T17:59:59Z- waiting for 1612979998.48, time is 1612979998.31 2021-02-10T17:59:59Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:59Z- handleDepth()-Depth_Keller msg: 33.25 epoch sec; seqNo:1612979999101; depth 0.00 2021-02-10T17:59:59Z- waiting for 1612979998.48, time is 1612979998.31 2021-02-10T17:59:59Z- sync is 0.78, coherence is 2.00 2021-02-10T17:59:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979999.11 epoch sec; seqNo:681; 4061718.13 north; 594414.40 east 2021-02-10T17:59:59Z- waiting for 1612979998.48, time is 1612979998.31 2021-02-10T17:59:59Z- sync is 0.80, coherence is 2.00 2021-02-10T17:59:59Z- AHRS_M2 msg: 1612979999.50 epoch sec; seqNo:678 2021-02-10T17:59:59Z- AHRS_M2 msg: 4.45 phi; -0.20 theta; -0.16 psi 2021-02-10T17:59:59Z- waiting for 1612979998.48, time is 1612979998.31 2021-02-10T17:59:59Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:59Z- handleDepth()-Depth_Keller msg: 33.32 epoch sec; seqNo:1612979999502; depth 0.00 2021-02-10T17:59:59Z- waiting for 1612979998.48, time is 1612979998.31 2021-02-10T17:59:59Z- sync is 1.19, coherence is 2.00 2021-02-10T17:59:59Z- handleDvl() - RDI_Pathfinder msg: 1612979999.51 epoch sec; seqNo:276 2021-02-10T17:59:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.88 , 57.02 , 48.33 , 64.18 2021-02-10T17:59:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.03 , -0.02 2021-02-10T17:59:59Z- waiting for 1612979998.48, time is 1612979999.51 2021-02-10T17:59:59Z- sync is 0.02, coherence is 2.00 2021-02-10T17:59:59Z- LcmTrn::updateTrn() >>>> pose time 1612979999.50, meas time 1612979999.51 <<<< 2021-02-10T17:59:59Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612979999.51 sec, ping # 0; waiting for more recent INS data... 2021-02-10T17:59:59Z- TerrainNav::motionUpdate() - currEstimate = (4061718, 594414.40, 33.32) 2021-02-10T17:59:59Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T17:59:59Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T17:59:59Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T17:59:59Z- TNavBF::mmse selected from filter -1 2021-02-10T17:59:59Z- variances([0], [2], and psi_berg) = 813.496334 833.138836 0.000000 2021-02-10T17:59:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T17:59:59Z- LcmTrn::cycle() - MLE : 4061684.63 594365.90 33.32 2021-02-10T17:59:59Z- LcmTrn::cycle() - MMSE : 4061718.13 594414.40 33.32 2021-02-10T17:59:59Z- LcmTrn::cycle() - COVAR: 813.50 833.14 34.20 0.00 2021-02-10T17:59:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979999.52 epoch sec; seqNo:682; 4061718.13 north; 594414.40 east 2021-02-10T17:59:59Z- waiting for 1612980002.51, time is 1612979999.51 2021-02-10T17:59:59Z- sync is 0.01, coherence is 2.00 2021-02-10T17:59:59Z- AHRS_M2 msg: 1612979999.90 epoch sec; seqNo:679 2021-02-10T17:59:59Z- AHRS_M2 msg: 4.46 phi; -0.20 theta; -0.16 psi 2021-02-10T17:59:59Z- waiting for 1612980002.51, time is 1612979999.51 2021-02-10T17:59:59Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:59Z- handleDepth()-Depth_Keller msg: 33.39 epoch sec; seqNo:1612979999914; depth 0.00 2021-02-10T17:59:59Z- waiting for 1612980002.51, time is 1612979999.51 2021-02-10T17:59:59Z- sync is 0.39, coherence is 2.00 2021-02-10T17:59:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612979999.92 epoch sec; seqNo:683; 4061718.13 north; 594414.40 east 2021-02-10T17:59:59Z- waiting for 1612980002.51, time is 1612979999.51 2021-02-10T17:59:59Z- sync is 0.41, coherence is 2.00 2021-02-10T18:00:00Z- AHRS_M2 msg: 1612980000.30 epoch sec; seqNo:680 2021-02-10T18:00:00Z- AHRS_M2 msg: 4.46 phi; -0.20 theta; -0.16 psi 2021-02-10T18:00:00Z- waiting for 1612980002.51, time is 1612979999.51 2021-02-10T18:00:00Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:00Z- handleDepth()-Depth_Keller msg: 33.48 epoch sec; seqNo:1612980000313; depth 0.00 2021-02-10T18:00:00Z- waiting for 1612980002.51, time is 1612979999.51 2021-02-10T18:00:00Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:00Z- handleDvl() - RDI_Pathfinder msg: 1612980000.32 epoch sec; seqNo:277 2021-02-10T18:00:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.63 , 56.76 , 47.81 , 63.92 2021-02-10T18:00:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.01 , 0.01 2021-02-10T18:00:00Z- waiting for 1612980002.51, time is 1612980000.32 2021-02-10T18:00:00Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980000.33 epoch sec; seqNo:684; 4061718.11 north; 594413.18 east 2021-02-10T18:00:00Z- waiting for 1612980002.51, time is 1612980000.32 2021-02-10T18:00:00Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:00Z- AHRS_M2 msg: 1612980000.71 epoch sec; seqNo:681 2021-02-10T18:00:00Z- AHRS_M2 msg: 4.46 phi; -0.20 theta; -0.16 psi 2021-02-10T18:00:00Z- waiting for 1612980002.51, time is 1612980000.32 2021-02-10T18:00:00Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:00Z- handleDepth()-Depth_Keller msg: 33.53 epoch sec; seqNo:1612980000714; depth 0.00 2021-02-10T18:00:00Z- waiting for 1612980002.51, time is 1612980000.32 2021-02-10T18:00:00Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980000.72 epoch sec; seqNo:685; 4061717.73 north; 594413.18 east 2021-02-10T18:00:00Z- waiting for 1612980002.51, time is 1612980000.32 2021-02-10T18:00:00Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:01Z- AHRS_M2 msg: 1612980001.11 epoch sec; seqNo:682 2021-02-10T18:00:01Z- AHRS_M2 msg: 4.46 phi; -0.20 theta; -0.16 psi 2021-02-10T18:00:01Z- waiting for 1612980002.51, time is 1612980000.32 2021-02-10T18:00:01Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:01Z- handleDepth()-Depth_Keller msg: 33.62 epoch sec; seqNo:1612980001119; depth 0.00 2021-02-10T18:00:01Z- waiting for 1612980002.51, time is 1612980000.32 2021-02-10T18:00:01Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980001.15 epoch sec; seqNo:686; 4061717.73 north; 594413.18 east 2021-02-10T18:00:01Z- waiting for 1612980002.51, time is 1612980000.32 2021-02-10T18:00:01Z- sync is 0.82, coherence is 2.00 2021-02-10T18:00:01Z- AHRS_M2 msg: 1612980001.52 epoch sec; seqNo:683 2021-02-10T18:00:01Z- AHRS_M2 msg: 4.46 phi; -0.20 theta; -0.16 psi 2021-02-10T18:00:01Z- waiting for 1612980002.51, time is 1612980000.32 2021-02-10T18:00:01Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:01Z- handleDepth()-Depth_Keller msg: 33.68 epoch sec; seqNo:1612980001521; depth 0.00 2021-02-10T18:00:01Z- waiting for 1612980002.51, time is 1612980000.32 2021-02-10T18:00:01Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:01Z- handleDvl() - RDI_Pathfinder msg: 1612980001.53 epoch sec; seqNo:278 2021-02-10T18:00:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.37 , 56.51 , 47.30 , 63.67 2021-02-10T18:00:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.00 , 0.05 2021-02-10T18:00:01Z- waiting for 1612980002.51, time is 1612980001.53 2021-02-10T18:00:01Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980001.55 epoch sec; seqNo:687; 4061717.72 north; 594411.96 east 2021-02-10T18:00:01Z- waiting for 1612980002.51, time is 1612980001.53 2021-02-10T18:00:01Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:01Z- AHRS_M2 msg: 1612980001.92 epoch sec; seqNo:684 2021-02-10T18:00:01Z- AHRS_M2 msg: 4.46 phi; -0.20 theta; -0.16 psi 2021-02-10T18:00:01Z- waiting for 1612980002.51, time is 1612980001.53 2021-02-10T18:00:01Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:01Z- handleDepth()-Depth_Keller msg: 33.76 epoch sec; seqNo:1612980001924; depth 0.00 2021-02-10T18:00:01Z- waiting for 1612980002.51, time is 1612980001.53 2021-02-10T18:00:01Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980001.93 epoch sec; seqNo:688; 4061717.34 north; 594411.96 east 2021-02-10T18:00:01Z- waiting for 1612980002.51, time is 1612980001.53 2021-02-10T18:00:01Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:02Z- AHRS_M2 msg: 1612980002.33 epoch sec; seqNo:685 2021-02-10T18:00:02Z- AHRS_M2 msg: 4.46 phi; -0.20 theta; -0.16 psi 2021-02-10T18:00:02Z- waiting for 1612980002.51, time is 1612980001.53 2021-02-10T18:00:02Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:02Z- handleDepth()-Depth_Keller msg: 33.86 epoch sec; seqNo:1612980002329; depth 0.00 2021-02-10T18:00:02Z- waiting for 1612980002.51, time is 1612980001.53 2021-02-10T18:00:02Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:02Z- handleDvl() - RDI_Pathfinder msg: 1612980002.34 epoch sec; seqNo:279 2021-02-10T18:00:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.11 , 55.99 , 46.79 , 63.92 2021-02-10T18:00:02Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.01 , 0.07 2021-02-10T18:00:02Z- waiting for 1612980002.51, time is 1612980002.34 2021-02-10T18:00:02Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980002.35 epoch sec; seqNo:689; 4061717.34 north; 594411.96 east 2021-02-10T18:00:02Z- waiting for 1612980002.51, time is 1612980002.34 2021-02-10T18:00:02Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:02Z- AHRS_M2 msg: 1612980002.73 epoch sec; seqNo:686 2021-02-10T18:00:02Z- AHRS_M2 msg: 4.46 phi; -0.20 theta; -0.17 psi 2021-02-10T18:00:02Z- waiting for 1612980002.51, time is 1612980002.34 2021-02-10T18:00:02Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:02Z- handleDepth()-Depth_Keller msg: 33.93 epoch sec; seqNo:1612980002732; depth 0.00 2021-02-10T18:00:02Z- waiting for 1612980002.51, time is 1612980002.34 2021-02-10T18:00:02Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980002.75 epoch sec; seqNo:690; 4061717.33 north; 594410.74 east 2021-02-10T18:00:02Z- waiting for 1612980002.51, time is 1612980002.34 2021-02-10T18:00:02Z- sync is 0.41, coherence is 2.00 2021-02-10T18:00:03Z- AHRS_M2 msg: 1612980003.14 epoch sec; seqNo:687 2021-02-10T18:00:03Z- AHRS_M2 msg: 4.46 phi; -0.20 theta; -0.17 psi 2021-02-10T18:00:03Z- waiting for 1612980002.51, time is 1612980002.34 2021-02-10T18:00:03Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:03Z- handleDepth()-Depth_Keller msg: 34.00 epoch sec; seqNo:1612980003152; depth 0.00 2021-02-10T18:00:03Z- waiting for 1612980002.51, time is 1612980002.34 2021-02-10T18:00:03Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:03Z- handleDvl() - RDI_Pathfinder msg: 1612980003.18 epoch sec; seqNo:280 2021-02-10T18:00:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.86 , 55.23 , 46.79 , 63.92 2021-02-10T18:00:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.01 , 0.08 2021-02-10T18:00:03Z- waiting for 1612980002.51, time is 1612980003.18 2021-02-10T18:00:03Z- sync is 0.04, coherence is 2.00 2021-02-10T18:00:03Z- LcmTrn::updateTrn() >>>> pose time 1612980003.14, meas time 1612980003.18 <<<< 2021-02-10T18:00:03Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980003.18 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:00:03Z- TerrainNav::motionUpdate() - currEstimate = (4061717, 594410.74, 34.00) 2021-02-10T18:00:03Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:00:03Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:00:03Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:00:03Z- TNavBF::mmse selected from filter -1 2021-02-10T18:00:03Z- variances([0], [2], and psi_berg) = 813.190741 833.137825 0.000000 2021-02-10T18:00:03Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:00:03Z- LcmTrn::cycle() - MLE : 4061683.83 594362.24 34.00 2021-02-10T18:00:03Z- LcmTrn::cycle() - MMSE : 4061717.33 594410.74 34.00 2021-02-10T18:00:03Z- LcmTrn::cycle() - COVAR: 813.19 833.14 34.39 0.00 2021-02-10T18:00:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980003.19 epoch sec; seqNo:691; 4061717.33 north; 594410.74 east 2021-02-10T18:00:03Z- waiting for 1612980006.18, time is 1612980003.18 2021-02-10T18:00:03Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:03Z- AHRS_M2 msg: 1612980003.54 epoch sec; seqNo:688 2021-02-10T18:00:03Z- AHRS_M2 msg: 4.46 phi; -0.20 theta; -0.17 psi 2021-02-10T18:00:03Z- waiting for 1612980006.18, time is 1612980003.18 2021-02-10T18:00:03Z- sync is 0.36, coherence is 2.00 2021-02-10T18:00:03Z- handleDepth()-Depth_Keller msg: 34.08 epoch sec; seqNo:1612980003540; depth 0.00 2021-02-10T18:00:03Z- waiting for 1612980006.18, time is 1612980003.18 2021-02-10T18:00:03Z- sync is 0.36, coherence is 2.00 2021-02-10T18:00:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980003.55 epoch sec; seqNo:692; 4061717.33 north; 594410.74 east 2021-02-10T18:00:03Z- waiting for 1612980006.18, time is 1612980003.18 2021-02-10T18:00:03Z- sync is 0.37, coherence is 2.00 2021-02-10T18:00:03Z- AHRS_M2 msg: 1612980003.94 epoch sec; seqNo:689 2021-02-10T18:00:03Z- AHRS_M2 msg: 4.46 phi; -0.20 theta; -0.17 psi 2021-02-10T18:00:03Z- waiting for 1612980006.18, time is 1612980003.18 2021-02-10T18:00:03Z- sync is 0.76, coherence is 2.00 2021-02-10T18:00:03Z- handleDepth()-Depth_Keller msg: 34.15 epoch sec; seqNo:1612980003954; depth 0.00 2021-02-10T18:00:03Z- waiting for 1612980006.18, time is 1612980003.18 2021-02-10T18:00:03Z- sync is 0.76, coherence is 2.00 2021-02-10T18:00:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980003.96 epoch sec; seqNo:693; 4061716.94 north; 594409.53 east 2021-02-10T18:00:03Z- waiting for 1612980006.18, time is 1612980003.18 2021-02-10T18:00:03Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:04Z- AHRS_M2 msg: 1612980004.35 epoch sec; seqNo:690 2021-02-10T18:00:04Z- AHRS_M2 msg: 4.46 phi; -0.20 theta; -0.17 psi 2021-02-10T18:00:04Z- waiting for 1612980006.18, time is 1612980003.18 2021-02-10T18:00:04Z- sync is 1.17, coherence is 2.00 2021-02-10T18:00:04Z- handleDepth()-Depth_Keller msg: 34.22 epoch sec; seqNo:1612980004353; depth 0.00 2021-02-10T18:00:04Z- waiting for 1612980006.18, time is 1612980003.18 2021-02-10T18:00:04Z- sync is 1.17, coherence is 2.00 2021-02-10T18:00:04Z- handleDvl() - RDI_Pathfinder msg: 1612980004.38 epoch sec; seqNo:281 2021-02-10T18:00:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.60 , 54.97 , 46.53 , 62.90 2021-02-10T18:00:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.01 , 0.07 2021-02-10T18:00:04Z- waiting for 1612980006.18, time is 1612980004.38 2021-02-10T18:00:04Z- sync is 0.03, coherence is 2.00 2021-02-10T18:00:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980004.38 epoch sec; seqNo:694; 4061716.94 north; 594409.53 east 2021-02-10T18:00:04Z- waiting for 1612980006.18, time is 1612980004.38 2021-02-10T18:00:04Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:04Z- AHRS_M2 msg: 1612980004.75 epoch sec; seqNo:691 2021-02-10T18:00:04Z- AHRS_M2 msg: 4.46 phi; -0.20 theta; -0.17 psi 2021-02-10T18:00:04Z- waiting for 1612980006.18, time is 1612980004.38 2021-02-10T18:00:04Z- sync is 0.37, coherence is 2.00 2021-02-10T18:00:04Z- handleDepth()-Depth_Keller msg: 34.32 epoch sec; seqNo:1612980004751; depth 0.00 2021-02-10T18:00:04Z- waiting for 1612980006.18, time is 1612980004.38 2021-02-10T18:00:04Z- sync is 0.37, coherence is 2.00 2021-02-10T18:00:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980004.76 epoch sec; seqNo:695; 4061716.94 north; 594409.53 east 2021-02-10T18:00:04Z- waiting for 1612980006.18, time is 1612980004.38 2021-02-10T18:00:04Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:05Z- AHRS_M2 msg: 1612980005.17 epoch sec; seqNo:692 2021-02-10T18:00:05Z- AHRS_M2 msg: 4.46 phi; -0.20 theta; -0.17 psi 2021-02-10T18:00:05Z- waiting for 1612980006.18, time is 1612980004.38 2021-02-10T18:00:05Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:05Z- handleDepth()-Depth_Keller msg: 34.38 epoch sec; seqNo:1612980005174; depth 0.00 2021-02-10T18:00:05Z- waiting for 1612980006.18, time is 1612980004.38 2021-02-10T18:00:05Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:05Z- handleDvl() - RDI_Pathfinder msg: 1612980005.19 epoch sec; seqNo:282 2021-02-10T18:00:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.35 , 54.97 , 46.28 , 63.15 2021-02-10T18:00:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , 0.06 2021-02-10T18:00:05Z- waiting for 1612980006.18, time is 1612980005.19 2021-02-10T18:00:05Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980005.20 epoch sec; seqNo:696; 4061716.94 north; 594409.53 east 2021-02-10T18:00:05Z- waiting for 1612980006.18, time is 1612980005.19 2021-02-10T18:00:05Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:05Z- AHRS_M2 msg: 1612980005.56 epoch sec; seqNo:693 2021-02-10T18:00:05Z- AHRS_M2 msg: 4.46 phi; -0.20 theta; -0.17 psi 2021-02-10T18:00:05Z- waiting for 1612980006.18, time is 1612980005.19 2021-02-10T18:00:05Z- sync is 0.37, coherence is 2.00 2021-02-10T18:00:05Z- handleDepth()-Depth_Keller msg: 34.45 epoch sec; seqNo:1612980005560; depth 0.00 2021-02-10T18:00:05Z- waiting for 1612980006.18, time is 1612980005.19 2021-02-10T18:00:05Z- sync is 0.37, coherence is 2.00 2021-02-10T18:00:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980005.58 epoch sec; seqNo:697; 4061716.54 north; 594408.31 east 2021-02-10T18:00:05Z- waiting for 1612980006.18, time is 1612980005.19 2021-02-10T18:00:05Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:05Z- AHRS_M2 msg: 1612980005.96 epoch sec; seqNo:694 2021-02-10T18:00:05Z- AHRS_M2 msg: 4.46 phi; -0.20 theta; -0.17 psi 2021-02-10T18:00:05Z- waiting for 1612980006.18, time is 1612980005.19 2021-02-10T18:00:05Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:05Z- handleDepth()-Depth_Keller msg: 34.53 epoch sec; seqNo:1612980005966; depth 0.00 2021-02-10T18:00:05Z- waiting for 1612980006.18, time is 1612980005.19 2021-02-10T18:00:05Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980005.97 epoch sec; seqNo:698; 4061716.54 north; 594408.31 east 2021-02-10T18:00:05Z- waiting for 1612980006.18, time is 1612980005.19 2021-02-10T18:00:05Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:06Z- AHRS_M2 msg: 1612980006.36 epoch sec; seqNo:695 2021-02-10T18:00:06Z- AHRS_M2 msg: 4.46 phi; -0.20 theta; -0.17 psi 2021-02-10T18:00:06Z- waiting for 1612980006.18, time is 1612980005.19 2021-02-10T18:00:06Z- sync is 1.18, coherence is 2.00 2021-02-10T18:00:06Z- handleDepth()-Depth_Keller msg: 34.61 epoch sec; seqNo:1612980006368; depth 0.00 2021-02-10T18:00:06Z- waiting for 1612980006.18, time is 1612980005.19 2021-02-10T18:00:06Z- sync is 1.18, coherence is 2.00 2021-02-10T18:00:06Z- handleDvl() - RDI_Pathfinder msg: 1612980006.38 epoch sec; seqNo:283 2021-02-10T18:00:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.35 , 54.46 , 46.02 , 62.64 2021-02-10T18:00:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.04 , 0.03 2021-02-10T18:00:06Z- waiting for 1612980006.18, time is 1612980006.38 2021-02-10T18:00:06Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:06Z- LcmTrn::updateTrn() >>>> pose time 1612980006.36, meas time 1612980006.38 <<<< 2021-02-10T18:00:06Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980006.38 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:00:06Z- TerrainNav::motionUpdate() - currEstimate = (4061717, 594408.31, 34.61) 2021-02-10T18:00:06Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:00:06Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:00:06Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:00:06Z- TNavBF::mmse selected from filter -1 2021-02-10T18:00:06Z- variances([0], [2], and psi_berg) = 812.940220 833.137006 0.000000 2021-02-10T18:00:06Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:00:06Z- LcmTrn::cycle() - MLE : 4061683.04 594359.81 34.61 2021-02-10T18:00:06Z- LcmTrn::cycle() - MMSE : 4061716.54 594408.31 34.61 2021-02-10T18:00:06Z- LcmTrn::cycle() - COVAR: 812.94 833.14 34.52 0.00 2021-02-10T18:00:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980006.39 epoch sec; seqNo:699; 4061716.54 north; 594408.31 east 2021-02-10T18:00:06Z- waiting for 1612980009.38, time is 1612980006.38 2021-02-10T18:00:06Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:06Z- AHRS_M2 msg: 1612980006.77 epoch sec; seqNo:696 2021-02-10T18:00:06Z- AHRS_M2 msg: 4.46 phi; -0.20 theta; -0.18 psi 2021-02-10T18:00:06Z- waiting for 1612980009.38, time is 1612980006.38 2021-02-10T18:00:06Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:06Z- handleDepth()-Depth_Keller msg: 34.68 epoch sec; seqNo:1612980006776; depth 0.00 2021-02-10T18:00:06Z- waiting for 1612980009.38, time is 1612980006.38 2021-02-10T18:00:06Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980006.79 epoch sec; seqNo:700; 4061716.15 north; 594407.10 east 2021-02-10T18:00:06Z- waiting for 1612980009.38, time is 1612980006.38 2021-02-10T18:00:06Z- sync is 0.41, coherence is 2.00 2021-02-10T18:00:07Z- AHRS_M2 msg: 1612980007.17 epoch sec; seqNo:697 2021-02-10T18:00:07Z- AHRS_M2 msg: 4.47 phi; -0.20 theta; -0.18 psi 2021-02-10T18:00:07Z- waiting for 1612980009.38, time is 1612980006.38 2021-02-10T18:00:07Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:07Z- handleDepth()-Depth_Keller msg: 34.75 epoch sec; seqNo:1612980007179; depth 0.00 2021-02-10T18:00:07Z- waiting for 1612980009.38, time is 1612980006.38 2021-02-10T18:00:07Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:07Z- handleDvl() - RDI_Pathfinder msg: 1612980007.20 epoch sec; seqNo:284 2021-02-10T18:00:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 48.84 , 54.46 , 45.77 , 61.62 2021-02-10T18:00:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.04 , 0.00 2021-02-10T18:00:07Z- waiting for 1612980009.38, time is 1612980007.20 2021-02-10T18:00:07Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980007.21 epoch sec; seqNo:701; 4061716.15 north; 594407.10 east 2021-02-10T18:00:07Z- waiting for 1612980009.38, time is 1612980007.20 2021-02-10T18:00:07Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:07Z- AHRS_M2 msg: 1612980007.58 epoch sec; seqNo:698 2021-02-10T18:00:07Z- AHRS_M2 msg: 4.47 phi; -0.20 theta; -0.18 psi 2021-02-10T18:00:07Z- waiting for 1612980009.38, time is 1612980007.20 2021-02-10T18:00:07Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:07Z- handleDepth()-Depth_Keller msg: 34.82 epoch sec; seqNo:1612980007580; depth 0.00 2021-02-10T18:00:07Z- waiting for 1612980009.38, time is 1612980007.20 2021-02-10T18:00:07Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980007.59 epoch sec; seqNo:702; 4061716.15 north; 594407.10 east 2021-02-10T18:00:07Z- waiting for 1612980009.38, time is 1612980007.20 2021-02-10T18:00:07Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:07Z- AHRS_M2 msg: 1612980007.98 epoch sec; seqNo:699 2021-02-10T18:00:07Z- AHRS_M2 msg: 4.47 phi; -0.20 theta; -0.18 psi 2021-02-10T18:00:07Z- waiting for 1612980009.38, time is 1612980007.20 2021-02-10T18:00:07Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:07Z- handleDepth()-Depth_Keller msg: 34.89 epoch sec; seqNo:1612980007984; depth 0.00 2021-02-10T18:00:07Z- waiting for 1612980009.38, time is 1612980007.20 2021-02-10T18:00:07Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980007.99 epoch sec; seqNo:703; 4061716.14 north; 594405.88 east 2021-02-10T18:00:07Z- waiting for 1612980009.38, time is 1612980007.20 2021-02-10T18:00:07Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:08Z- AHRS_M2 msg: 1612980008.38 epoch sec; seqNo:700 2021-02-10T18:00:08Z- AHRS_M2 msg: 4.47 phi; -0.20 theta; -0.18 psi 2021-02-10T18:00:08Z- waiting for 1612980009.38, time is 1612980007.20 2021-02-10T18:00:08Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:08Z- handleDepth()-Depth_Keller msg: 34.96 epoch sec; seqNo:1612980008397; depth 0.00 2021-02-10T18:00:08Z- waiting for 1612980009.38, time is 1612980007.20 2021-02-10T18:00:08Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:08Z- handleDvl() - RDI_Pathfinder msg: 1612980008.41 epoch sec; seqNo:285 2021-02-10T18:00:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 48.92 , 55.13 , 45.58 , 62.05 2021-02-10T18:00:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.03 , -0.02 2021-02-10T18:00:08Z- waiting for 1612980009.38, time is 1612980008.41 2021-02-10T18:00:08Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980008.42 epoch sec; seqNo:704; 4061715.76 north; 594405.88 east 2021-02-10T18:00:08Z- waiting for 1612980009.38, time is 1612980008.41 2021-02-10T18:00:08Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:08Z- AHRS_M2 msg: 1612980008.79 epoch sec; seqNo:701 2021-02-10T18:00:08Z- AHRS_M2 msg: 4.47 phi; -0.20 theta; -0.18 psi 2021-02-10T18:00:08Z- waiting for 1612980009.38, time is 1612980008.41 2021-02-10T18:00:08Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:08Z- handleDepth()-Depth_Keller msg: 35.02 epoch sec; seqNo:1612980008801; depth 0.00 2021-02-10T18:00:08Z- waiting for 1612980009.38, time is 1612980008.41 2021-02-10T18:00:08Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980008.81 epoch sec; seqNo:705; 4061715.76 north; 594405.88 east 2021-02-10T18:00:08Z- waiting for 1612980009.38, time is 1612980008.41 2021-02-10T18:00:08Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:09Z- AHRS_M2 msg: 1612980009.19 epoch sec; seqNo:702 2021-02-10T18:00:09Z- AHRS_M2 msg: 4.47 phi; -0.20 theta; -0.18 psi 2021-02-10T18:00:09Z- waiting for 1612980009.38, time is 1612980008.41 2021-02-10T18:00:09Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:09Z- handleDepth()-Depth_Keller msg: 35.10 epoch sec; seqNo:1612980009196; depth 0.00 2021-02-10T18:00:09Z- waiting for 1612980009.38, time is 1612980008.41 2021-02-10T18:00:09Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:09Z- handleDvl() - RDI_Pathfinder msg: 1612980009.21 epoch sec; seqNo:286 2021-02-10T18:00:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 48.84 , 54.97 , 45.51 , 61.88 2021-02-10T18:00:09Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.03 , -0.02 2021-02-10T18:00:09Z- waiting for 1612980009.38, time is 1612980009.21 2021-02-10T18:00:09Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980009.22 epoch sec; seqNo:706; 4061715.76 north; 594405.88 east 2021-02-10T18:00:09Z- waiting for 1612980009.38, time is 1612980009.21 2021-02-10T18:00:09Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:09Z- AHRS_M2 msg: 1612980009.60 epoch sec; seqNo:703 2021-02-10T18:00:09Z- AHRS_M2 msg: 4.47 phi; -0.20 theta; -0.18 psi 2021-02-10T18:00:09Z- waiting for 1612980009.38, time is 1612980009.21 2021-02-10T18:00:09Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:09Z- handleDepth()-Depth_Keller msg: 35.16 epoch sec; seqNo:1612980009609; depth 0.00 2021-02-10T18:00:09Z- waiting for 1612980009.38, time is 1612980009.21 2021-02-10T18:00:09Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980009.62 epoch sec; seqNo:707; 4061715.75 north; 594404.66 east 2021-02-10T18:00:09Z- waiting for 1612980009.38, time is 1612980009.21 2021-02-10T18:00:09Z- sync is 0.41, coherence is 2.00 2021-02-10T18:00:10Z- AHRS_M2 msg: 1612980010.00 epoch sec; seqNo:704 2021-02-10T18:00:10Z- AHRS_M2 msg: 4.47 phi; -0.19 theta; -0.18 psi 2021-02-10T18:00:10Z- waiting for 1612980009.38, time is 1612980009.21 2021-02-10T18:00:10Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:10Z- handleDepth()-Depth_Keller msg: 35.24 epoch sec; seqNo:1612980010013; depth 0.00 2021-02-10T18:00:10Z- waiting for 1612980009.38, time is 1612980009.21 2021-02-10T18:00:10Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980010.03 epoch sec; seqNo:708; 4061715.37 north; 594404.66 east 2021-02-10T18:00:10Z- waiting for 1612980009.38, time is 1612980009.21 2021-02-10T18:00:10Z- sync is 0.83, coherence is 2.00 2021-02-10T18:00:10Z- AHRS_M2 msg: 1612980010.40 epoch sec; seqNo:705 2021-02-10T18:00:10Z- AHRS_M2 msg: 4.47 phi; -0.19 theta; -0.18 psi 2021-02-10T18:00:10Z- waiting for 1612980009.38, time is 1612980009.21 2021-02-10T18:00:10Z- sync is 1.20, coherence is 2.00 2021-02-10T18:00:10Z- handleDepth()-Depth_Keller msg: 35.31 epoch sec; seqNo:1612980010410; depth 0.00 2021-02-10T18:00:10Z- waiting for 1612980009.38, time is 1612980009.21 2021-02-10T18:00:10Z- sync is 1.20, coherence is 2.00 2021-02-10T18:00:10Z- handleDvl() - RDI_Pathfinder msg: 1612980010.42 epoch sec; seqNo:287 2021-02-10T18:00:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 48.58 , 54.72 , 45.00 , 61.11 2021-02-10T18:00:10Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , 0.00 , -0.01 2021-02-10T18:00:10Z- waiting for 1612980009.38, time is 1612980010.42 2021-02-10T18:00:10Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:10Z- LcmTrn::updateTrn() >>>> pose time 1612980010.40, meas time 1612980010.42 <<<< 2021-02-10T18:00:10Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980010.42 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:00:10Z- TerrainNav::motionUpdate() - currEstimate = (4061715, 594404.66, 35.31) 2021-02-10T18:00:10Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:00:10Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:00:10Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:00:10Z- TNavBF::mmse selected from filter -1 2021-02-10T18:00:10Z- variances([0], [2], and psi_berg) = 812.635495 833.136020 0.000000 2021-02-10T18:00:10Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:00:10Z- LcmTrn::cycle() - MLE : 4061681.87 594356.16 35.31 2021-02-10T18:00:10Z- LcmTrn::cycle() - MMSE : 4061715.37 594404.66 35.31 2021-02-10T18:00:10Z- LcmTrn::cycle() - COVAR: 812.64 833.14 34.72 0.00 2021-02-10T18:00:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980010.43 epoch sec; seqNo:709; 4061715.37 north; 594404.66 east 2021-02-10T18:00:10Z- waiting for 1612980013.42, time is 1612980010.42 2021-02-10T18:00:10Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:10Z- AHRS_M2 msg: 1612980010.81 epoch sec; seqNo:706 2021-02-10T18:00:10Z- AHRS_M2 msg: 4.47 phi; -0.19 theta; -0.18 psi 2021-02-10T18:00:10Z- waiting for 1612980013.42, time is 1612980010.42 2021-02-10T18:00:10Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:10Z- handleDepth()-Depth_Keller msg: 35.37 epoch sec; seqNo:1612980010826; depth 0.00 2021-02-10T18:00:10Z- waiting for 1612980013.42, time is 1612980010.42 2021-02-10T18:00:10Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980010.84 epoch sec; seqNo:710; 4061715.35 north; 594403.44 east 2021-02-10T18:00:10Z- waiting for 1612980013.42, time is 1612980010.42 2021-02-10T18:00:10Z- sync is 0.41, coherence is 2.00 2021-02-10T18:00:11Z- AHRS_M2 msg: 1612980011.21 epoch sec; seqNo:707 2021-02-10T18:00:11Z- AHRS_M2 msg: 4.47 phi; -0.19 theta; -0.18 psi 2021-02-10T18:00:11Z- waiting for 1612980013.42, time is 1612980010.42 2021-02-10T18:00:11Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:11Z- handleDepth()-Depth_Keller msg: 35.44 epoch sec; seqNo:1612980011221; depth 0.00 2021-02-10T18:00:11Z- waiting for 1612980013.42, time is 1612980010.42 2021-02-10T18:00:11Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:11Z- handleDvl() - RDI_Pathfinder msg: 1612980011.23 epoch sec; seqNo:288 2021-02-10T18:00:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 48.44 , 53.69 , 44.86 , 60.85 2021-02-10T18:00:11Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.01 , 0.02 2021-02-10T18:00:11Z- waiting for 1612980013.42, time is 1612980011.23 2021-02-10T18:00:11Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980011.25 epoch sec; seqNo:711; 4061714.98 north; 594403.45 east 2021-02-10T18:00:11Z- waiting for 1612980013.42, time is 1612980011.23 2021-02-10T18:00:11Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:11Z- AHRS_M2 msg: 1612980011.62 epoch sec; seqNo:708 2021-02-10T18:00:11Z- AHRS_M2 msg: 4.47 phi; -0.19 theta; -0.18 psi 2021-02-10T18:00:11Z- waiting for 1612980013.42, time is 1612980011.23 2021-02-10T18:00:11Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:11Z- handleDepth()-Depth_Keller msg: 35.51 epoch sec; seqNo:1612980011627; depth 0.00 2021-02-10T18:00:11Z- waiting for 1612980013.42, time is 1612980011.23 2021-02-10T18:00:11Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980011.64 epoch sec; seqNo:712; 4061714.98 north; 594403.45 east 2021-02-10T18:00:11Z- waiting for 1612980013.42, time is 1612980011.23 2021-02-10T18:00:11Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:12Z- AHRS_M2 msg: 1612980012.02 epoch sec; seqNo:709 2021-02-10T18:00:12Z- AHRS_M2 msg: 4.47 phi; -0.19 theta; -0.18 psi 2021-02-10T18:00:12Z- waiting for 1612980013.42, time is 1612980011.23 2021-02-10T18:00:12Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:12Z- handleDepth()-Depth_Keller msg: 35.58 epoch sec; seqNo:1612980012025; depth 0.00 2021-02-10T18:00:12Z- waiting for 1612980013.42, time is 1612980011.23 2021-02-10T18:00:12Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980012.03 epoch sec; seqNo:713; 4061714.96 north; 594402.23 east 2021-02-10T18:00:12Z- waiting for 1612980013.42, time is 1612980011.23 2021-02-10T18:00:12Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:12Z- AHRS_M2 msg: 1612980012.42 epoch sec; seqNo:710 2021-02-10T18:00:12Z- AHRS_M2 msg: 4.46 phi; -0.19 theta; -0.18 psi 2021-02-10T18:00:12Z- waiting for 1612980013.42, time is 1612980011.23 2021-02-10T18:00:12Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:12Z- handleDepth()-Depth_Keller msg: 35.64 epoch sec; seqNo:1612980012433; depth 0.00 2021-02-10T18:00:12Z- waiting for 1612980013.42, time is 1612980011.23 2021-02-10T18:00:12Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:12Z- handleDvl() - RDI_Pathfinder msg: 1612980012.45 epoch sec; seqNo:289 2021-02-10T18:00:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 47.97 , 53.46 , 44.86 , 60.62 2021-02-10T18:00:12Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.01 , 0.04 2021-02-10T18:00:12Z- waiting for 1612980013.42, time is 1612980012.45 2021-02-10T18:00:12Z- sync is 0.03, coherence is 2.00 2021-02-10T18:00:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980012.47 epoch sec; seqNo:714; 4061714.96 north; 594402.23 east 2021-02-10T18:00:12Z- waiting for 1612980013.42, time is 1612980012.45 2021-02-10T18:00:12Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:12Z- AHRS_M2 msg: 1612980012.83 epoch sec; seqNo:711 2021-02-10T18:00:12Z- AHRS_M2 msg: 4.46 phi; -0.19 theta; -0.18 psi 2021-02-10T18:00:12Z- waiting for 1612980013.42, time is 1612980012.45 2021-02-10T18:00:12Z- sync is 0.37, coherence is 2.00 2021-02-10T18:00:12Z- handleDepth()-Depth_Keller msg: 35.73 epoch sec; seqNo:1612980012843; depth 0.00 2021-02-10T18:00:12Z- waiting for 1612980013.42, time is 1612980012.45 2021-02-10T18:00:12Z- sync is 0.37, coherence is 2.00 2021-02-10T18:00:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980012.85 epoch sec; seqNo:715; 4061714.96 north; 594402.23 east 2021-02-10T18:00:12Z- waiting for 1612980013.42, time is 1612980012.45 2021-02-10T18:00:12Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:13Z- AHRS_M2 msg: 1612980013.24 epoch sec; seqNo:712 2021-02-10T18:00:13Z- AHRS_M2 msg: 4.46 phi; -0.19 theta; -0.18 psi 2021-02-10T18:00:13Z- waiting for 1612980013.42, time is 1612980012.45 2021-02-10T18:00:13Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:13Z- handleDepth()-Depth_Keller msg: 35.78 epoch sec; seqNo:1612980013242; depth 0.00 2021-02-10T18:00:13Z- waiting for 1612980013.42, time is 1612980012.45 2021-02-10T18:00:13Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:13Z- handleDvl() - RDI_Pathfinder msg: 1612980013.26 epoch sec; seqNo:290 2021-02-10T18:00:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 47.49 , 53.22 , 44.63 , 60.14 2021-02-10T18:00:13Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.01 , 0.05 2021-02-10T18:00:13Z- waiting for 1612980013.42, time is 1612980013.26 2021-02-10T18:00:13Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980013.27 epoch sec; seqNo:716; 4061714.57 north; 594401.01 east 2021-02-10T18:00:13Z- waiting for 1612980013.42, time is 1612980013.26 2021-02-10T18:00:13Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:13Z- AHRS_M2 msg: 1612980013.64 epoch sec; seqNo:713 2021-02-10T18:00:13Z- AHRS_M2 msg: 4.46 phi; -0.19 theta; -0.18 psi 2021-02-10T18:00:13Z- waiting for 1612980013.42, time is 1612980013.26 2021-02-10T18:00:13Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:13Z- handleDepth()-Depth_Keller msg: 35.87 epoch sec; seqNo:1612980013644; depth 0.00 2021-02-10T18:00:13Z- waiting for 1612980013.42, time is 1612980013.26 2021-02-10T18:00:13Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980013.65 epoch sec; seqNo:717; 4061714.57 north; 594401.01 east 2021-02-10T18:00:13Z- waiting for 1612980013.42, time is 1612980013.26 2021-02-10T18:00:13Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:14Z- AHRS_M2 msg: 1612980014.04 epoch sec; seqNo:714 2021-02-10T18:00:14Z- AHRS_M2 msg: 4.46 phi; -0.19 theta; -0.18 psi 2021-02-10T18:00:14Z- waiting for 1612980013.42, time is 1612980013.26 2021-02-10T18:00:14Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:14Z- handleDepth()-Depth_Keller msg: 35.92 epoch sec; seqNo:1612980014047; depth 0.00 2021-02-10T18:00:14Z- waiting for 1612980013.42, time is 1612980013.26 2021-02-10T18:00:14Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980014.06 epoch sec; seqNo:718; 4061714.57 north; 594401.01 east 2021-02-10T18:00:14Z- waiting for 1612980013.42, time is 1612980013.26 2021-02-10T18:00:14Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:14Z- AHRS_M2 msg: 1612980014.44 epoch sec; seqNo:715 2021-02-10T18:00:14Z- AHRS_M2 msg: 4.46 phi; -0.19 theta; -0.18 psi 2021-02-10T18:00:14Z- waiting for 1612980013.42, time is 1612980013.26 2021-02-10T18:00:14Z- sync is 1.18, coherence is 2.00 2021-02-10T18:00:14Z- handleDepth()-Depth_Keller msg: 36.00 epoch sec; seqNo:1612980014448; depth 0.00 2021-02-10T18:00:14Z- waiting for 1612980013.42, time is 1612980013.26 2021-02-10T18:00:14Z- sync is 1.18, coherence is 2.00 2021-02-10T18:00:14Z- handleDvl() - RDI_Pathfinder msg: 1612980014.46 epoch sec; seqNo:291 2021-02-10T18:00:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 47.49 , 53.22 , 44.39 , 60.14 2021-02-10T18:00:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.01 , 0.05 2021-02-10T18:00:14Z- waiting for 1612980013.42, time is 1612980014.46 2021-02-10T18:00:14Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:14Z- LcmTrn::updateTrn() >>>> pose time 1612980014.44, meas time 1612980014.46 <<<< 2021-02-10T18:00:14Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980014.46 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:00:14Z- TerrainNav::motionUpdate() - currEstimate = (4061715, 594401.01, 36.00) 2021-02-10T18:00:14Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:00:14Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:00:14Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:00:14Z- TNavBF::mmse selected from filter -1 2021-02-10T18:00:14Z- variances([0], [2], and psi_berg) = 812.337070 833.135065 0.000000 2021-02-10T18:00:14Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:00:14Z- LcmTrn::cycle() - MLE : 4061681.07 594352.51 36.00 2021-02-10T18:00:14Z- LcmTrn::cycle() - MMSE : 4061714.57 594401.01 36.00 2021-02-10T18:00:14Z- LcmTrn::cycle() - COVAR: 812.34 833.14 34.91 0.00 2021-02-10T18:00:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980014.48 epoch sec; seqNo:719; 4061714.56 north; 594399.79 east 2021-02-10T18:00:14Z- waiting for 1612980017.46, time is 1612980014.46 2021-02-10T18:00:14Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:14Z- AHRS_M2 msg: 1612980014.85 epoch sec; seqNo:716 2021-02-10T18:00:14Z- AHRS_M2 msg: 4.46 phi; -0.19 theta; -0.18 psi 2021-02-10T18:00:14Z- waiting for 1612980017.46, time is 1612980014.46 2021-02-10T18:00:14Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:14Z- handleDepth()-Depth_Keller msg: 36.06 epoch sec; seqNo:1612980014857; depth 0.00 2021-02-10T18:00:14Z- waiting for 1612980017.46, time is 1612980014.46 2021-02-10T18:00:14Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980014.87 epoch sec; seqNo:720; 4061714.18 north; 594399.79 east 2021-02-10T18:00:14Z- waiting for 1612980017.46, time is 1612980014.46 2021-02-10T18:00:14Z- sync is 0.41, coherence is 2.00 2021-02-10T18:00:15Z- AHRS_M2 msg: 1612980015.25 epoch sec; seqNo:717 2021-02-10T18:00:15Z- AHRS_M2 msg: 4.46 phi; -0.19 theta; -0.18 psi 2021-02-10T18:00:15Z- waiting for 1612980017.46, time is 1612980014.46 2021-02-10T18:00:15Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:15Z- handleDepth()-Depth_Keller msg: 36.13 epoch sec; seqNo:1612980015257; depth 0.00 2021-02-10T18:00:15Z- waiting for 1612980017.46, time is 1612980014.46 2021-02-10T18:00:15Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:15Z- handleDvl() - RDI_Pathfinder msg: 1612980015.27 epoch sec; seqNo:292 2021-02-10T18:00:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 47.25 , 53.69 , 43.91 , 59.90 2021-02-10T18:00:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.01 , 0.04 2021-02-10T18:00:15Z- waiting for 1612980017.46, time is 1612980015.27 2021-02-10T18:00:15Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980015.28 epoch sec; seqNo:721; 4061714.18 north; 594399.79 east 2021-02-10T18:00:15Z- waiting for 1612980017.46, time is 1612980015.27 2021-02-10T18:00:15Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:15Z- AHRS_M2 msg: 1612980015.66 epoch sec; seqNo:718 2021-02-10T18:00:15Z- AHRS_M2 msg: 4.46 phi; -0.19 theta; -0.19 psi 2021-02-10T18:00:15Z- waiting for 1612980017.46, time is 1612980015.27 2021-02-10T18:00:15Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:15Z- handleDepth()-Depth_Keller msg: 36.20 epoch sec; seqNo:1612980015661; depth 0.00 2021-02-10T18:00:15Z- waiting for 1612980017.46, time is 1612980015.27 2021-02-10T18:00:15Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980015.68 epoch sec; seqNo:722; 4061714.18 north; 594399.79 east 2021-02-10T18:00:15Z- waiting for 1612980017.46, time is 1612980015.27 2021-02-10T18:00:15Z- sync is 0.41, coherence is 2.00 2021-02-10T18:00:16Z- AHRS_M2 msg: 1612980016.06 epoch sec; seqNo:719 2021-02-10T18:00:16Z- AHRS_M2 msg: 4.46 phi; -0.19 theta; -0.19 psi 2021-02-10T18:00:16Z- waiting for 1612980017.46, time is 1612980015.27 2021-02-10T18:00:16Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:16Z- handleDepth()-Depth_Keller msg: 36.28 epoch sec; seqNo:1612980016064; depth 0.00 2021-02-10T18:00:16Z- waiting for 1612980017.46, time is 1612980015.27 2021-02-10T18:00:16Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980016.08 epoch sec; seqNo:723; 4061714.16 north; 594398.57 east 2021-02-10T18:00:16Z- waiting for 1612980017.46, time is 1612980015.27 2021-02-10T18:00:16Z- sync is 0.81, coherence is 2.00 2021-02-10T18:00:16Z- AHRS_M2 msg: 1612980016.46 epoch sec; seqNo:720 2021-02-10T18:00:16Z- AHRS_M2 msg: 4.46 phi; -0.19 theta; -0.19 psi 2021-02-10T18:00:16Z- waiting for 1612980017.46, time is 1612980015.27 2021-02-10T18:00:16Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:16Z- handleDepth()-Depth_Keller msg: 36.33 epoch sec; seqNo:1612980016468; depth 0.00 2021-02-10T18:00:16Z- waiting for 1612980017.46, time is 1612980015.27 2021-02-10T18:00:16Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:16Z- handleDvl() - RDI_Pathfinder msg: 1612980016.48 epoch sec; seqNo:293 2021-02-10T18:00:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 47.01 , 53.22 , 43.67 , 59.66 2021-02-10T18:00:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.03 , 0.03 2021-02-10T18:00:16Z- waiting for 1612980017.46, time is 1612980016.48 2021-02-10T18:00:16Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980016.49 epoch sec; seqNo:724; 4061713.79 north; 594398.58 east 2021-02-10T18:00:16Z- waiting for 1612980017.46, time is 1612980016.48 2021-02-10T18:00:16Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:16Z- AHRS_M2 msg: 1612980016.87 epoch sec; seqNo:721 2021-02-10T18:00:16Z- AHRS_M2 msg: 4.46 phi; -0.19 theta; -0.18 psi 2021-02-10T18:00:16Z- waiting for 1612980017.46, time is 1612980016.48 2021-02-10T18:00:16Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:16Z- handleDepth()-Depth_Keller msg: 36.42 epoch sec; seqNo:1612980016874; depth 0.00 2021-02-10T18:00:16Z- waiting for 1612980017.46, time is 1612980016.48 2021-02-10T18:00:16Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980016.88 epoch sec; seqNo:725; 4061713.79 north; 594398.58 east 2021-02-10T18:00:16Z- waiting for 1612980017.46, time is 1612980016.48 2021-02-10T18:00:16Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:17Z- AHRS_M2 msg: 1612980017.27 epoch sec; seqNo:722 2021-02-10T18:00:17Z- AHRS_M2 msg: 4.46 phi; -0.19 theta; -0.18 psi 2021-02-10T18:00:17Z- waiting for 1612980017.46, time is 1612980016.48 2021-02-10T18:00:17Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:17Z- handleDepth()-Depth_Keller msg: 36.47 epoch sec; seqNo:1612980017290; depth 0.00 2021-02-10T18:00:17Z- waiting for 1612980017.46, time is 1612980016.48 2021-02-10T18:00:17Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:17Z- handleDvl() - RDI_Pathfinder msg: 1612980017.30 epoch sec; seqNo:294 2021-02-10T18:00:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.53 , 52.98 , 43.67 , 59.66 2021-02-10T18:00:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.03 , 0.03 2021-02-10T18:00:17Z- waiting for 1612980017.46, time is 1612980017.30 2021-02-10T18:00:17Z- sync is 0.03, coherence is 2.00 2021-02-10T18:00:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980017.31 epoch sec; seqNo:726; 4061713.77 north; 594397.36 east 2021-02-10T18:00:17Z- waiting for 1612980017.46, time is 1612980017.30 2021-02-10T18:00:17Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:17Z- AHRS_M2 msg: 1612980017.67 epoch sec; seqNo:723 2021-02-10T18:00:17Z- AHRS_M2 msg: 4.46 phi; -0.19 theta; -0.18 psi 2021-02-10T18:00:17Z- waiting for 1612980017.46, time is 1612980017.30 2021-02-10T18:00:17Z- sync is 0.37, coherence is 2.00 2021-02-10T18:00:17Z- handleDepth()-Depth_Keller msg: 36.54 epoch sec; seqNo:1612980017680; depth 0.00 2021-02-10T18:00:17Z- waiting for 1612980017.46, time is 1612980017.30 2021-02-10T18:00:17Z- sync is 0.37, coherence is 2.00 2021-02-10T18:00:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980017.69 epoch sec; seqNo:727; 4061713.39 north; 594397.36 east 2021-02-10T18:00:17Z- waiting for 1612980017.46, time is 1612980017.30 2021-02-10T18:00:17Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:18Z- AHRS_M2 msg: 1612980018.09 epoch sec; seqNo:724 2021-02-10T18:00:18Z- AHRS_M2 msg: 4.46 phi; -0.18 theta; -0.18 psi 2021-02-10T18:00:18Z- waiting for 1612980017.46, time is 1612980017.30 2021-02-10T18:00:18Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:18Z- handleDepth()-Depth_Keller msg: 36.61 epoch sec; seqNo:1612980018093; depth 0.00 2021-02-10T18:00:18Z- waiting for 1612980017.46, time is 1612980017.30 2021-02-10T18:00:18Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980018.11 epoch sec; seqNo:728; 4061713.39 north; 594397.36 east 2021-02-10T18:00:18Z- waiting for 1612980017.46, time is 1612980017.30 2021-02-10T18:00:18Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:18Z- AHRS_M2 msg: 1612980018.48 epoch sec; seqNo:725 2021-02-10T18:00:18Z- AHRS_M2 msg: 4.45 phi; -0.18 theta; -0.18 psi 2021-02-10T18:00:18Z- waiting for 1612980017.46, time is 1612980017.30 2021-02-10T18:00:18Z- sync is 1.18, coherence is 2.00 2021-02-10T18:00:18Z- handleDepth()-Depth_Keller msg: 36.69 epoch sec; seqNo:1612980018490; depth 0.00 2021-02-10T18:00:18Z- waiting for 1612980017.46, time is 1612980017.30 2021-02-10T18:00:18Z- sync is 1.18, coherence is 2.00 2021-02-10T18:00:18Z- handleDvl() - RDI_Pathfinder msg: 1612980018.50 epoch sec; seqNo:295 2021-02-10T18:00:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.53 , 52.74 , 43.91 , 59.66 2021-02-10T18:00:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.03 , 0.03 2021-02-10T18:00:18Z- waiting for 1612980017.46, time is 1612980018.50 2021-02-10T18:00:18Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:18Z- LcmTrn::updateTrn() >>>> pose time 1612980018.48, meas time 1612980018.50 <<<< 2021-02-10T18:00:18Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980018.50 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:00:18Z- TerrainNav::motionUpdate() - currEstimate = (4061713, 594397.36, 36.69) 2021-02-10T18:00:18Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:00:18Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:00:18Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:00:18Z- TNavBF::mmse selected from filter -1 2021-02-10T18:00:18Z- variances([0], [2], and psi_berg) = 812.037342 833.134117 0.000000 2021-02-10T18:00:18Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:00:18Z- LcmTrn::cycle() - MLE : 4061679.89 594348.86 36.69 2021-02-10T18:00:18Z- LcmTrn::cycle() - MMSE : 4061713.39 594397.36 36.69 2021-02-10T18:00:18Z- LcmTrn::cycle() - COVAR: 812.04 833.13 35.10 0.00 2021-02-10T18:00:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980018.51 epoch sec; seqNo:729; 4061713.38 north; 594396.14 east 2021-02-10T18:00:18Z- waiting for 1612980021.50, time is 1612980018.50 2021-02-10T18:00:18Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:18Z- AHRS_M2 msg: 1612980018.89 epoch sec; seqNo:726 2021-02-10T18:00:18Z- AHRS_M2 msg: 4.45 phi; -0.18 theta; -0.18 psi 2021-02-10T18:00:18Z- waiting for 1612980021.50, time is 1612980018.50 2021-02-10T18:00:18Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:18Z- handleDepth()-Depth_Keller msg: 36.73 epoch sec; seqNo:1612980018892; depth 0.00 2021-02-10T18:00:18Z- waiting for 1612980021.50, time is 1612980018.50 2021-02-10T18:00:18Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980018.91 epoch sec; seqNo:730; 4061713.38 north; 594396.14 east 2021-02-10T18:00:18Z- waiting for 1612980021.50, time is 1612980018.50 2021-02-10T18:00:18Z- sync is 0.41, coherence is 2.00 2021-02-10T18:00:19Z- AHRS_M2 msg: 1612980019.29 epoch sec; seqNo:727 2021-02-10T18:00:19Z- AHRS_M2 msg: 4.45 phi; -0.18 theta; -0.19 psi 2021-02-10T18:00:19Z- waiting for 1612980021.50, time is 1612980018.50 2021-02-10T18:00:19Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:19Z- handleDepth()-Depth_Keller msg: 36.81 epoch sec; seqNo:1612980019301; depth 0.00 2021-02-10T18:00:19Z- waiting for 1612980021.50, time is 1612980018.50 2021-02-10T18:00:19Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:19Z- handleDvl() - RDI_Pathfinder msg: 1612980019.31 epoch sec; seqNo:296 2021-02-10T18:00:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.06 , 52.02 , 43.43 , 58.94 2021-02-10T18:00:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.03 , 0.02 2021-02-10T18:00:19Z- waiting for 1612980021.50, time is 1612980019.31 2021-02-10T18:00:19Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980019.33 epoch sec; seqNo:731; 4061713.00 north; 594396.15 east 2021-02-10T18:00:19Z- waiting for 1612980021.50, time is 1612980019.31 2021-02-10T18:00:19Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:19Z- AHRS_M2 msg: 1612980019.70 epoch sec; seqNo:728 2021-02-10T18:00:19Z- AHRS_M2 msg: 4.45 phi; -0.18 theta; -0.19 psi 2021-02-10T18:00:19Z- waiting for 1612980021.50, time is 1612980019.31 2021-02-10T18:00:19Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:19Z- handleDepth()-Depth_Keller msg: 36.87 epoch sec; seqNo:1612980019705; depth 0.00 2021-02-10T18:00:19Z- waiting for 1612980021.50, time is 1612980019.31 2021-02-10T18:00:19Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980019.71 epoch sec; seqNo:732; 4061713.00 north; 594396.15 east 2021-02-10T18:00:19Z- waiting for 1612980021.50, time is 1612980019.31 2021-02-10T18:00:19Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:20Z- AHRS_M2 msg: 1612980020.11 epoch sec; seqNo:729 2021-02-10T18:00:20Z- AHRS_M2 msg: 4.45 phi; -0.18 theta; -0.19 psi 2021-02-10T18:00:20Z- waiting for 1612980021.50, time is 1612980019.31 2021-02-10T18:00:20Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:20Z- handleDepth()-Depth_Keller msg: 36.95 epoch sec; seqNo:1612980020124; depth 0.00 2021-02-10T18:00:20Z- waiting for 1612980021.50, time is 1612980019.31 2021-02-10T18:00:20Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980020.17 epoch sec; seqNo:733; 4061712.99 north; 594394.93 east 2021-02-10T18:00:20Z- waiting for 1612980021.50, time is 1612980019.31 2021-02-10T18:00:20Z- sync is 0.86, coherence is 2.00 2021-02-10T18:00:20Z- AHRS_M2 msg: 1612980020.50 epoch sec; seqNo:730 2021-02-10T18:00:20Z- AHRS_M2 msg: 4.44 phi; -0.17 theta; -0.19 psi 2021-02-10T18:00:20Z- waiting for 1612980021.50, time is 1612980019.31 2021-02-10T18:00:20Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:20Z- handleDepth()-Depth_Keller msg: 37.01 epoch sec; seqNo:1612980020513; depth 0.00 2021-02-10T18:00:20Z- waiting for 1612980021.50, time is 1612980019.31 2021-02-10T18:00:20Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:20Z- handleDvl() - RDI_Pathfinder msg: 1612980020.53 epoch sec; seqNo:297 2021-02-10T18:00:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.81 , 52.02 , 43.19 , 58.94 2021-02-10T18:00:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , 0.01 2021-02-10T18:00:20Z- waiting for 1612980021.50, time is 1612980020.53 2021-02-10T18:00:20Z- sync is 0.03, coherence is 2.00 2021-02-10T18:00:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980020.54 epoch sec; seqNo:734; 4061712.61 north; 594394.93 east 2021-02-10T18:00:20Z- waiting for 1612980021.50, time is 1612980020.53 2021-02-10T18:00:20Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:20Z- AHRS_M2 msg: 1612980020.91 epoch sec; seqNo:731 2021-02-10T18:00:20Z- AHRS_M2 msg: 4.44 phi; -0.17 theta; -0.19 psi 2021-02-10T18:00:20Z- waiting for 1612980021.50, time is 1612980020.53 2021-02-10T18:00:20Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:20Z- handleDepth()-Depth_Keller msg: 37.08 epoch sec; seqNo:1612980020911; depth 0.00 2021-02-10T18:00:20Z- waiting for 1612980021.50, time is 1612980020.53 2021-02-10T18:00:20Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980020.92 epoch sec; seqNo:735; 4061712.61 north; 594394.93 east 2021-02-10T18:00:20Z- waiting for 1612980021.50, time is 1612980020.53 2021-02-10T18:00:20Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:21Z- AHRS_M2 msg: 1612980021.31 epoch sec; seqNo:732 2021-02-10T18:00:21Z- AHRS_M2 msg: 4.44 phi; -0.17 theta; -0.20 psi 2021-02-10T18:00:21Z- waiting for 1612980021.50, time is 1612980020.53 2021-02-10T18:00:21Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:21Z- handleDepth()-Depth_Keller msg: 37.12 epoch sec; seqNo:1612980021317; depth 0.00 2021-02-10T18:00:21Z- waiting for 1612980021.50, time is 1612980020.53 2021-02-10T18:00:21Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:21Z- handleDvl() - RDI_Pathfinder msg: 1612980021.33 epoch sec; seqNo:298 2021-02-10T18:00:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.86 , 52.26 , 42.71 , 57.98 2021-02-10T18:00:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.04 , 0.00 2021-02-10T18:00:21Z- waiting for 1612980021.50, time is 1612980021.33 2021-02-10T18:00:21Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980021.34 epoch sec; seqNo:736; 4061712.59 north; 594393.71 east 2021-02-10T18:00:21Z- waiting for 1612980021.50, time is 1612980021.33 2021-02-10T18:00:21Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:21Z- AHRS_M2 msg: 1612980021.72 epoch sec; seqNo:733 2021-02-10T18:00:21Z- AHRS_M2 msg: 4.44 phi; -0.17 theta; -0.20 psi 2021-02-10T18:00:21Z- waiting for 1612980021.50, time is 1612980021.33 2021-02-10T18:00:21Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:21Z- handleDepth()-Depth_Keller msg: 37.21 epoch sec; seqNo:1612980021721; depth 0.00 2021-02-10T18:00:21Z- waiting for 1612980021.50, time is 1612980021.33 2021-02-10T18:00:21Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980021.73 epoch sec; seqNo:737; 4061712.59 north; 594393.71 east 2021-02-10T18:00:21Z- waiting for 1612980021.50, time is 1612980021.33 2021-02-10T18:00:21Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:22Z- AHRS_M2 msg: 1612980022.15 epoch sec; seqNo:734 2021-02-10T18:00:22Z- AHRS_M2 msg: 4.44 phi; -0.17 theta; -0.20 psi 2021-02-10T18:00:22Z- waiting for 1612980021.50, time is 1612980021.33 2021-02-10T18:00:22Z- sync is 0.82, coherence is 2.00 2021-02-10T18:00:22Z- handleDepth()-Depth_Keller msg: 37.26 epoch sec; seqNo:1612980022159; depth 0.00 2021-02-10T18:00:22Z- waiting for 1612980021.50, time is 1612980021.33 2021-02-10T18:00:22Z- sync is 0.82, coherence is 2.00 2021-02-10T18:00:22Z- handleDvl() - RDI_Pathfinder msg: 1612980022.17 epoch sec; seqNo:299 2021-02-10T18:00:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.38 , 52.26 , 42.95 , 58.22 2021-02-10T18:00:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.04 , -0.01 2021-02-10T18:00:22Z- waiting for 1612980021.50, time is 1612980022.17 2021-02-10T18:00:22Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:22Z- LcmTrn::updateTrn() >>>> pose time 1612980022.15, meas time 1612980022.17 <<<< 2021-02-10T18:00:22Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980022.17 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:00:22Z- TerrainNav::motionUpdate() - currEstimate = (4061713, 594393.71, 37.26) 2021-02-10T18:00:22Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:00:22Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:00:22Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:00:22Z- TNavBF::mmse selected from filter -1 2021-02-10T18:00:22Z- variances([0], [2], and psi_berg) = 811.743748 833.133199 0.000000 2021-02-10T18:00:22Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:00:22Z- LcmTrn::cycle() - MLE : 4061679.09 594345.21 37.26 2021-02-10T18:00:22Z- LcmTrn::cycle() - MMSE : 4061712.59 594393.71 37.26 2021-02-10T18:00:22Z- LcmTrn::cycle() - COVAR: 811.74 833.13 35.29 0.00 2021-02-10T18:00:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980022.18 epoch sec; seqNo:738; 4061712.22 north; 594393.71 east 2021-02-10T18:00:22Z- waiting for 1612980025.17, time is 1612980022.17 2021-02-10T18:00:22Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:22Z- AHRS_M2 msg: 1612980022.52 epoch sec; seqNo:735 2021-02-10T18:00:22Z- AHRS_M2 msg: 4.43 phi; -0.17 theta; -0.20 psi 2021-02-10T18:00:22Z- waiting for 1612980025.17, time is 1612980022.17 2021-02-10T18:00:22Z- sync is 0.35, coherence is 2.00 2021-02-10T18:00:22Z- handleDepth()-Depth_Keller msg: 37.34 epoch sec; seqNo:1612980022533; depth 0.00 2021-02-10T18:00:22Z- waiting for 1612980025.17, time is 1612980022.17 2021-02-10T18:00:22Z- sync is 0.35, coherence is 2.00 2021-02-10T18:00:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980022.54 epoch sec; seqNo:739; 4061712.20 north; 594392.49 east 2021-02-10T18:00:22Z- waiting for 1612980025.17, time is 1612980022.17 2021-02-10T18:00:22Z- sync is 0.37, coherence is 2.00 2021-02-10T18:00:22Z- AHRS_M2 msg: 1612980022.93 epoch sec; seqNo:736 2021-02-10T18:00:22Z- AHRS_M2 msg: 4.43 phi; -0.17 theta; -0.20 psi 2021-02-10T18:00:22Z- waiting for 1612980025.17, time is 1612980022.17 2021-02-10T18:00:22Z- sync is 0.76, coherence is 2.00 2021-02-10T18:00:22Z- handleDepth()-Depth_Keller msg: 37.40 epoch sec; seqNo:1612980022932; depth 0.00 2021-02-10T18:00:22Z- waiting for 1612980025.17, time is 1612980022.17 2021-02-10T18:00:22Z- sync is 0.76, coherence is 2.00 2021-02-10T18:00:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980022.94 epoch sec; seqNo:740; 4061712.20 north; 594392.49 east 2021-02-10T18:00:22Z- waiting for 1612980025.17, time is 1612980022.17 2021-02-10T18:00:22Z- sync is 0.77, coherence is 2.00 2021-02-10T18:00:23Z- AHRS_M2 msg: 1612980023.33 epoch sec; seqNo:737 2021-02-10T18:00:23Z- AHRS_M2 msg: 4.43 phi; -0.16 theta; -0.20 psi 2021-02-10T18:00:23Z- waiting for 1612980025.17, time is 1612980022.17 2021-02-10T18:00:23Z- sync is 1.16, coherence is 2.00 2021-02-10T18:00:23Z- handleDepth()-Depth_Keller msg: 37.45 epoch sec; seqNo:1612980023345; depth 0.00 2021-02-10T18:00:23Z- waiting for 1612980025.17, time is 1612980022.17 2021-02-10T18:00:23Z- sync is 1.16, coherence is 2.00 2021-02-10T18:00:23Z- handleDvl() - RDI_Pathfinder msg: 1612980023.36 epoch sec; seqNo:300 2021-02-10T18:00:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.38 , 51.78 , 43.91 , 57.74 2021-02-10T18:00:23Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.03 , 0.01 2021-02-10T18:00:23Z- waiting for 1612980025.17, time is 1612980023.36 2021-02-10T18:00:23Z- sync is 0.03, coherence is 2.00 2021-02-10T18:00:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980023.37 epoch sec; seqNo:741; 4061711.82 north; 594392.50 east 2021-02-10T18:00:23Z- waiting for 1612980025.17, time is 1612980023.36 2021-02-10T18:00:23Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:23Z- AHRS_M2 msg: 1612980023.73 epoch sec; seqNo:738 2021-02-10T18:00:23Z- AHRS_M2 msg: 4.43 phi; -0.16 theta; -0.20 psi 2021-02-10T18:00:23Z- waiting for 1612980025.17, time is 1612980023.36 2021-02-10T18:00:23Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:23Z- handleDepth()-Depth_Keller msg: 37.51 epoch sec; seqNo:1612980023740; depth 0.00 2021-02-10T18:00:23Z- waiting for 1612980025.17, time is 1612980023.36 2021-02-10T18:00:23Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980023.76 epoch sec; seqNo:742; 4061711.82 north; 594392.50 east 2021-02-10T18:00:23Z- waiting for 1612980025.17, time is 1612980023.36 2021-02-10T18:00:23Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:24Z- AHRS_M2 msg: 1612980024.15 epoch sec; seqNo:739 2021-02-10T18:00:24Z- AHRS_M2 msg: 4.42 phi; -0.16 theta; -0.20 psi 2021-02-10T18:00:24Z- waiting for 1612980025.17, time is 1612980023.36 2021-02-10T18:00:24Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:24Z- handleDepth()-Depth_Keller msg: 37.58 epoch sec; seqNo:1612980024160; depth 0.00 2021-02-10T18:00:24Z- waiting for 1612980025.17, time is 1612980023.36 2021-02-10T18:00:24Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:24Z- handleDvl() - RDI_Pathfinder msg: 1612980024.18 epoch sec; seqNo:301 2021-02-10T18:00:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.14 , 51.54 , 43.67 , 56.79 2021-02-10T18:00:24Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.02 , 0.02 2021-02-10T18:00:24Z- waiting for 1612980025.17, time is 1612980024.18 2021-02-10T18:00:24Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980024.19 epoch sec; seqNo:743; 4061711.81 north; 594391.28 east 2021-02-10T18:00:24Z- waiting for 1612980025.17, time is 1612980024.18 2021-02-10T18:00:24Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:24Z- AHRS_M2 msg: 1612980024.55 epoch sec; seqNo:740 2021-02-10T18:00:24Z- AHRS_M2 msg: 4.42 phi; -0.16 theta; -0.20 psi 2021-02-10T18:00:24Z- waiting for 1612980025.17, time is 1612980024.18 2021-02-10T18:00:24Z- sync is 0.37, coherence is 2.00 2021-02-10T18:00:24Z- handleDepth()-Depth_Keller msg: 37.65 epoch sec; seqNo:1612980024549; depth 0.00 2021-02-10T18:00:24Z- waiting for 1612980025.17, time is 1612980024.18 2021-02-10T18:00:24Z- sync is 0.37, coherence is 2.00 2021-02-10T18:00:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980024.56 epoch sec; seqNo:744; 4061711.43 north; 594391.28 east 2021-02-10T18:00:24Z- waiting for 1612980025.17, time is 1612980024.18 2021-02-10T18:00:24Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:24Z- AHRS_M2 msg: 1612980024.95 epoch sec; seqNo:741 2021-02-10T18:00:24Z- AHRS_M2 msg: 4.42 phi; -0.16 theta; -0.20 psi 2021-02-10T18:00:24Z- waiting for 1612980025.17, time is 1612980024.18 2021-02-10T18:00:24Z- sync is 0.77, coherence is 2.00 2021-02-10T18:00:24Z- handleDepth()-Depth_Keller msg: 37.71 epoch sec; seqNo:1612980024952; depth 0.00 2021-02-10T18:00:24Z- waiting for 1612980025.17, time is 1612980024.18 2021-02-10T18:00:24Z- sync is 0.77, coherence is 2.00 2021-02-10T18:00:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980024.96 epoch sec; seqNo:745; 4061711.43 north; 594391.28 east 2021-02-10T18:00:24Z- waiting for 1612980025.17, time is 1612980024.18 2021-02-10T18:00:24Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:25Z- AHRS_M2 msg: 1612980025.35 epoch sec; seqNo:742 2021-02-10T18:00:25Z- AHRS_M2 msg: 4.42 phi; -0.16 theta; -0.19 psi 2021-02-10T18:00:25Z- waiting for 1612980025.17, time is 1612980024.18 2021-02-10T18:00:25Z- sync is 1.17, coherence is 2.00 2021-02-10T18:00:25Z- handleDepth()-Depth_Keller msg: 37.77 epoch sec; seqNo:1612980025356; depth 0.00 2021-02-10T18:00:25Z- waiting for 1612980025.17, time is 1612980024.18 2021-02-10T18:00:25Z- sync is 1.17, coherence is 2.00 2021-02-10T18:00:25Z- handleDvl() - RDI_Pathfinder msg: 1612980025.37 epoch sec; seqNo:302 2021-02-10T18:00:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.87 , 51.40 , 43.65 , 56.50 2021-02-10T18:00:25Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.00 , 0.04 2021-02-10T18:00:25Z- waiting for 1612980025.17, time is 1612980025.37 2021-02-10T18:00:25Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:25Z- LcmTrn::updateTrn() >>>> pose time 1612980025.35, meas time 1612980025.37 <<<< 2021-02-10T18:00:25Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980025.37 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:00:25Z- TerrainNav::motionUpdate() - currEstimate = (4061711, 594391.28, 37.77) 2021-02-10T18:00:25Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:00:25Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:00:25Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:00:25Z- TNavBF::mmse selected from filter -1 2021-02-10T18:00:25Z- variances([0], [2], and psi_berg) = 811.496582 833.132434 0.000000 2021-02-10T18:00:25Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:00:25Z- LcmTrn::cycle() - MLE : 4061677.93 594342.78 37.77 2021-02-10T18:00:25Z- LcmTrn::cycle() - MMSE : 4061711.43 594391.28 37.77 2021-02-10T18:00:25Z- LcmTrn::cycle() - COVAR: 811.50 833.13 35.43 0.00 2021-02-10T18:00:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980025.38 epoch sec; seqNo:746; 4061711.42 north; 594390.06 east 2021-02-10T18:00:25Z- waiting for 1612980028.37, time is 1612980025.37 2021-02-10T18:00:25Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:25Z- AHRS_M2 msg: 1612980025.76 epoch sec; seqNo:743 2021-02-10T18:00:25Z- AHRS_M2 msg: 4.41 phi; -0.16 theta; -0.19 psi 2021-02-10T18:00:25Z- waiting for 1612980028.37, time is 1612980025.37 2021-02-10T18:00:25Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:25Z- handleDepth()-Depth_Keller msg: 37.83 epoch sec; seqNo:1612980025762; depth 0.00 2021-02-10T18:00:25Z- waiting for 1612980028.37, time is 1612980025.37 2021-02-10T18:00:25Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980025.78 epoch sec; seqNo:747; 4061711.04 north; 594390.07 east 2021-02-10T18:00:25Z- waiting for 1612980028.37, time is 1612980025.37 2021-02-10T18:00:25Z- sync is 0.41, coherence is 2.00 2021-02-10T18:00:26Z- AHRS_M2 msg: 1612980026.16 epoch sec; seqNo:744 2021-02-10T18:00:26Z- AHRS_M2 msg: 4.41 phi; -0.15 theta; -0.19 psi 2021-02-10T18:00:26Z- waiting for 1612980028.37, time is 1612980025.37 2021-02-10T18:00:26Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:26Z- handleDepth()-Depth_Keller msg: 37.89 epoch sec; seqNo:1612980026169; depth 0.00 2021-02-10T18:00:26Z- waiting for 1612980028.37, time is 1612980025.37 2021-02-10T18:00:26Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:26Z- handleDvl() - RDI_Pathfinder msg: 1612980026.19 epoch sec; seqNo:303 2021-02-10T18:00:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.65 , 50.52 , 43.65 , 55.84 2021-02-10T18:00:26Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.01 , 0.06 2021-02-10T18:00:26Z- waiting for 1612980028.37, time is 1612980026.19 2021-02-10T18:00:26Z- sync is 0.03, coherence is 2.00 2021-02-10T18:00:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980026.20 epoch sec; seqNo:748; 4061711.04 north; 594390.07 east 2021-02-10T18:00:26Z- waiting for 1612980028.37, time is 1612980026.19 2021-02-10T18:00:26Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:26Z- AHRS_M2 msg: 1612980026.56 epoch sec; seqNo:745 2021-02-10T18:00:26Z- AHRS_M2 msg: 4.41 phi; -0.15 theta; -0.19 psi 2021-02-10T18:00:26Z- waiting for 1612980028.37, time is 1612980026.19 2021-02-10T18:00:26Z- sync is 0.37, coherence is 2.00 2021-02-10T18:00:26Z- handleDepth()-Depth_Keller msg: 37.96 epoch sec; seqNo:1612980026573; depth 0.00 2021-02-10T18:00:26Z- waiting for 1612980028.37, time is 1612980026.19 2021-02-10T18:00:26Z- sync is 0.37, coherence is 2.00 2021-02-10T18:00:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980026.58 epoch sec; seqNo:749; 4061711.03 north; 594388.85 east 2021-02-10T18:00:26Z- waiting for 1612980028.37, time is 1612980026.19 2021-02-10T18:00:26Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:26Z- AHRS_M2 msg: 1612980026.97 epoch sec; seqNo:746 2021-02-10T18:00:26Z- AHRS_M2 msg: 4.41 phi; -0.15 theta; -0.19 psi 2021-02-10T18:00:26Z- waiting for 1612980028.37, time is 1612980026.19 2021-02-10T18:00:26Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:26Z- handleDepth()-Depth_Keller msg: 38.00 epoch sec; seqNo:1612980026971; depth 0.00 2021-02-10T18:00:26Z- waiting for 1612980028.37, time is 1612980026.19 2021-02-10T18:00:26Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980026.98 epoch sec; seqNo:750; 4061710.65 north; 594388.85 east 2021-02-10T18:00:26Z- waiting for 1612980028.37, time is 1612980026.19 2021-02-10T18:00:26Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:27Z- AHRS_M2 msg: 1612980027.37 epoch sec; seqNo:747 2021-02-10T18:00:27Z- AHRS_M2 msg: 4.40 phi; -0.15 theta; -0.19 psi 2021-02-10T18:00:27Z- waiting for 1612980028.37, time is 1612980026.19 2021-02-10T18:00:27Z- sync is 1.18, coherence is 2.00 2021-02-10T18:00:27Z- handleDepth()-Depth_Keller msg: 38.07 epoch sec; seqNo:1612980027385; depth 0.00 2021-02-10T18:00:27Z- waiting for 1612980028.37, time is 1612980026.19 2021-02-10T18:00:27Z- sync is 1.18, coherence is 2.00 2021-02-10T18:00:27Z- handleDvl() - RDI_Pathfinder msg: 1612980027.40 epoch sec; seqNo:304 2021-02-10T18:00:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.99 , 50.30 , 43.21 , 55.84 2021-02-10T18:00:27Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.00 , 0.07 2021-02-10T18:00:27Z- waiting for 1612980028.37, time is 1612980027.40 2021-02-10T18:00:27Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980027.41 epoch sec; seqNo:751; 4061710.65 north; 594388.85 east 2021-02-10T18:00:27Z- waiting for 1612980028.37, time is 1612980027.40 2021-02-10T18:00:27Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:27Z- AHRS_M2 msg: 1612980027.78 epoch sec; seqNo:748 2021-02-10T18:00:27Z- AHRS_M2 msg: 4.40 phi; -0.15 theta; -0.19 psi 2021-02-10T18:00:27Z- waiting for 1612980028.37, time is 1612980027.40 2021-02-10T18:00:27Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:27Z- handleDepth()-Depth_Keller msg: 38.13 epoch sec; seqNo:1612980027784; depth 0.00 2021-02-10T18:00:27Z- waiting for 1612980028.37, time is 1612980027.40 2021-02-10T18:00:27Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980027.81 epoch sec; seqNo:752; 4061710.63 north; 594387.63 east 2021-02-10T18:00:27Z- waiting for 1612980028.37, time is 1612980027.40 2021-02-10T18:00:27Z- sync is 0.41, coherence is 2.00 2021-02-10T18:00:28Z- AHRS_M2 msg: 1612980028.19 epoch sec; seqNo:749 2021-02-10T18:00:28Z- AHRS_M2 msg: 4.40 phi; -0.15 theta; -0.19 psi 2021-02-10T18:00:28Z- waiting for 1612980028.37, time is 1612980027.40 2021-02-10T18:00:28Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:28Z- handleDepth()-Depth_Keller msg: 38.18 epoch sec; seqNo:1612980028190; depth 0.00 2021-02-10T18:00:28Z- waiting for 1612980028.37, time is 1612980027.40 2021-02-10T18:00:28Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:28Z- handleDvl() - RDI_Pathfinder msg: 1612980028.20 epoch sec; seqNo:305 2021-02-10T18:00:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.76 , 50.08 , 43.21 , 55.17 2021-02-10T18:00:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.01 , 0.06 2021-02-10T18:00:28Z- waiting for 1612980028.37, time is 1612980028.20 2021-02-10T18:00:28Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980028.21 epoch sec; seqNo:753; 4061710.63 north; 594387.63 east 2021-02-10T18:00:28Z- waiting for 1612980028.37, time is 1612980028.20 2021-02-10T18:00:28Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:28Z- AHRS_M2 msg: 1612980028.58 epoch sec; seqNo:750 2021-02-10T18:00:28Z- AHRS_M2 msg: 4.40 phi; -0.15 theta; -0.20 psi 2021-02-10T18:00:28Z- waiting for 1612980028.37, time is 1612980028.20 2021-02-10T18:00:28Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:28Z- handleDepth()-Depth_Keller msg: 38.24 epoch sec; seqNo:1612980028593; depth 0.00 2021-02-10T18:00:28Z- waiting for 1612980028.37, time is 1612980028.20 2021-02-10T18:00:28Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980028.60 epoch sec; seqNo:754; 4061710.25 north; 594387.63 east 2021-02-10T18:00:28Z- waiting for 1612980028.37, time is 1612980028.20 2021-02-10T18:00:28Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:28Z- AHRS_M2 msg: 1612980028.99 epoch sec; seqNo:751 2021-02-10T18:00:28Z- AHRS_M2 msg: 4.40 phi; -0.15 theta; -0.19 psi 2021-02-10T18:00:28Z- waiting for 1612980028.37, time is 1612980028.20 2021-02-10T18:00:28Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:28Z- handleDepth()-Depth_Keller msg: 38.30 epoch sec; seqNo:1612980028992; depth 0.00 2021-02-10T18:00:28Z- waiting for 1612980028.37, time is 1612980028.20 2021-02-10T18:00:28Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980029.00 epoch sec; seqNo:755; 4061710.25 north; 594387.63 east 2021-02-10T18:00:29Z- waiting for 1612980028.37, time is 1612980028.20 2021-02-10T18:00:29Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:29Z- AHRS_M2 msg: 1612980029.39 epoch sec; seqNo:752 2021-02-10T18:00:29Z- AHRS_M2 msg: 4.40 phi; -0.15 theta; -0.19 psi 2021-02-10T18:00:29Z- waiting for 1612980028.37, time is 1612980028.20 2021-02-10T18:00:29Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:29Z- handleDepth()-Depth_Keller msg: 38.35 epoch sec; seqNo:1612980029396; depth 0.00 2021-02-10T18:00:29Z- waiting for 1612980028.37, time is 1612980028.20 2021-02-10T18:00:29Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:29Z- handleDvl() - RDI_Pathfinder msg: 1612980029.41 epoch sec; seqNo:306 2021-02-10T18:00:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.76 , 49.19 , 42.76 , 53.84 2021-02-10T18:00:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.01 , 0.04 2021-02-10T18:00:29Z- waiting for 1612980028.37, time is 1612980029.41 2021-02-10T18:00:29Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:29Z- LcmTrn::updateTrn() >>>> pose time 1612980029.39, meas time 1612980029.41 <<<< 2021-02-10T18:00:29Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980029.41 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:00:29Z- TerrainNav::motionUpdate() - currEstimate = (4061710, 594387.63, 38.35) 2021-02-10T18:00:29Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:00:29Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:00:29Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:00:29Z- TNavBF::mmse selected from filter -1 2021-02-10T18:00:29Z- variances([0], [2], and psi_berg) = 811.203603 833.131536 0.000000 2021-02-10T18:00:29Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:00:29Z- LcmTrn::cycle() - MLE : 4061676.75 594340.13 38.35 2021-02-10T18:00:29Z- LcmTrn::cycle() - MMSE : 4061710.25 594387.63 38.35 2021-02-10T18:00:29Z- LcmTrn::cycle() - COVAR: 811.20 833.13 35.62 0.00 2021-02-10T18:00:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980029.42 epoch sec; seqNo:756; 4061710.24 north; 594386.41 east 2021-02-10T18:00:29Z- waiting for 1612980032.41, time is 1612980029.41 2021-02-10T18:00:29Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:29Z- AHRS_M2 msg: 1612980029.80 epoch sec; seqNo:753 2021-02-10T18:00:29Z- AHRS_M2 msg: 4.40 phi; -0.15 theta; -0.19 psi 2021-02-10T18:00:29Z- waiting for 1612980032.41, time is 1612980029.41 2021-02-10T18:00:29Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:29Z- handleDepth()-Depth_Keller msg: 38.41 epoch sec; seqNo:1612980029805; depth 0.00 2021-02-10T18:00:29Z- waiting for 1612980032.41, time is 1612980029.41 2021-02-10T18:00:29Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980029.82 epoch sec; seqNo:757; 4061709.86 north; 594386.42 east 2021-02-10T18:00:29Z- waiting for 1612980032.41, time is 1612980029.41 2021-02-10T18:00:29Z- sync is 0.41, coherence is 2.00 2021-02-10T18:00:30Z- AHRS_M2 msg: 1612980030.20 epoch sec; seqNo:754 2021-02-10T18:00:30Z- AHRS_M2 msg: 4.40 phi; -0.15 theta; -0.19 psi 2021-02-10T18:00:30Z- waiting for 1612980032.41, time is 1612980029.41 2021-02-10T18:00:30Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:30Z- handleDepth()-Depth_Keller msg: 38.45 epoch sec; seqNo:1612980030210; depth 0.00 2021-02-10T18:00:30Z- waiting for 1612980032.41, time is 1612980029.41 2021-02-10T18:00:30Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:30Z- handleDvl() - RDI_Pathfinder msg: 1612980030.23 epoch sec; seqNo:307 2021-02-10T18:00:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.21 , 49.19 , 42.99 , 53.62 2021-02-10T18:00:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.01 , 0.01 2021-02-10T18:00:30Z- waiting for 1612980032.41, time is 1612980030.23 2021-02-10T18:00:30Z- sync is 0.03, coherence is 2.00 2021-02-10T18:00:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980030.24 epoch sec; seqNo:758; 4061709.86 north; 594386.42 east 2021-02-10T18:00:30Z- waiting for 1612980032.41, time is 1612980030.23 2021-02-10T18:00:30Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:30Z- AHRS_M2 msg: 1612980030.61 epoch sec; seqNo:755 2021-02-10T18:00:30Z- AHRS_M2 msg: 4.40 phi; -0.14 theta; -0.19 psi 2021-02-10T18:00:30Z- waiting for 1612980032.41, time is 1612980030.23 2021-02-10T18:00:30Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:30Z- handleDepth()-Depth_Keller msg: 38.50 epoch sec; seqNo:1612980030619; depth 0.00 2021-02-10T18:00:30Z- waiting for 1612980032.41, time is 1612980030.23 2021-02-10T18:00:30Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980030.63 epoch sec; seqNo:759; 4061709.85 north; 594385.20 east 2021-02-10T18:00:30Z- waiting for 1612980032.41, time is 1612980030.23 2021-02-10T18:00:30Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:31Z- AHRS_M2 msg: 1612980031.01 epoch sec; seqNo:756 2021-02-10T18:00:31Z- AHRS_M2 msg: 4.40 phi; -0.14 theta; -0.18 psi 2021-02-10T18:00:31Z- waiting for 1612980032.41, time is 1612980030.23 2021-02-10T18:00:31Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:31Z- handleDepth()-Depth_Keller msg: 38.55 epoch sec; seqNo:1612980031014; depth 0.00 2021-02-10T18:00:31Z- waiting for 1612980032.41, time is 1612980030.23 2021-02-10T18:00:31Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980031.02 epoch sec; seqNo:760; 4061709.85 north; 594385.20 east 2021-02-10T18:00:31Z- waiting for 1612980032.41, time is 1612980030.23 2021-02-10T18:00:31Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:31Z- AHRS_M2 msg: 1612980031.42 epoch sec; seqNo:757 2021-02-10T18:00:31Z- AHRS_M2 msg: 4.40 phi; -0.14 theta; -0.18 psi 2021-02-10T18:00:31Z- waiting for 1612980032.41, time is 1612980030.23 2021-02-10T18:00:31Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:31Z- handleDepth()-Depth_Keller msg: 38.60 epoch sec; seqNo:1612980031423; depth 0.00 2021-02-10T18:00:31Z- waiting for 1612980032.41, time is 1612980030.23 2021-02-10T18:00:31Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:31Z- handleDvl() - RDI_Pathfinder msg: 1612980031.44 epoch sec; seqNo:308 2021-02-10T18:00:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.43 , 48.08 , 42.32 , 52.29 2021-02-10T18:00:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.00 , -0.01 2021-02-10T18:00:31Z- waiting for 1612980032.41, time is 1612980031.44 2021-02-10T18:00:31Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980031.46 epoch sec; seqNo:761; 4061709.47 north; 594385.20 east 2021-02-10T18:00:31Z- waiting for 1612980032.41, time is 1612980031.44 2021-02-10T18:00:31Z- sync is 0.03, coherence is 2.00 2021-02-10T18:00:31Z- AHRS_M2 msg: 1612980031.82 epoch sec; seqNo:758 2021-02-10T18:00:31Z- AHRS_M2 msg: 4.40 phi; -0.14 theta; -0.18 psi 2021-02-10T18:00:31Z- waiting for 1612980032.41, time is 1612980031.44 2021-02-10T18:00:31Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:31Z- handleDepth()-Depth_Keller msg: 38.64 epoch sec; seqNo:1612980031829; depth 0.00 2021-02-10T18:00:31Z- waiting for 1612980032.41, time is 1612980031.44 2021-02-10T18:00:31Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980031.84 epoch sec; seqNo:762; 4061709.46 north; 594383.98 east 2021-02-10T18:00:31Z- waiting for 1612980032.41, time is 1612980031.44 2021-02-10T18:00:31Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:32Z- AHRS_M2 msg: 1612980032.22 epoch sec; seqNo:759 2021-02-10T18:00:32Z- AHRS_M2 msg: 4.40 phi; -0.14 theta; -0.18 psi 2021-02-10T18:00:32Z- waiting for 1612980032.41, time is 1612980031.44 2021-02-10T18:00:32Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:32Z- handleDepth()-Depth_Keller msg: 38.69 epoch sec; seqNo:1612980032233; depth 0.00 2021-02-10T18:00:32Z- waiting for 1612980032.41, time is 1612980031.44 2021-02-10T18:00:32Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:32Z- handleDvl() - RDI_Pathfinder msg: 1612980032.24 epoch sec; seqNo:309 2021-02-10T18:00:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.21 , 46.97 , 42.10 , 52.29 2021-02-10T18:00:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.00 , -0.02 2021-02-10T18:00:32Z- waiting for 1612980032.41, time is 1612980032.24 2021-02-10T18:00:32Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980032.26 epoch sec; seqNo:763; 4061709.46 north; 594383.98 east 2021-02-10T18:00:32Z- waiting for 1612980032.41, time is 1612980032.24 2021-02-10T18:00:32Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:32Z- AHRS_M2 msg: 1612980032.62 epoch sec; seqNo:760 2021-02-10T18:00:32Z- AHRS_M2 msg: 4.40 phi; -0.14 theta; -0.18 psi 2021-02-10T18:00:32Z- waiting for 1612980032.41, time is 1612980032.24 2021-02-10T18:00:32Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:32Z- handleDepth()-Depth_Keller msg: 38.73 epoch sec; seqNo:1612980032630; depth 0.00 2021-02-10T18:00:32Z- waiting for 1612980032.41, time is 1612980032.24 2021-02-10T18:00:32Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980032.64 epoch sec; seqNo:764; 4061709.08 north; 594383.98 east 2021-02-10T18:00:32Z- waiting for 1612980032.41, time is 1612980032.24 2021-02-10T18:00:32Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:33Z- AHRS_M2 msg: 1612980033.03 epoch sec; seqNo:761 2021-02-10T18:00:33Z- AHRS_M2 msg: 4.40 phi; -0.14 theta; -0.18 psi 2021-02-10T18:00:33Z- waiting for 1612980032.41, time is 1612980032.24 2021-02-10T18:00:33Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:33Z- handleDepth()-Depth_Keller msg: 38.77 epoch sec; seqNo:1612980033032; depth 0.00 2021-02-10T18:00:33Z- waiting for 1612980032.41, time is 1612980032.24 2021-02-10T18:00:33Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980033.04 epoch sec; seqNo:765; 4061709.08 north; 594383.98 east 2021-02-10T18:00:33Z- waiting for 1612980032.41, time is 1612980032.24 2021-02-10T18:00:33Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:33Z- AHRS_M2 msg: 1612980033.43 epoch sec; seqNo:762 2021-02-10T18:00:33Z- AHRS_M2 msg: 4.40 phi; -0.14 theta; -0.18 psi 2021-02-10T18:00:33Z- waiting for 1612980032.41, time is 1612980032.24 2021-02-10T18:00:33Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:33Z- handleDepth()-Depth_Keller msg: 38.81 epoch sec; seqNo:1612980033441; depth 0.00 2021-02-10T18:00:33Z- waiting for 1612980032.41, time is 1612980032.24 2021-02-10T18:00:33Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:33Z- handleDvl() - RDI_Pathfinder msg: 1612980033.45 epoch sec; seqNo:310 2021-02-10T18:00:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.99 , 47.42 , 41.88 , 52.29 2021-02-10T18:00:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.03 , -0.03 2021-02-10T18:00:33Z- waiting for 1612980032.41, time is 1612980033.45 2021-02-10T18:00:33Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:33Z- LcmTrn::updateTrn() >>>> pose time 1612980033.43, meas time 1612980033.45 <<<< 2021-02-10T18:00:33Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980033.45 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:00:33Z- TerrainNav::motionUpdate() - currEstimate = (4061709, 594383.98, 38.81) 2021-02-10T18:00:33Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:00:33Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:00:33Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:00:33Z- TNavBF::mmse selected from filter -1 2021-02-10T18:00:33Z- variances([0], [2], and psi_berg) = 810.912923 833.130654 0.000000 2021-02-10T18:00:33Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:00:33Z- LcmTrn::cycle() - MLE : 4061675.58 594336.48 38.81 2021-02-10T18:00:33Z- LcmTrn::cycle() - MMSE : 4061709.08 594383.98 38.81 2021-02-10T18:00:33Z- LcmTrn::cycle() - COVAR: 810.91 833.13 35.82 0.00 2021-02-10T18:00:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980033.47 epoch sec; seqNo:766; 4061709.06 north; 594382.76 east 2021-02-10T18:00:33Z- waiting for 1612980036.45, time is 1612980033.45 2021-02-10T18:00:33Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:33Z- AHRS_M2 msg: 1612980033.84 epoch sec; seqNo:763 2021-02-10T18:00:33Z- AHRS_M2 msg: 4.40 phi; -0.14 theta; -0.18 psi 2021-02-10T18:00:33Z- waiting for 1612980036.45, time is 1612980033.45 2021-02-10T18:00:33Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:33Z- handleDepth()-Depth_Keller msg: 38.86 epoch sec; seqNo:1612980033841; depth 0.00 2021-02-10T18:00:33Z- waiting for 1612980036.45, time is 1612980033.45 2021-02-10T18:00:33Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980033.85 epoch sec; seqNo:767; 4061708.69 north; 594382.77 east 2021-02-10T18:00:33Z- waiting for 1612980036.45, time is 1612980033.45 2021-02-10T18:00:33Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:34Z- AHRS_M2 msg: 1612980034.24 epoch sec; seqNo:764 2021-02-10T18:00:34Z- AHRS_M2 msg: 4.40 phi; -0.14 theta; -0.18 psi 2021-02-10T18:00:34Z- waiting for 1612980036.45, time is 1612980033.45 2021-02-10T18:00:34Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:34Z- handleDepth()-Depth_Keller msg: 38.90 epoch sec; seqNo:1612980034249; depth 0.00 2021-02-10T18:00:34Z- waiting for 1612980036.45, time is 1612980033.45 2021-02-10T18:00:34Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:34Z- handleDvl() - RDI_Pathfinder msg: 1612980034.27 epoch sec; seqNo:311 2021-02-10T18:00:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.21 , 47.42 , 41.43 , 52.51 2021-02-10T18:00:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.01 , -0.02 2021-02-10T18:00:34Z- waiting for 1612980036.45, time is 1612980034.27 2021-02-10T18:00:34Z- sync is 0.03, coherence is 2.00 2021-02-10T18:00:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980034.28 epoch sec; seqNo:768; 4061708.69 north; 594382.77 east 2021-02-10T18:00:34Z- waiting for 1612980036.45, time is 1612980034.27 2021-02-10T18:00:34Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:34Z- AHRS_M2 msg: 1612980034.64 epoch sec; seqNo:765 2021-02-10T18:00:34Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.18 psi 2021-02-10T18:00:34Z- waiting for 1612980036.45, time is 1612980034.27 2021-02-10T18:00:34Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:34Z- handleDepth()-Depth_Keller msg: 38.94 epoch sec; seqNo:1612980034648; depth 0.00 2021-02-10T18:00:34Z- waiting for 1612980036.45, time is 1612980034.27 2021-02-10T18:00:34Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980034.66 epoch sec; seqNo:769; 4061708.67 north; 594381.55 east 2021-02-10T18:00:34Z- waiting for 1612980036.45, time is 1612980034.27 2021-02-10T18:00:34Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:35Z- AHRS_M2 msg: 1612980035.05 epoch sec; seqNo:766 2021-02-10T18:00:35Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.18 psi 2021-02-10T18:00:35Z- waiting for 1612980036.45, time is 1612980034.27 2021-02-10T18:00:35Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:35Z- handleDepth()-Depth_Keller msg: 38.99 epoch sec; seqNo:1612980035057; depth 0.00 2021-02-10T18:00:35Z- waiting for 1612980036.45, time is 1612980034.27 2021-02-10T18:00:35Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980035.07 epoch sec; seqNo:770; 4061708.29 north; 594381.55 east 2021-02-10T18:00:35Z- waiting for 1612980036.45, time is 1612980034.27 2021-02-10T18:00:35Z- sync is 0.81, coherence is 2.00 2021-02-10T18:00:35Z- AHRS_M2 msg: 1612980035.45 epoch sec; seqNo:767 2021-02-10T18:00:35Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.18 psi 2021-02-10T18:00:35Z- waiting for 1612980036.45, time is 1612980034.27 2021-02-10T18:00:35Z- sync is 1.18, coherence is 2.00 2021-02-10T18:00:35Z- handleDepth()-Depth_Keller msg: 39.03 epoch sec; seqNo:1612980035461; depth 0.00 2021-02-10T18:00:35Z- waiting for 1612980036.45, time is 1612980034.27 2021-02-10T18:00:35Z- sync is 1.18, coherence is 2.00 2021-02-10T18:00:35Z- handleDvl() - RDI_Pathfinder msg: 1612980035.47 epoch sec; seqNo:312 2021-02-10T18:00:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.99 , 46.53 , 41.21 , 52.73 2021-02-10T18:00:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.03 , -0.00 2021-02-10T18:00:35Z- waiting for 1612980036.45, time is 1612980035.47 2021-02-10T18:00:35Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980035.49 epoch sec; seqNo:771; 4061708.29 north; 594381.55 east 2021-02-10T18:00:35Z- waiting for 1612980036.45, time is 1612980035.47 2021-02-10T18:00:35Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:35Z- AHRS_M2 msg: 1612980035.86 epoch sec; seqNo:768 2021-02-10T18:00:35Z- AHRS_M2 msg: 4.39 phi; -0.13 theta; -0.18 psi 2021-02-10T18:00:35Z- waiting for 1612980036.45, time is 1612980035.47 2021-02-10T18:00:35Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:35Z- handleDepth()-Depth_Keller msg: 39.06 epoch sec; seqNo:1612980035862; depth 0.00 2021-02-10T18:00:35Z- waiting for 1612980036.45, time is 1612980035.47 2021-02-10T18:00:35Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980035.87 epoch sec; seqNo:772; 4061708.28 north; 594380.33 east 2021-02-10T18:00:35Z- waiting for 1612980036.45, time is 1612980035.47 2021-02-10T18:00:35Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:36Z- AHRS_M2 msg: 1612980036.26 epoch sec; seqNo:769 2021-02-10T18:00:36Z- AHRS_M2 msg: 4.39 phi; -0.13 theta; -0.18 psi 2021-02-10T18:00:36Z- waiting for 1612980036.45, time is 1612980035.47 2021-02-10T18:00:36Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:36Z- handleDepth()-Depth_Keller msg: 39.11 epoch sec; seqNo:1612980036266; depth 0.00 2021-02-10T18:00:36Z- waiting for 1612980036.45, time is 1612980035.47 2021-02-10T18:00:36Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:36Z- handleDvl() - RDI_Pathfinder msg: 1612980036.29 epoch sec; seqNo:313 2021-02-10T18:00:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.99 , 46.31 , 40.99 , 52.73 2021-02-10T18:00:36Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.04 , 0.01 2021-02-10T18:00:36Z- waiting for 1612980036.45, time is 1612980036.29 2021-02-10T18:00:36Z- sync is 0.03, coherence is 2.00 2021-02-10T18:00:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980036.30 epoch sec; seqNo:773; 4061707.90 north; 594380.34 east 2021-02-10T18:00:36Z- waiting for 1612980036.45, time is 1612980036.29 2021-02-10T18:00:36Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:36Z- AHRS_M2 msg: 1612980036.66 epoch sec; seqNo:770 2021-02-10T18:00:36Z- AHRS_M2 msg: 4.39 phi; -0.13 theta; -0.18 psi 2021-02-10T18:00:36Z- waiting for 1612980036.45, time is 1612980036.29 2021-02-10T18:00:36Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:36Z- handleDepth()-Depth_Keller msg: 39.16 epoch sec; seqNo:1612980036673; depth 0.00 2021-02-10T18:00:36Z- waiting for 1612980036.45, time is 1612980036.29 2021-02-10T18:00:36Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980036.68 epoch sec; seqNo:774; 4061707.90 north; 594380.34 east 2021-02-10T18:00:36Z- waiting for 1612980036.45, time is 1612980036.29 2021-02-10T18:00:36Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:37Z- AHRS_M2 msg: 1612980037.08 epoch sec; seqNo:771 2021-02-10T18:00:37Z- AHRS_M2 msg: 4.39 phi; -0.13 theta; -0.18 psi 2021-02-10T18:00:37Z- waiting for 1612980036.45, time is 1612980036.29 2021-02-10T18:00:37Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:37Z- handleDepth()-Depth_Keller msg: 39.21 epoch sec; seqNo:1612980037082; depth 0.00 2021-02-10T18:00:37Z- waiting for 1612980036.45, time is 1612980036.29 2021-02-10T18:00:37Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980037.10 epoch sec; seqNo:775; 4061707.51 north; 594379.12 east 2021-02-10T18:00:37Z- waiting for 1612980036.45, time is 1612980036.29 2021-02-10T18:00:37Z- sync is 0.81, coherence is 2.00 2021-02-10T18:00:37Z- AHRS_M2 msg: 1612980037.47 epoch sec; seqNo:772 2021-02-10T18:00:37Z- AHRS_M2 msg: 4.39 phi; -0.13 theta; -0.18 psi 2021-02-10T18:00:37Z- waiting for 1612980036.45, time is 1612980036.29 2021-02-10T18:00:37Z- sync is 1.18, coherence is 2.00 2021-02-10T18:00:37Z- handleDepth()-Depth_Keller msg: 39.24 epoch sec; seqNo:1612980037486; depth 0.00 2021-02-10T18:00:37Z- waiting for 1612980036.45, time is 1612980036.29 2021-02-10T18:00:37Z- sync is 1.18, coherence is 2.00 2021-02-10T18:00:37Z- handleDvl() - RDI_Pathfinder msg: 1612980037.50 epoch sec; seqNo:314 2021-02-10T18:00:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.76 , 46.75 , 40.33 , 52.96 2021-02-10T18:00:37Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.04 , 0.02 2021-02-10T18:00:37Z- waiting for 1612980036.45, time is 1612980037.50 2021-02-10T18:00:37Z- sync is 0.03, coherence is 2.00 2021-02-10T18:00:37Z- LcmTrn::updateTrn() >>>> pose time 1612980037.47, meas time 1612980037.50 <<<< 2021-02-10T18:00:37Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980037.50 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:00:37Z- TerrainNav::motionUpdate() - currEstimate = (4061708, 594379.12, 39.24) 2021-02-10T18:00:37Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:00:37Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:00:37Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:00:37Z- TNavBF::mmse selected from filter -1 2021-02-10T18:00:37Z- variances([0], [2], and psi_berg) = 810.579864 833.129654 0.000000 2021-02-10T18:00:37Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:00:37Z- LcmTrn::cycle() - MLE : 4061674.01 594331.62 39.24 2021-02-10T18:00:37Z- LcmTrn::cycle() - MMSE : 4061707.51 594379.12 39.24 2021-02-10T18:00:37Z- LcmTrn::cycle() - COVAR: 810.58 833.13 36.08 0.00 2021-02-10T18:00:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980037.51 epoch sec; seqNo:776; 4061707.51 north; 594379.12 east 2021-02-10T18:00:37Z- waiting for 1612980040.50, time is 1612980037.50 2021-02-10T18:00:37Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:37Z- AHRS_M2 msg: 1612980037.88 epoch sec; seqNo:773 2021-02-10T18:00:37Z- AHRS_M2 msg: 4.39 phi; -0.13 theta; -0.18 psi 2021-02-10T18:00:37Z- waiting for 1612980040.50, time is 1612980037.50 2021-02-10T18:00:37Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:37Z- handleDepth()-Depth_Keller msg: 39.31 epoch sec; seqNo:1612980037880; depth 0.00 2021-02-10T18:00:37Z- waiting for 1612980040.50, time is 1612980037.50 2021-02-10T18:00:37Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980037.92 epoch sec; seqNo:777; 4061707.51 north; 594379.12 east 2021-02-10T18:00:37Z- waiting for 1612980040.50, time is 1612980037.50 2021-02-10T18:00:37Z- sync is 0.43, coherence is 2.00 2021-02-10T18:00:38Z- AHRS_M2 msg: 1612980038.28 epoch sec; seqNo:774 2021-02-10T18:00:38Z- AHRS_M2 msg: 4.39 phi; -0.13 theta; -0.17 psi 2021-02-10T18:00:38Z- waiting for 1612980040.50, time is 1612980037.50 2021-02-10T18:00:38Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:38Z- handleDepth()-Depth_Keller msg: 39.35 epoch sec; seqNo:1612980038287; depth 0.00 2021-02-10T18:00:38Z- waiting for 1612980040.50, time is 1612980037.50 2021-02-10T18:00:38Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:38Z- handleDvl() - RDI_Pathfinder msg: 1612980038.30 epoch sec; seqNo:315 2021-02-10T18:00:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.99 , 46.09 , 39.44 , 52.29 2021-02-10T18:00:38Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.02 , 0.04 2021-02-10T18:00:38Z- waiting for 1612980040.50, time is 1612980038.30 2021-02-10T18:00:38Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980038.31 epoch sec; seqNo:778; 4061707.13 north; 594379.12 east 2021-02-10T18:00:38Z- waiting for 1612980040.50, time is 1612980038.30 2021-02-10T18:00:38Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:38Z- AHRS_M2 msg: 1612980038.68 epoch sec; seqNo:775 2021-02-10T18:00:38Z- AHRS_M2 msg: 4.39 phi; -0.13 theta; -0.17 psi 2021-02-10T18:00:38Z- waiting for 1612980040.50, time is 1612980038.30 2021-02-10T18:00:38Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:38Z- handleDepth()-Depth_Keller msg: 39.40 epoch sec; seqNo:1612980038689; depth 0.00 2021-02-10T18:00:38Z- waiting for 1612980040.50, time is 1612980038.30 2021-02-10T18:00:38Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980038.70 epoch sec; seqNo:779; 4061707.12 north; 594377.90 east 2021-02-10T18:00:38Z- waiting for 1612980040.50, time is 1612980038.30 2021-02-10T18:00:38Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:39Z- AHRS_M2 msg: 1612980039.10 epoch sec; seqNo:776 2021-02-10T18:00:39Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.17 psi 2021-02-10T18:00:39Z- waiting for 1612980040.50, time is 1612980038.30 2021-02-10T18:00:39Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:39Z- handleDepth()-Depth_Keller msg: 39.45 epoch sec; seqNo:1612980039107; depth 0.00 2021-02-10T18:00:39Z- waiting for 1612980040.50, time is 1612980038.30 2021-02-10T18:00:39Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:39Z- handleDvl() - RDI_Pathfinder msg: 1612980039.14 epoch sec; seqNo:316 2021-02-10T18:00:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.95 , 46.22 , 38.86 , 52.36 2021-02-10T18:00:39Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.02 , 0.06 2021-02-10T18:00:39Z- waiting for 1612980040.50, time is 1612980039.14 2021-02-10T18:00:39Z- sync is 0.04, coherence is 2.00 2021-02-10T18:00:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980039.15 epoch sec; seqNo:780; 4061707.12 north; 594377.90 east 2021-02-10T18:00:39Z- waiting for 1612980040.50, time is 1612980039.14 2021-02-10T18:00:39Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:39Z- AHRS_M2 msg: 1612980039.49 epoch sec; seqNo:777 2021-02-10T18:00:39Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.17 psi 2021-02-10T18:00:39Z- waiting for 1612980040.50, time is 1612980039.14 2021-02-10T18:00:39Z- sync is 0.36, coherence is 2.00 2021-02-10T18:00:39Z- handleDepth()-Depth_Keller msg: 39.50 epoch sec; seqNo:1612980039501; depth 0.00 2021-02-10T18:00:39Z- waiting for 1612980040.50, time is 1612980039.14 2021-02-10T18:00:39Z- sync is 0.36, coherence is 2.00 2021-02-10T18:00:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980039.51 epoch sec; seqNo:781; 4061706.74 north; 594377.91 east 2021-02-10T18:00:39Z- waiting for 1612980040.50, time is 1612980039.14 2021-02-10T18:00:39Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:39Z- AHRS_M2 msg: 1612980039.90 epoch sec; seqNo:778 2021-02-10T18:00:39Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.16 psi 2021-02-10T18:00:39Z- waiting for 1612980040.50, time is 1612980039.14 2021-02-10T18:00:39Z- sync is 0.76, coherence is 2.00 2021-02-10T18:00:39Z- handleDepth()-Depth_Keller msg: 39.56 epoch sec; seqNo:1612980039901; depth 0.00 2021-02-10T18:00:39Z- waiting for 1612980040.50, time is 1612980039.14 2021-02-10T18:00:39Z- sync is 0.76, coherence is 2.00 2021-02-10T18:00:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980039.91 epoch sec; seqNo:782; 4061706.72 north; 594376.69 east 2021-02-10T18:00:39Z- waiting for 1612980040.50, time is 1612980039.14 2021-02-10T18:00:39Z- sync is 0.77, coherence is 2.00 2021-02-10T18:00:40Z- AHRS_M2 msg: 1612980040.30 epoch sec; seqNo:779 2021-02-10T18:00:40Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.16 psi 2021-02-10T18:00:40Z- waiting for 1612980040.50, time is 1612980039.14 2021-02-10T18:00:40Z- sync is 1.16, coherence is 2.00 2021-02-10T18:00:40Z- handleDepth()-Depth_Keller msg: 39.62 epoch sec; seqNo:1612980040305; depth 0.00 2021-02-10T18:00:40Z- waiting for 1612980040.50, time is 1612980039.14 2021-02-10T18:00:40Z- sync is 1.16, coherence is 2.00 2021-02-10T18:00:40Z- handleDvl() - RDI_Pathfinder msg: 1612980040.32 epoch sec; seqNo:317 2021-02-10T18:00:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.95 , 45.61 , 38.45 , 52.36 2021-02-10T18:00:40Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.01 , 0.06 2021-02-10T18:00:40Z- waiting for 1612980040.50, time is 1612980040.32 2021-02-10T18:00:40Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980040.33 epoch sec; seqNo:783; 4061706.72 north; 594376.69 east 2021-02-10T18:00:40Z- waiting for 1612980040.50, time is 1612980040.32 2021-02-10T18:00:40Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:40Z- AHRS_M2 msg: 1612980040.70 epoch sec; seqNo:780 2021-02-10T18:00:40Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.16 psi 2021-02-10T18:00:40Z- waiting for 1612980040.50, time is 1612980040.32 2021-02-10T18:00:40Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:40Z- handleDepth()-Depth_Keller msg: 39.67 epoch sec; seqNo:1612980040708; depth 0.00 2021-02-10T18:00:40Z- waiting for 1612980040.50, time is 1612980040.32 2021-02-10T18:00:40Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980040.72 epoch sec; seqNo:784; 4061706.34 north; 594376.69 east 2021-02-10T18:00:40Z- waiting for 1612980040.50, time is 1612980040.32 2021-02-10T18:00:40Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:41Z- AHRS_M2 msg: 1612980041.13 epoch sec; seqNo:781 2021-02-10T18:00:41Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.16 psi 2021-02-10T18:00:41Z- waiting for 1612980040.50, time is 1612980040.32 2021-02-10T18:00:41Z- sync is 0.81, coherence is 2.00 2021-02-10T18:00:41Z- handleDepth()-Depth_Keller msg: 39.72 epoch sec; seqNo:1612980041132; depth 0.00 2021-02-10T18:00:41Z- waiting for 1612980040.50, time is 1612980040.32 2021-02-10T18:00:41Z- sync is 0.81, coherence is 2.00 2021-02-10T18:00:41Z- handleDvl() - RDI_Pathfinder msg: 1612980041.14 epoch sec; seqNo:318 2021-02-10T18:00:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.34 , 45.81 , 37.63 , 51.95 2021-02-10T18:00:41Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.00 , 0.07 2021-02-10T18:00:41Z- waiting for 1612980040.50, time is 1612980041.14 2021-02-10T18:00:41Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:41Z- LcmTrn::updateTrn() >>>> pose time 1612980041.13, meas time 1612980041.14 <<<< 2021-02-10T18:00:41Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980041.14 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:00:41Z- TerrainNav::motionUpdate() - currEstimate = (4061706, 594376.69, 39.72) 2021-02-10T18:00:41Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:00:41Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:00:41Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:00:41Z- TNavBF::mmse selected from filter -1 2021-02-10T18:00:41Z- variances([0], [2], and psi_berg) = 810.340287 833.128943 0.000000 2021-02-10T18:00:41Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:00:41Z- LcmTrn::cycle() - MLE : 4061673.84 594328.19 39.72 2021-02-10T18:00:41Z- LcmTrn::cycle() - MMSE : 4061706.34 594376.69 39.72 2021-02-10T18:00:41Z- LcmTrn::cycle() - COVAR: 810.34 833.13 36.22 0.00 2021-02-10T18:00:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980041.16 epoch sec; seqNo:785; 4061706.33 north; 594375.47 east 2021-02-10T18:00:41Z- waiting for 1612980044.14, time is 1612980041.14 2021-02-10T18:00:41Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:41Z- AHRS_M2 msg: 1612980041.51 epoch sec; seqNo:782 2021-02-10T18:00:41Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.16 psi 2021-02-10T18:00:41Z- waiting for 1612980044.14, time is 1612980041.14 2021-02-10T18:00:41Z- sync is 0.37, coherence is 2.00 2021-02-10T18:00:41Z- handleDepth()-Depth_Keller msg: 39.78 epoch sec; seqNo:1612980041518; depth 0.00 2021-02-10T18:00:41Z- waiting for 1612980044.14, time is 1612980041.14 2021-02-10T18:00:41Z- sync is 0.37, coherence is 2.00 2021-02-10T18:00:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980041.53 epoch sec; seqNo:786; 4061706.33 north; 594375.47 east 2021-02-10T18:00:41Z- waiting for 1612980044.14, time is 1612980041.14 2021-02-10T18:00:41Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:41Z- AHRS_M2 msg: 1612980041.92 epoch sec; seqNo:783 2021-02-10T18:00:41Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.16 psi 2021-02-10T18:00:41Z- waiting for 1612980044.14, time is 1612980041.14 2021-02-10T18:00:41Z- sync is 0.77, coherence is 2.00 2021-02-10T18:00:41Z- handleDepth()-Depth_Keller msg: 39.82 epoch sec; seqNo:1612980041921; depth 0.00 2021-02-10T18:00:41Z- waiting for 1612980044.14, time is 1612980041.14 2021-02-10T18:00:41Z- sync is 0.77, coherence is 2.00 2021-02-10T18:00:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980041.94 epoch sec; seqNo:787; 4061705.95 north; 594375.48 east 2021-02-10T18:00:41Z- waiting for 1612980044.14, time is 1612980041.14 2021-02-10T18:00:41Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:42Z- AHRS_M2 msg: 1612980042.32 epoch sec; seqNo:784 2021-02-10T18:00:42Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.16 psi 2021-02-10T18:00:42Z- waiting for 1612980044.14, time is 1612980041.14 2021-02-10T18:00:42Z- sync is 1.18, coherence is 2.00 2021-02-10T18:00:42Z- handleDepth()-Depth_Keller msg: 39.89 epoch sec; seqNo:1612980042329; depth 0.00 2021-02-10T18:00:42Z- waiting for 1612980044.14, time is 1612980041.14 2021-02-10T18:00:42Z- sync is 1.18, coherence is 2.00 2021-02-10T18:00:42Z- handleDvl() - RDI_Pathfinder msg: 1612980042.34 epoch sec; seqNo:319 2021-02-10T18:00:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.72 , 44.99 , 37.42 , 51.94 2021-02-10T18:00:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.01 , 0.06 2021-02-10T18:00:42Z- waiting for 1612980044.14, time is 1612980042.34 2021-02-10T18:00:42Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980042.36 epoch sec; seqNo:788; 4061705.94 north; 594374.26 east 2021-02-10T18:00:42Z- waiting for 1612980044.14, time is 1612980042.34 2021-02-10T18:00:42Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:42Z- AHRS_M2 msg: 1612980042.72 epoch sec; seqNo:785 2021-02-10T18:00:42Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.16 psi 2021-02-10T18:00:42Z- waiting for 1612980044.14, time is 1612980042.34 2021-02-10T18:00:42Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:42Z- handleDepth()-Depth_Keller msg: 39.93 epoch sec; seqNo:1612980042729; depth 0.00 2021-02-10T18:00:42Z- waiting for 1612980044.14, time is 1612980042.34 2021-02-10T18:00:42Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980042.74 epoch sec; seqNo:789; 4061705.94 north; 594374.26 east 2021-02-10T18:00:42Z- waiting for 1612980044.14, time is 1612980042.34 2021-02-10T18:00:42Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:43Z- AHRS_M2 msg: 1612980043.13 epoch sec; seqNo:786 2021-02-10T18:00:43Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.17 psi 2021-02-10T18:00:43Z- waiting for 1612980044.14, time is 1612980042.34 2021-02-10T18:00:43Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:43Z- handleDepth()-Depth_Keller msg: 39.97 epoch sec; seqNo:1612980043139; depth 0.00 2021-02-10T18:00:43Z- waiting for 1612980044.14, time is 1612980042.34 2021-02-10T18:00:43Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:43Z- handleDvl() - RDI_Pathfinder msg: 1612980043.15 epoch sec; seqNo:320 2021-02-10T18:00:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.51 , 45.61 , 37.02 , 51.74 2021-02-10T18:00:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.01 , 0.05 2021-02-10T18:00:43Z- waiting for 1612980044.14, time is 1612980043.15 2021-02-10T18:00:43Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980043.16 epoch sec; seqNo:790; 4061705.56 north; 594374.26 east 2021-02-10T18:00:43Z- waiting for 1612980044.14, time is 1612980043.15 2021-02-10T18:00:43Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:43Z- AHRS_M2 msg: 1612980043.53 epoch sec; seqNo:787 2021-02-10T18:00:43Z- AHRS_M2 msg: 4.40 phi; -0.14 theta; -0.17 psi 2021-02-10T18:00:43Z- waiting for 1612980044.14, time is 1612980043.15 2021-02-10T18:00:43Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:43Z- handleDepth()-Depth_Keller msg: 40.01 epoch sec; seqNo:1612980043541; depth 0.00 2021-02-10T18:00:43Z- waiting for 1612980044.14, time is 1612980043.15 2021-02-10T18:00:43Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980043.56 epoch sec; seqNo:791; 4061705.55 north; 594373.04 east 2021-02-10T18:00:43Z- waiting for 1612980044.14, time is 1612980043.15 2021-02-10T18:00:43Z- sync is 0.41, coherence is 2.00 2021-02-10T18:00:43Z- AHRS_M2 msg: 1612980043.93 epoch sec; seqNo:788 2021-02-10T18:00:43Z- AHRS_M2 msg: 4.41 phi; -0.14 theta; -0.17 psi 2021-02-10T18:00:43Z- waiting for 1612980044.14, time is 1612980043.15 2021-02-10T18:00:43Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:43Z- handleDepth()-Depth_Keller msg: 40.08 epoch sec; seqNo:1612980043945; depth 0.00 2021-02-10T18:00:43Z- waiting for 1612980044.14, time is 1612980043.15 2021-02-10T18:00:43Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980043.95 epoch sec; seqNo:792; 4061705.55 north; 594373.04 east 2021-02-10T18:00:43Z- waiting for 1612980044.14, time is 1612980043.15 2021-02-10T18:00:43Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:44Z- AHRS_M2 msg: 1612980044.34 epoch sec; seqNo:789 2021-02-10T18:00:44Z- AHRS_M2 msg: 4.41 phi; -0.14 theta; -0.17 psi 2021-02-10T18:00:44Z- waiting for 1612980044.14, time is 1612980043.15 2021-02-10T18:00:44Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:44Z- handleDepth()-Depth_Keller msg: 40.11 epoch sec; seqNo:1612980044353; depth 0.00 2021-02-10T18:00:44Z- waiting for 1612980044.14, time is 1612980043.15 2021-02-10T18:00:44Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:44Z- handleDvl() - RDI_Pathfinder msg: 1612980044.37 epoch sec; seqNo:321 2021-02-10T18:00:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.11 , 45.81 , 37.02 , 52.35 2021-02-10T18:00:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.01 , 0.02 2021-02-10T18:00:44Z- waiting for 1612980044.14, time is 1612980044.37 2021-02-10T18:00:44Z- sync is 0.03, coherence is 2.00 2021-02-10T18:00:44Z- LcmTrn::updateTrn() >>>> pose time 1612980044.34, meas time 1612980044.37 <<<< 2021-02-10T18:00:44Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980044.37 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:00:44Z- TerrainNav::motionUpdate() - currEstimate = (4061706, 594373.04, 40.11) 2021-02-10T18:00:44Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:00:44Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:00:44Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:00:44Z- TNavBF::mmse selected from filter -1 2021-02-10T18:00:44Z- variances([0], [2], and psi_berg) = 810.059749 833.128118 0.000000 2021-02-10T18:00:44Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:00:44Z- LcmTrn::cycle() - MLE : 4061673.05 594324.54 40.11 2021-02-10T18:00:44Z- LcmTrn::cycle() - MMSE : 4061705.55 594373.04 40.11 2021-02-10T18:00:44Z- LcmTrn::cycle() - COVAR: 810.06 833.13 36.41 0.00 2021-02-10T18:00:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980044.38 epoch sec; seqNo:793; 4061705.17 north; 594373.04 east 2021-02-10T18:00:44Z- waiting for 1612980047.37, time is 1612980044.37 2021-02-10T18:00:44Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:44Z- AHRS_M2 msg: 1612980044.74 epoch sec; seqNo:790 2021-02-10T18:00:44Z- AHRS_M2 msg: 4.41 phi; -0.14 theta; -0.17 psi 2021-02-10T18:00:44Z- waiting for 1612980047.37, time is 1612980044.37 2021-02-10T18:00:44Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:44Z- handleDepth()-Depth_Keller msg: 40.18 epoch sec; seqNo:1612980044748; depth 0.00 2021-02-10T18:00:44Z- waiting for 1612980047.37, time is 1612980044.37 2021-02-10T18:00:44Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980044.77 epoch sec; seqNo:794; 4061705.17 north; 594373.04 east 2021-02-10T18:00:44Z- waiting for 1612980047.37, time is 1612980044.37 2021-02-10T18:00:44Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:45Z- AHRS_M2 msg: 1612980045.15 epoch sec; seqNo:791 2021-02-10T18:00:45Z- AHRS_M2 msg: 4.41 phi; -0.14 theta; -0.17 psi 2021-02-10T18:00:45Z- waiting for 1612980047.37, time is 1612980044.37 2021-02-10T18:00:45Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:45Z- handleDepth()-Depth_Keller msg: 40.20 epoch sec; seqNo:1612980045157; depth 0.00 2021-02-10T18:00:45Z- waiting for 1612980047.37, time is 1612980044.37 2021-02-10T18:00:45Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:45Z- handleDvl() - RDI_Pathfinder msg: 1612980045.17 epoch sec; seqNo:322 2021-02-10T18:00:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.11 , 45.40 , 36.81 , 52.15 2021-02-10T18:00:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.02 , 0.00 2021-02-10T18:00:45Z- waiting for 1612980047.37, time is 1612980045.17 2021-02-10T18:00:45Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980045.19 epoch sec; seqNo:795; 4061705.15 north; 594371.82 east 2021-02-10T18:00:45Z- waiting for 1612980047.37, time is 1612980045.17 2021-02-10T18:00:45Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:45Z- AHRS_M2 msg: 1612980045.55 epoch sec; seqNo:792 2021-02-10T18:00:45Z- AHRS_M2 msg: 4.42 phi; -0.14 theta; -0.17 psi 2021-02-10T18:00:45Z- waiting for 1612980047.37, time is 1612980045.17 2021-02-10T18:00:45Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:45Z- handleDepth()-Depth_Keller msg: 40.26 epoch sec; seqNo:1612980045556; depth 0.00 2021-02-10T18:00:45Z- waiting for 1612980047.37, time is 1612980045.17 2021-02-10T18:00:45Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980045.57 epoch sec; seqNo:796; 4061705.15 north; 594371.82 east 2021-02-10T18:00:45Z- waiting for 1612980047.37, time is 1612980045.17 2021-02-10T18:00:45Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:45Z- AHRS_M2 msg: 1612980045.96 epoch sec; seqNo:793 2021-02-10T18:00:45Z- AHRS_M2 msg: 4.42 phi; -0.14 theta; -0.17 psi 2021-02-10T18:00:45Z- waiting for 1612980047.37, time is 1612980045.17 2021-02-10T18:00:45Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:45Z- handleDepth()-Depth_Keller msg: 40.31 epoch sec; seqNo:1612980045962; depth 0.00 2021-02-10T18:00:45Z- waiting for 1612980047.37, time is 1612980045.17 2021-02-10T18:00:45Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980045.97 epoch sec; seqNo:797; 4061704.78 north; 594371.83 east 2021-02-10T18:00:45Z- waiting for 1612980047.37, time is 1612980045.17 2021-02-10T18:00:45Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:46Z- AHRS_M2 msg: 1612980046.36 epoch sec; seqNo:794 2021-02-10T18:00:46Z- AHRS_M2 msg: 4.42 phi; -0.14 theta; -0.17 psi 2021-02-10T18:00:46Z- waiting for 1612980047.37, time is 1612980045.17 2021-02-10T18:00:46Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:46Z- handleDepth()-Depth_Keller msg: 40.35 epoch sec; seqNo:1612980046364; depth 0.00 2021-02-10T18:00:46Z- waiting for 1612980047.37, time is 1612980045.17 2021-02-10T18:00:46Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:46Z- handleDvl() - RDI_Pathfinder msg: 1612980046.39 epoch sec; seqNo:323 2021-02-10T18:00:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.90 , 45.61 , 36.40 , 51.74 2021-02-10T18:00:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.02 , -0.01 2021-02-10T18:00:46Z- waiting for 1612980047.37, time is 1612980046.39 2021-02-10T18:00:46Z- sync is 0.03, coherence is 2.00 2021-02-10T18:00:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980046.40 epoch sec; seqNo:798; 4061704.76 north; 594370.61 east 2021-02-10T18:00:46Z- waiting for 1612980047.37, time is 1612980046.39 2021-02-10T18:00:46Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:46Z- AHRS_M2 msg: 1612980046.76 epoch sec; seqNo:795 2021-02-10T18:00:46Z- AHRS_M2 msg: 4.43 phi; -0.14 theta; -0.17 psi 2021-02-10T18:00:46Z- waiting for 1612980047.37, time is 1612980046.39 2021-02-10T18:00:46Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:46Z- handleDepth()-Depth_Keller msg: 40.41 epoch sec; seqNo:1612980046769; depth 0.00 2021-02-10T18:00:46Z- waiting for 1612980047.37, time is 1612980046.39 2021-02-10T18:00:46Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980046.78 epoch sec; seqNo:799; 4061704.76 north; 594370.61 east 2021-02-10T18:00:46Z- waiting for 1612980047.37, time is 1612980046.39 2021-02-10T18:00:46Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:47Z- AHRS_M2 msg: 1612980047.17 epoch sec; seqNo:796 2021-02-10T18:00:47Z- AHRS_M2 msg: 4.43 phi; -0.15 theta; -0.16 psi 2021-02-10T18:00:47Z- waiting for 1612980047.37, time is 1612980046.39 2021-02-10T18:00:47Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:47Z- handleDepth()-Depth_Keller msg: 40.45 epoch sec; seqNo:1612980047182; depth 0.00 2021-02-10T18:00:47Z- waiting for 1612980047.37, time is 1612980046.39 2021-02-10T18:00:47Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:47Z- handleDvl() - RDI_Pathfinder msg: 1612980047.20 epoch sec; seqNo:324 2021-02-10T18:00:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.49 , 45.40 , 37.02 , 51.74 2021-02-10T18:00:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.02 , -0.02 2021-02-10T18:00:47Z- waiting for 1612980047.37, time is 1612980047.20 2021-02-10T18:00:47Z- sync is 0.03, coherence is 2.00 2021-02-10T18:00:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980047.21 epoch sec; seqNo:800; 4061704.38 north; 594370.61 east 2021-02-10T18:00:47Z- waiting for 1612980047.37, time is 1612980047.20 2021-02-10T18:00:47Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:47Z- AHRS_M2 msg: 1612980047.57 epoch sec; seqNo:797 2021-02-10T18:00:47Z- AHRS_M2 msg: 4.43 phi; -0.15 theta; -0.16 psi 2021-02-10T18:00:47Z- waiting for 1612980047.37, time is 1612980047.20 2021-02-10T18:00:47Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:47Z- handleDepth()-Depth_Keller msg: 40.50 epoch sec; seqNo:1612980047586; depth 0.00 2021-02-10T18:00:47Z- waiting for 1612980047.37, time is 1612980047.20 2021-02-10T18:00:47Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980047.60 epoch sec; seqNo:801; 4061704.37 north; 594369.39 east 2021-02-10T18:00:47Z- waiting for 1612980047.37, time is 1612980047.20 2021-02-10T18:00:47Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:47Z- AHRS_M2 msg: 1612980047.98 epoch sec; seqNo:798 2021-02-10T18:00:47Z- AHRS_M2 msg: 4.44 phi; -0.15 theta; -0.16 psi 2021-02-10T18:00:47Z- waiting for 1612980047.37, time is 1612980047.20 2021-02-10T18:00:47Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:47Z- handleDepth()-Depth_Keller msg: 40.54 epoch sec; seqNo:1612980047986; depth 0.00 2021-02-10T18:00:47Z- waiting for 1612980047.37, time is 1612980047.20 2021-02-10T18:00:47Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980047.99 epoch sec; seqNo:802; 4061704.37 north; 594369.39 east 2021-02-10T18:00:47Z- waiting for 1612980047.37, time is 1612980047.20 2021-02-10T18:00:47Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:48Z- AHRS_M2 msg: 1612980048.38 epoch sec; seqNo:799 2021-02-10T18:00:48Z- AHRS_M2 msg: 4.44 phi; -0.15 theta; -0.16 psi 2021-02-10T18:00:48Z- waiting for 1612980047.37, time is 1612980047.20 2021-02-10T18:00:48Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:48Z- handleDepth()-Depth_Keller msg: 40.58 epoch sec; seqNo:1612980048393; depth 0.00 2021-02-10T18:00:48Z- waiting for 1612980047.37, time is 1612980047.20 2021-02-10T18:00:48Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:48Z- handleDvl() - RDI_Pathfinder msg: 1612980048.40 epoch sec; seqNo:325 2021-02-10T18:00:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.29 , 45.20 , 36.81 , 51.94 2021-02-10T18:00:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.01 , -0.01 2021-02-10T18:00:48Z- waiting for 1612980047.37, time is 1612980048.40 2021-02-10T18:00:48Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:48Z- LcmTrn::updateTrn() >>>> pose time 1612980048.38, meas time 1612980048.40 <<<< 2021-02-10T18:00:48Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980048.40 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:00:48Z- TerrainNav::motionUpdate() - currEstimate = (4061704, 594369.39, 40.58) 2021-02-10T18:00:48Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:00:48Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:00:48Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:00:48Z- TNavBF::mmse selected from filter -1 2021-02-10T18:00:48Z- variances([0], [2], and psi_berg) = 809.777772 833.127297 0.000000 2021-02-10T18:00:48Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:00:48Z- LcmTrn::cycle() - MLE : 4061671.87 594320.89 40.58 2021-02-10T18:00:48Z- LcmTrn::cycle() - MMSE : 4061704.37 594369.39 40.58 2021-02-10T18:00:48Z- LcmTrn::cycle() - COVAR: 809.78 833.13 36.60 0.00 2021-02-10T18:00:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980048.41 epoch sec; seqNo:803; 4061703.99 north; 594369.40 east 2021-02-10T18:00:48Z- waiting for 1612980051.40, time is 1612980048.40 2021-02-10T18:00:48Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:48Z- AHRS_M2 msg: 1612980048.79 epoch sec; seqNo:800 2021-02-10T18:00:48Z- AHRS_M2 msg: 4.44 phi; -0.15 theta; -0.16 psi 2021-02-10T18:00:48Z- waiting for 1612980051.40, time is 1612980048.40 2021-02-10T18:00:48Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:48Z- handleDepth()-Depth_Keller msg: 40.65 epoch sec; seqNo:1612980048793; depth 0.00 2021-02-10T18:00:48Z- waiting for 1612980051.40, time is 1612980048.40 2021-02-10T18:00:48Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980048.81 epoch sec; seqNo:804; 4061703.99 north; 594369.40 east 2021-02-10T18:00:48Z- waiting for 1612980051.40, time is 1612980048.40 2021-02-10T18:00:48Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:49Z- AHRS_M2 msg: 1612980049.19 epoch sec; seqNo:801 2021-02-10T18:00:49Z- AHRS_M2 msg: 4.44 phi; -0.15 theta; -0.16 psi 2021-02-10T18:00:49Z- waiting for 1612980051.40, time is 1612980048.40 2021-02-10T18:00:49Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:49Z- handleDepth()-Depth_Keller msg: 40.69 epoch sec; seqNo:1612980049192; depth 0.00 2021-02-10T18:00:49Z- waiting for 1612980051.40, time is 1612980048.40 2021-02-10T18:00:49Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:49Z- handleDvl() - RDI_Pathfinder msg: 1612980049.21 epoch sec; seqNo:326 2021-02-10T18:00:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.88 , 44.99 , 36.61 , 51.33 2021-02-10T18:00:49Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.02 , -0.00 2021-02-10T18:00:49Z- waiting for 1612980051.40, time is 1612980049.21 2021-02-10T18:00:49Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980049.22 epoch sec; seqNo:805; 4061703.98 north; 594368.18 east 2021-02-10T18:00:49Z- waiting for 1612980051.40, time is 1612980049.21 2021-02-10T18:00:49Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:49Z- AHRS_M2 msg: 1612980049.59 epoch sec; seqNo:802 2021-02-10T18:00:49Z- AHRS_M2 msg: 4.44 phi; -0.15 theta; -0.16 psi 2021-02-10T18:00:49Z- waiting for 1612980051.40, time is 1612980049.21 2021-02-10T18:00:49Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:49Z- handleDepth()-Depth_Keller msg: 40.74 epoch sec; seqNo:1612980049596; depth 0.00 2021-02-10T18:00:49Z- waiting for 1612980051.40, time is 1612980049.21 2021-02-10T18:00:49Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980049.61 epoch sec; seqNo:806; 4061703.98 north; 594368.18 east 2021-02-10T18:00:49Z- waiting for 1612980051.40, time is 1612980049.21 2021-02-10T18:00:49Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:50Z- AHRS_M2 msg: 1612980050.00 epoch sec; seqNo:803 2021-02-10T18:00:50Z- AHRS_M2 msg: 4.44 phi; -0.15 theta; -0.16 psi 2021-02-10T18:00:50Z- waiting for 1612980051.40, time is 1612980049.21 2021-02-10T18:00:50Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:50Z- handleDepth()-Depth_Keller msg: 40.77 epoch sec; seqNo:1612980050000; depth 0.00 2021-02-10T18:00:50Z- waiting for 1612980051.40, time is 1612980049.21 2021-02-10T18:00:50Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980050.01 epoch sec; seqNo:807; 4061703.60 north; 594368.18 east 2021-02-10T18:00:50Z- waiting for 1612980051.40, time is 1612980049.21 2021-02-10T18:00:50Z- sync is 0.80, coherence is 2.00 2021-02-10T18:00:50Z- AHRS_M2 msg: 1612980050.40 epoch sec; seqNo:804 2021-02-10T18:00:50Z- AHRS_M2 msg: 4.44 phi; -0.15 theta; -0.16 psi 2021-02-10T18:00:50Z- waiting for 1612980051.40, time is 1612980049.21 2021-02-10T18:00:50Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:50Z- handleDepth()-Depth_Keller msg: 40.83 epoch sec; seqNo:1612980050406; depth 0.00 2021-02-10T18:00:50Z- waiting for 1612980051.40, time is 1612980049.21 2021-02-10T18:00:50Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:50Z- handleDvl() - RDI_Pathfinder msg: 1612980050.42 epoch sec; seqNo:327 2021-02-10T18:00:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.47 , 45.20 , 35.99 , 51.13 2021-02-10T18:00:50Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.00 , 0.00 2021-02-10T18:00:50Z- waiting for 1612980051.40, time is 1612980050.42 2021-02-10T18:00:50Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980050.43 epoch sec; seqNo:808; 4061703.59 north; 594366.96 east 2021-02-10T18:00:50Z- waiting for 1612980051.40, time is 1612980050.42 2021-02-10T18:00:50Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:50Z- AHRS_M2 msg: 1612980050.81 epoch sec; seqNo:805 2021-02-10T18:00:50Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.16 psi 2021-02-10T18:00:50Z- waiting for 1612980051.40, time is 1612980050.42 2021-02-10T18:00:50Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:50Z- handleDepth()-Depth_Keller msg: 40.88 epoch sec; seqNo:1612980050810; depth 0.00 2021-02-10T18:00:50Z- waiting for 1612980051.40, time is 1612980050.42 2021-02-10T18:00:50Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980050.83 epoch sec; seqNo:809; 4061703.59 north; 594366.96 east 2021-02-10T18:00:50Z- waiting for 1612980051.40, time is 1612980050.42 2021-02-10T18:00:50Z- sync is 0.41, coherence is 2.00 2021-02-10T18:00:51Z- AHRS_M2 msg: 1612980051.21 epoch sec; seqNo:806 2021-02-10T18:00:51Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.17 psi 2021-02-10T18:00:51Z- waiting for 1612980051.40, time is 1612980050.42 2021-02-10T18:00:51Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:51Z- handleDepth()-Depth_Keller msg: 40.93 epoch sec; seqNo:1612980051217; depth 0.00 2021-02-10T18:00:51Z- waiting for 1612980051.40, time is 1612980050.42 2021-02-10T18:00:51Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:51Z- handleDvl() - RDI_Pathfinder msg: 1612980051.24 epoch sec; seqNo:328 2021-02-10T18:00:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.65 , 44.99 , 35.79 , 51.33 2021-02-10T18:00:51Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.00 , 0.01 2021-02-10T18:00:51Z- waiting for 1612980051.40, time is 1612980051.24 2021-02-10T18:00:51Z- sync is 0.04, coherence is 2.00 2021-02-10T18:00:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980051.25 epoch sec; seqNo:810; 4061703.21 north; 594366.96 east 2021-02-10T18:00:51Z- waiting for 1612980051.40, time is 1612980051.24 2021-02-10T18:00:51Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:51Z- AHRS_M2 msg: 1612980051.61 epoch sec; seqNo:807 2021-02-10T18:00:51Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.17 psi 2021-02-10T18:00:51Z- waiting for 1612980051.40, time is 1612980051.24 2021-02-10T18:00:51Z- sync is 0.37, coherence is 2.00 2021-02-10T18:00:51Z- handleDepth()-Depth_Keller msg: 41.00 epoch sec; seqNo:1612980051617; depth 0.00 2021-02-10T18:00:51Z- waiting for 1612980051.40, time is 1612980051.24 2021-02-10T18:00:51Z- sync is 0.37, coherence is 2.00 2021-02-10T18:00:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980051.63 epoch sec; seqNo:811; 4061703.19 north; 594365.74 east 2021-02-10T18:00:51Z- waiting for 1612980051.40, time is 1612980051.24 2021-02-10T18:00:51Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:52Z- AHRS_M2 msg: 1612980052.02 epoch sec; seqNo:808 2021-02-10T18:00:52Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.17 psi 2021-02-10T18:00:52Z- waiting for 1612980051.40, time is 1612980051.24 2021-02-10T18:00:52Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:52Z- handleDepth()-Depth_Keller msg: 41.04 epoch sec; seqNo:1612980052065; depth 0.00 2021-02-10T18:00:52Z- waiting for 1612980051.40, time is 1612980051.24 2021-02-10T18:00:52Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980052.14 epoch sec; seqNo:812; 4061703.19 north; 594365.74 east 2021-02-10T18:00:52Z- waiting for 1612980051.40, time is 1612980051.24 2021-02-10T18:00:52Z- sync is 0.89, coherence is 2.00 2021-02-10T18:00:52Z- AHRS_M2 msg: 1612980052.42 epoch sec; seqNo:809 2021-02-10T18:00:52Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.17 psi 2021-02-10T18:00:52Z- waiting for 1612980051.40, time is 1612980051.24 2021-02-10T18:00:52Z- sync is 1.18, coherence is 2.00 2021-02-10T18:00:52Z- handleDepth()-Depth_Keller msg: 41.08 epoch sec; seqNo:1612980052429; depth 0.00 2021-02-10T18:00:52Z- waiting for 1612980051.40, time is 1612980051.24 2021-02-10T18:00:52Z- sync is 1.18, coherence is 2.00 2021-02-10T18:00:52Z- handleDvl() - RDI_Pathfinder msg: 1612980052.44 epoch sec; seqNo:329 2021-02-10T18:00:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.04 , 44.99 , 35.79 , 50.92 2021-02-10T18:00:52Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.00 , 0.02 2021-02-10T18:00:52Z- waiting for 1612980051.40, time is 1612980052.44 2021-02-10T18:00:52Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:52Z- LcmTrn::updateTrn() >>>> pose time 1612980052.42, meas time 1612980052.44 <<<< 2021-02-10T18:00:52Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980052.44 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:00:52Z- TerrainNav::motionUpdate() - currEstimate = (4061703, 594365.74, 41.08) 2021-02-10T18:00:52Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:00:52Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:00:52Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:00:52Z- TNavBF::mmse selected from filter -1 2021-02-10T18:00:52Z- variances([0], [2], and psi_berg) = 809.497876 833.126489 0.000000 2021-02-10T18:00:52Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:00:52Z- LcmTrn::cycle() - MLE : 4061670.69 594317.24 41.08 2021-02-10T18:00:52Z- LcmTrn::cycle() - MMSE : 4061703.19 594365.74 41.08 2021-02-10T18:00:52Z- LcmTrn::cycle() - COVAR: 809.50 833.13 36.80 0.00 2021-02-10T18:00:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980052.46 epoch sec; seqNo:813; 4061703.19 north; 594365.74 east 2021-02-10T18:00:52Z- waiting for 1612980055.44, time is 1612980052.44 2021-02-10T18:00:52Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:52Z- AHRS_M2 msg: 1612980052.82 epoch sec; seqNo:810 2021-02-10T18:00:52Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.17 psi 2021-02-10T18:00:52Z- waiting for 1612980055.44, time is 1612980052.44 2021-02-10T18:00:52Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:52Z- handleDepth()-Depth_Keller msg: 41.16 epoch sec; seqNo:1612980052828; depth 0.00 2021-02-10T18:00:52Z- waiting for 1612980055.44, time is 1612980052.44 2021-02-10T18:00:52Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980052.84 epoch sec; seqNo:814; 4061702.80 north; 594364.53 east 2021-02-10T18:00:52Z- waiting for 1612980055.44, time is 1612980052.44 2021-02-10T18:00:52Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:53Z- AHRS_M2 msg: 1612980053.23 epoch sec; seqNo:811 2021-02-10T18:00:53Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.17 psi 2021-02-10T18:00:53Z- waiting for 1612980055.44, time is 1612980052.44 2021-02-10T18:00:53Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:53Z- handleDepth()-Depth_Keller msg: 41.19 epoch sec; seqNo:1612980053253; depth 0.00 2021-02-10T18:00:53Z- waiting for 1612980055.44, time is 1612980052.44 2021-02-10T18:00:53Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:53Z- handleDvl() - RDI_Pathfinder msg: 1612980053.27 epoch sec; seqNo:330 2021-02-10T18:00:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.63 , 44.99 , 35.99 , 51.13 2021-02-10T18:00:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.01 , 0.03 2021-02-10T18:00:53Z- waiting for 1612980055.44, time is 1612980053.27 2021-02-10T18:00:53Z- sync is 0.04, coherence is 2.00 2021-02-10T18:00:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980053.28 epoch sec; seqNo:815; 4061702.80 north; 594364.53 east 2021-02-10T18:00:53Z- waiting for 1612980055.44, time is 1612980053.27 2021-02-10T18:00:53Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:53Z- AHRS_M2 msg: 1612980053.63 epoch sec; seqNo:812 2021-02-10T18:00:53Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.17 psi 2021-02-10T18:00:53Z- waiting for 1612980055.44, time is 1612980053.27 2021-02-10T18:00:53Z- sync is 0.37, coherence is 2.00 2021-02-10T18:00:53Z- handleDepth()-Depth_Keller msg: 41.27 epoch sec; seqNo:1612980053641; depth 0.00 2021-02-10T18:00:53Z- waiting for 1612980055.44, time is 1612980053.27 2021-02-10T18:00:53Z- sync is 0.37, coherence is 2.00 2021-02-10T18:00:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980053.65 epoch sec; seqNo:816; 4061702.80 north; 594364.53 east 2021-02-10T18:00:53Z- waiting for 1612980055.44, time is 1612980053.27 2021-02-10T18:00:53Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:54Z- AHRS_M2 msg: 1612980054.04 epoch sec; seqNo:813 2021-02-10T18:00:54Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.17 psi 2021-02-10T18:00:54Z- waiting for 1612980055.44, time is 1612980053.27 2021-02-10T18:00:54Z- sync is 0.77, coherence is 2.00 2021-02-10T18:00:54Z- handleDepth()-Depth_Keller msg: 41.30 epoch sec; seqNo:1612980054040; depth 0.00 2021-02-10T18:00:54Z- waiting for 1612980055.44, time is 1612980053.27 2021-02-10T18:00:54Z- sync is 0.77, coherence is 2.00 2021-02-10T18:00:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980054.05 epoch sec; seqNo:817; 4061702.41 north; 594363.31 east 2021-02-10T18:00:54Z- waiting for 1612980055.44, time is 1612980053.27 2021-02-10T18:00:54Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:54Z- AHRS_M2 msg: 1612980054.45 epoch sec; seqNo:814 2021-02-10T18:00:54Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.17 psi 2021-02-10T18:00:54Z- waiting for 1612980055.44, time is 1612980053.27 2021-02-10T18:00:54Z- sync is 1.18, coherence is 2.00 2021-02-10T18:00:54Z- handleDepth()-Depth_Keller msg: 41.37 epoch sec; seqNo:1612980054450; depth 0.00 2021-02-10T18:00:54Z- waiting for 1612980055.44, time is 1612980053.27 2021-02-10T18:00:54Z- sync is 1.18, coherence is 2.00 2021-02-10T18:00:54Z- handleDvl() - RDI_Pathfinder msg: 1612980054.46 epoch sec; seqNo:331 2021-02-10T18:00:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.63 , 44.99 , 35.79 , 50.31 2021-02-10T18:00:54Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.01 , 0.04 2021-02-10T18:00:54Z- waiting for 1612980055.44, time is 1612980054.46 2021-02-10T18:00:54Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980054.47 epoch sec; seqNo:818; 4061702.41 north; 594363.31 east 2021-02-10T18:00:54Z- waiting for 1612980055.44, time is 1612980054.46 2021-02-10T18:00:54Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:54Z- AHRS_M2 msg: 1612980054.84 epoch sec; seqNo:815 2021-02-10T18:00:54Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.17 psi 2021-02-10T18:00:54Z- waiting for 1612980055.44, time is 1612980054.46 2021-02-10T18:00:54Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:54Z- handleDepth()-Depth_Keller msg: 41.43 epoch sec; seqNo:1612980054858; depth 0.00 2021-02-10T18:00:54Z- waiting for 1612980055.44, time is 1612980054.46 2021-02-10T18:00:54Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980054.87 epoch sec; seqNo:819; 4061702.41 north; 594363.31 east 2021-02-10T18:00:54Z- waiting for 1612980055.44, time is 1612980054.46 2021-02-10T18:00:54Z- sync is 0.41, coherence is 2.00 2021-02-10T18:00:55Z- AHRS_M2 msg: 1612980055.25 epoch sec; seqNo:816 2021-02-10T18:00:55Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.17 psi 2021-02-10T18:00:55Z- waiting for 1612980055.44, time is 1612980054.46 2021-02-10T18:00:55Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:55Z- handleDepth()-Depth_Keller msg: 41.50 epoch sec; seqNo:1612980055255; depth 0.00 2021-02-10T18:00:55Z- waiting for 1612980055.44, time is 1612980054.46 2021-02-10T18:00:55Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:55Z- handleDvl() - RDI_Pathfinder msg: 1612980055.27 epoch sec; seqNo:332 2021-02-10T18:00:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.63 , 44.99 , 35.58 , 50.10 2021-02-10T18:00:55Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.02 , 0.05 2021-02-10T18:00:55Z- waiting for 1612980055.44, time is 1612980055.27 2021-02-10T18:00:55Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980055.28 epoch sec; seqNo:820; 4061702.41 north; 594363.31 east 2021-02-10T18:00:55Z- waiting for 1612980055.44, time is 1612980055.27 2021-02-10T18:00:55Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:55Z- AHRS_M2 msg: 1612980055.65 epoch sec; seqNo:817 2021-02-10T18:00:55Z- AHRS_M2 msg: 4.45 phi; -0.17 theta; -0.18 psi 2021-02-10T18:00:55Z- waiting for 1612980055.44, time is 1612980055.27 2021-02-10T18:00:55Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:55Z- handleDepth()-Depth_Keller msg: 41.55 epoch sec; seqNo:1612980055665; depth 0.00 2021-02-10T18:00:55Z- waiting for 1612980055.44, time is 1612980055.27 2021-02-10T18:00:55Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980055.68 epoch sec; seqNo:821; 4061702.02 north; 594362.09 east 2021-02-10T18:00:55Z- waiting for 1612980055.44, time is 1612980055.27 2021-02-10T18:00:55Z- sync is 0.41, coherence is 2.00 2021-02-10T18:00:56Z- AHRS_M2 msg: 1612980056.06 epoch sec; seqNo:818 2021-02-10T18:00:56Z- AHRS_M2 msg: 4.45 phi; -0.17 theta; -0.18 psi 2021-02-10T18:00:56Z- waiting for 1612980055.44, time is 1612980055.27 2021-02-10T18:00:56Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:56Z- handleDepth()-Depth_Keller msg: 41.61 epoch sec; seqNo:1612980056070; depth 0.00 2021-02-10T18:00:56Z- waiting for 1612980055.44, time is 1612980055.27 2021-02-10T18:00:56Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980056.09 epoch sec; seqNo:822; 4061702.02 north; 594362.09 east 2021-02-10T18:00:56Z- waiting for 1612980055.44, time is 1612980055.27 2021-02-10T18:00:56Z- sync is 0.82, coherence is 2.00 2021-02-10T18:00:56Z- AHRS_M2 msg: 1612980056.46 epoch sec; seqNo:819 2021-02-10T18:00:56Z- AHRS_M2 msg: 4.45 phi; -0.17 theta; -0.18 psi 2021-02-10T18:00:56Z- waiting for 1612980055.44, time is 1612980055.27 2021-02-10T18:00:56Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:56Z- handleDepth()-Depth_Keller msg: 41.68 epoch sec; seqNo:1612980056464; depth 0.00 2021-02-10T18:00:56Z- waiting for 1612980055.44, time is 1612980055.27 2021-02-10T18:00:56Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:56Z- handleDvl() - RDI_Pathfinder msg: 1612980056.48 epoch sec; seqNo:333 2021-02-10T18:00:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.83 , 44.79 , 35.79 , 50.10 2021-02-10T18:00:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.02 , 0.05 2021-02-10T18:00:56Z- waiting for 1612980055.44, time is 1612980056.48 2021-02-10T18:00:56Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:56Z- LcmTrn::updateTrn() >>>> pose time 1612980056.46, meas time 1612980056.48 <<<< 2021-02-10T18:00:56Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980056.48 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:00:56Z- TerrainNav::motionUpdate() - currEstimate = (4061702, 594362.09, 41.68) 2021-02-10T18:00:56Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:00:56Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:00:56Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:00:56Z- TNavBF::mmse selected from filter -1 2021-02-10T18:00:56Z- variances([0], [2], and psi_berg) = 809.220022 833.125695 0.000000 2021-02-10T18:00:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:00:56Z- LcmTrn::cycle() - MLE : 4061669.52 594313.59 41.68 2021-02-10T18:00:56Z- LcmTrn::cycle() - MMSE : 4061702.02 594362.09 41.68 2021-02-10T18:00:56Z- LcmTrn::cycle() - COVAR: 809.22 833.13 36.99 0.00 2021-02-10T18:00:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980056.50 epoch sec; seqNo:823; 4061702.02 north; 594362.09 east 2021-02-10T18:00:56Z- waiting for 1612980059.48, time is 1612980056.48 2021-02-10T18:00:56Z- sync is 0.03, coherence is 2.00 2021-02-10T18:00:56Z- AHRS_M2 msg: 1612980056.86 epoch sec; seqNo:820 2021-02-10T18:00:56Z- AHRS_M2 msg: 4.45 phi; -0.17 theta; -0.18 psi 2021-02-10T18:00:56Z- waiting for 1612980059.48, time is 1612980056.48 2021-02-10T18:00:56Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:56Z- handleDepth()-Depth_Keller msg: 41.73 epoch sec; seqNo:1612980056868; depth 0.00 2021-02-10T18:00:56Z- waiting for 1612980059.48, time is 1612980056.48 2021-02-10T18:00:56Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980056.88 epoch sec; seqNo:824; 4061702.00 north; 594360.87 east 2021-02-10T18:00:56Z- waiting for 1612980059.48, time is 1612980056.48 2021-02-10T18:00:56Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:57Z- AHRS_M2 msg: 1612980057.27 epoch sec; seqNo:821 2021-02-10T18:00:57Z- AHRS_M2 msg: 4.45 phi; -0.17 theta; -0.18 psi 2021-02-10T18:00:57Z- waiting for 1612980059.48, time is 1612980056.48 2021-02-10T18:00:57Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:57Z- handleDepth()-Depth_Keller msg: 41.81 epoch sec; seqNo:1612980057286; depth 0.00 2021-02-10T18:00:57Z- waiting for 1612980059.48, time is 1612980056.48 2021-02-10T18:00:57Z- sync is 0.79, coherence is 2.00 2021-02-10T18:00:57Z- handleDvl() - RDI_Pathfinder msg: 1612980057.30 epoch sec; seqNo:334 2021-02-10T18:00:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.42 , 44.99 , 35.58 , 50.10 2021-02-10T18:00:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.03 , 0.05 2021-02-10T18:00:57Z- waiting for 1612980059.48, time is 1612980057.30 2021-02-10T18:00:57Z- sync is 0.03, coherence is 2.00 2021-02-10T18:00:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980057.31 epoch sec; seqNo:825; 4061701.62 north; 594360.88 east 2021-02-10T18:00:57Z- waiting for 1612980059.48, time is 1612980057.30 2021-02-10T18:00:57Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:57Z- AHRS_M2 msg: 1612980057.67 epoch sec; seqNo:822 2021-02-10T18:00:57Z- AHRS_M2 msg: 4.45 phi; -0.17 theta; -0.18 psi 2021-02-10T18:00:57Z- waiting for 1612980059.48, time is 1612980057.30 2021-02-10T18:00:57Z- sync is 0.37, coherence is 2.00 2021-02-10T18:00:57Z- handleDepth()-Depth_Keller msg: 41.87 epoch sec; seqNo:1612980057676; depth 0.00 2021-02-10T18:00:57Z- waiting for 1612980059.48, time is 1612980057.30 2021-02-10T18:00:57Z- sync is 0.37, coherence is 2.00 2021-02-10T18:00:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980057.69 epoch sec; seqNo:826; 4061701.62 north; 594360.88 east 2021-02-10T18:00:57Z- waiting for 1612980059.48, time is 1612980057.30 2021-02-10T18:00:57Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:58Z- AHRS_M2 msg: 1612980058.08 epoch sec; seqNo:823 2021-02-10T18:00:58Z- AHRS_M2 msg: 4.45 phi; -0.17 theta; -0.18 psi 2021-02-10T18:00:58Z- waiting for 1612980059.48, time is 1612980057.30 2021-02-10T18:00:58Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:58Z- handleDepth()-Depth_Keller msg: 41.94 epoch sec; seqNo:1612980058090; depth 0.00 2021-02-10T18:00:58Z- waiting for 1612980059.48, time is 1612980057.30 2021-02-10T18:00:58Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980058.13 epoch sec; seqNo:827; 4061701.61 north; 594359.66 east 2021-02-10T18:00:58Z- waiting for 1612980059.48, time is 1612980057.30 2021-02-10T18:00:58Z- sync is 0.83, coherence is 2.00 2021-02-10T18:00:58Z- AHRS_M2 msg: 1612980058.49 epoch sec; seqNo:824 2021-02-10T18:00:58Z- AHRS_M2 msg: 4.45 phi; -0.17 theta; -0.18 psi 2021-02-10T18:00:58Z- waiting for 1612980059.48, time is 1612980057.30 2021-02-10T18:00:58Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:58Z- handleDepth()-Depth_Keller msg: 42.01 epoch sec; seqNo:1612980058491; depth 0.00 2021-02-10T18:00:58Z- waiting for 1612980059.48, time is 1612980057.30 2021-02-10T18:00:58Z- sync is 1.19, coherence is 2.00 2021-02-10T18:00:58Z- handleDvl() - RDI_Pathfinder msg: 1612980058.51 epoch sec; seqNo:335 2021-02-10T18:00:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.02 , 45.40 , 36.20 , 49.08 2021-02-10T18:00:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.04 , 0.05 2021-02-10T18:00:58Z- waiting for 1612980059.48, time is 1612980058.51 2021-02-10T18:00:58Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980058.52 epoch sec; seqNo:828; 4061701.23 north; 594359.66 east 2021-02-10T18:00:58Z- waiting for 1612980059.48, time is 1612980058.51 2021-02-10T18:00:58Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:58Z- AHRS_M2 msg: 1612980058.88 epoch sec; seqNo:825 2021-02-10T18:00:58Z- AHRS_M2 msg: 4.45 phi; -0.17 theta; -0.18 psi 2021-02-10T18:00:58Z- waiting for 1612980059.48, time is 1612980058.51 2021-02-10T18:00:58Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:58Z- handleDepth()-Depth_Keller msg: 42.08 epoch sec; seqNo:1612980058888; depth 0.00 2021-02-10T18:00:58Z- waiting for 1612980059.48, time is 1612980058.51 2021-02-10T18:00:58Z- sync is 0.38, coherence is 2.00 2021-02-10T18:00:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980058.90 epoch sec; seqNo:829; 4061701.23 north; 594359.66 east 2021-02-10T18:00:58Z- waiting for 1612980059.48, time is 1612980058.51 2021-02-10T18:00:58Z- sync is 0.40, coherence is 2.00 2021-02-10T18:00:59Z- AHRS_M2 msg: 1612980059.29 epoch sec; seqNo:826 2021-02-10T18:00:59Z- AHRS_M2 msg: 4.45 phi; -0.17 theta; -0.18 psi 2021-02-10T18:00:59Z- waiting for 1612980059.48, time is 1612980058.51 2021-02-10T18:00:59Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:59Z- handleDepth()-Depth_Keller msg: 42.14 epoch sec; seqNo:1612980059292; depth 0.00 2021-02-10T18:00:59Z- waiting for 1612980059.48, time is 1612980058.51 2021-02-10T18:00:59Z- sync is 0.78, coherence is 2.00 2021-02-10T18:00:59Z- handleDvl() - RDI_Pathfinder msg: 1612980059.30 epoch sec; seqNo:336 2021-02-10T18:00:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.61 , 46.01 , 35.99 , 48.26 2021-02-10T18:00:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.04 , 0.04 2021-02-10T18:00:59Z- waiting for 1612980059.48, time is 1612980059.30 2021-02-10T18:00:59Z- sync is 0.01, coherence is 2.00 2021-02-10T18:00:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980059.33 epoch sec; seqNo:830; 4061701.22 north; 594358.44 east 2021-02-10T18:00:59Z- waiting for 1612980059.48, time is 1612980059.30 2021-02-10T18:00:59Z- sync is 0.02, coherence is 2.00 2021-02-10T18:00:59Z- AHRS_M2 msg: 1612980059.69 epoch sec; seqNo:827 2021-02-10T18:00:59Z- AHRS_M2 msg: 4.45 phi; -0.17 theta; -0.18 psi 2021-02-10T18:00:59Z- waiting for 1612980059.48, time is 1612980059.30 2021-02-10T18:00:59Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:59Z- handleDepth()-Depth_Keller msg: 42.21 epoch sec; seqNo:1612980059701; depth 0.00 2021-02-10T18:00:59Z- waiting for 1612980059.48, time is 1612980059.30 2021-02-10T18:00:59Z- sync is 0.39, coherence is 2.00 2021-02-10T18:00:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980059.71 epoch sec; seqNo:831; 4061701.22 north; 594358.44 east 2021-02-10T18:00:59Z- waiting for 1612980059.48, time is 1612980059.30 2021-02-10T18:00:59Z- sync is 0.41, coherence is 2.00 2021-02-10T18:01:00Z- AHRS_M2 msg: 1612980060.11 epoch sec; seqNo:828 2021-02-10T18:01:00Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.18 psi 2021-02-10T18:01:00Z- waiting for 1612980059.48, time is 1612980059.30 2021-02-10T18:01:00Z- sync is 0.81, coherence is 2.00 2021-02-10T18:01:00Z- handleDepth()-Depth_Keller msg: 42.26 epoch sec; seqNo:1612980060118; depth 0.00 2021-02-10T18:01:00Z- waiting for 1612980059.48, time is 1612980059.30 2021-02-10T18:01:00Z- sync is 0.81, coherence is 2.00 2021-02-10T18:01:00Z- handleDvl() - RDI_Pathfinder msg: 1612980060.13 epoch sec; seqNo:337 2021-02-10T18:01:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.37 , 46.49 , 36.56 , 48.18 2021-02-10T18:01:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , 0.03 2021-02-10T18:01:00Z- waiting for 1612980059.48, time is 1612980060.13 2021-02-10T18:01:00Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:00Z- LcmTrn::updateTrn() >>>> pose time 1612980060.11, meas time 1612980060.13 <<<< 2021-02-10T18:01:00Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980060.13 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:01:00Z- TerrainNav::motionUpdate() - currEstimate = (4061701, 594358.44, 42.26) 2021-02-10T18:01:00Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:01:00Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:01:00Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:01:00Z- TNavBF::mmse selected from filter -1 2021-02-10T18:01:00Z- variances([0], [2], and psi_berg) = 808.947603 833.124924 0.000000 2021-02-10T18:01:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:01:00Z- LcmTrn::cycle() - MLE : 4061668.72 594309.94 42.26 2021-02-10T18:01:00Z- LcmTrn::cycle() - MMSE : 4061701.22 594358.44 42.26 2021-02-10T18:01:00Z- LcmTrn::cycle() - COVAR: 808.95 833.12 37.18 0.00 2021-02-10T18:01:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980060.14 epoch sec; seqNo:832; 4061700.84 north; 594358.45 east 2021-02-10T18:01:00Z- waiting for 1612980063.13, time is 1612980060.13 2021-02-10T18:01:00Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:00Z- AHRS_M2 msg: 1612980060.50 epoch sec; seqNo:829 2021-02-10T18:01:00Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.18 psi 2021-02-10T18:01:00Z- waiting for 1612980063.13, time is 1612980060.13 2021-02-10T18:01:00Z- sync is 0.37, coherence is 2.00 2021-02-10T18:01:00Z- handleDepth()-Depth_Keller msg: 42.32 epoch sec; seqNo:1612980060505; depth 0.00 2021-02-10T18:01:00Z- waiting for 1612980063.13, time is 1612980060.13 2021-02-10T18:01:00Z- sync is 0.37, coherence is 2.00 2021-02-10T18:01:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980060.52 epoch sec; seqNo:833; 4061700.84 north; 594358.45 east 2021-02-10T18:01:00Z- waiting for 1612980063.13, time is 1612980060.13 2021-02-10T18:01:00Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:00Z- AHRS_M2 msg: 1612980060.90 epoch sec; seqNo:830 2021-02-10T18:01:00Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.18 psi 2021-02-10T18:01:00Z- waiting for 1612980063.13, time is 1612980060.13 2021-02-10T18:01:00Z- sync is 0.77, coherence is 2.00 2021-02-10T18:01:00Z- handleDepth()-Depth_Keller msg: 42.37 epoch sec; seqNo:1612980060913; depth 0.00 2021-02-10T18:01:00Z- waiting for 1612980063.13, time is 1612980060.13 2021-02-10T18:01:00Z- sync is 0.77, coherence is 2.00 2021-02-10T18:01:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980060.92 epoch sec; seqNo:834; 4061700.83 north; 594357.23 east 2021-02-10T18:01:00Z- waiting for 1612980063.13, time is 1612980060.13 2021-02-10T18:01:00Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:01Z- AHRS_M2 msg: 1612980061.31 epoch sec; seqNo:831 2021-02-10T18:01:01Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.18 psi 2021-02-10T18:01:01Z- waiting for 1612980063.13, time is 1612980060.13 2021-02-10T18:01:01Z- sync is 1.18, coherence is 2.00 2021-02-10T18:01:01Z- handleDepth()-Depth_Keller msg: 42.43 epoch sec; seqNo:1612980061319; depth 0.00 2021-02-10T18:01:01Z- waiting for 1612980063.13, time is 1612980060.13 2021-02-10T18:01:01Z- sync is 1.18, coherence is 2.00 2021-02-10T18:01:01Z- handleDvl() - RDI_Pathfinder msg: 1612980061.33 epoch sec; seqNo:338 2021-02-10T18:01:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.99 , 46.01 , 36.61 , 47.85 2021-02-10T18:01:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.04 , 0.02 2021-02-10T18:01:01Z- waiting for 1612980063.13, time is 1612980061.33 2021-02-10T18:01:01Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980061.34 epoch sec; seqNo:835; 4061700.45 north; 594357.23 east 2021-02-10T18:01:01Z- waiting for 1612980063.13, time is 1612980061.33 2021-02-10T18:01:01Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:01Z- AHRS_M2 msg: 1612980061.71 epoch sec; seqNo:832 2021-02-10T18:01:01Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.18 psi 2021-02-10T18:01:01Z- waiting for 1612980063.13, time is 1612980061.33 2021-02-10T18:01:01Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:01Z- handleDepth()-Depth_Keller msg: 42.49 epoch sec; seqNo:1612980061718; depth 0.00 2021-02-10T18:01:01Z- waiting for 1612980063.13, time is 1612980061.33 2021-02-10T18:01:01Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980061.73 epoch sec; seqNo:836; 4061700.45 north; 594357.23 east 2021-02-10T18:01:01Z- waiting for 1612980063.13, time is 1612980061.33 2021-02-10T18:01:01Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:02Z- AHRS_M2 msg: 1612980062.12 epoch sec; seqNo:833 2021-02-10T18:01:02Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.18 psi 2021-02-10T18:01:02Z- waiting for 1612980063.13, time is 1612980061.33 2021-02-10T18:01:02Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:02Z- handleDepth()-Depth_Keller msg: 42.54 epoch sec; seqNo:1612980062133; depth 0.00 2021-02-10T18:01:02Z- waiting for 1612980063.13, time is 1612980061.33 2021-02-10T18:01:02Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:02Z- handleDvl() - RDI_Pathfinder msg: 1612980062.15 epoch sec; seqNo:339 2021-02-10T18:01:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.62 , 46.12 , 37.12 , 47.80 2021-02-10T18:01:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.04 , 0.00 2021-02-10T18:01:02Z- waiting for 1612980063.13, time is 1612980062.15 2021-02-10T18:01:02Z- sync is 0.03, coherence is 2.00 2021-02-10T18:01:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980062.16 epoch sec; seqNo:837; 4061700.43 north; 594356.01 east 2021-02-10T18:01:02Z- waiting for 1612980063.13, time is 1612980062.15 2021-02-10T18:01:02Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:02Z- AHRS_M2 msg: 1612980062.52 epoch sec; seqNo:834 2021-02-10T18:01:02Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.18 psi 2021-02-10T18:01:02Z- waiting for 1612980063.13, time is 1612980062.15 2021-02-10T18:01:02Z- sync is 0.37, coherence is 2.00 2021-02-10T18:01:02Z- handleDepth()-Depth_Keller msg: 42.60 epoch sec; seqNo:1612980062524; depth 0.00 2021-02-10T18:01:02Z- waiting for 1612980063.13, time is 1612980062.15 2021-02-10T18:01:02Z- sync is 0.37, coherence is 2.00 2021-02-10T18:01:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980062.54 epoch sec; seqNo:838; 4061700.43 north; 594356.01 east 2021-02-10T18:01:02Z- waiting for 1612980063.13, time is 1612980062.15 2021-02-10T18:01:02Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:02Z- AHRS_M2 msg: 1612980062.94 epoch sec; seqNo:835 2021-02-10T18:01:02Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.18 psi 2021-02-10T18:01:02Z- waiting for 1612980063.13, time is 1612980062.15 2021-02-10T18:01:02Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:02Z- handleDepth()-Depth_Keller msg: 42.65 epoch sec; seqNo:1612980062952; depth 0.00 2021-02-10T18:01:02Z- waiting for 1612980063.13, time is 1612980062.15 2021-02-10T18:01:02Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980062.96 epoch sec; seqNo:839; 4061700.05 north; 594356.01 east 2021-02-10T18:01:02Z- waiting for 1612980063.13, time is 1612980062.15 2021-02-10T18:01:02Z- sync is 0.81, coherence is 2.00 2021-02-10T18:01:03Z- AHRS_M2 msg: 1612980063.33 epoch sec; seqNo:836 2021-02-10T18:01:03Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.18 psi 2021-02-10T18:01:03Z- waiting for 1612980063.13, time is 1612980062.15 2021-02-10T18:01:03Z- sync is 1.18, coherence is 2.00 2021-02-10T18:01:03Z- handleDepth()-Depth_Keller msg: 42.70 epoch sec; seqNo:1612980063333; depth 0.00 2021-02-10T18:01:03Z- waiting for 1612980063.13, time is 1612980062.15 2021-02-10T18:01:03Z- sync is 1.18, coherence is 2.00 2021-02-10T18:01:03Z- handleDvl() - RDI_Pathfinder msg: 1612980063.35 epoch sec; seqNo:340 2021-02-10T18:01:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.43 , 45.74 , 37.12 , 47.62 2021-02-10T18:01:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.02 , -0.01 2021-02-10T18:01:03Z- waiting for 1612980063.13, time is 1612980063.35 2021-02-10T18:01:03Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:03Z- LcmTrn::updateTrn() >>>> pose time 1612980063.33, meas time 1612980063.35 <<<< 2021-02-10T18:01:03Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980063.35 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:01:03Z- TerrainNav::motionUpdate() - currEstimate = (4061700, 594356.01, 42.70) 2021-02-10T18:01:03Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:01:03Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:01:03Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:01:03Z- TNavBF::mmse selected from filter -1 2021-02-10T18:01:03Z- variances([0], [2], and psi_berg) = 808.718058 833.124280 0.000000 2021-02-10T18:01:03Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:01:03Z- LcmTrn::cycle() - MLE : 4061667.55 594307.51 42.70 2021-02-10T18:01:03Z- LcmTrn::cycle() - MMSE : 4061700.05 594356.01 42.70 2021-02-10T18:01:03Z- LcmTrn::cycle() - COVAR: 808.72 833.12 37.32 0.00 2021-02-10T18:01:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980063.36 epoch sec; seqNo:840; 4061700.05 north; 594356.01 east 2021-02-10T18:01:03Z- waiting for 1612980066.35, time is 1612980063.35 2021-02-10T18:01:03Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:03Z- AHRS_M2 msg: 1612980063.73 epoch sec; seqNo:837 2021-02-10T18:01:03Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.18 psi 2021-02-10T18:01:03Z- waiting for 1612980066.35, time is 1612980063.35 2021-02-10T18:01:03Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:03Z- handleDepth()-Depth_Keller msg: 42.76 epoch sec; seqNo:1612980063741; depth 0.00 2021-02-10T18:01:03Z- waiting for 1612980066.35, time is 1612980063.35 2021-02-10T18:01:03Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980063.75 epoch sec; seqNo:841; 4061700.04 north; 594354.79 east 2021-02-10T18:01:03Z- waiting for 1612980066.35, time is 1612980063.35 2021-02-10T18:01:03Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:04Z- AHRS_M2 msg: 1612980064.14 epoch sec; seqNo:838 2021-02-10T18:01:04Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.18 psi 2021-02-10T18:01:04Z- waiting for 1612980066.35, time is 1612980063.35 2021-02-10T18:01:04Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:04Z- handleDepth()-Depth_Keller msg: 42.79 epoch sec; seqNo:1612980064145; depth 0.00 2021-02-10T18:01:04Z- waiting for 1612980066.35, time is 1612980063.35 2021-02-10T18:01:04Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:04Z- handleDvl() - RDI_Pathfinder msg: 1612980064.16 epoch sec; seqNo:341 2021-02-10T18:01:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.06 , 44.99 , 37.12 , 47.24 2021-02-10T18:01:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.02 , -0.02 2021-02-10T18:01:04Z- waiting for 1612980066.35, time is 1612980064.16 2021-02-10T18:01:04Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980064.17 epoch sec; seqNo:842; 4061699.66 north; 594354.80 east 2021-02-10T18:01:04Z- waiting for 1612980066.35, time is 1612980064.16 2021-02-10T18:01:04Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:04Z- AHRS_M2 msg: 1612980064.54 epoch sec; seqNo:839 2021-02-10T18:01:04Z- AHRS_M2 msg: 4.45 phi; -0.16 theta; -0.18 psi 2021-02-10T18:01:04Z- waiting for 1612980066.35, time is 1612980064.16 2021-02-10T18:01:04Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:04Z- handleDepth()-Depth_Keller msg: 42.85 epoch sec; seqNo:1612980064558; depth 0.00 2021-02-10T18:01:04Z- waiting for 1612980066.35, time is 1612980064.16 2021-02-10T18:01:04Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980064.57 epoch sec; seqNo:843; 4061699.66 north; 594354.80 east 2021-02-10T18:01:04Z- waiting for 1612980066.35, time is 1612980064.16 2021-02-10T18:01:04Z- sync is 0.41, coherence is 2.00 2021-02-10T18:01:04Z- AHRS_M2 msg: 1612980064.95 epoch sec; seqNo:840 2021-02-10T18:01:04Z- AHRS_M2 msg: 4.45 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:04Z- waiting for 1612980066.35, time is 1612980064.16 2021-02-10T18:01:04Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:04Z- handleDepth()-Depth_Keller msg: 42.90 epoch sec; seqNo:1612980064953; depth 0.00 2021-02-10T18:01:04Z- waiting for 1612980066.35, time is 1612980064.16 2021-02-10T18:01:04Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980064.96 epoch sec; seqNo:844; 4061699.65 north; 594353.58 east 2021-02-10T18:01:04Z- waiting for 1612980066.35, time is 1612980064.16 2021-02-10T18:01:04Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:05Z- AHRS_M2 msg: 1612980065.35 epoch sec; seqNo:841 2021-02-10T18:01:05Z- AHRS_M2 msg: 4.45 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:05Z- waiting for 1612980066.35, time is 1612980064.16 2021-02-10T18:01:05Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:05Z- handleDepth()-Depth_Keller msg: 42.94 epoch sec; seqNo:1612980065358; depth 0.00 2021-02-10T18:01:05Z- waiting for 1612980066.35, time is 1612980064.16 2021-02-10T18:01:05Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:05Z- handleDvl() - RDI_Pathfinder msg: 1612980065.37 epoch sec; seqNo:342 2021-02-10T18:01:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.68 , 44.81 , 37.49 , 46.87 2021-02-10T18:01:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.00 , -0.02 2021-02-10T18:01:05Z- waiting for 1612980066.35, time is 1612980065.37 2021-02-10T18:01:05Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980065.38 epoch sec; seqNo:845; 4061699.65 north; 594353.58 east 2021-02-10T18:01:05Z- waiting for 1612980066.35, time is 1612980065.37 2021-02-10T18:01:05Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:05Z- AHRS_M2 msg: 1612980065.75 epoch sec; seqNo:842 2021-02-10T18:01:05Z- AHRS_M2 msg: 4.45 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:05Z- waiting for 1612980066.35, time is 1612980065.37 2021-02-10T18:01:05Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:05Z- handleDepth()-Depth_Keller msg: 42.99 epoch sec; seqNo:1612980065761; depth 0.00 2021-02-10T18:01:05Z- waiting for 1612980066.35, time is 1612980065.37 2021-02-10T18:01:05Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980065.77 epoch sec; seqNo:846; 4061699.27 north; 594353.58 east 2021-02-10T18:01:05Z- waiting for 1612980066.35, time is 1612980065.37 2021-02-10T18:01:05Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:06Z- AHRS_M2 msg: 1612980066.15 epoch sec; seqNo:843 2021-02-10T18:01:06Z- AHRS_M2 msg: 4.45 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:06Z- waiting for 1612980066.35, time is 1612980065.37 2021-02-10T18:01:06Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:06Z- handleDepth()-Depth_Keller msg: 43.04 epoch sec; seqNo:1612980066160; depth 0.00 2021-02-10T18:01:06Z- waiting for 1612980066.35, time is 1612980065.37 2021-02-10T18:01:06Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:06Z- handleDvl() - RDI_Pathfinder msg: 1612980066.18 epoch sec; seqNo:343 2021-02-10T18:01:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.12 , 44.43 , 37.49 , 46.87 2021-02-10T18:01:06Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.00 , 0.00 2021-02-10T18:01:06Z- waiting for 1612980066.35, time is 1612980066.18 2021-02-10T18:01:06Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980066.19 epoch sec; seqNo:847; 4061699.26 north; 594352.36 east 2021-02-10T18:01:06Z- waiting for 1612980066.35, time is 1612980066.18 2021-02-10T18:01:06Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:06Z- AHRS_M2 msg: 1612980066.56 epoch sec; seqNo:844 2021-02-10T18:01:06Z- AHRS_M2 msg: 4.45 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:06Z- waiting for 1612980066.35, time is 1612980066.18 2021-02-10T18:01:06Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:06Z- handleDepth()-Depth_Keller msg: 43.10 epoch sec; seqNo:1612980066569; depth 0.00 2021-02-10T18:01:06Z- waiting for 1612980066.35, time is 1612980066.18 2021-02-10T18:01:06Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980066.58 epoch sec; seqNo:848; 4061699.26 north; 594352.36 east 2021-02-10T18:01:06Z- waiting for 1612980066.35, time is 1612980066.18 2021-02-10T18:01:06Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:06Z- AHRS_M2 msg: 1612980066.96 epoch sec; seqNo:845 2021-02-10T18:01:06Z- AHRS_M2 msg: 4.45 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:06Z- waiting for 1612980066.35, time is 1612980066.18 2021-02-10T18:01:06Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:06Z- handleDepth()-Depth_Keller msg: 43.15 epoch sec; seqNo:1612980066974; depth 0.00 2021-02-10T18:01:06Z- waiting for 1612980066.35, time is 1612980066.18 2021-02-10T18:01:06Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980066.98 epoch sec; seqNo:849; 4061699.26 north; 594352.36 east 2021-02-10T18:01:06Z- waiting for 1612980066.35, time is 1612980066.18 2021-02-10T18:01:06Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:07Z- AHRS_M2 msg: 1612980067.37 epoch sec; seqNo:846 2021-02-10T18:01:07Z- AHRS_M2 msg: 4.45 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:07Z- waiting for 1612980066.35, time is 1612980066.18 2021-02-10T18:01:07Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:07Z- handleDepth()-Depth_Keller msg: 43.19 epoch sec; seqNo:1612980067377; depth 0.00 2021-02-10T18:01:07Z- waiting for 1612980066.35, time is 1612980066.18 2021-02-10T18:01:07Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:07Z- handleDvl() - RDI_Pathfinder msg: 1612980067.39 epoch sec; seqNo:344 2021-02-10T18:01:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.56 , 44.24 , 37.49 , 46.49 2021-02-10T18:01:07Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.01 , 0.03 2021-02-10T18:01:07Z- waiting for 1612980066.35, time is 1612980067.39 2021-02-10T18:01:07Z- sync is 0.03, coherence is 2.00 2021-02-10T18:01:07Z- LcmTrn::updateTrn() >>>> pose time 1612980067.37, meas time 1612980067.39 <<<< 2021-02-10T18:01:07Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980067.39 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:01:07Z- TerrainNav::motionUpdate() - currEstimate = (4061699, 594352.36, 43.19) 2021-02-10T18:01:07Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:01:07Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:01:07Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:01:07Z- TNavBF::mmse selected from filter -1 2021-02-10T18:01:07Z- variances([0], [2], and psi_berg) = 808.449154 833.123531 0.000000 2021-02-10T18:01:07Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:01:07Z- LcmTrn::cycle() - MLE : 4061666.76 594303.86 43.19 2021-02-10T18:01:07Z- LcmTrn::cycle() - MMSE : 4061699.26 594352.36 43.19 2021-02-10T18:01:07Z- LcmTrn::cycle() - COVAR: 808.45 833.12 37.51 0.00 2021-02-10T18:01:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980067.40 epoch sec; seqNo:850; 4061698.88 north; 594352.37 east 2021-02-10T18:01:07Z- waiting for 1612980070.39, time is 1612980067.39 2021-02-10T18:01:07Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:07Z- AHRS_M2 msg: 1612980067.78 epoch sec; seqNo:847 2021-02-10T18:01:07Z- AHRS_M2 msg: 4.44 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:07Z- waiting for 1612980070.39, time is 1612980067.39 2021-02-10T18:01:07Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:07Z- handleDepth()-Depth_Keller msg: 43.26 epoch sec; seqNo:1612980067781; depth 0.00 2021-02-10T18:01:07Z- waiting for 1612980070.39, time is 1612980067.39 2021-02-10T18:01:07Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980067.79 epoch sec; seqNo:851; 4061698.86 north; 594351.14 east 2021-02-10T18:01:07Z- waiting for 1612980070.39, time is 1612980067.39 2021-02-10T18:01:07Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:08Z- AHRS_M2 msg: 1612980068.18 epoch sec; seqNo:848 2021-02-10T18:01:08Z- AHRS_M2 msg: 4.44 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:08Z- waiting for 1612980070.39, time is 1612980067.39 2021-02-10T18:01:08Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:08Z- handleDepth()-Depth_Keller msg: 43.29 epoch sec; seqNo:1612980068190; depth 0.00 2021-02-10T18:01:08Z- waiting for 1612980070.39, time is 1612980067.39 2021-02-10T18:01:08Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:08Z- handleDvl() - RDI_Pathfinder msg: 1612980068.20 epoch sec; seqNo:345 2021-02-10T18:01:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.99 , 42.93 , 37.87 , 46.49 2021-02-10T18:01:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.02 , 0.05 2021-02-10T18:01:08Z- waiting for 1612980070.39, time is 1612980068.20 2021-02-10T18:01:08Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980068.21 epoch sec; seqNo:852; 4061698.86 north; 594351.14 east 2021-02-10T18:01:08Z- waiting for 1612980070.39, time is 1612980068.20 2021-02-10T18:01:08Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:08Z- AHRS_M2 msg: 1612980068.58 epoch sec; seqNo:849 2021-02-10T18:01:08Z- AHRS_M2 msg: 4.44 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:08Z- waiting for 1612980070.39, time is 1612980068.20 2021-02-10T18:01:08Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:08Z- handleDepth()-Depth_Keller msg: 43.34 epoch sec; seqNo:1612980068589; depth 0.00 2021-02-10T18:01:08Z- waiting for 1612980070.39, time is 1612980068.20 2021-02-10T18:01:08Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980068.60 epoch sec; seqNo:853; 4061698.86 north; 594351.14 east 2021-02-10T18:01:08Z- waiting for 1612980070.39, time is 1612980068.20 2021-02-10T18:01:08Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:08Z- AHRS_M2 msg: 1612980068.98 epoch sec; seqNo:850 2021-02-10T18:01:08Z- AHRS_M2 msg: 4.43 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:08Z- waiting for 1612980070.39, time is 1612980068.20 2021-02-10T18:01:08Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:08Z- handleDepth()-Depth_Keller msg: 43.39 epoch sec; seqNo:1612980068988; depth 0.00 2021-02-10T18:01:08Z- waiting for 1612980070.39, time is 1612980068.20 2021-02-10T18:01:08Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980069.00 epoch sec; seqNo:854; 4061698.47 north; 594349.93 east 2021-02-10T18:01:09Z- waiting for 1612980070.39, time is 1612980068.20 2021-02-10T18:01:09Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:09Z- AHRS_M2 msg: 1612980069.39 epoch sec; seqNo:851 2021-02-10T18:01:09Z- AHRS_M2 msg: 4.43 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:09Z- waiting for 1612980070.39, time is 1612980068.20 2021-02-10T18:01:09Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:09Z- handleDepth()-Depth_Keller msg: 43.45 epoch sec; seqNo:1612980069393; depth 0.00 2021-02-10T18:01:09Z- waiting for 1612980070.39, time is 1612980068.20 2021-02-10T18:01:09Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:09Z- handleDvl() - RDI_Pathfinder msg: 1612980069.40 epoch sec; seqNo:346 2021-02-10T18:01:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.99 , 42.37 , 37.68 , 45.74 2021-02-10T18:01:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.00 , 0.07 2021-02-10T18:01:09Z- waiting for 1612980070.39, time is 1612980069.40 2021-02-10T18:01:09Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980069.41 epoch sec; seqNo:855; 4061698.47 north; 594349.93 east 2021-02-10T18:01:09Z- waiting for 1612980070.39, time is 1612980069.40 2021-02-10T18:01:09Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:09Z- AHRS_M2 msg: 1612980069.80 epoch sec; seqNo:852 2021-02-10T18:01:09Z- AHRS_M2 msg: 4.43 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:09Z- waiting for 1612980070.39, time is 1612980069.40 2021-02-10T18:01:09Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:09Z- handleDepth()-Depth_Keller msg: 43.49 epoch sec; seqNo:1612980069800; depth 0.00 2021-02-10T18:01:09Z- waiting for 1612980070.39, time is 1612980069.40 2021-02-10T18:01:09Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980069.82 epoch sec; seqNo:856; 4061698.47 north; 594349.93 east 2021-02-10T18:01:09Z- waiting for 1612980070.39, time is 1612980069.40 2021-02-10T18:01:09Z- sync is 0.41, coherence is 2.00 2021-02-10T18:01:10Z- AHRS_M2 msg: 1612980070.20 epoch sec; seqNo:853 2021-02-10T18:01:10Z- AHRS_M2 msg: 4.43 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:10Z- waiting for 1612980070.39, time is 1612980069.40 2021-02-10T18:01:10Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:10Z- handleDepth()-Depth_Keller msg: 43.54 epoch sec; seqNo:1612980070200; depth 0.00 2021-02-10T18:01:10Z- waiting for 1612980070.39, time is 1612980069.40 2021-02-10T18:01:10Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:10Z- handleDvl() - RDI_Pathfinder msg: 1612980070.21 epoch sec; seqNo:347 2021-02-10T18:01:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.74 , 42.36 , 38.24 , 45.92 2021-02-10T18:01:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.01 , 0.07 2021-02-10T18:01:10Z- waiting for 1612980070.39, time is 1612980070.21 2021-02-10T18:01:10Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980070.23 epoch sec; seqNo:857; 4061698.08 north; 594348.71 east 2021-02-10T18:01:10Z- waiting for 1612980070.39, time is 1612980070.21 2021-02-10T18:01:10Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:10Z- AHRS_M2 msg: 1612980070.60 epoch sec; seqNo:854 2021-02-10T18:01:10Z- AHRS_M2 msg: 4.43 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:10Z- waiting for 1612980070.39, time is 1612980070.21 2021-02-10T18:01:10Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:10Z- handleDepth()-Depth_Keller msg: 43.58 epoch sec; seqNo:1612980070604; depth 0.00 2021-02-10T18:01:10Z- waiting for 1612980070.39, time is 1612980070.21 2021-02-10T18:01:10Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980070.62 epoch sec; seqNo:858; 4061698.08 north; 594348.71 east 2021-02-10T18:01:10Z- waiting for 1612980070.39, time is 1612980070.21 2021-02-10T18:01:10Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:11Z- AHRS_M2 msg: 1612980071.00 epoch sec; seqNo:855 2021-02-10T18:01:11Z- AHRS_M2 msg: 4.43 phi; -0.15 theta; -0.19 psi 2021-02-10T18:01:11Z- waiting for 1612980070.39, time is 1612980070.21 2021-02-10T18:01:11Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:11Z- handleDepth()-Depth_Keller msg: 43.64 epoch sec; seqNo:1612980071010; depth 0.00 2021-02-10T18:01:11Z- waiting for 1612980070.39, time is 1612980070.21 2021-02-10T18:01:11Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980071.02 epoch sec; seqNo:859; 4061698.08 north; 594348.71 east 2021-02-10T18:01:11Z- waiting for 1612980070.39, time is 1612980070.21 2021-02-10T18:01:11Z- sync is 0.81, coherence is 2.00 2021-02-10T18:01:11Z- AHRS_M2 msg: 1612980071.41 epoch sec; seqNo:856 2021-02-10T18:01:11Z- AHRS_M2 msg: 4.42 phi; -0.15 theta; -0.19 psi 2021-02-10T18:01:11Z- waiting for 1612980070.39, time is 1612980070.21 2021-02-10T18:01:11Z- sync is 1.20, coherence is 2.00 2021-02-10T18:01:11Z- handleDepth()-Depth_Keller msg: 43.70 epoch sec; seqNo:1612980071413; depth 0.00 2021-02-10T18:01:11Z- waiting for 1612980070.39, time is 1612980070.21 2021-02-10T18:01:11Z- sync is 1.20, coherence is 2.00 2021-02-10T18:01:11Z- handleDvl() - RDI_Pathfinder msg: 1612980071.43 epoch sec; seqNo:348 2021-02-10T18:01:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.93 , 39.74 , 38.05 , 45.92 2021-02-10T18:01:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.05 , 0.06 2021-02-10T18:01:11Z- waiting for 1612980070.39, time is 1612980071.43 2021-02-10T18:01:11Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:11Z- LcmTrn::updateTrn() >>>> pose time 1612980071.41, meas time 1612980071.43 <<<< 2021-02-10T18:01:11Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980071.43 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:01:11Z- TerrainNav::motionUpdate() - currEstimate = (4061698, 594348.71, 43.70) 2021-02-10T18:01:11Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:01:11Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:01:11Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:01:11Z- TNavBF::mmse selected from filter -1 2021-02-10T18:01:11Z- variances([0], [2], and psi_berg) = 808.178739 833.122785 0.000000 2021-02-10T18:01:11Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:01:11Z- LcmTrn::cycle() - MLE : 4061665.58 594300.21 43.70 2021-02-10T18:01:11Z- LcmTrn::cycle() - MMSE : 4061698.08 594348.71 43.70 2021-02-10T18:01:11Z- LcmTrn::cycle() - COVAR: 808.18 833.12 37.71 0.00 2021-02-10T18:01:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980071.44 epoch sec; seqNo:860; 4061698.07 north; 594347.49 east 2021-02-10T18:01:11Z- waiting for 1612980074.43, time is 1612980071.43 2021-02-10T18:01:11Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:11Z- AHRS_M2 msg: 1612980071.81 epoch sec; seqNo:857 2021-02-10T18:01:11Z- AHRS_M2 msg: 4.42 phi; -0.15 theta; -0.19 psi 2021-02-10T18:01:11Z- waiting for 1612980074.43, time is 1612980071.43 2021-02-10T18:01:11Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:11Z- handleDepth()-Depth_Keller msg: 43.74 epoch sec; seqNo:1612980071821; depth 0.00 2021-02-10T18:01:11Z- waiting for 1612980074.43, time is 1612980071.43 2021-02-10T18:01:11Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980071.83 epoch sec; seqNo:861; 4061697.69 north; 594347.50 east 2021-02-10T18:01:11Z- waiting for 1612980074.43, time is 1612980071.43 2021-02-10T18:01:11Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:12Z- AHRS_M2 msg: 1612980072.22 epoch sec; seqNo:858 2021-02-10T18:01:12Z- AHRS_M2 msg: 4.42 phi; -0.15 theta; -0.19 psi 2021-02-10T18:01:12Z- waiting for 1612980074.43, time is 1612980071.43 2021-02-10T18:01:12Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:12Z- handleDepth()-Depth_Keller msg: 43.79 epoch sec; seqNo:1612980072222; depth 0.00 2021-02-10T18:01:12Z- waiting for 1612980074.43, time is 1612980071.43 2021-02-10T18:01:12Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:12Z- handleDvl() - RDI_Pathfinder msg: 1612980072.23 epoch sec; seqNo:349 2021-02-10T18:01:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.12 , 40.11 , 38.24 , 46.11 2021-02-10T18:01:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.07 , 0.05 2021-02-10T18:01:12Z- waiting for 1612980074.43, time is 1612980072.23 2021-02-10T18:01:12Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980072.24 epoch sec; seqNo:862; 4061697.69 north; 594347.50 east 2021-02-10T18:01:12Z- waiting for 1612980074.43, time is 1612980072.23 2021-02-10T18:01:12Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:12Z- AHRS_M2 msg: 1612980072.62 epoch sec; seqNo:859 2021-02-10T18:01:12Z- AHRS_M2 msg: 4.42 phi; -0.15 theta; -0.19 psi 2021-02-10T18:01:12Z- waiting for 1612980074.43, time is 1612980072.23 2021-02-10T18:01:12Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:12Z- handleDepth()-Depth_Keller msg: 43.84 epoch sec; seqNo:1612980072624; depth 0.00 2021-02-10T18:01:12Z- waiting for 1612980074.43, time is 1612980072.23 2021-02-10T18:01:12Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980072.64 epoch sec; seqNo:863; 4061697.69 north; 594347.50 east 2021-02-10T18:01:12Z- waiting for 1612980074.43, time is 1612980072.23 2021-02-10T18:01:12Z- sync is 0.41, coherence is 2.00 2021-02-10T18:01:13Z- AHRS_M2 msg: 1612980073.02 epoch sec; seqNo:860 2021-02-10T18:01:13Z- AHRS_M2 msg: 4.42 phi; -0.15 theta; -0.19 psi 2021-02-10T18:01:13Z- waiting for 1612980074.43, time is 1612980072.23 2021-02-10T18:01:13Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:13Z- handleDepth()-Depth_Keller msg: 43.90 epoch sec; seqNo:1612980073028; depth 0.00 2021-02-10T18:01:13Z- waiting for 1612980074.43, time is 1612980072.23 2021-02-10T18:01:13Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980073.04 epoch sec; seqNo:864; 4061697.30 north; 594346.28 east 2021-02-10T18:01:13Z- waiting for 1612980074.43, time is 1612980072.23 2021-02-10T18:01:13Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:13Z- AHRS_M2 msg: 1612980073.43 epoch sec; seqNo:861 2021-02-10T18:01:13Z- AHRS_M2 msg: 4.42 phi; -0.15 theta; -0.19 psi 2021-02-10T18:01:13Z- waiting for 1612980074.43, time is 1612980072.23 2021-02-10T18:01:13Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:13Z- handleDepth()-Depth_Keller msg: 43.94 epoch sec; seqNo:1612980073432; depth 0.00 2021-02-10T18:01:13Z- waiting for 1612980074.43, time is 1612980072.23 2021-02-10T18:01:13Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:13Z- handleDvl() - RDI_Pathfinder msg: 1612980073.44 epoch sec; seqNo:350 2021-02-10T18:01:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.93 , 0.00 , 38.43 , 19.31 2021-02-10T18:01:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.02 , 0.00 2021-02-10T18:01:13Z- waiting for 1612980074.43, time is 1612980073.44 2021-02-10T18:01:13Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980073.45 epoch sec; seqNo:865; 4061697.30 north; 594346.28 east 2021-02-10T18:01:13Z- waiting for 1612980074.43, time is 1612980073.44 2021-02-10T18:01:13Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:13Z- AHRS_M2 msg: 1612980073.83 epoch sec; seqNo:862 2021-02-10T18:01:13Z- AHRS_M2 msg: 4.42 phi; -0.15 theta; -0.19 psi 2021-02-10T18:01:13Z- waiting for 1612980074.43, time is 1612980073.44 2021-02-10T18:01:13Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:13Z- handleDepth()-Depth_Keller msg: 43.99 epoch sec; seqNo:1612980073838; depth 0.00 2021-02-10T18:01:13Z- waiting for 1612980074.43, time is 1612980073.44 2021-02-10T18:01:13Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980073.85 epoch sec; seqNo:866; 4061697.30 north; 594346.28 east 2021-02-10T18:01:13Z- waiting for 1612980074.43, time is 1612980073.44 2021-02-10T18:01:13Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:14Z- AHRS_M2 msg: 1612980074.23 epoch sec; seqNo:863 2021-02-10T18:01:14Z- AHRS_M2 msg: 4.42 phi; -0.15 theta; -0.19 psi 2021-02-10T18:01:14Z- waiting for 1612980074.43, time is 1612980073.44 2021-02-10T18:01:14Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:14Z- handleDepth()-Depth_Keller msg: 44.04 epoch sec; seqNo:1612980074245; depth 0.00 2021-02-10T18:01:14Z- waiting for 1612980074.43, time is 1612980073.44 2021-02-10T18:01:14Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:14Z- handleDvl() - RDI_Pathfinder msg: 1612980074.26 epoch sec; seqNo:351 2021-02-10T18:01:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.94 , 0.00 , 38.85 , 21.13 2021-02-10T18:01:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.04 , 0.00 2021-02-10T18:01:14Z- waiting for 1612980074.43, time is 1612980074.26 2021-02-10T18:01:14Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980074.28 epoch sec; seqNo:867; 4061696.90 north; 594345.06 east 2021-02-10T18:01:14Z- waiting for 1612980074.43, time is 1612980074.26 2021-02-10T18:01:14Z- sync is 0.03, coherence is 2.00 2021-02-10T18:01:14Z- AHRS_M2 msg: 1612980074.64 epoch sec; seqNo:864 2021-02-10T18:01:14Z- AHRS_M2 msg: 4.42 phi; -0.15 theta; -0.19 psi 2021-02-10T18:01:14Z- waiting for 1612980074.43, time is 1612980074.26 2021-02-10T18:01:14Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:14Z- handleDepth()-Depth_Keller msg: 44.10 epoch sec; seqNo:1612980074653; depth 0.00 2021-02-10T18:01:14Z- waiting for 1612980074.43, time is 1612980074.26 2021-02-10T18:01:14Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980074.66 epoch sec; seqNo:868; 4061696.90 north; 594345.06 east 2021-02-10T18:01:14Z- waiting for 1612980074.43, time is 1612980074.26 2021-02-10T18:01:14Z- sync is 0.41, coherence is 2.00 2021-02-10T18:01:15Z- AHRS_M2 msg: 1612980075.07 epoch sec; seqNo:865 2021-02-10T18:01:15Z- AHRS_M2 msg: 4.42 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:15Z- waiting for 1612980074.43, time is 1612980074.26 2021-02-10T18:01:15Z- sync is 0.81, coherence is 2.00 2021-02-10T18:01:15Z- handleDepth()-Depth_Keller msg: 44.13 epoch sec; seqNo:1612980075070; depth 0.00 2021-02-10T18:01:15Z- waiting for 1612980074.43, time is 1612980074.26 2021-02-10T18:01:15Z- sync is 0.81, coherence is 2.00 2021-02-10T18:01:15Z- handleDvl() - RDI_Pathfinder msg: 1612980075.08 epoch sec; seqNo:352 2021-02-10T18:01:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.89 , 0.00 , 39.11 , 20.86 2021-02-10T18:01:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.04 , -0.00 2021-02-10T18:01:15Z- waiting for 1612980074.43, time is 1612980075.08 2021-02-10T18:01:15Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:15Z- LcmTrn::updateTrn() >>>> pose time 1612980075.07, meas time 1612980075.08 <<<< 2021-02-10T18:01:15Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980075.08 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:01:15Z- TerrainNav::motionUpdate() - currEstimate = (4061697, 594345.06, 44.13) 2021-02-10T18:01:15Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:01:15Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:01:15Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:01:15Z- TNavBF::mmse selected from filter -1 2021-02-10T18:01:15Z- variances([0], [2], and psi_berg) = 807.910190 833.122051 0.000000 2021-02-10T18:01:15Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:01:15Z- LcmTrn::cycle() - MLE : 4061664.40 594298.56 44.13 2021-02-10T18:01:15Z- LcmTrn::cycle() - MMSE : 4061696.90 594345.06 44.13 2021-02-10T18:01:15Z- LcmTrn::cycle() - COVAR: 807.91 833.12 37.90 0.00 2021-02-10T18:01:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980075.11 epoch sec; seqNo:869; 4061696.90 north; 594345.06 east 2021-02-10T18:01:15Z- waiting for 1612980078.08, time is 1612980075.08 2021-02-10T18:01:15Z- sync is 0.03, coherence is 2.00 2021-02-10T18:01:15Z- AHRS_M2 msg: 1612980075.45 epoch sec; seqNo:866 2021-02-10T18:01:15Z- AHRS_M2 msg: 4.42 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:15Z- waiting for 1612980078.08, time is 1612980075.08 2021-02-10T18:01:15Z- sync is 0.37, coherence is 2.00 2021-02-10T18:01:15Z- handleDepth()-Depth_Keller msg: 44.17 epoch sec; seqNo:1612980075462; depth 0.00 2021-02-10T18:01:15Z- waiting for 1612980078.08, time is 1612980075.08 2021-02-10T18:01:15Z- sync is 0.37, coherence is 2.00 2021-02-10T18:01:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980075.47 epoch sec; seqNo:870; 4061696.52 north; 594345.07 east 2021-02-10T18:01:15Z- waiting for 1612980078.08, time is 1612980075.08 2021-02-10T18:01:15Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:15Z- AHRS_M2 msg: 1612980075.85 epoch sec; seqNo:867 2021-02-10T18:01:15Z- AHRS_M2 msg: 4.42 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:15Z- waiting for 1612980078.08, time is 1612980075.08 2021-02-10T18:01:15Z- sync is 0.77, coherence is 2.00 2021-02-10T18:01:15Z- handleDepth()-Depth_Keller msg: 44.23 epoch sec; seqNo:1612980075857; depth 0.00 2021-02-10T18:01:15Z- waiting for 1612980078.08, time is 1612980075.08 2021-02-10T18:01:15Z- sync is 0.77, coherence is 2.00 2021-02-10T18:01:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980075.87 epoch sec; seqNo:871; 4061696.51 north; 594343.85 east 2021-02-10T18:01:15Z- waiting for 1612980078.08, time is 1612980075.08 2021-02-10T18:01:15Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:16Z- AHRS_M2 msg: 1612980076.26 epoch sec; seqNo:868 2021-02-10T18:01:16Z- AHRS_M2 msg: 4.42 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:16Z- waiting for 1612980078.08, time is 1612980075.08 2021-02-10T18:01:16Z- sync is 1.17, coherence is 2.00 2021-02-10T18:01:16Z- handleDepth()-Depth_Keller msg: 44.29 epoch sec; seqNo:1612980076260; depth 0.00 2021-02-10T18:01:16Z- waiting for 1612980078.08, time is 1612980075.08 2021-02-10T18:01:16Z- sync is 1.17, coherence is 2.00 2021-02-10T18:01:16Z- handleDvl() - RDI_Pathfinder msg: 1612980076.27 epoch sec; seqNo:353 2021-02-10T18:01:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.74 , 0.00 , 39.26 , 46.32 2021-02-10T18:01:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.05 , 0.01 2021-02-10T18:01:16Z- waiting for 1612980078.08, time is 1612980076.27 2021-02-10T18:01:16Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980076.28 epoch sec; seqNo:872; 4061696.51 north; 594343.85 east 2021-02-10T18:01:16Z- waiting for 1612980078.08, time is 1612980076.27 2021-02-10T18:01:16Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:16Z- AHRS_M2 msg: 1612980076.66 epoch sec; seqNo:869 2021-02-10T18:01:16Z- AHRS_M2 msg: 4.42 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:16Z- waiting for 1612980078.08, time is 1612980076.27 2021-02-10T18:01:16Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:16Z- handleDepth()-Depth_Keller msg: 44.32 epoch sec; seqNo:1612980076666; depth 0.00 2021-02-10T18:01:16Z- waiting for 1612980078.08, time is 1612980076.27 2021-02-10T18:01:16Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980076.68 epoch sec; seqNo:873; 4061696.13 north; 594343.85 east 2021-02-10T18:01:16Z- waiting for 1612980078.08, time is 1612980076.27 2021-02-10T18:01:16Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:17Z- AHRS_M2 msg: 1612980077.06 epoch sec; seqNo:870 2021-02-10T18:01:17Z- AHRS_M2 msg: 4.42 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:17Z- waiting for 1612980078.08, time is 1612980076.27 2021-02-10T18:01:17Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:17Z- handleDepth()-Depth_Keller msg: 44.37 epoch sec; seqNo:1612980077074; depth 0.00 2021-02-10T18:01:17Z- waiting for 1612980078.08, time is 1612980076.27 2021-02-10T18:01:17Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980077.11 epoch sec; seqNo:874; 4061696.12 north; 594342.63 east 2021-02-10T18:01:17Z- waiting for 1612980078.08, time is 1612980076.27 2021-02-10T18:01:17Z- sync is 0.84, coherence is 2.00 2021-02-10T18:01:17Z- AHRS_M2 msg: 1612980077.47 epoch sec; seqNo:871 2021-02-10T18:01:17Z- AHRS_M2 msg: 4.42 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:17Z- waiting for 1612980078.08, time is 1612980076.27 2021-02-10T18:01:17Z- sync is 1.20, coherence is 2.00 2021-02-10T18:01:17Z- handleDepth()-Depth_Keller msg: 44.42 epoch sec; seqNo:1612980077472; depth 0.00 2021-02-10T18:01:17Z- waiting for 1612980078.08, time is 1612980076.27 2021-02-10T18:01:17Z- sync is 1.20, coherence is 2.00 2021-02-10T18:01:17Z- handleDvl() - RDI_Pathfinder msg: 1612980077.48 epoch sec; seqNo:354 2021-02-10T18:01:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.93 , 40.11 , 39.36 , 45.92 2021-02-10T18:01:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.04 , 0.03 2021-02-10T18:01:17Z- waiting for 1612980078.08, time is 1612980077.48 2021-02-10T18:01:17Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980077.49 epoch sec; seqNo:875; 4061696.12 north; 594342.63 east 2021-02-10T18:01:17Z- waiting for 1612980078.08, time is 1612980077.48 2021-02-10T18:01:17Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:17Z- AHRS_M2 msg: 1612980077.87 epoch sec; seqNo:872 2021-02-10T18:01:17Z- AHRS_M2 msg: 4.42 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:17Z- waiting for 1612980078.08, time is 1612980077.48 2021-02-10T18:01:17Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:17Z- handleDepth()-Depth_Keller msg: 44.48 epoch sec; seqNo:1612980077878; depth 0.00 2021-02-10T18:01:17Z- waiting for 1612980078.08, time is 1612980077.48 2021-02-10T18:01:17Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980077.89 epoch sec; seqNo:876; 4061695.74 north; 594342.64 east 2021-02-10T18:01:17Z- waiting for 1612980078.08, time is 1612980077.48 2021-02-10T18:01:17Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:18Z- handleDepth()-Depth_Keller msg: 44.53 epoch sec; seqNo:1612980078297; depth 0.00 2021-02-10T18:01:18Z- waiting for 1612980078.08, time is 1612980077.48 2021-02-10T18:01:18Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:18Z- handleDvl() - RDI_Pathfinder msg: 1612980078.31 epoch sec; seqNo:355 2021-02-10T18:01:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.24 , 40.49 , 39.18 , 45.55 2021-02-10T18:01:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.04 , 0.05 2021-02-10T18:01:18Z- waiting for 1612980078.08, time is 1612980078.31 2021-02-10T18:01:18Z- sync is 0.42, coherence is 2.00 2021-02-10T18:01:18Z- LcmTrn::updateTrn() >>>> pose time 1612980077.89, meas time 1612980078.31 <<<< 2021-02-10T18:01:18Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980078.31 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:01:18Z- TerrainNav::motionUpdate() - currEstimate = (4061696, 594342.64, 44.53) 2021-02-10T18:01:18Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:01:18Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:01:18Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:01:18Z- TNavBF::mmse selected from filter -1 2021-02-10T18:01:18Z- variances([0], [2], and psi_berg) = 807.686673 833.121445 0.000000 2021-02-10T18:01:18Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:01:18Z- LcmTrn::cycle() - MLE : 4061663.24 594297.14 44.53 2021-02-10T18:01:18Z- LcmTrn::cycle() - MMSE : 4061695.74 594342.64 44.53 2021-02-10T18:01:18Z- LcmTrn::cycle() - COVAR: 807.69 833.12 38.04 0.00 2021-02-10T18:01:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980078.32 epoch sec; seqNo:877; 4061695.74 north; 594342.64 east 2021-02-10T18:01:18Z- waiting for 1612980081.31, time is 1612980078.31 2021-02-10T18:01:18Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:18Z- AHRS_M2 msg: 1612980078.68 epoch sec; seqNo:873 2021-02-10T18:01:18Z- AHRS_M2 msg: 4.43 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:18Z- waiting for 1612980081.31, time is 1612980078.31 2021-02-10T18:01:18Z- sync is 0.37, coherence is 2.00 2021-02-10T18:01:18Z- handleDepth()-Depth_Keller msg: 44.58 epoch sec; seqNo:1612980078689; depth 0.00 2021-02-10T18:01:18Z- waiting for 1612980081.31, time is 1612980078.31 2021-02-10T18:01:18Z- sync is 0.37, coherence is 2.00 2021-02-10T18:01:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980078.70 epoch sec; seqNo:878; 4061695.73 north; 594341.42 east 2021-02-10T18:01:18Z- waiting for 1612980081.31, time is 1612980078.31 2021-02-10T18:01:18Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:19Z- AHRS_M2 msg: 1612980079.10 epoch sec; seqNo:874 2021-02-10T18:01:19Z- AHRS_M2 msg: 4.43 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:19Z- waiting for 1612980081.31, time is 1612980078.31 2021-02-10T18:01:19Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:19Z- handleDepth()-Depth_Keller msg: 44.63 epoch sec; seqNo:1612980079112; depth 0.00 2021-02-10T18:01:19Z- waiting for 1612980081.31, time is 1612980078.31 2021-02-10T18:01:19Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:19Z- handleDvl() - RDI_Pathfinder msg: 1612980079.13 epoch sec; seqNo:356 2021-02-10T18:01:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.62 , 39.74 , 39.36 , 44.24 2021-02-10T18:01:19Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.03 , 0.06 2021-02-10T18:01:19Z- waiting for 1612980081.31, time is 1612980079.13 2021-02-10T18:01:19Z- sync is 0.03, coherence is 2.00 2021-02-10T18:01:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980079.14 epoch sec; seqNo:879; 4061695.35 north; 594341.42 east 2021-02-10T18:01:19Z- waiting for 1612980081.31, time is 1612980079.13 2021-02-10T18:01:19Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:19Z- AHRS_M2 msg: 1612980079.49 epoch sec; seqNo:875 2021-02-10T18:01:19Z- AHRS_M2 msg: 4.42 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:19Z- waiting for 1612980081.31, time is 1612980079.13 2021-02-10T18:01:19Z- sync is 0.35, coherence is 2.00 2021-02-10T18:01:19Z- handleDepth()-Depth_Keller msg: 44.68 epoch sec; seqNo:1612980079494; depth 0.00 2021-02-10T18:01:19Z- waiting for 1612980081.31, time is 1612980079.13 2021-02-10T18:01:19Z- sync is 0.35, coherence is 2.00 2021-02-10T18:01:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980079.51 epoch sec; seqNo:880; 4061695.35 north; 594341.42 east 2021-02-10T18:01:19Z- waiting for 1612980081.31, time is 1612980079.13 2021-02-10T18:01:19Z- sync is 0.37, coherence is 2.00 2021-02-10T18:01:19Z- AHRS_M2 msg: 1612980079.89 epoch sec; seqNo:876 2021-02-10T18:01:19Z- AHRS_M2 msg: 4.42 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:19Z- waiting for 1612980081.31, time is 1612980079.13 2021-02-10T18:01:19Z- sync is 0.76, coherence is 2.00 2021-02-10T18:01:19Z- handleDepth()-Depth_Keller msg: 44.73 epoch sec; seqNo:1612980079896; depth 0.00 2021-02-10T18:01:19Z- waiting for 1612980081.31, time is 1612980079.13 2021-02-10T18:01:19Z- sync is 0.76, coherence is 2.00 2021-02-10T18:01:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980079.91 epoch sec; seqNo:881; 4061695.33 north; 594340.20 east 2021-02-10T18:01:19Z- waiting for 1612980081.31, time is 1612980079.13 2021-02-10T18:01:19Z- sync is 0.77, coherence is 2.00 2021-02-10T18:01:20Z- AHRS_M2 msg: 1612980080.30 epoch sec; seqNo:877 2021-02-10T18:01:20Z- AHRS_M2 msg: 4.42 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:20Z- waiting for 1612980081.31, time is 1612980079.13 2021-02-10T18:01:20Z- sync is 1.16, coherence is 2.00 2021-02-10T18:01:20Z- handleDepth()-Depth_Keller msg: 44.78 epoch sec; seqNo:1612980080305; depth 0.00 2021-02-10T18:01:20Z- waiting for 1612980081.31, time is 1612980079.13 2021-02-10T18:01:20Z- sync is 1.16, coherence is 2.00 2021-02-10T18:01:20Z- handleDvl() - RDI_Pathfinder msg: 1612980080.32 epoch sec; seqNo:357 2021-02-10T18:01:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.43 , 40.68 , 39.55 , 44.61 2021-02-10T18:01:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.03 , 0.07 2021-02-10T18:01:20Z- waiting for 1612980081.31, time is 1612980080.32 2021-02-10T18:01:20Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980080.33 epoch sec; seqNo:882; 4061695.33 north; 594340.20 east 2021-02-10T18:01:20Z- waiting for 1612980081.31, time is 1612980080.32 2021-02-10T18:01:20Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:20Z- AHRS_M2 msg: 1612980080.70 epoch sec; seqNo:878 2021-02-10T18:01:20Z- AHRS_M2 msg: 4.42 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:20Z- waiting for 1612980081.31, time is 1612980080.32 2021-02-10T18:01:20Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:20Z- handleDepth()-Depth_Keller msg: 44.83 epoch sec; seqNo:1612980080705; depth 0.00 2021-02-10T18:01:20Z- waiting for 1612980081.31, time is 1612980080.32 2021-02-10T18:01:20Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980080.72 epoch sec; seqNo:883; 4061694.95 north; 594340.20 east 2021-02-10T18:01:20Z- waiting for 1612980081.31, time is 1612980080.32 2021-02-10T18:01:20Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:21Z- AHRS_M2 msg: 1612980081.12 epoch sec; seqNo:879 2021-02-10T18:01:21Z- AHRS_M2 msg: 4.42 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:21Z- waiting for 1612980081.31, time is 1612980080.32 2021-02-10T18:01:21Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:21Z- handleDepth()-Depth_Keller msg: 44.88 epoch sec; seqNo:1612980081119; depth 0.00 2021-02-10T18:01:21Z- waiting for 1612980081.31, time is 1612980080.32 2021-02-10T18:01:21Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:21Z- handleDvl() - RDI_Pathfinder msg: 1612980081.15 epoch sec; seqNo:358 2021-02-10T18:01:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.62 , 42.18 , 39.93 , 44.05 2021-02-10T18:01:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.01 , 0.07 2021-02-10T18:01:21Z- waiting for 1612980081.31, time is 1612980081.15 2021-02-10T18:01:21Z- sync is 0.03, coherence is 2.00 2021-02-10T18:01:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980081.16 epoch sec; seqNo:884; 4061694.94 north; 594338.98 east 2021-02-10T18:01:21Z- waiting for 1612980081.31, time is 1612980081.15 2021-02-10T18:01:21Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:21Z- AHRS_M2 msg: 1612980081.51 epoch sec; seqNo:880 2021-02-10T18:01:21Z- AHRS_M2 msg: 4.43 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:21Z- waiting for 1612980081.31, time is 1612980081.15 2021-02-10T18:01:21Z- sync is 0.36, coherence is 2.00 2021-02-10T18:01:21Z- handleDepth()-Depth_Keller msg: 44.93 epoch sec; seqNo:1612980081522; depth 0.00 2021-02-10T18:01:21Z- waiting for 1612980081.31, time is 1612980081.15 2021-02-10T18:01:21Z- sync is 0.36, coherence is 2.00 2021-02-10T18:01:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980081.54 epoch sec; seqNo:885; 4061694.94 north; 594338.98 east 2021-02-10T18:01:21Z- waiting for 1612980081.31, time is 1612980081.15 2021-02-10T18:01:21Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:21Z- AHRS_M2 msg: 1612980081.91 epoch sec; seqNo:881 2021-02-10T18:01:21Z- AHRS_M2 msg: 4.43 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:21Z- waiting for 1612980081.31, time is 1612980081.15 2021-02-10T18:01:21Z- sync is 0.76, coherence is 2.00 2021-02-10T18:01:21Z- handleDepth()-Depth_Keller msg: 44.99 epoch sec; seqNo:1612980081926; depth 0.00 2021-02-10T18:01:21Z- waiting for 1612980081.31, time is 1612980081.15 2021-02-10T18:01:21Z- sync is 0.76, coherence is 2.00 2021-02-10T18:01:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980081.93 epoch sec; seqNo:886; 4061694.56 north; 594338.99 east 2021-02-10T18:01:21Z- waiting for 1612980081.31, time is 1612980081.15 2021-02-10T18:01:21Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:22Z- AHRS_M2 msg: 1612980082.32 epoch sec; seqNo:882 2021-02-10T18:01:22Z- AHRS_M2 msg: 4.43 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:22Z- waiting for 1612980081.31, time is 1612980081.15 2021-02-10T18:01:22Z- sync is 1.17, coherence is 2.00 2021-02-10T18:01:22Z- handleDepth()-Depth_Keller msg: 45.05 epoch sec; seqNo:1612980082326; depth 0.00 2021-02-10T18:01:22Z- waiting for 1612980081.31, time is 1612980081.15 2021-02-10T18:01:22Z- sync is 1.17, coherence is 2.00 2021-02-10T18:01:22Z- handleDvl() - RDI_Pathfinder msg: 1612980082.34 epoch sec; seqNo:359 2021-02-10T18:01:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.18 , 42.18 , 39.74 , 43.68 2021-02-10T18:01:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.02 , 0.06 2021-02-10T18:01:22Z- waiting for 1612980081.31, time is 1612980082.34 2021-02-10T18:01:22Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:22Z- LcmTrn::updateTrn() >>>> pose time 1612980082.32, meas time 1612980082.34 <<<< 2021-02-10T18:01:22Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980082.34 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:01:22Z- TerrainNav::motionUpdate() - currEstimate = (4061695, 594338.99, 45.05) 2021-02-10T18:01:22Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:01:22Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:01:22Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:01:22Z- TNavBF::mmse selected from filter -1 2021-02-10T18:01:22Z- variances([0], [2], and psi_berg) = 807.421465 833.120731 0.000000 2021-02-10T18:01:22Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:01:22Z- LcmTrn::cycle() - MLE : 4061662.06 594293.49 45.05 2021-02-10T18:01:22Z- LcmTrn::cycle() - MMSE : 4061694.56 594338.99 45.05 2021-02-10T18:01:22Z- LcmTrn::cycle() - COVAR: 807.42 833.12 38.24 0.00 2021-02-10T18:01:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980082.36 epoch sec; seqNo:887; 4061694.56 north; 594338.99 east 2021-02-10T18:01:22Z- waiting for 1612980085.34, time is 1612980082.34 2021-02-10T18:01:22Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:22Z- AHRS_M2 msg: 1612980082.72 epoch sec; seqNo:883 2021-02-10T18:01:22Z- AHRS_M2 msg: 4.43 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:22Z- waiting for 1612980085.34, time is 1612980082.34 2021-02-10T18:01:22Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:22Z- handleDepth()-Depth_Keller msg: 45.10 epoch sec; seqNo:1612980082729; depth 0.00 2021-02-10T18:01:22Z- waiting for 1612980085.34, time is 1612980082.34 2021-02-10T18:01:22Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980082.74 epoch sec; seqNo:888; 4061694.55 north; 594337.77 east 2021-02-10T18:01:22Z- waiting for 1612980085.34, time is 1612980082.34 2021-02-10T18:01:22Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:23Z- AHRS_M2 msg: 1612980083.12 epoch sec; seqNo:884 2021-02-10T18:01:23Z- AHRS_M2 msg: 4.43 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:23Z- waiting for 1612980085.34, time is 1612980082.34 2021-02-10T18:01:23Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:23Z- handleDepth()-Depth_Keller msg: 45.15 epoch sec; seqNo:1612980083129; depth 0.00 2021-02-10T18:01:23Z- waiting for 1612980085.34, time is 1612980082.34 2021-02-10T18:01:23Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:23Z- handleDvl() - RDI_Pathfinder msg: 1612980083.14 epoch sec; seqNo:360 2021-02-10T18:01:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.55 , 40.68 , 39.74 , 43.68 2021-02-10T18:01:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.02 , 0.03 2021-02-10T18:01:23Z- waiting for 1612980085.34, time is 1612980083.14 2021-02-10T18:01:23Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980083.15 epoch sec; seqNo:889; 4061694.55 north; 594337.77 east 2021-02-10T18:01:23Z- waiting for 1612980085.34, time is 1612980083.14 2021-02-10T18:01:23Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:23Z- AHRS_M2 msg: 1612980083.53 epoch sec; seqNo:885 2021-02-10T18:01:23Z- AHRS_M2 msg: 4.43 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:23Z- waiting for 1612980085.34, time is 1612980083.14 2021-02-10T18:01:23Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:23Z- handleDepth()-Depth_Keller msg: 45.19 epoch sec; seqNo:1612980083542; depth 0.00 2021-02-10T18:01:23Z- waiting for 1612980085.34, time is 1612980083.14 2021-02-10T18:01:23Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980083.55 epoch sec; seqNo:890; 4061694.17 north; 594337.77 east 2021-02-10T18:01:23Z- waiting for 1612980085.34, time is 1612980083.14 2021-02-10T18:01:23Z- sync is 0.41, coherence is 2.00 2021-02-10T18:01:23Z- AHRS_M2 msg: 1612980083.93 epoch sec; seqNo:886 2021-02-10T18:01:23Z- AHRS_M2 msg: 4.43 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:23Z- waiting for 1612980085.34, time is 1612980083.14 2021-02-10T18:01:23Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:23Z- handleDepth()-Depth_Keller msg: 45.25 epoch sec; seqNo:1612980083941; depth 0.00 2021-02-10T18:01:23Z- waiting for 1612980085.34, time is 1612980083.14 2021-02-10T18:01:23Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980083.95 epoch sec; seqNo:891; 4061694.16 north; 594336.55 east 2021-02-10T18:01:23Z- waiting for 1612980085.34, time is 1612980083.14 2021-02-10T18:01:23Z- sync is 0.81, coherence is 2.00 2021-02-10T18:01:24Z- AHRS_M2 msg: 1612980084.34 epoch sec; seqNo:887 2021-02-10T18:01:24Z- AHRS_M2 msg: 4.44 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:24Z- waiting for 1612980085.34, time is 1612980083.14 2021-02-10T18:01:24Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:24Z- handleDepth()-Depth_Keller msg: 45.30 epoch sec; seqNo:1612980084340; depth 0.00 2021-02-10T18:01:24Z- waiting for 1612980085.34, time is 1612980083.14 2021-02-10T18:01:24Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:24Z- handleDvl() - RDI_Pathfinder msg: 1612980084.35 epoch sec; seqNo:361 2021-02-10T18:01:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.74 , 40.49 , 40.49 , 43.30 2021-02-10T18:01:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.02 , 0.01 2021-02-10T18:01:24Z- waiting for 1612980085.34, time is 1612980084.35 2021-02-10T18:01:24Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980084.36 epoch sec; seqNo:892; 4061694.16 north; 594336.55 east 2021-02-10T18:01:24Z- waiting for 1612980085.34, time is 1612980084.35 2021-02-10T18:01:24Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:24Z- AHRS_M2 msg: 1612980084.74 epoch sec; seqNo:888 2021-02-10T18:01:24Z- AHRS_M2 msg: 4.44 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:24Z- waiting for 1612980085.34, time is 1612980084.35 2021-02-10T18:01:24Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:24Z- handleDepth()-Depth_Keller msg: 45.35 epoch sec; seqNo:1612980084746; depth 0.00 2021-02-10T18:01:24Z- waiting for 1612980085.34, time is 1612980084.35 2021-02-10T18:01:24Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980084.76 epoch sec; seqNo:893; 4061693.78 north; 594336.56 east 2021-02-10T18:01:24Z- waiting for 1612980085.34, time is 1612980084.35 2021-02-10T18:01:24Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:25Z- AHRS_M2 msg: 1612980085.14 epoch sec; seqNo:889 2021-02-10T18:01:25Z- AHRS_M2 msg: 4.44 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:25Z- waiting for 1612980085.34, time is 1612980084.35 2021-02-10T18:01:25Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:25Z- handleDepth()-Depth_Keller msg: 45.39 epoch sec; seqNo:1612980085153; depth 0.00 2021-02-10T18:01:25Z- waiting for 1612980085.34, time is 1612980084.35 2021-02-10T18:01:25Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:25Z- handleDvl() - RDI_Pathfinder msg: 1612980085.17 epoch sec; seqNo:362 2021-02-10T18:01:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.74 , 40.68 , 40.30 , 42.74 2021-02-10T18:01:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.02 , 0.00 2021-02-10T18:01:25Z- waiting for 1612980085.34, time is 1612980085.17 2021-02-10T18:01:25Z- sync is 0.03, coherence is 2.00 2021-02-10T18:01:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980085.18 epoch sec; seqNo:894; 4061693.76 north; 594335.33 east 2021-02-10T18:01:25Z- waiting for 1612980085.34, time is 1612980085.17 2021-02-10T18:01:25Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:25Z- AHRS_M2 msg: 1612980085.55 epoch sec; seqNo:890 2021-02-10T18:01:25Z- AHRS_M2 msg: 4.44 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:25Z- waiting for 1612980085.34, time is 1612980085.17 2021-02-10T18:01:25Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:25Z- handleDepth()-Depth_Keller msg: 45.44 epoch sec; seqNo:1612980085558; depth 0.00 2021-02-10T18:01:25Z- waiting for 1612980085.34, time is 1612980085.17 2021-02-10T18:01:25Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980085.59 epoch sec; seqNo:895; 4061693.76 north; 594335.33 east 2021-02-10T18:01:25Z- waiting for 1612980085.34, time is 1612980085.17 2021-02-10T18:01:25Z- sync is 0.41, coherence is 2.00 2021-02-10T18:01:25Z- AHRS_M2 msg: 1612980085.95 epoch sec; seqNo:891 2021-02-10T18:01:25Z- AHRS_M2 msg: 4.44 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:25Z- waiting for 1612980085.34, time is 1612980085.17 2021-02-10T18:01:25Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:25Z- handleDepth()-Depth_Keller msg: 45.49 epoch sec; seqNo:1612980085961; depth 0.00 2021-02-10T18:01:25Z- waiting for 1612980085.34, time is 1612980085.17 2021-02-10T18:01:25Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980085.97 epoch sec; seqNo:896; 4061693.39 north; 594335.34 east 2021-02-10T18:01:25Z- waiting for 1612980085.34, time is 1612980085.17 2021-02-10T18:01:25Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:26Z- AHRS_M2 msg: 1612980086.36 epoch sec; seqNo:892 2021-02-10T18:01:26Z- AHRS_M2 msg: 4.44 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:26Z- waiting for 1612980085.34, time is 1612980085.17 2021-02-10T18:01:26Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:26Z- handleDepth()-Depth_Keller msg: 45.54 epoch sec; seqNo:1612980086361; depth 0.00 2021-02-10T18:01:26Z- waiting for 1612980085.34, time is 1612980085.17 2021-02-10T18:01:26Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:26Z- handleDvl() - RDI_Pathfinder msg: 1612980086.37 epoch sec; seqNo:363 2021-02-10T18:01:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.74 , 41.05 , 40.11 , 38.80 2021-02-10T18:01:26Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.02 , -0.00 2021-02-10T18:01:26Z- waiting for 1612980085.34, time is 1612980086.37 2021-02-10T18:01:26Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:26Z- LcmTrn::updateTrn() >>>> pose time 1612980086.36, meas time 1612980086.37 <<<< 2021-02-10T18:01:26Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980086.37 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:01:26Z- TerrainNav::motionUpdate() - currEstimate = (4061693, 594335.34, 45.54) 2021-02-10T18:01:26Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:01:26Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:01:26Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:01:26Z- TNavBF::mmse selected from filter -1 2021-02-10T18:01:26Z- variances([0], [2], and psi_berg) = 807.158031 833.120027 0.000000 2021-02-10T18:01:26Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:01:26Z- LcmTrn::cycle() - MLE : 4061660.89 594289.84 45.54 2021-02-10T18:01:26Z- LcmTrn::cycle() - MMSE : 4061693.39 594335.34 45.54 2021-02-10T18:01:26Z- LcmTrn::cycle() - COVAR: 807.16 833.12 38.43 0.00 2021-02-10T18:01:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980086.38 epoch sec; seqNo:897; 4061693.39 north; 594335.34 east 2021-02-10T18:01:26Z- waiting for 1612980089.37, time is 1612980086.37 2021-02-10T18:01:26Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:26Z- AHRS_M2 msg: 1612980086.76 epoch sec; seqNo:893 2021-02-10T18:01:26Z- AHRS_M2 msg: 4.44 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:26Z- waiting for 1612980089.37, time is 1612980086.37 2021-02-10T18:01:26Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:26Z- handleDepth()-Depth_Keller msg: 45.58 epoch sec; seqNo:1612980086764; depth 0.00 2021-02-10T18:01:26Z- waiting for 1612980089.37, time is 1612980086.37 2021-02-10T18:01:26Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980086.79 epoch sec; seqNo:898; 4061693.37 north; 594334.12 east 2021-02-10T18:01:26Z- waiting for 1612980089.37, time is 1612980086.37 2021-02-10T18:01:26Z- sync is 0.41, coherence is 2.00 2021-02-10T18:01:27Z- AHRS_M2 msg: 1612980087.17 epoch sec; seqNo:894 2021-02-10T18:01:27Z- AHRS_M2 msg: 4.45 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:27Z- waiting for 1612980089.37, time is 1612980086.37 2021-02-10T18:01:27Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:27Z- handleDepth()-Depth_Keller msg: 45.63 epoch sec; seqNo:1612980087178; depth 0.00 2021-02-10T18:01:27Z- waiting for 1612980089.37, time is 1612980086.37 2021-02-10T18:01:27Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:27Z- handleDvl() - RDI_Pathfinder msg: 1612980087.19 epoch sec; seqNo:364 2021-02-10T18:01:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.11 , 41.99 , 40.11 , 38.24 2021-02-10T18:01:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.03 , -0.00 2021-02-10T18:01:27Z- waiting for 1612980089.37, time is 1612980087.19 2021-02-10T18:01:27Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980087.21 epoch sec; seqNo:899; 4061693.37 north; 594334.12 east 2021-02-10T18:01:27Z- waiting for 1612980089.37, time is 1612980087.19 2021-02-10T18:01:27Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:27Z- AHRS_M2 msg: 1612980087.57 epoch sec; seqNo:895 2021-02-10T18:01:27Z- AHRS_M2 msg: 4.45 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:27Z- waiting for 1612980089.37, time is 1612980087.19 2021-02-10T18:01:27Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:27Z- handleDepth()-Depth_Keller msg: 45.69 epoch sec; seqNo:1612980087574; depth 0.00 2021-02-10T18:01:27Z- waiting for 1612980089.37, time is 1612980087.19 2021-02-10T18:01:27Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980087.59 epoch sec; seqNo:900; 4061692.99 north; 594334.12 east 2021-02-10T18:01:27Z- waiting for 1612980089.37, time is 1612980087.19 2021-02-10T18:01:27Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:27Z- AHRS_M2 msg: 1612980087.97 epoch sec; seqNo:896 2021-02-10T18:01:27Z- AHRS_M2 msg: 4.45 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:27Z- waiting for 1612980089.37, time is 1612980087.19 2021-02-10T18:01:27Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:27Z- handleDepth()-Depth_Keller msg: 45.73 epoch sec; seqNo:1612980087981; depth 0.00 2021-02-10T18:01:27Z- waiting for 1612980089.37, time is 1612980087.19 2021-02-10T18:01:27Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980087.99 epoch sec; seqNo:901; 4061692.98 north; 594332.90 east 2021-02-10T18:01:27Z- waiting for 1612980089.37, time is 1612980087.19 2021-02-10T18:01:27Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:28Z- AHRS_M2 msg: 1612980088.38 epoch sec; seqNo:897 2021-02-10T18:01:28Z- AHRS_M2 msg: 4.45 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:28Z- waiting for 1612980089.37, time is 1612980087.19 2021-02-10T18:01:28Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:28Z- handleDepth()-Depth_Keller msg: 45.78 epoch sec; seqNo:1612980088385; depth 0.00 2021-02-10T18:01:28Z- waiting for 1612980089.37, time is 1612980087.19 2021-02-10T18:01:28Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:28Z- handleDvl() - RDI_Pathfinder msg: 1612980088.40 epoch sec; seqNo:365 2021-02-10T18:01:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.30 , 41.61 , 39.92 , 38.05 2021-02-10T18:01:28Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.03 , 0.01 2021-02-10T18:01:28Z- waiting for 1612980089.37, time is 1612980088.40 2021-02-10T18:01:28Z- sync is 0.03, coherence is 2.00 2021-02-10T18:01:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980088.43 epoch sec; seqNo:902; 4061692.98 north; 594332.90 east 2021-02-10T18:01:28Z- waiting for 1612980089.37, time is 1612980088.40 2021-02-10T18:01:28Z- sync is 0.03, coherence is 2.00 2021-02-10T18:01:28Z- AHRS_M2 msg: 1612980088.78 epoch sec; seqNo:898 2021-02-10T18:01:28Z- AHRS_M2 msg: 4.45 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:28Z- waiting for 1612980089.37, time is 1612980088.40 2021-02-10T18:01:28Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:28Z- handleDepth()-Depth_Keller msg: 45.83 epoch sec; seqNo:1612980088790; depth 0.00 2021-02-10T18:01:28Z- waiting for 1612980089.37, time is 1612980088.40 2021-02-10T18:01:28Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980088.80 epoch sec; seqNo:903; 4061692.60 north; 594332.91 east 2021-02-10T18:01:28Z- waiting for 1612980089.37, time is 1612980088.40 2021-02-10T18:01:28Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:29Z- AHRS_M2 msg: 1612980089.18 epoch sec; seqNo:899 2021-02-10T18:01:29Z- AHRS_M2 msg: 4.45 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:29Z- waiting for 1612980089.37, time is 1612980088.40 2021-02-10T18:01:29Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:29Z- handleDepth()-Depth_Keller msg: 45.89 epoch sec; seqNo:1612980089188; depth 0.00 2021-02-10T18:01:29Z- waiting for 1612980089.37, time is 1612980088.40 2021-02-10T18:01:29Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:29Z- handleDvl() - RDI_Pathfinder msg: 1612980089.21 epoch sec; seqNo:366 2021-02-10T18:01:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.11 , 41.80 , 40.11 , 37.49 2021-02-10T18:01:29Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.02 , 0.02 2021-02-10T18:01:29Z- waiting for 1612980089.37, time is 1612980089.21 2021-02-10T18:01:29Z- sync is 0.03, coherence is 2.00 2021-02-10T18:01:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980089.22 epoch sec; seqNo:904; 4061692.59 north; 594331.69 east 2021-02-10T18:01:29Z- waiting for 1612980089.37, time is 1612980089.21 2021-02-10T18:01:29Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:29Z- AHRS_M2 msg: 1612980089.59 epoch sec; seqNo:900 2021-02-10T18:01:29Z- AHRS_M2 msg: 4.45 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:29Z- waiting for 1612980089.37, time is 1612980089.21 2021-02-10T18:01:29Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:29Z- handleDepth()-Depth_Keller msg: 45.93 epoch sec; seqNo:1612980089592; depth 0.00 2021-02-10T18:01:29Z- waiting for 1612980089.37, time is 1612980089.21 2021-02-10T18:01:29Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980089.60 epoch sec; seqNo:905; 4061692.59 north; 594331.69 east 2021-02-10T18:01:29Z- waiting for 1612980089.37, time is 1612980089.21 2021-02-10T18:01:29Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:29Z- AHRS_M2 msg: 1612980089.99 epoch sec; seqNo:901 2021-02-10T18:01:29Z- AHRS_M2 msg: 4.45 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:29Z- waiting for 1612980089.37, time is 1612980089.21 2021-02-10T18:01:29Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:30Z- handleDepth()-Depth_Keller msg: 45.98 epoch sec; seqNo:1612980090001; depth 0.00 2021-02-10T18:01:30Z- waiting for 1612980089.37, time is 1612980089.21 2021-02-10T18:01:30Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980090.01 epoch sec; seqNo:906; 4061692.59 north; 594331.69 east 2021-02-10T18:01:30Z- waiting for 1612980089.37, time is 1612980089.21 2021-02-10T18:01:30Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:30Z- AHRS_M2 msg: 1612980090.39 epoch sec; seqNo:902 2021-02-10T18:01:30Z- AHRS_M2 msg: 4.45 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:30Z- waiting for 1612980089.37, time is 1612980089.21 2021-02-10T18:01:30Z- sync is 1.18, coherence is 2.00 2021-02-10T18:01:30Z- handleDepth()-Depth_Keller msg: 46.04 epoch sec; seqNo:1612980090407; depth 0.00 2021-02-10T18:01:30Z- waiting for 1612980089.37, time is 1612980089.21 2021-02-10T18:01:30Z- sync is 1.18, coherence is 2.00 2021-02-10T18:01:30Z- handleDvl() - RDI_Pathfinder msg: 1612980090.42 epoch sec; seqNo:367 2021-02-10T18:01:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.92 , 42.73 , 39.92 , 37.67 2021-02-10T18:01:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.02 , 0.04 2021-02-10T18:01:30Z- waiting for 1612980089.37, time is 1612980090.42 2021-02-10T18:01:30Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:30Z- LcmTrn::updateTrn() >>>> pose time 1612980090.39, meas time 1612980090.42 <<<< 2021-02-10T18:01:30Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980090.42 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:01:30Z- TerrainNav::motionUpdate() - currEstimate = (4061693, 594331.69, 46.04) 2021-02-10T18:01:30Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:01:30Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:01:30Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:01:30Z- TNavBF::mmse selected from filter -1 2021-02-10T18:01:30Z- variances([0], [2], and psi_berg) = 806.899595 833.119343 0.000000 2021-02-10T18:01:30Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:01:30Z- LcmTrn::cycle() - MLE : 4061660.09 594286.19 46.04 2021-02-10T18:01:30Z- LcmTrn::cycle() - MMSE : 4061692.59 594331.69 46.04 2021-02-10T18:01:30Z- LcmTrn::cycle() - COVAR: 806.90 833.12 38.62 0.00 2021-02-10T18:01:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980090.43 epoch sec; seqNo:907; 4061692.20 north; 594330.47 east 2021-02-10T18:01:30Z- waiting for 1612980093.42, time is 1612980090.42 2021-02-10T18:01:30Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:30Z- AHRS_M2 msg: 1612980090.80 epoch sec; seqNo:903 2021-02-10T18:01:30Z- AHRS_M2 msg: 4.46 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:30Z- waiting for 1612980093.42, time is 1612980090.42 2021-02-10T18:01:30Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:30Z- handleDepth()-Depth_Keller msg: 46.09 epoch sec; seqNo:1612980090807; depth 0.00 2021-02-10T18:01:30Z- waiting for 1612980093.42, time is 1612980090.42 2021-02-10T18:01:30Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980090.83 epoch sec; seqNo:908; 4061692.20 north; 594330.47 east 2021-02-10T18:01:30Z- waiting for 1612980093.42, time is 1612980090.42 2021-02-10T18:01:30Z- sync is 0.41, coherence is 2.00 2021-02-10T18:01:31Z- AHRS_M2 msg: 1612980091.21 epoch sec; seqNo:904 2021-02-10T18:01:31Z- AHRS_M2 msg: 4.46 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:31Z- waiting for 1612980093.42, time is 1612980090.42 2021-02-10T18:01:31Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:31Z- handleDepth()-Depth_Keller msg: 46.15 epoch sec; seqNo:1612980091215; depth 0.00 2021-02-10T18:01:31Z- waiting for 1612980093.42, time is 1612980090.42 2021-02-10T18:01:31Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:31Z- handleDvl() - RDI_Pathfinder msg: 1612980091.23 epoch sec; seqNo:368 2021-02-10T18:01:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.30 , 43.11 , 39.92 , 37.30 2021-02-10T18:01:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.03 , 0.05 2021-02-10T18:01:31Z- waiting for 1612980093.42, time is 1612980091.23 2021-02-10T18:01:31Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980091.24 epoch sec; seqNo:909; 4061692.20 north; 594330.47 east 2021-02-10T18:01:31Z- waiting for 1612980093.42, time is 1612980091.23 2021-02-10T18:01:31Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:31Z- AHRS_M2 msg: 1612980091.61 epoch sec; seqNo:905 2021-02-10T18:01:31Z- AHRS_M2 msg: 4.46 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:31Z- waiting for 1612980093.42, time is 1612980091.23 2021-02-10T18:01:31Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:31Z- handleDepth()-Depth_Keller msg: 46.18 epoch sec; seqNo:1612980091621; depth 0.00 2021-02-10T18:01:31Z- waiting for 1612980093.42, time is 1612980091.23 2021-02-10T18:01:31Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980091.63 epoch sec; seqNo:910; 4061691.80 north; 594329.25 east 2021-02-10T18:01:31Z- waiting for 1612980093.42, time is 1612980091.23 2021-02-10T18:01:31Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:32Z- AHRS_M2 msg: 1612980092.01 epoch sec; seqNo:906 2021-02-10T18:01:32Z- AHRS_M2 msg: 4.46 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:32Z- waiting for 1612980093.42, time is 1612980091.23 2021-02-10T18:01:32Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:32Z- handleDepth()-Depth_Keller msg: 46.24 epoch sec; seqNo:1612980092016; depth 0.00 2021-02-10T18:01:32Z- waiting for 1612980093.42, time is 1612980091.23 2021-02-10T18:01:32Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980092.04 epoch sec; seqNo:911; 4061691.80 north; 594329.25 east 2021-02-10T18:01:32Z- waiting for 1612980093.42, time is 1612980091.23 2021-02-10T18:01:32Z- sync is 0.81, coherence is 2.00 2021-02-10T18:01:32Z- AHRS_M2 msg: 1612980092.42 epoch sec; seqNo:907 2021-02-10T18:01:32Z- AHRS_M2 msg: 4.46 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:32Z- waiting for 1612980093.42, time is 1612980091.23 2021-02-10T18:01:32Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:32Z- handleDepth()-Depth_Keller msg: 46.29 epoch sec; seqNo:1612980092423; depth 0.00 2021-02-10T18:01:32Z- waiting for 1612980093.42, time is 1612980091.23 2021-02-10T18:01:32Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:32Z- handleDvl() - RDI_Pathfinder msg: 1612980092.43 epoch sec; seqNo:369 2021-02-10T18:01:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.49 , 43.11 , 39.74 , 37.11 2021-02-10T18:01:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.02 , 0.05 2021-02-10T18:01:32Z- waiting for 1612980093.42, time is 1612980092.43 2021-02-10T18:01:32Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980092.46 epoch sec; seqNo:912; 4061691.80 north; 594329.25 east 2021-02-10T18:01:32Z- waiting for 1612980093.42, time is 1612980092.43 2021-02-10T18:01:32Z- sync is 0.03, coherence is 2.00 2021-02-10T18:01:32Z- AHRS_M2 msg: 1612980092.82 epoch sec; seqNo:908 2021-02-10T18:01:32Z- AHRS_M2 msg: 4.46 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:32Z- waiting for 1612980093.42, time is 1612980092.43 2021-02-10T18:01:32Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:32Z- handleDepth()-Depth_Keller msg: 46.35 epoch sec; seqNo:1612980092824; depth 0.00 2021-02-10T18:01:32Z- waiting for 1612980093.42, time is 1612980092.43 2021-02-10T18:01:32Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980092.84 epoch sec; seqNo:913; 4061691.80 north; 594329.25 east 2021-02-10T18:01:32Z- waiting for 1612980093.42, time is 1612980092.43 2021-02-10T18:01:32Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:33Z- AHRS_M2 msg: 1612980093.23 epoch sec; seqNo:909 2021-02-10T18:01:33Z- AHRS_M2 msg: 4.46 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:33Z- waiting for 1612980093.42, time is 1612980092.43 2021-02-10T18:01:33Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:33Z- handleDepth()-Depth_Keller msg: 46.39 epoch sec; seqNo:1612980093231; depth 0.00 2021-02-10T18:01:33Z- waiting for 1612980093.42, time is 1612980092.43 2021-02-10T18:01:33Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:33Z- handleDvl() - RDI_Pathfinder msg: 1612980093.25 epoch sec; seqNo:370 2021-02-10T18:01:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.86 , 43.48 , 39.55 , 37.11 2021-02-10T18:01:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.01 , 0.05 2021-02-10T18:01:33Z- waiting for 1612980093.42, time is 1612980093.25 2021-02-10T18:01:33Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980093.26 epoch sec; seqNo:914; 4061691.41 north; 594328.04 east 2021-02-10T18:01:33Z- waiting for 1612980093.42, time is 1612980093.25 2021-02-10T18:01:33Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:33Z- AHRS_M2 msg: 1612980093.63 epoch sec; seqNo:910 2021-02-10T18:01:33Z- AHRS_M2 msg: 4.46 phi; -0.15 theta; -0.17 psi 2021-02-10T18:01:33Z- waiting for 1612980093.42, time is 1612980093.25 2021-02-10T18:01:33Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:33Z- handleDepth()-Depth_Keller msg: 46.45 epoch sec; seqNo:1612980093633; depth 0.00 2021-02-10T18:01:33Z- waiting for 1612980093.42, time is 1612980093.25 2021-02-10T18:01:33Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980093.65 epoch sec; seqNo:915; 4061691.41 north; 594328.04 east 2021-02-10T18:01:33Z- waiting for 1612980093.42, time is 1612980093.25 2021-02-10T18:01:33Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:34Z- AHRS_M2 msg: 1612980094.03 epoch sec; seqNo:911 2021-02-10T18:01:34Z- AHRS_M2 msg: 4.46 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:34Z- waiting for 1612980093.42, time is 1612980093.25 2021-02-10T18:01:34Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:34Z- handleDepth()-Depth_Keller msg: 46.51 epoch sec; seqNo:1612980094041; depth 0.00 2021-02-10T18:01:34Z- waiting for 1612980093.42, time is 1612980093.25 2021-02-10T18:01:34Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980094.05 epoch sec; seqNo:916; 4061691.41 north; 594328.04 east 2021-02-10T18:01:34Z- waiting for 1612980093.42, time is 1612980093.25 2021-02-10T18:01:34Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:34Z- AHRS_M2 msg: 1612980094.44 epoch sec; seqNo:912 2021-02-10T18:01:34Z- AHRS_M2 msg: 4.46 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:34Z- waiting for 1612980093.42, time is 1612980093.25 2021-02-10T18:01:34Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:34Z- handleDepth()-Depth_Keller msg: 46.57 epoch sec; seqNo:1612980094447; depth 0.00 2021-02-10T18:01:34Z- waiting for 1612980093.42, time is 1612980093.25 2021-02-10T18:01:34Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:34Z- handleDvl() - RDI_Pathfinder msg: 1612980094.46 epoch sec; seqNo:371 2021-02-10T18:01:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.30 , 44.23 , 39.55 , 37.11 2021-02-10T18:01:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.02 , 0.04 2021-02-10T18:01:34Z- waiting for 1612980093.42, time is 1612980094.46 2021-02-10T18:01:34Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:34Z- LcmTrn::updateTrn() >>>> pose time 1612980094.44, meas time 1612980094.46 <<<< 2021-02-10T18:01:34Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980094.46 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:01:34Z- TerrainNav::motionUpdate() - currEstimate = (4061691, 594328.04, 46.57) 2021-02-10T18:01:34Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:01:34Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:01:34Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:01:34Z- TNavBF::mmse selected from filter -1 2021-02-10T18:01:34Z- variances([0], [2], and psi_berg) = 806.639594 833.118660 0.000000 2021-02-10T18:01:34Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:01:34Z- LcmTrn::cycle() - MLE : 4061658.91 594282.54 46.57 2021-02-10T18:01:34Z- LcmTrn::cycle() - MMSE : 4061691.41 594328.04 46.57 2021-02-10T18:01:34Z- LcmTrn::cycle() - COVAR: 806.64 833.12 38.82 0.00 2021-02-10T18:01:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980094.47 epoch sec; seqNo:917; 4061691.40 north; 594326.82 east 2021-02-10T18:01:34Z- waiting for 1612980097.46, time is 1612980094.46 2021-02-10T18:01:34Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:34Z- AHRS_M2 msg: 1612980094.84 epoch sec; seqNo:913 2021-02-10T18:01:34Z- AHRS_M2 msg: 4.46 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:34Z- waiting for 1612980097.46, time is 1612980094.46 2021-02-10T18:01:34Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:34Z- handleDepth()-Depth_Keller msg: 46.63 epoch sec; seqNo:1612980094845; depth 0.00 2021-02-10T18:01:34Z- waiting for 1612980097.46, time is 1612980094.46 2021-02-10T18:01:34Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980094.86 epoch sec; seqNo:918; 4061691.02 north; 594326.82 east 2021-02-10T18:01:34Z- waiting for 1612980097.46, time is 1612980094.46 2021-02-10T18:01:34Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:35Z- AHRS_M2 msg: 1612980095.24 epoch sec; seqNo:914 2021-02-10T18:01:35Z- AHRS_M2 msg: 4.47 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:35Z- waiting for 1612980097.46, time is 1612980094.46 2021-02-10T18:01:35Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:35Z- handleDepth()-Depth_Keller msg: 46.64 epoch sec; seqNo:1612980095253; depth 0.00 2021-02-10T18:01:35Z- waiting for 1612980097.46, time is 1612980094.46 2021-02-10T18:01:35Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:35Z- handleDvl() - RDI_Pathfinder msg: 1612980095.27 epoch sec; seqNo:372 2021-02-10T18:01:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.49 , 45.17 , 39.74 , 36.74 2021-02-10T18:01:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.02 , 0.04 2021-02-10T18:01:35Z- waiting for 1612980097.46, time is 1612980095.27 2021-02-10T18:01:35Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980095.29 epoch sec; seqNo:919; 4061691.02 north; 594326.82 east 2021-02-10T18:01:35Z- waiting for 1612980097.46, time is 1612980095.27 2021-02-10T18:01:35Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:35Z- AHRS_M2 msg: 1612980095.65 epoch sec; seqNo:915 2021-02-10T18:01:35Z- AHRS_M2 msg: 4.47 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:35Z- waiting for 1612980097.46, time is 1612980095.27 2021-02-10T18:01:35Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:35Z- handleDepth()-Depth_Keller msg: 46.70 epoch sec; seqNo:1612980095653; depth 0.00 2021-02-10T18:01:35Z- waiting for 1612980097.46, time is 1612980095.27 2021-02-10T18:01:35Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980095.66 epoch sec; seqNo:920; 4061691.01 north; 594325.60 east 2021-02-10T18:01:35Z- waiting for 1612980097.46, time is 1612980095.27 2021-02-10T18:01:35Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:36Z- AHRS_M2 msg: 1612980096.06 epoch sec; seqNo:916 2021-02-10T18:01:36Z- AHRS_M2 msg: 4.47 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:36Z- waiting for 1612980097.46, time is 1612980095.27 2021-02-10T18:01:36Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:36Z- handleDepth()-Depth_Keller msg: 46.75 epoch sec; seqNo:1612980096078; depth 0.00 2021-02-10T18:01:36Z- waiting for 1612980097.46, time is 1612980095.27 2021-02-10T18:01:36Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980096.10 epoch sec; seqNo:921; 4061691.01 north; 594325.60 east 2021-02-10T18:01:36Z- waiting for 1612980097.46, time is 1612980095.27 2021-02-10T18:01:36Z- sync is 0.84, coherence is 2.00 2021-02-10T18:01:36Z- AHRS_M2 msg: 1612980096.45 epoch sec; seqNo:917 2021-02-10T18:01:36Z- AHRS_M2 msg: 4.47 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:36Z- waiting for 1612980097.46, time is 1612980095.27 2021-02-10T18:01:36Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:36Z- handleDepth()-Depth_Keller msg: 46.82 epoch sec; seqNo:1612980096460; depth 0.00 2021-02-10T18:01:36Z- waiting for 1612980097.46, time is 1612980095.27 2021-02-10T18:01:36Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:36Z- handleDvl() - RDI_Pathfinder msg: 1612980096.47 epoch sec; seqNo:373 2021-02-10T18:01:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.49 , 44.42 , 39.55 , 36.55 2021-02-10T18:01:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.03 , 0.03 2021-02-10T18:01:36Z- waiting for 1612980097.46, time is 1612980096.47 2021-02-10T18:01:36Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980096.50 epoch sec; seqNo:922; 4061690.63 north; 594325.61 east 2021-02-10T18:01:36Z- waiting for 1612980097.46, time is 1612980096.47 2021-02-10T18:01:36Z- sync is 0.03, coherence is 2.00 2021-02-10T18:01:36Z- AHRS_M2 msg: 1612980096.86 epoch sec; seqNo:918 2021-02-10T18:01:36Z- AHRS_M2 msg: 4.47 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:36Z- waiting for 1612980097.46, time is 1612980096.47 2021-02-10T18:01:36Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:36Z- handleDepth()-Depth_Keller msg: 46.85 epoch sec; seqNo:1612980096869; depth 0.00 2021-02-10T18:01:36Z- waiting for 1612980097.46, time is 1612980096.47 2021-02-10T18:01:36Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980096.88 epoch sec; seqNo:923; 4061690.63 north; 594325.61 east 2021-02-10T18:01:36Z- waiting for 1612980097.46, time is 1612980096.47 2021-02-10T18:01:36Z- sync is 0.41, coherence is 2.00 2021-02-10T18:01:37Z- AHRS_M2 msg: 1612980097.27 epoch sec; seqNo:919 2021-02-10T18:01:37Z- AHRS_M2 msg: 4.47 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:37Z- waiting for 1612980097.46, time is 1612980096.47 2021-02-10T18:01:37Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:37Z- handleDepth()-Depth_Keller msg: 46.90 epoch sec; seqNo:1612980097277; depth 0.00 2021-02-10T18:01:37Z- waiting for 1612980097.46, time is 1612980096.47 2021-02-10T18:01:37Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:37Z- handleDvl() - RDI_Pathfinder msg: 1612980097.29 epoch sec; seqNo:374 2021-02-10T18:01:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.49 , 44.42 , 39.36 , 36.55 2021-02-10T18:01:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.03 , 0.02 2021-02-10T18:01:37Z- waiting for 1612980097.46, time is 1612980097.29 2021-02-10T18:01:37Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980097.30 epoch sec; seqNo:924; 4061690.61 north; 594324.39 east 2021-02-10T18:01:37Z- waiting for 1612980097.46, time is 1612980097.29 2021-02-10T18:01:37Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:37Z- AHRS_M2 msg: 1612980097.67 epoch sec; seqNo:920 2021-02-10T18:01:37Z- AHRS_M2 msg: 4.47 phi; -0.15 theta; -0.18 psi 2021-02-10T18:01:37Z- waiting for 1612980097.46, time is 1612980097.29 2021-02-10T18:01:37Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:37Z- handleDepth()-Depth_Keller msg: 46.96 epoch sec; seqNo:1612980097682; depth 0.00 2021-02-10T18:01:37Z- waiting for 1612980097.46, time is 1612980097.29 2021-02-10T18:01:37Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980097.69 epoch sec; seqNo:925; 4061690.61 north; 594324.39 east 2021-02-10T18:01:37Z- waiting for 1612980097.46, time is 1612980097.29 2021-02-10T18:01:37Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:38Z- AHRS_M2 msg: 1612980098.09 epoch sec; seqNo:921 2021-02-10T18:01:38Z- AHRS_M2 msg: 4.47 phi; -0.14 theta; -0.18 psi 2021-02-10T18:01:38Z- waiting for 1612980097.46, time is 1612980097.29 2021-02-10T18:01:38Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:38Z- handleDepth()-Depth_Keller msg: 46.98 epoch sec; seqNo:1612980098106; depth 0.00 2021-02-10T18:01:38Z- waiting for 1612980097.46, time is 1612980097.29 2021-02-10T18:01:38Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:38Z- handleDvl() - RDI_Pathfinder msg: 1612980098.12 epoch sec; seqNo:375 2021-02-10T18:01:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.49 , 44.23 , 38.99 , 36.55 2021-02-10T18:01:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.03 , 0.02 2021-02-10T18:01:38Z- waiting for 1612980097.46, time is 1612980098.12 2021-02-10T18:01:38Z- sync is 0.03, coherence is 2.00 2021-02-10T18:01:38Z- LcmTrn::updateTrn() >>>> pose time 1612980098.09, meas time 1612980098.12 <<<< 2021-02-10T18:01:38Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980098.12 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:01:38Z- TerrainNav::motionUpdate() - currEstimate = (4061691, 594324.39, 46.98) 2021-02-10T18:01:38Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:01:38Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:01:38Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:01:38Z- TNavBF::mmse selected from filter -1 2021-02-10T18:01:38Z- variances([0], [2], and psi_berg) = 806.384490 833.117995 0.000000 2021-02-10T18:01:38Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:01:38Z- LcmTrn::cycle() - MLE : 4061658.11 594278.89 46.98 2021-02-10T18:01:38Z- LcmTrn::cycle() - MMSE : 4061690.61 594324.39 46.98 2021-02-10T18:01:38Z- LcmTrn::cycle() - COVAR: 806.38 833.12 39.01 0.00 2021-02-10T18:01:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980098.14 epoch sec; seqNo:926; 4061690.23 north; 594324.39 east 2021-02-10T18:01:38Z- waiting for 1612980101.12, time is 1612980098.12 2021-02-10T18:01:38Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:38Z- AHRS_M2 msg: 1612980098.48 epoch sec; seqNo:922 2021-02-10T18:01:38Z- AHRS_M2 msg: 4.47 phi; -0.14 theta; -0.18 psi 2021-02-10T18:01:38Z- waiting for 1612980101.12, time is 1612980098.12 2021-02-10T18:01:38Z- sync is 0.36, coherence is 2.00 2021-02-10T18:01:38Z- handleDepth()-Depth_Keller msg: 47.04 epoch sec; seqNo:1612980098481; depth 0.00 2021-02-10T18:01:38Z- waiting for 1612980101.12, time is 1612980098.12 2021-02-10T18:01:38Z- sync is 0.36, coherence is 2.00 2021-02-10T18:01:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980098.51 epoch sec; seqNo:927; 4061690.22 north; 594323.17 east 2021-02-10T18:01:38Z- waiting for 1612980101.12, time is 1612980098.12 2021-02-10T18:01:38Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:38Z- AHRS_M2 msg: 1612980098.88 epoch sec; seqNo:923 2021-02-10T18:01:38Z- AHRS_M2 msg: 4.47 phi; -0.14 theta; -0.18 psi 2021-02-10T18:01:38Z- waiting for 1612980101.12, time is 1612980098.12 2021-02-10T18:01:38Z- sync is 0.76, coherence is 2.00 2021-02-10T18:01:38Z- handleDepth()-Depth_Keller msg: 47.09 epoch sec; seqNo:1612980098884; depth 0.00 2021-02-10T18:01:38Z- waiting for 1612980101.12, time is 1612980098.12 2021-02-10T18:01:38Z- sync is 0.76, coherence is 2.00 2021-02-10T18:01:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980098.90 epoch sec; seqNo:928; 4061690.22 north; 594323.17 east 2021-02-10T18:01:38Z- waiting for 1612980101.12, time is 1612980098.12 2021-02-10T18:01:38Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:39Z- AHRS_M2 msg: 1612980099.29 epoch sec; seqNo:924 2021-02-10T18:01:39Z- AHRS_M2 msg: 4.46 phi; -0.14 theta; -0.19 psi 2021-02-10T18:01:39Z- waiting for 1612980101.12, time is 1612980098.12 2021-02-10T18:01:39Z- sync is 1.17, coherence is 2.00 2021-02-10T18:01:39Z- handleDepth()-Depth_Keller msg: 47.14 epoch sec; seqNo:1612980099297; depth 0.00 2021-02-10T18:01:39Z- waiting for 1612980101.12, time is 1612980098.12 2021-02-10T18:01:39Z- sync is 1.17, coherence is 2.00 2021-02-10T18:01:39Z- handleDvl() - RDI_Pathfinder msg: 1612980099.31 epoch sec; seqNo:376 2021-02-10T18:01:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.30 , 44.42 , 38.61 , 36.74 2021-02-10T18:01:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.03 , 0.03 2021-02-10T18:01:39Z- waiting for 1612980101.12, time is 1612980099.31 2021-02-10T18:01:39Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980099.34 epoch sec; seqNo:929; 4061689.84 north; 594323.17 east 2021-02-10T18:01:39Z- waiting for 1612980101.12, time is 1612980099.31 2021-02-10T18:01:39Z- sync is 0.03, coherence is 2.00 2021-02-10T18:01:39Z- AHRS_M2 msg: 1612980099.69 epoch sec; seqNo:925 2021-02-10T18:01:39Z- AHRS_M2 msg: 4.46 phi; -0.14 theta; -0.19 psi 2021-02-10T18:01:39Z- waiting for 1612980101.12, time is 1612980099.31 2021-02-10T18:01:39Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:39Z- handleDepth()-Depth_Keller msg: 47.19 epoch sec; seqNo:1612980099699; depth 0.00 2021-02-10T18:01:39Z- waiting for 1612980101.12, time is 1612980099.31 2021-02-10T18:01:39Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980099.71 epoch sec; seqNo:930; 4061689.83 north; 594321.95 east 2021-02-10T18:01:39Z- waiting for 1612980101.12, time is 1612980099.31 2021-02-10T18:01:39Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:40Z- AHRS_M2 msg: 1612980100.11 epoch sec; seqNo:926 2021-02-10T18:01:40Z- AHRS_M2 msg: 4.46 phi; -0.14 theta; -0.19 psi 2021-02-10T18:01:40Z- waiting for 1612980101.12, time is 1612980099.31 2021-02-10T18:01:40Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:40Z- handleDepth()-Depth_Keller msg: 47.23 epoch sec; seqNo:1612980100114; depth 0.00 2021-02-10T18:01:40Z- waiting for 1612980101.12, time is 1612980099.31 2021-02-10T18:01:40Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:40Z- handleDvl() - RDI_Pathfinder msg: 1612980100.13 epoch sec; seqNo:377 2021-02-10T18:01:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.49 , 45.17 , 38.05 , 37.30 2021-02-10T18:01:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.01 , 0.03 2021-02-10T18:01:40Z- waiting for 1612980101.12, time is 1612980100.13 2021-02-10T18:01:40Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980100.14 epoch sec; seqNo:931; 4061689.83 north; 594321.95 east 2021-02-10T18:01:40Z- waiting for 1612980101.12, time is 1612980100.13 2021-02-10T18:01:40Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:40Z- AHRS_M2 msg: 1612980100.49 epoch sec; seqNo:927 2021-02-10T18:01:40Z- AHRS_M2 msg: 4.45 phi; -0.14 theta; -0.19 psi 2021-02-10T18:01:40Z- waiting for 1612980101.12, time is 1612980100.13 2021-02-10T18:01:40Z- sync is 0.37, coherence is 2.00 2021-02-10T18:01:40Z- handleDepth()-Depth_Keller msg: 47.27 epoch sec; seqNo:1612980100501; depth 0.00 2021-02-10T18:01:40Z- waiting for 1612980101.12, time is 1612980100.13 2021-02-10T18:01:40Z- sync is 0.37, coherence is 2.00 2021-02-10T18:01:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980100.53 epoch sec; seqNo:932; 4061689.83 north; 594321.95 east 2021-02-10T18:01:40Z- waiting for 1612980101.12, time is 1612980100.13 2021-02-10T18:01:40Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:40Z- AHRS_M2 msg: 1612980100.90 epoch sec; seqNo:928 2021-02-10T18:01:40Z- AHRS_M2 msg: 4.45 phi; -0.14 theta; -0.19 psi 2021-02-10T18:01:40Z- waiting for 1612980101.12, time is 1612980100.13 2021-02-10T18:01:40Z- sync is 0.77, coherence is 2.00 2021-02-10T18:01:40Z- handleDepth()-Depth_Keller msg: 47.32 epoch sec; seqNo:1612980100904; depth 0.00 2021-02-10T18:01:40Z- waiting for 1612980101.12, time is 1612980100.13 2021-02-10T18:01:40Z- sync is 0.77, coherence is 2.00 2021-02-10T18:01:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980100.91 epoch sec; seqNo:933; 4061689.44 north; 594320.74 east 2021-02-10T18:01:40Z- waiting for 1612980101.12, time is 1612980100.13 2021-02-10T18:01:40Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:41Z- AHRS_M2 msg: 1612980101.30 epoch sec; seqNo:929 2021-02-10T18:01:41Z- AHRS_M2 msg: 4.44 phi; -0.14 theta; -0.20 psi 2021-02-10T18:01:41Z- waiting for 1612980101.12, time is 1612980100.13 2021-02-10T18:01:41Z- sync is 1.18, coherence is 2.00 2021-02-10T18:01:41Z- handleDepth()-Depth_Keller msg: 47.37 epoch sec; seqNo:1612980101311; depth 0.00 2021-02-10T18:01:41Z- waiting for 1612980101.12, time is 1612980100.13 2021-02-10T18:01:41Z- sync is 1.18, coherence is 2.00 2021-02-10T18:01:41Z- handleDvl() - RDI_Pathfinder msg: 1612980101.32 epoch sec; seqNo:378 2021-02-10T18:01:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.49 , 45.92 , 37.67 , 37.49 2021-02-10T18:01:41Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.00 , 0.04 2021-02-10T18:01:41Z- waiting for 1612980101.12, time is 1612980101.32 2021-02-10T18:01:41Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:41Z- LcmTrn::updateTrn() >>>> pose time 1612980101.30, meas time 1612980101.32 <<<< 2021-02-10T18:01:41Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980101.32 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:01:41Z- TerrainNav::motionUpdate() - currEstimate = (4061689, 594320.74, 47.37) 2021-02-10T18:01:41Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:01:41Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:01:41Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:01:41Z- TNavBF::mmse selected from filter -1 2021-02-10T18:01:41Z- variances([0], [2], and psi_berg) = 806.127806 833.117332 0.000000 2021-02-10T18:01:41Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:01:41Z- LcmTrn::cycle() - MLE : 4061656.94 594275.24 47.37 2021-02-10T18:01:41Z- LcmTrn::cycle() - MMSE : 4061689.44 594320.74 47.37 2021-02-10T18:01:41Z- LcmTrn::cycle() - COVAR: 806.13 833.12 39.20 0.00 2021-02-10T18:01:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980101.34 epoch sec; seqNo:934; 4061689.44 north; 594320.74 east 2021-02-10T18:01:41Z- waiting for 1612980104.32, time is 1612980101.32 2021-02-10T18:01:41Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:41Z- AHRS_M2 msg: 1612980101.71 epoch sec; seqNo:930 2021-02-10T18:01:41Z- AHRS_M2 msg: 4.44 phi; -0.14 theta; -0.20 psi 2021-02-10T18:01:41Z- waiting for 1612980104.32, time is 1612980101.32 2021-02-10T18:01:41Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:41Z- handleDepth()-Depth_Keller msg: 47.43 epoch sec; seqNo:1612980101712; depth 0.00 2021-02-10T18:01:41Z- waiting for 1612980104.32, time is 1612980101.32 2021-02-10T18:01:41Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980101.73 epoch sec; seqNo:935; 4061689.44 north; 594320.74 east 2021-02-10T18:01:41Z- waiting for 1612980104.32, time is 1612980101.32 2021-02-10T18:01:41Z- sync is 0.41, coherence is 2.00 2021-02-10T18:01:42Z- AHRS_M2 msg: 1612980102.12 epoch sec; seqNo:931 2021-02-10T18:01:42Z- AHRS_M2 msg: 4.43 phi; -0.14 theta; -0.20 psi 2021-02-10T18:01:42Z- waiting for 1612980104.32, time is 1612980101.32 2021-02-10T18:01:42Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:42Z- handleDepth()-Depth_Keller msg: 47.47 epoch sec; seqNo:1612980102121; depth 0.00 2021-02-10T18:01:42Z- waiting for 1612980104.32, time is 1612980101.32 2021-02-10T18:01:42Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:42Z- handleDvl() - RDI_Pathfinder msg: 1612980102.13 epoch sec; seqNo:379 2021-02-10T18:01:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.49 , 46.48 , 37.67 , 37.86 2021-02-10T18:01:42Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.02 , 0.05 2021-02-10T18:01:42Z- waiting for 1612980104.32, time is 1612980102.13 2021-02-10T18:01:42Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980102.16 epoch sec; seqNo:936; 4061689.04 north; 594319.52 east 2021-02-10T18:01:42Z- waiting for 1612980104.32, time is 1612980102.13 2021-02-10T18:01:42Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:42Z- AHRS_M2 msg: 1612980102.52 epoch sec; seqNo:932 2021-02-10T18:01:42Z- AHRS_M2 msg: 4.43 phi; -0.14 theta; -0.20 psi 2021-02-10T18:01:42Z- waiting for 1612980104.32, time is 1612980102.13 2021-02-10T18:01:42Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:42Z- handleDepth()-Depth_Keller msg: 47.51 epoch sec; seqNo:1612980102522; depth 0.00 2021-02-10T18:01:42Z- waiting for 1612980104.32, time is 1612980102.13 2021-02-10T18:01:42Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980102.53 epoch sec; seqNo:937; 4061689.04 north; 594319.52 east 2021-02-10T18:01:42Z- waiting for 1612980104.32, time is 1612980102.13 2021-02-10T18:01:42Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:42Z- AHRS_M2 msg: 1612980102.92 epoch sec; seqNo:933 2021-02-10T18:01:42Z- AHRS_M2 msg: 4.42 phi; -0.14 theta; -0.20 psi 2021-02-10T18:01:42Z- waiting for 1612980104.32, time is 1612980102.13 2021-02-10T18:01:42Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:42Z- handleDepth()-Depth_Keller msg: 47.55 epoch sec; seqNo:1612980102937; depth 0.00 2021-02-10T18:01:42Z- waiting for 1612980104.32, time is 1612980102.13 2021-02-10T18:01:42Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980102.97 epoch sec; seqNo:938; 4061689.04 north; 594319.52 east 2021-02-10T18:01:42Z- waiting for 1612980104.32, time is 1612980102.13 2021-02-10T18:01:42Z- sync is 0.84, coherence is 2.00 2021-02-10T18:01:43Z- AHRS_M2 msg: 1612980103.32 epoch sec; seqNo:934 2021-02-10T18:01:43Z- AHRS_M2 msg: 4.42 phi; -0.14 theta; -0.20 psi 2021-02-10T18:01:43Z- waiting for 1612980104.32, time is 1612980102.13 2021-02-10T18:01:43Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:43Z- handleDepth()-Depth_Keller msg: 47.61 epoch sec; seqNo:1612980103333; depth 0.00 2021-02-10T18:01:43Z- waiting for 1612980104.32, time is 1612980102.13 2021-02-10T18:01:43Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:43Z- handleDvl() - RDI_Pathfinder msg: 1612980103.35 epoch sec; seqNo:380 2021-02-10T18:01:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.49 , 46.48 , 38.24 , 38.24 2021-02-10T18:01:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.02 , 0.05 2021-02-10T18:01:43Z- waiting for 1612980104.32, time is 1612980103.35 2021-02-10T18:01:43Z- sync is 0.03, coherence is 2.00 2021-02-10T18:01:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980103.36 epoch sec; seqNo:939; 4061689.04 north; 594319.52 east 2021-02-10T18:01:43Z- waiting for 1612980104.32, time is 1612980103.35 2021-02-10T18:01:43Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:43Z- AHRS_M2 msg: 1612980103.73 epoch sec; seqNo:935 2021-02-10T18:01:43Z- AHRS_M2 msg: 4.41 phi; -0.14 theta; -0.20 psi 2021-02-10T18:01:43Z- waiting for 1612980104.32, time is 1612980103.35 2021-02-10T18:01:43Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:43Z- handleDepth()-Depth_Keller msg: 47.66 epoch sec; seqNo:1612980103737; depth 0.00 2021-02-10T18:01:43Z- waiting for 1612980104.32, time is 1612980103.35 2021-02-10T18:01:43Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980103.75 epoch sec; seqNo:940; 4061688.65 north; 594318.30 east 2021-02-10T18:01:43Z- waiting for 1612980104.32, time is 1612980103.35 2021-02-10T18:01:43Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:44Z- AHRS_M2 msg: 1612980104.13 epoch sec; seqNo:936 2021-02-10T18:01:44Z- AHRS_M2 msg: 4.41 phi; -0.14 theta; -0.19 psi 2021-02-10T18:01:44Z- waiting for 1612980104.32, time is 1612980103.35 2021-02-10T18:01:44Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:44Z- handleDepth()-Depth_Keller msg: 47.68 epoch sec; seqNo:1612980104136; depth 0.00 2021-02-10T18:01:44Z- waiting for 1612980104.32, time is 1612980103.35 2021-02-10T18:01:44Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:44Z- handleDvl() - RDI_Pathfinder msg: 1612980104.15 epoch sec; seqNo:381 2021-02-10T18:01:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.67 , 47.04 , 38.24 , 38.24 2021-02-10T18:01:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.00 , 0.05 2021-02-10T18:01:44Z- waiting for 1612980104.32, time is 1612980104.15 2021-02-10T18:01:44Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980104.16 epoch sec; seqNo:941; 4061688.65 north; 594318.30 east 2021-02-10T18:01:44Z- waiting for 1612980104.32, time is 1612980104.15 2021-02-10T18:01:44Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:44Z- AHRS_M2 msg: 1612980104.54 epoch sec; seqNo:937 2021-02-10T18:01:44Z- AHRS_M2 msg: 4.41 phi; -0.14 theta; -0.19 psi 2021-02-10T18:01:44Z- waiting for 1612980104.32, time is 1612980104.15 2021-02-10T18:01:44Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:44Z- handleDepth()-Depth_Keller msg: 47.74 epoch sec; seqNo:1612980104542; depth 0.00 2021-02-10T18:01:44Z- waiting for 1612980104.32, time is 1612980104.15 2021-02-10T18:01:44Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980104.55 epoch sec; seqNo:942; 4061688.65 north; 594318.30 east 2021-02-10T18:01:44Z- waiting for 1612980104.32, time is 1612980104.15 2021-02-10T18:01:44Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:44Z- AHRS_M2 msg: 1612980104.94 epoch sec; seqNo:938 2021-02-10T18:01:44Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.20 psi 2021-02-10T18:01:44Z- waiting for 1612980104.32, time is 1612980104.15 2021-02-10T18:01:44Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:44Z- handleDepth()-Depth_Keller msg: 47.79 epoch sec; seqNo:1612980104944; depth 0.00 2021-02-10T18:01:44Z- waiting for 1612980104.32, time is 1612980104.15 2021-02-10T18:01:44Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980104.96 epoch sec; seqNo:943; 4061688.26 north; 594317.09 east 2021-02-10T18:01:44Z- waiting for 1612980104.32, time is 1612980104.15 2021-02-10T18:01:44Z- sync is 0.82, coherence is 2.00 2021-02-10T18:01:45Z- AHRS_M2 msg: 1612980105.34 epoch sec; seqNo:939 2021-02-10T18:01:45Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.20 psi 2021-02-10T18:01:45Z- waiting for 1612980104.32, time is 1612980104.15 2021-02-10T18:01:45Z- sync is 1.20, coherence is 2.00 2021-02-10T18:01:45Z- handleDepth()-Depth_Keller msg: 47.83 epoch sec; seqNo:1612980105353; depth 0.00 2021-02-10T18:01:45Z- waiting for 1612980104.32, time is 1612980104.15 2021-02-10T18:01:45Z- sync is 1.20, coherence is 2.00 2021-02-10T18:01:45Z- handleDvl() - RDI_Pathfinder msg: 1612980105.37 epoch sec; seqNo:382 2021-02-10T18:01:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.67 , 47.23 , 38.99 , 38.61 2021-02-10T18:01:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.01 , 0.03 2021-02-10T18:01:45Z- waiting for 1612980104.32, time is 1612980105.37 2021-02-10T18:01:45Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:45Z- LcmTrn::updateTrn() >>>> pose time 1612980105.34, meas time 1612980105.37 <<<< 2021-02-10T18:01:45Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980105.37 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:01:45Z- TerrainNav::motionUpdate() - currEstimate = (4061688, 594317.09, 47.83) 2021-02-10T18:01:45Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:01:45Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:01:45Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:01:45Z- TNavBF::mmse selected from filter -1 2021-02-10T18:01:45Z- variances([0], [2], and psi_berg) = 805.872749 833.116677 0.000000 2021-02-10T18:01:45Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:01:45Z- LcmTrn::cycle() - MLE : 4061656.76 594268.59 47.83 2021-02-10T18:01:45Z- LcmTrn::cycle() - MMSE : 4061688.26 594317.09 47.83 2021-02-10T18:01:45Z- LcmTrn::cycle() - COVAR: 805.87 833.12 39.40 0.00 2021-02-10T18:01:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980105.39 epoch sec; seqNo:944; 4061688.26 north; 594317.09 east 2021-02-10T18:01:45Z- waiting for 1612980108.37, time is 1612980105.37 2021-02-10T18:01:45Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:45Z- AHRS_M2 msg: 1612980105.75 epoch sec; seqNo:940 2021-02-10T18:01:45Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.20 psi 2021-02-10T18:01:45Z- waiting for 1612980108.37, time is 1612980105.37 2021-02-10T18:01:45Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:45Z- handleDepth()-Depth_Keller msg: 47.88 epoch sec; seqNo:1612980105752; depth 0.00 2021-02-10T18:01:45Z- waiting for 1612980108.37, time is 1612980105.37 2021-02-10T18:01:45Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980105.76 epoch sec; seqNo:945; 4061688.26 north; 594317.09 east 2021-02-10T18:01:45Z- waiting for 1612980108.37, time is 1612980105.37 2021-02-10T18:01:45Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:46Z- AHRS_M2 msg: 1612980106.15 epoch sec; seqNo:941 2021-02-10T18:01:46Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.20 psi 2021-02-10T18:01:46Z- waiting for 1612980108.37, time is 1612980105.37 2021-02-10T18:01:46Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:46Z- handleDepth()-Depth_Keller msg: 47.91 epoch sec; seqNo:1612980106158; depth 0.00 2021-02-10T18:01:46Z- waiting for 1612980108.37, time is 1612980105.37 2021-02-10T18:01:46Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:46Z- handleDvl() - RDI_Pathfinder msg: 1612980106.17 epoch sec; seqNo:383 2021-02-10T18:01:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.67 , 47.61 , 39.17 , 38.80 2021-02-10T18:01:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.04 , 0.02 2021-02-10T18:01:46Z- waiting for 1612980108.37, time is 1612980106.17 2021-02-10T18:01:46Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980106.18 epoch sec; seqNo:946; 4061687.87 north; 594315.87 east 2021-02-10T18:01:46Z- waiting for 1612980108.37, time is 1612980106.17 2021-02-10T18:01:46Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:46Z- AHRS_M2 msg: 1612980106.56 epoch sec; seqNo:942 2021-02-10T18:01:46Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.20 psi 2021-02-10T18:01:46Z- waiting for 1612980108.37, time is 1612980106.17 2021-02-10T18:01:46Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:46Z- handleDepth()-Depth_Keller msg: 47.96 epoch sec; seqNo:1612980106560; depth 0.00 2021-02-10T18:01:46Z- waiting for 1612980108.37, time is 1612980106.17 2021-02-10T18:01:46Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980106.58 epoch sec; seqNo:947; 4061687.87 north; 594315.87 east 2021-02-10T18:01:46Z- waiting for 1612980108.37, time is 1612980106.17 2021-02-10T18:01:46Z- sync is 0.41, coherence is 2.00 2021-02-10T18:01:46Z- AHRS_M2 msg: 1612980106.96 epoch sec; seqNo:943 2021-02-10T18:01:46Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.20 psi 2021-02-10T18:01:46Z- waiting for 1612980108.37, time is 1612980106.17 2021-02-10T18:01:46Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:46Z- handleDepth()-Depth_Keller msg: 48.00 epoch sec; seqNo:1612980106964; depth 0.00 2021-02-10T18:01:46Z- waiting for 1612980108.37, time is 1612980106.17 2021-02-10T18:01:46Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980106.98 epoch sec; seqNo:948; 4061687.87 north; 594315.87 east 2021-02-10T18:01:46Z- waiting for 1612980108.37, time is 1612980106.17 2021-02-10T18:01:46Z- sync is 0.81, coherence is 2.00 2021-02-10T18:01:47Z- AHRS_M2 msg: 1612980107.36 epoch sec; seqNo:944 2021-02-10T18:01:47Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.20 psi 2021-02-10T18:01:47Z- waiting for 1612980108.37, time is 1612980106.17 2021-02-10T18:01:47Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:47Z- handleDepth()-Depth_Keller msg: 48.06 epoch sec; seqNo:1612980107373; depth 0.00 2021-02-10T18:01:47Z- waiting for 1612980108.37, time is 1612980106.17 2021-02-10T18:01:47Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:47Z- handleDvl() - RDI_Pathfinder msg: 1612980107.39 epoch sec; seqNo:384 2021-02-10T18:01:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.49 , 48.54 , 38.61 , 38.61 2021-02-10T18:01:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.04 , 0.00 2021-02-10T18:01:47Z- waiting for 1612980108.37, time is 1612980107.39 2021-02-10T18:01:47Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980107.40 epoch sec; seqNo:949; 4061687.47 north; 594314.66 east 2021-02-10T18:01:47Z- waiting for 1612980108.37, time is 1612980107.39 2021-02-10T18:01:47Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:47Z- AHRS_M2 msg: 1612980107.77 epoch sec; seqNo:945 2021-02-10T18:01:47Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.19 psi 2021-02-10T18:01:47Z- waiting for 1612980108.37, time is 1612980107.39 2021-02-10T18:01:47Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:47Z- handleDepth()-Depth_Keller msg: 48.09 epoch sec; seqNo:1612980107781; depth 0.00 2021-02-10T18:01:47Z- waiting for 1612980108.37, time is 1612980107.39 2021-02-10T18:01:47Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980107.80 epoch sec; seqNo:950; 4061687.47 north; 594314.66 east 2021-02-10T18:01:47Z- waiting for 1612980108.37, time is 1612980107.39 2021-02-10T18:01:47Z- sync is 0.41, coherence is 2.00 2021-02-10T18:01:48Z- AHRS_M2 msg: 1612980108.17 epoch sec; seqNo:946 2021-02-10T18:01:48Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.19 psi 2021-02-10T18:01:48Z- waiting for 1612980108.37, time is 1612980107.39 2021-02-10T18:01:48Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:48Z- handleDepth()-Depth_Keller msg: 48.14 epoch sec; seqNo:1612980108176; depth 0.00 2021-02-10T18:01:48Z- waiting for 1612980108.37, time is 1612980107.39 2021-02-10T18:01:48Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:48Z- handleDvl() - RDI_Pathfinder msg: 1612980108.19 epoch sec; seqNo:385 2021-02-10T18:01:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.49 , 47.61 , 38.05 , 38.42 2021-02-10T18:01:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.05 , 0.00 2021-02-10T18:01:48Z- waiting for 1612980108.37, time is 1612980108.19 2021-02-10T18:01:48Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980108.21 epoch sec; seqNo:951; 4061687.47 north; 594314.66 east 2021-02-10T18:01:48Z- waiting for 1612980108.37, time is 1612980108.19 2021-02-10T18:01:48Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:48Z- AHRS_M2 msg: 1612980108.58 epoch sec; seqNo:947 2021-02-10T18:01:48Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.19 psi 2021-02-10T18:01:48Z- waiting for 1612980108.37, time is 1612980108.19 2021-02-10T18:01:48Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:48Z- handleDepth()-Depth_Keller msg: 48.17 epoch sec; seqNo:1612980108585; depth 0.00 2021-02-10T18:01:48Z- waiting for 1612980108.37, time is 1612980108.19 2021-02-10T18:01:48Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980108.60 epoch sec; seqNo:952; 4061687.10 north; 594314.66 east 2021-02-10T18:01:48Z- waiting for 1612980108.37, time is 1612980108.19 2021-02-10T18:01:48Z- sync is 0.41, coherence is 2.00 2021-02-10T18:01:48Z- AHRS_M2 msg: 1612980108.98 epoch sec; seqNo:948 2021-02-10T18:01:48Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.18 psi 2021-02-10T18:01:48Z- waiting for 1612980108.37, time is 1612980108.19 2021-02-10T18:01:48Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:48Z- handleDepth()-Depth_Keller msg: 48.22 epoch sec; seqNo:1612980108985; depth 0.00 2021-02-10T18:01:48Z- waiting for 1612980108.37, time is 1612980108.19 2021-02-10T18:01:48Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980108.99 epoch sec; seqNo:953; 4061687.08 north; 594313.44 east 2021-02-10T18:01:48Z- waiting for 1612980108.37, time is 1612980108.19 2021-02-10T18:01:48Z- sync is 0.81, coherence is 2.00 2021-02-10T18:01:49Z- AHRS_M2 msg: 1612980109.38 epoch sec; seqNo:949 2021-02-10T18:01:49Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.18 psi 2021-02-10T18:01:49Z- waiting for 1612980108.37, time is 1612980108.19 2021-02-10T18:01:49Z- sync is 1.20, coherence is 2.00 2021-02-10T18:01:49Z- handleDepth()-Depth_Keller msg: 48.26 epoch sec; seqNo:1612980109393; depth 0.00 2021-02-10T18:01:49Z- waiting for 1612980108.37, time is 1612980108.19 2021-02-10T18:01:49Z- sync is 1.20, coherence is 2.00 2021-02-10T18:01:49Z- handleDvl() - RDI_Pathfinder msg: 1612980109.42 epoch sec; seqNo:386 2021-02-10T18:01:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.67 , 47.79 , 37.49 , 38.61 2021-02-10T18:01:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.06 , 0.01 2021-02-10T18:01:49Z- waiting for 1612980108.37, time is 1612980109.42 2021-02-10T18:01:49Z- sync is 0.03, coherence is 2.00 2021-02-10T18:01:49Z- LcmTrn::updateTrn() >>>> pose time 1612980109.38, meas time 1612980109.42 <<<< 2021-02-10T18:01:49Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980109.42 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:01:49Z- TerrainNav::motionUpdate() - currEstimate = (4061687, 594313.44, 48.26) 2021-02-10T18:01:49Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:01:49Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:01:49Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:01:49Z- TNavBF::mmse selected from filter -1 2021-02-10T18:01:49Z- variances([0], [2], and psi_berg) = 805.619292 833.116032 0.000000 2021-02-10T18:01:49Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:01:49Z- LcmTrn::cycle() - MLE : 4061655.58 594264.94 48.26 2021-02-10T18:01:49Z- LcmTrn::cycle() - MMSE : 4061687.08 594313.44 48.26 2021-02-10T18:01:49Z- LcmTrn::cycle() - COVAR: 805.62 833.12 39.59 0.00 2021-02-10T18:01:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980109.43 epoch sec; seqNo:954; 4061687.08 north; 594313.44 east 2021-02-10T18:01:49Z- waiting for 1612980112.42, time is 1612980109.42 2021-02-10T18:01:49Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:49Z- AHRS_M2 msg: 1612980109.79 epoch sec; seqNo:950 2021-02-10T18:01:49Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.18 psi 2021-02-10T18:01:49Z- waiting for 1612980112.42, time is 1612980109.42 2021-02-10T18:01:49Z- sync is 0.37, coherence is 2.00 2021-02-10T18:01:49Z- handleDepth()-Depth_Keller msg: 48.30 epoch sec; seqNo:1612980109796; depth 0.00 2021-02-10T18:01:49Z- waiting for 1612980112.42, time is 1612980109.42 2021-02-10T18:01:49Z- sync is 0.37, coherence is 2.00 2021-02-10T18:01:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980109.81 epoch sec; seqNo:955; 4061686.70 north; 594313.44 east 2021-02-10T18:01:49Z- waiting for 1612980112.42, time is 1612980109.42 2021-02-10T18:01:49Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:50Z- AHRS_M2 msg: 1612980110.19 epoch sec; seqNo:951 2021-02-10T18:01:50Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.18 psi 2021-02-10T18:01:50Z- waiting for 1612980112.42, time is 1612980109.42 2021-02-10T18:01:50Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:50Z- handleDepth()-Depth_Keller msg: 48.34 epoch sec; seqNo:1612980110201; depth 0.00 2021-02-10T18:01:50Z- waiting for 1612980112.42, time is 1612980109.42 2021-02-10T18:01:50Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:50Z- handleDvl() - RDI_Pathfinder msg: 1612980110.21 epoch sec; seqNo:387 2021-02-10T18:01:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.49 , 47.42 , 37.30 , 38.80 2021-02-10T18:01:50Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.05 , 0.02 2021-02-10T18:01:50Z- waiting for 1612980112.42, time is 1612980110.21 2021-02-10T18:01:50Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980110.22 epoch sec; seqNo:956; 4061686.69 north; 594312.22 east 2021-02-10T18:01:50Z- waiting for 1612980112.42, time is 1612980110.21 2021-02-10T18:01:50Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:50Z- AHRS_M2 msg: 1612980110.60 epoch sec; seqNo:952 2021-02-10T18:01:50Z- AHRS_M2 msg: 4.40 phi; -0.13 theta; -0.18 psi 2021-02-10T18:01:50Z- waiting for 1612980112.42, time is 1612980110.21 2021-02-10T18:01:50Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:50Z- handleDepth()-Depth_Keller msg: 48.39 epoch sec; seqNo:1612980110603; depth 0.00 2021-02-10T18:01:50Z- waiting for 1612980112.42, time is 1612980110.21 2021-02-10T18:01:50Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980110.61 epoch sec; seqNo:957; 4061686.31 north; 594312.23 east 2021-02-10T18:01:50Z- waiting for 1612980112.42, time is 1612980110.21 2021-02-10T18:01:50Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:51Z- AHRS_M2 msg: 1612980111.00 epoch sec; seqNo:953 2021-02-10T18:01:51Z- AHRS_M2 msg: 4.40 phi; -0.12 theta; -0.18 psi 2021-02-10T18:01:51Z- waiting for 1612980112.42, time is 1612980110.21 2021-02-10T18:01:51Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:51Z- handleDepth()-Depth_Keller msg: 48.43 epoch sec; seqNo:1612980111004; depth 0.00 2021-02-10T18:01:51Z- waiting for 1612980112.42, time is 1612980110.21 2021-02-10T18:01:51Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980111.03 epoch sec; seqNo:958; 4061686.31 north; 594312.23 east 2021-02-10T18:01:51Z- waiting for 1612980112.42, time is 1612980110.21 2021-02-10T18:01:51Z- sync is 0.81, coherence is 2.00 2021-02-10T18:01:51Z- AHRS_M2 msg: 1612980111.40 epoch sec; seqNo:954 2021-02-10T18:01:51Z- AHRS_M2 msg: 4.40 phi; -0.12 theta; -0.18 psi 2021-02-10T18:01:51Z- waiting for 1612980112.42, time is 1612980110.21 2021-02-10T18:01:51Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:51Z- handleDepth()-Depth_Keller msg: 48.49 epoch sec; seqNo:1612980111408; depth 0.00 2021-02-10T18:01:51Z- waiting for 1612980112.42, time is 1612980110.21 2021-02-10T18:01:51Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:51Z- handleDvl() - RDI_Pathfinder msg: 1612980111.42 epoch sec; seqNo:388 2021-02-10T18:01:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.11 , 47.42 , 39.55 , 38.61 2021-02-10T18:01:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.06 , 0.04 2021-02-10T18:01:51Z- waiting for 1612980112.42, time is 1612980111.42 2021-02-10T18:01:51Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980111.44 epoch sec; seqNo:959; 4061686.30 north; 594311.01 east 2021-02-10T18:01:51Z- waiting for 1612980112.42, time is 1612980111.42 2021-02-10T18:01:51Z- sync is 0.03, coherence is 2.00 2021-02-10T18:01:51Z- AHRS_M2 msg: 1612980111.81 epoch sec; seqNo:955 2021-02-10T18:01:51Z- AHRS_M2 msg: 4.40 phi; -0.12 theta; -0.18 psi 2021-02-10T18:01:51Z- waiting for 1612980112.42, time is 1612980111.42 2021-02-10T18:01:51Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:51Z- handleDepth()-Depth_Keller msg: 48.54 epoch sec; seqNo:1612980111817; depth 0.00 2021-02-10T18:01:51Z- waiting for 1612980112.42, time is 1612980111.42 2021-02-10T18:01:51Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980111.83 epoch sec; seqNo:960; 4061685.92 north; 594311.01 east 2021-02-10T18:01:51Z- waiting for 1612980112.42, time is 1612980111.42 2021-02-10T18:01:51Z- sync is 0.41, coherence is 2.00 2021-02-10T18:01:52Z- AHRS_M2 msg: 1612980112.21 epoch sec; seqNo:956 2021-02-10T18:01:52Z- AHRS_M2 msg: 4.40 phi; -0.12 theta; -0.17 psi 2021-02-10T18:01:52Z- waiting for 1612980112.42, time is 1612980111.42 2021-02-10T18:01:52Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:52Z- handleDepth()-Depth_Keller msg: 48.58 epoch sec; seqNo:1612980112216; depth 0.00 2021-02-10T18:01:52Z- waiting for 1612980112.42, time is 1612980111.42 2021-02-10T18:01:52Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:52Z- handleDvl() - RDI_Pathfinder msg: 1612980112.23 epoch sec; seqNo:389 2021-02-10T18:01:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.48 , 47.42 , 39.17 , 38.61 2021-02-10T18:01:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.05 , 0.05 2021-02-10T18:01:52Z- waiting for 1612980112.42, time is 1612980112.23 2021-02-10T18:01:52Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980112.24 epoch sec; seqNo:961; 4061685.92 north; 594311.01 east 2021-02-10T18:01:52Z- waiting for 1612980112.42, time is 1612980112.23 2021-02-10T18:01:52Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:52Z- AHRS_M2 msg: 1612980112.62 epoch sec; seqNo:957 2021-02-10T18:01:52Z- AHRS_M2 msg: 4.40 phi; -0.12 theta; -0.17 psi 2021-02-10T18:01:52Z- waiting for 1612980112.42, time is 1612980112.23 2021-02-10T18:01:52Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:52Z- handleDepth()-Depth_Keller msg: 48.64 epoch sec; seqNo:1612980112626; depth 0.00 2021-02-10T18:01:52Z- waiting for 1612980112.42, time is 1612980112.23 2021-02-10T18:01:52Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980112.65 epoch sec; seqNo:962; 4061685.92 north; 594311.01 east 2021-02-10T18:01:52Z- waiting for 1612980112.42, time is 1612980112.23 2021-02-10T18:01:52Z- sync is 0.41, coherence is 2.00 2021-02-10T18:01:53Z- AHRS_M2 msg: 1612980113.02 epoch sec; seqNo:958 2021-02-10T18:01:53Z- AHRS_M2 msg: 4.40 phi; -0.12 theta; -0.17 psi 2021-02-10T18:01:53Z- waiting for 1612980112.42, time is 1612980112.23 2021-02-10T18:01:53Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:53Z- handleDepth()-Depth_Keller msg: 48.69 epoch sec; seqNo:1612980113024; depth 0.00 2021-02-10T18:01:53Z- waiting for 1612980112.42, time is 1612980112.23 2021-02-10T18:01:53Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980113.03 epoch sec; seqNo:963; 4061685.53 north; 594309.80 east 2021-02-10T18:01:53Z- waiting for 1612980112.42, time is 1612980112.23 2021-02-10T18:01:53Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:53Z- AHRS_M2 msg: 1612980113.42 epoch sec; seqNo:959 2021-02-10T18:01:53Z- AHRS_M2 msg: 4.40 phi; -0.11 theta; -0.17 psi 2021-02-10T18:01:53Z- waiting for 1612980112.42, time is 1612980112.23 2021-02-10T18:01:53Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:53Z- handleDepth()-Depth_Keller msg: 48.72 epoch sec; seqNo:1612980113431; depth 0.00 2021-02-10T18:01:53Z- waiting for 1612980112.42, time is 1612980112.23 2021-02-10T18:01:53Z- sync is 1.19, coherence is 2.00 2021-02-10T18:01:53Z- handleDvl() - RDI_Pathfinder msg: 1612980113.44 epoch sec; seqNo:390 2021-02-10T18:01:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.67 , 47.42 , 39.92 , 38.61 2021-02-10T18:01:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.06 , 0.05 2021-02-10T18:01:53Z- waiting for 1612980112.42, time is 1612980113.44 2021-02-10T18:01:53Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:53Z- LcmTrn::updateTrn() >>>> pose time 1612980113.42, meas time 1612980113.44 <<<< 2021-02-10T18:01:53Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980113.44 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:01:53Z- TerrainNav::motionUpdate() - currEstimate = (4061686, 594309.80, 48.72) 2021-02-10T18:01:53Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:01:53Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:01:53Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:01:53Z- TNavBF::mmse selected from filter -1 2021-02-10T18:01:53Z- variances([0], [2], and psi_berg) = 805.363209 833.115385 0.000000 2021-02-10T18:01:53Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:01:53Z- LcmTrn::cycle() - MLE : 4061654.03 594263.30 48.72 2021-02-10T18:01:53Z- LcmTrn::cycle() - MMSE : 4061685.53 594309.80 48.72 2021-02-10T18:01:53Z- LcmTrn::cycle() - COVAR: 805.36 833.12 39.80 0.00 2021-02-10T18:01:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980113.45 epoch sec; seqNo:964; 4061685.53 north; 594309.80 east 2021-02-10T18:01:53Z- waiting for 1612980116.44, time is 1612980113.44 2021-02-10T18:01:53Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:53Z- AHRS_M2 msg: 1612980113.83 epoch sec; seqNo:960 2021-02-10T18:01:53Z- AHRS_M2 msg: 4.40 phi; -0.11 theta; -0.17 psi 2021-02-10T18:01:53Z- waiting for 1612980116.44, time is 1612980113.44 2021-02-10T18:01:53Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:53Z- handleDepth()-Depth_Keller msg: 48.76 epoch sec; seqNo:1612980113832; depth 0.00 2021-02-10T18:01:53Z- waiting for 1612980116.44, time is 1612980113.44 2021-02-10T18:01:53Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980113.85 epoch sec; seqNo:965; 4061685.53 north; 594309.80 east 2021-02-10T18:01:53Z- waiting for 1612980116.44, time is 1612980113.44 2021-02-10T18:01:53Z- sync is 0.41, coherence is 2.00 2021-02-10T18:01:54Z- AHRS_M2 msg: 1612980114.23 epoch sec; seqNo:961 2021-02-10T18:01:54Z- AHRS_M2 msg: 4.40 phi; -0.11 theta; -0.17 psi 2021-02-10T18:01:54Z- waiting for 1612980116.44, time is 1612980113.44 2021-02-10T18:01:54Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:54Z- handleDepth()-Depth_Keller msg: 48.82 epoch sec; seqNo:1612980114237; depth 0.00 2021-02-10T18:01:54Z- waiting for 1612980116.44, time is 1612980113.44 2021-02-10T18:01:54Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:54Z- handleDvl() - RDI_Pathfinder msg: 1612980114.25 epoch sec; seqNo:391 2021-02-10T18:01:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.86 , 47.60 , 40.86 , 38.79 2021-02-10T18:01:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.06 , 0.05 2021-02-10T18:01:54Z- waiting for 1612980116.44, time is 1612980114.25 2021-02-10T18:01:54Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980114.27 epoch sec; seqNo:966; 4061685.13 north; 594308.58 east 2021-02-10T18:01:54Z- waiting for 1612980116.44, time is 1612980114.25 2021-02-10T18:01:54Z- sync is 0.03, coherence is 2.00 2021-02-10T18:01:54Z- AHRS_M2 msg: 1612980114.63 epoch sec; seqNo:962 2021-02-10T18:01:54Z- AHRS_M2 msg: 4.40 phi; -0.11 theta; -0.16 psi 2021-02-10T18:01:54Z- waiting for 1612980116.44, time is 1612980114.25 2021-02-10T18:01:54Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:54Z- handleDepth()-Depth_Keller msg: 48.86 epoch sec; seqNo:1612980114640; depth 0.00 2021-02-10T18:01:54Z- waiting for 1612980116.44, time is 1612980114.25 2021-02-10T18:01:54Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980114.65 epoch sec; seqNo:967; 4061685.13 north; 594308.58 east 2021-02-10T18:01:54Z- waiting for 1612980116.44, time is 1612980114.25 2021-02-10T18:01:54Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:55Z- AHRS_M2 msg: 1612980115.04 epoch sec; seqNo:963 2021-02-10T18:01:55Z- AHRS_M2 msg: 4.41 phi; -0.11 theta; -0.16 psi 2021-02-10T18:01:55Z- waiting for 1612980116.44, time is 1612980114.25 2021-02-10T18:01:55Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:55Z- handleDepth()-Depth_Keller msg: 48.90 epoch sec; seqNo:1612980115054; depth 0.00 2021-02-10T18:01:55Z- waiting for 1612980116.44, time is 1612980114.25 2021-02-10T18:01:55Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980115.06 epoch sec; seqNo:968; 4061684.76 north; 594308.58 east 2021-02-10T18:01:55Z- waiting for 1612980116.44, time is 1612980114.25 2021-02-10T18:01:55Z- sync is 0.82, coherence is 2.00 2021-02-10T18:01:55Z- AHRS_M2 msg: 1612980115.44 epoch sec; seqNo:964 2021-02-10T18:01:55Z- AHRS_M2 msg: 4.41 phi; -0.11 theta; -0.16 psi 2021-02-10T18:01:55Z- waiting for 1612980116.44, time is 1612980114.25 2021-02-10T18:01:55Z- sync is 1.20, coherence is 2.00 2021-02-10T18:01:55Z- handleDepth()-Depth_Keller msg: 48.95 epoch sec; seqNo:1612980115459; depth 0.00 2021-02-10T18:01:55Z- waiting for 1612980116.44, time is 1612980114.25 2021-02-10T18:01:55Z- sync is 1.20, coherence is 2.00 2021-02-10T18:01:55Z- handleDvl() - RDI_Pathfinder msg: 1612980115.47 epoch sec; seqNo:392 2021-02-10T18:01:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.92 , 46.85 , 41.23 , 38.79 2021-02-10T18:01:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.06 , 0.03 2021-02-10T18:01:55Z- waiting for 1612980116.44, time is 1612980115.47 2021-02-10T18:01:55Z- sync is 0.03, coherence is 2.00 2021-02-10T18:01:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980115.48 epoch sec; seqNo:969; 4061684.76 north; 594308.58 east 2021-02-10T18:01:55Z- waiting for 1612980116.44, time is 1612980115.47 2021-02-10T18:01:55Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:55Z- AHRS_M2 msg: 1612980115.85 epoch sec; seqNo:965 2021-02-10T18:01:55Z- AHRS_M2 msg: 4.41 phi; -0.10 theta; -0.16 psi 2021-02-10T18:01:55Z- waiting for 1612980116.44, time is 1612980115.47 2021-02-10T18:01:55Z- sync is 0.37, coherence is 2.00 2021-02-10T18:01:55Z- handleDepth()-Depth_Keller msg: 48.99 epoch sec; seqNo:1612980115857; depth 0.00 2021-02-10T18:01:55Z- waiting for 1612980116.44, time is 1612980115.47 2021-02-10T18:01:55Z- sync is 0.37, coherence is 2.00 2021-02-10T18:01:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980115.88 epoch sec; seqNo:970; 4061684.74 north; 594307.36 east 2021-02-10T18:01:55Z- waiting for 1612980116.44, time is 1612980115.47 2021-02-10T18:01:55Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:56Z- AHRS_M2 msg: 1612980116.25 epoch sec; seqNo:966 2021-02-10T18:01:56Z- AHRS_M2 msg: 4.41 phi; -0.10 theta; -0.16 psi 2021-02-10T18:01:56Z- waiting for 1612980116.44, time is 1612980115.47 2021-02-10T18:01:56Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:56Z- handleDepth()-Depth_Keller msg: 49.03 epoch sec; seqNo:1612980116260; depth 0.00 2021-02-10T18:01:56Z- waiting for 1612980116.44, time is 1612980115.47 2021-02-10T18:01:56Z- sync is 0.78, coherence is 2.00 2021-02-10T18:01:56Z- handleDvl() - RDI_Pathfinder msg: 1612980116.27 epoch sec; seqNo:393 2021-02-10T18:01:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.61 , 46.67 , 41.23 , 38.98 2021-02-10T18:01:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.06 , 0.02 2021-02-10T18:01:56Z- waiting for 1612980116.44, time is 1612980116.27 2021-02-10T18:01:56Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980116.28 epoch sec; seqNo:971; 4061684.36 north; 594307.37 east 2021-02-10T18:01:56Z- waiting for 1612980116.44, time is 1612980116.27 2021-02-10T18:01:56Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:56Z- AHRS_M2 msg: 1612980116.66 epoch sec; seqNo:967 2021-02-10T18:01:56Z- AHRS_M2 msg: 4.41 phi; -0.10 theta; -0.16 psi 2021-02-10T18:01:56Z- waiting for 1612980116.44, time is 1612980116.27 2021-02-10T18:01:56Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:56Z- handleDepth()-Depth_Keller msg: 49.07 epoch sec; seqNo:1612980116667; depth 0.00 2021-02-10T18:01:56Z- waiting for 1612980116.44, time is 1612980116.27 2021-02-10T18:01:56Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980116.68 epoch sec; seqNo:972; 4061684.36 north; 594307.37 east 2021-02-10T18:01:56Z- waiting for 1612980116.44, time is 1612980116.27 2021-02-10T18:01:56Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:57Z- AHRS_M2 msg: 1612980117.06 epoch sec; seqNo:968 2021-02-10T18:01:57Z- AHRS_M2 msg: 4.41 phi; -0.10 theta; -0.16 psi 2021-02-10T18:01:57Z- waiting for 1612980116.44, time is 1612980116.27 2021-02-10T18:01:57Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:57Z- handleDepth()-Depth_Keller msg: 49.11 epoch sec; seqNo:1612980117071; depth 0.00 2021-02-10T18:01:57Z- waiting for 1612980116.44, time is 1612980116.27 2021-02-10T18:01:57Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980117.11 epoch sec; seqNo:973; 4061684.35 north; 594306.15 east 2021-02-10T18:01:57Z- waiting for 1612980116.44, time is 1612980116.27 2021-02-10T18:01:57Z- sync is 0.84, coherence is 2.00 2021-02-10T18:01:57Z- AHRS_M2 msg: 1612980117.47 epoch sec; seqNo:969 2021-02-10T18:01:57Z- AHRS_M2 msg: 4.42 phi; -0.10 theta; -0.16 psi 2021-02-10T18:01:57Z- waiting for 1612980116.44, time is 1612980116.27 2021-02-10T18:01:57Z- sync is 1.20, coherence is 2.00 2021-02-10T18:01:57Z- handleDepth()-Depth_Keller msg: 49.15 epoch sec; seqNo:1612980117477; depth 0.00 2021-02-10T18:01:57Z- waiting for 1612980116.44, time is 1612980116.27 2021-02-10T18:01:57Z- sync is 1.20, coherence is 2.00 2021-02-10T18:01:57Z- handleDvl() - RDI_Pathfinder msg: 1612980117.49 epoch sec; seqNo:394 2021-02-10T18:01:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.86 , 46.67 , 41.61 , 39.17 2021-02-10T18:01:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.05 , 0.01 2021-02-10T18:01:57Z- waiting for 1612980116.44, time is 1612980117.49 2021-02-10T18:01:57Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:57Z- LcmTrn::updateTrn() >>>> pose time 1612980117.47, meas time 1612980117.49 <<<< 2021-02-10T18:01:57Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980117.49 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:01:57Z- TerrainNav::motionUpdate() - currEstimate = (4061684, 594306.15, 49.15) 2021-02-10T18:01:57Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:01:57Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:01:57Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:01:57Z- TNavBF::mmse selected from filter -1 2021-02-10T18:01:57Z- variances([0], [2], and psi_berg) = 805.112899 833.114757 0.000000 2021-02-10T18:01:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:01:57Z- LcmTrn::cycle() - MLE : 4061652.85 594259.65 49.15 2021-02-10T18:01:57Z- LcmTrn::cycle() - MMSE : 4061684.35 594306.15 49.15 2021-02-10T18:01:57Z- LcmTrn::cycle() - COVAR: 805.11 833.11 39.99 0.00 2021-02-10T18:01:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980117.50 epoch sec; seqNo:974; 4061683.97 north; 594306.15 east 2021-02-10T18:01:57Z- waiting for 1612980120.49, time is 1612980117.49 2021-02-10T18:01:57Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:57Z- AHRS_M2 msg: 1612980117.87 epoch sec; seqNo:970 2021-02-10T18:01:57Z- AHRS_M2 msg: 4.42 phi; -0.09 theta; -0.16 psi 2021-02-10T18:01:57Z- waiting for 1612980120.49, time is 1612980117.49 2021-02-10T18:01:57Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:57Z- handleDepth()-Depth_Keller msg: 49.19 epoch sec; seqNo:1612980117874; depth 0.00 2021-02-10T18:01:57Z- waiting for 1612980120.49, time is 1612980117.49 2021-02-10T18:01:57Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980117.88 epoch sec; seqNo:975; 4061683.97 north; 594306.15 east 2021-02-10T18:01:57Z- waiting for 1612980120.49, time is 1612980117.49 2021-02-10T18:01:57Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:58Z- AHRS_M2 msg: 1612980118.28 epoch sec; seqNo:971 2021-02-10T18:01:58Z- AHRS_M2 msg: 4.42 phi; -0.09 theta; -0.16 psi 2021-02-10T18:01:58Z- waiting for 1612980120.49, time is 1612980117.49 2021-02-10T18:01:58Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:58Z- handleDepth()-Depth_Keller msg: 49.23 epoch sec; seqNo:1612980118280; depth 0.00 2021-02-10T18:01:58Z- waiting for 1612980120.49, time is 1612980117.49 2021-02-10T18:01:58Z- sync is 0.79, coherence is 2.00 2021-02-10T18:01:58Z- handleDvl() - RDI_Pathfinder msg: 1612980118.30 epoch sec; seqNo:395 2021-02-10T18:01:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.67 , 46.67 , 41.79 , 39.36 2021-02-10T18:01:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.05 , 0.00 2021-02-10T18:01:58Z- waiting for 1612980120.49, time is 1612980118.30 2021-02-10T18:01:58Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980118.31 epoch sec; seqNo:976; 4061683.96 north; 594304.93 east 2021-02-10T18:01:58Z- waiting for 1612980120.49, time is 1612980118.30 2021-02-10T18:01:58Z- sync is 0.01, coherence is 2.00 2021-02-10T18:01:58Z- AHRS_M2 msg: 1612980118.67 epoch sec; seqNo:972 2021-02-10T18:01:58Z- AHRS_M2 msg: 4.42 phi; -0.09 theta; -0.16 psi 2021-02-10T18:01:58Z- waiting for 1612980120.49, time is 1612980118.30 2021-02-10T18:01:58Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:58Z- handleDepth()-Depth_Keller msg: 49.26 epoch sec; seqNo:1612980118681; depth 0.00 2021-02-10T18:01:58Z- waiting for 1612980120.49, time is 1612980118.30 2021-02-10T18:01:58Z- sync is 0.38, coherence is 2.00 2021-02-10T18:01:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980118.70 epoch sec; seqNo:977; 4061683.58 north; 594304.94 east 2021-02-10T18:01:58Z- waiting for 1612980120.49, time is 1612980118.30 2021-02-10T18:01:58Z- sync is 0.40, coherence is 2.00 2021-02-10T18:01:59Z- AHRS_M2 msg: 1612980119.10 epoch sec; seqNo:973 2021-02-10T18:01:59Z- AHRS_M2 msg: 4.42 phi; -0.09 theta; -0.16 psi 2021-02-10T18:01:59Z- waiting for 1612980120.49, time is 1612980118.30 2021-02-10T18:01:59Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:59Z- handleDepth()-Depth_Keller msg: 49.29 epoch sec; seqNo:1612980119111; depth 0.00 2021-02-10T18:01:59Z- waiting for 1612980120.49, time is 1612980118.30 2021-02-10T18:01:59Z- sync is 0.80, coherence is 2.00 2021-02-10T18:01:59Z- handleDvl() - RDI_Pathfinder msg: 1612980119.12 epoch sec; seqNo:396 2021-02-10T18:01:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.86 , 46.67 , 42.17 , 39.73 2021-02-10T18:01:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.04 , 0.00 2021-02-10T18:01:59Z- waiting for 1612980120.49, time is 1612980119.12 2021-02-10T18:01:59Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980119.14 epoch sec; seqNo:978; 4061683.58 north; 594304.94 east 2021-02-10T18:01:59Z- waiting for 1612980120.49, time is 1612980119.12 2021-02-10T18:01:59Z- sync is 0.02, coherence is 2.00 2021-02-10T18:01:59Z- AHRS_M2 msg: 1612980119.48 epoch sec; seqNo:974 2021-02-10T18:01:59Z- AHRS_M2 msg: 4.42 phi; -0.09 theta; -0.16 psi 2021-02-10T18:01:59Z- waiting for 1612980120.49, time is 1612980119.12 2021-02-10T18:01:59Z- sync is 0.36, coherence is 2.00 2021-02-10T18:01:59Z- handleDepth()-Depth_Keller msg: 49.32 epoch sec; seqNo:1612980119488; depth 0.00 2021-02-10T18:01:59Z- waiting for 1612980120.49, time is 1612980119.12 2021-02-10T18:01:59Z- sync is 0.36, coherence is 2.00 2021-02-10T18:01:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980119.51 epoch sec; seqNo:979; 4061683.58 north; 594304.94 east 2021-02-10T18:01:59Z- waiting for 1612980120.49, time is 1612980119.12 2021-02-10T18:01:59Z- sync is 0.39, coherence is 2.00 2021-02-10T18:01:59Z- AHRS_M2 msg: 1612980119.89 epoch sec; seqNo:975 2021-02-10T18:01:59Z- AHRS_M2 msg: 4.42 phi; -0.09 theta; -0.16 psi 2021-02-10T18:01:59Z- waiting for 1612980120.49, time is 1612980119.12 2021-02-10T18:01:59Z- sync is 0.77, coherence is 2.00 2021-02-10T18:01:59Z- handleDepth()-Depth_Keller msg: 49.36 epoch sec; seqNo:1612980119892; depth 0.00 2021-02-10T18:01:59Z- waiting for 1612980120.49, time is 1612980119.12 2021-02-10T18:01:59Z- sync is 0.77, coherence is 2.00 2021-02-10T18:01:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980119.90 epoch sec; seqNo:980; 4061683.19 north; 594303.72 east 2021-02-10T18:01:59Z- waiting for 1612980120.49, time is 1612980119.12 2021-02-10T18:01:59Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:00Z- AHRS_M2 msg: 1612980120.29 epoch sec; seqNo:976 2021-02-10T18:02:00Z- AHRS_M2 msg: 4.42 phi; -0.09 theta; -0.16 psi 2021-02-10T18:02:00Z- waiting for 1612980120.49, time is 1612980119.12 2021-02-10T18:02:00Z- sync is 1.17, coherence is 2.00 2021-02-10T18:02:00Z- handleDepth()-Depth_Keller msg: 49.41 epoch sec; seqNo:1612980120296; depth 0.00 2021-02-10T18:02:00Z- waiting for 1612980120.49, time is 1612980119.12 2021-02-10T18:02:00Z- sync is 1.17, coherence is 2.00 2021-02-10T18:02:00Z- handleDvl() - RDI_Pathfinder msg: 1612980120.31 epoch sec; seqNo:397 2021-02-10T18:02:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.48 , 46.48 , 42.17 , 39.73 2021-02-10T18:02:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.04 , 0.01 2021-02-10T18:02:00Z- waiting for 1612980120.49, time is 1612980120.31 2021-02-10T18:02:00Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980120.32 epoch sec; seqNo:981; 4061683.19 north; 594303.72 east 2021-02-10T18:02:00Z- waiting for 1612980120.49, time is 1612980120.31 2021-02-10T18:02:00Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:00Z- AHRS_M2 msg: 1612980120.69 epoch sec; seqNo:977 2021-02-10T18:02:00Z- AHRS_M2 msg: 4.42 phi; -0.09 theta; -0.16 psi 2021-02-10T18:02:00Z- waiting for 1612980120.49, time is 1612980120.31 2021-02-10T18:02:00Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:00Z- handleDepth()-Depth_Keller msg: 49.43 epoch sec; seqNo:1612980120702; depth 0.00 2021-02-10T18:02:00Z- waiting for 1612980120.49, time is 1612980120.31 2021-02-10T18:02:00Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980120.76 epoch sec; seqNo:982; 4061683.19 north; 594303.72 east 2021-02-10T18:02:00Z- waiting for 1612980120.49, time is 1612980120.31 2021-02-10T18:02:00Z- sync is 0.45, coherence is 2.00 2021-02-10T18:02:01Z- AHRS_M2 msg: 1612980121.12 epoch sec; seqNo:978 2021-02-10T18:02:01Z- AHRS_M2 msg: 4.42 phi; -0.08 theta; -0.16 psi 2021-02-10T18:02:01Z- waiting for 1612980120.49, time is 1612980120.31 2021-02-10T18:02:01Z- sync is 0.81, coherence is 2.00 2021-02-10T18:02:01Z- handleDepth()-Depth_Keller msg: 49.46 epoch sec; seqNo:1612980121119; depth 0.00 2021-02-10T18:02:01Z- waiting for 1612980120.49, time is 1612980120.31 2021-02-10T18:02:01Z- sync is 0.81, coherence is 2.00 2021-02-10T18:02:01Z- handleDvl() - RDI_Pathfinder msg: 1612980121.13 epoch sec; seqNo:398 2021-02-10T18:02:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.86 , 46.48 , 42.17 , 39.54 2021-02-10T18:02:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.05 , 0.01 2021-02-10T18:02:01Z- waiting for 1612980120.49, time is 1612980121.13 2021-02-10T18:02:01Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:01Z- LcmTrn::updateTrn() >>>> pose time 1612980121.12, meas time 1612980121.13 <<<< 2021-02-10T18:02:01Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980121.13 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:02:01Z- TerrainNav::motionUpdate() - currEstimate = (4061683, 594303.72, 49.46) 2021-02-10T18:02:01Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:02:01Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:02:01Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:02:01Z- TNavBF::mmse selected from filter -1 2021-02-10T18:02:01Z- variances([0], [2], and psi_berg) = 804.904406 833.114238 0.000000 2021-02-10T18:02:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:02:01Z- LcmTrn::cycle() - MLE : 4061651.69 594257.22 49.46 2021-02-10T18:02:01Z- LcmTrn::cycle() - MMSE : 4061683.19 594303.72 49.46 2021-02-10T18:02:01Z- LcmTrn::cycle() - COVAR: 804.90 833.11 40.13 0.00 2021-02-10T18:02:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980121.14 epoch sec; seqNo:983; 4061682.79 north; 594302.50 east 2021-02-10T18:02:01Z- waiting for 1612980124.13, time is 1612980121.13 2021-02-10T18:02:01Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:01Z- AHRS_M2 msg: 1612980121.50 epoch sec; seqNo:979 2021-02-10T18:02:01Z- AHRS_M2 msg: 4.42 phi; -0.08 theta; -0.16 psi 2021-02-10T18:02:01Z- waiting for 1612980124.13, time is 1612980121.13 2021-02-10T18:02:01Z- sync is 0.37, coherence is 2.00 2021-02-10T18:02:01Z- handleDepth()-Depth_Keller msg: 49.49 epoch sec; seqNo:1612980121513; depth 0.00 2021-02-10T18:02:01Z- waiting for 1612980124.13, time is 1612980121.13 2021-02-10T18:02:01Z- sync is 0.37, coherence is 2.00 2021-02-10T18:02:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980121.52 epoch sec; seqNo:984; 4061682.79 north; 594302.50 east 2021-02-10T18:02:01Z- waiting for 1612980124.13, time is 1612980121.13 2021-02-10T18:02:01Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:01Z- AHRS_M2 msg: 1612980121.91 epoch sec; seqNo:980 2021-02-10T18:02:01Z- AHRS_M2 msg: 4.42 phi; -0.08 theta; -0.16 psi 2021-02-10T18:02:01Z- waiting for 1612980124.13, time is 1612980121.13 2021-02-10T18:02:01Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:01Z- handleDepth()-Depth_Keller msg: 49.52 epoch sec; seqNo:1612980121912; depth 0.00 2021-02-10T18:02:01Z- waiting for 1612980124.13, time is 1612980121.13 2021-02-10T18:02:01Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980121.92 epoch sec; seqNo:985; 4061682.79 north; 594302.50 east 2021-02-10T18:02:01Z- waiting for 1612980124.13, time is 1612980121.13 2021-02-10T18:02:01Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:02Z- AHRS_M2 msg: 1612980122.31 epoch sec; seqNo:981 2021-02-10T18:02:02Z- AHRS_M2 msg: 4.42 phi; -0.08 theta; -0.15 psi 2021-02-10T18:02:02Z- waiting for 1612980124.13, time is 1612980121.13 2021-02-10T18:02:02Z- sync is 1.18, coherence is 2.00 2021-02-10T18:02:02Z- handleDepth()-Depth_Keller msg: 49.55 epoch sec; seqNo:1612980122325; depth 0.00 2021-02-10T18:02:02Z- waiting for 1612980124.13, time is 1612980121.13 2021-02-10T18:02:02Z- sync is 1.18, coherence is 2.00 2021-02-10T18:02:02Z- handleDvl() - RDI_Pathfinder msg: 1612980122.34 epoch sec; seqNo:399 2021-02-10T18:02:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.04 , 46.29 , 42.17 , 39.73 2021-02-10T18:02:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.05 , 0.01 2021-02-10T18:02:02Z- waiting for 1612980124.13, time is 1612980122.34 2021-02-10T18:02:02Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980122.35 epoch sec; seqNo:986; 4061682.40 north; 594301.29 east 2021-02-10T18:02:02Z- waiting for 1612980124.13, time is 1612980122.34 2021-02-10T18:02:02Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:02Z- AHRS_M2 msg: 1612980122.71 epoch sec; seqNo:982 2021-02-10T18:02:02Z- AHRS_M2 msg: 4.42 phi; -0.08 theta; -0.15 psi 2021-02-10T18:02:02Z- waiting for 1612980124.13, time is 1612980122.34 2021-02-10T18:02:02Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:02Z- handleDepth()-Depth_Keller msg: 49.57 epoch sec; seqNo:1612980122721; depth 0.00 2021-02-10T18:02:02Z- waiting for 1612980124.13, time is 1612980122.34 2021-02-10T18:02:02Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980122.74 epoch sec; seqNo:987; 4061682.40 north; 594301.29 east 2021-02-10T18:02:02Z- waiting for 1612980124.13, time is 1612980122.34 2021-02-10T18:02:02Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:03Z- handleDepth()-Depth_Keller msg: 49.60 epoch sec; seqNo:1612980123141; depth 0.00 2021-02-10T18:02:03Z- waiting for 1612980124.13, time is 1612980122.34 2021-02-10T18:02:03Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:03Z- handleDvl() - RDI_Pathfinder msg: 1612980123.15 epoch sec; seqNo:400 2021-02-10T18:02:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.86 , 45.54 , 42.35 , 40.11 2021-02-10T18:02:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.05 , 0.02 2021-02-10T18:02:03Z- waiting for 1612980124.13, time is 1612980123.15 2021-02-10T18:02:03Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980123.17 epoch sec; seqNo:988; 4061682.02 north; 594301.29 east 2021-02-10T18:02:03Z- waiting for 1612980124.13, time is 1612980123.15 2021-02-10T18:02:03Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:03Z- AHRS_M2 msg: 1612980123.53 epoch sec; seqNo:983 2021-02-10T18:02:03Z- AHRS_M2 msg: 4.42 phi; -0.07 theta; -0.15 psi 2021-02-10T18:02:03Z- waiting for 1612980124.13, time is 1612980123.15 2021-02-10T18:02:03Z- sync is 0.37, coherence is 2.00 2021-02-10T18:02:03Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1612980123531; depth 0.00 2021-02-10T18:02:03Z- waiting for 1612980124.13, time is 1612980123.15 2021-02-10T18:02:03Z- sync is 0.37, coherence is 2.00 2021-02-10T18:02:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980123.55 epoch sec; seqNo:989; 4061682.01 north; 594300.07 east 2021-02-10T18:02:03Z- waiting for 1612980124.13, time is 1612980123.15 2021-02-10T18:02:03Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:03Z- AHRS_M2 msg: 1612980123.93 epoch sec; seqNo:984 2021-02-10T18:02:03Z- AHRS_M2 msg: 4.42 phi; -0.07 theta; -0.15 psi 2021-02-10T18:02:03Z- waiting for 1612980124.13, time is 1612980123.15 2021-02-10T18:02:03Z- sync is 0.77, coherence is 2.00 2021-02-10T18:02:03Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1612980123932; depth 0.00 2021-02-10T18:02:03Z- waiting for 1612980124.13, time is 1612980123.15 2021-02-10T18:02:03Z- sync is 0.77, coherence is 2.00 2021-02-10T18:02:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980123.95 epoch sec; seqNo:990; 4061682.01 north; 594300.07 east 2021-02-10T18:02:03Z- waiting for 1612980124.13, time is 1612980123.15 2021-02-10T18:02:03Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:04Z- AHRS_M2 msg: 1612980124.33 epoch sec; seqNo:985 2021-02-10T18:02:04Z- AHRS_M2 msg: 4.43 phi; -0.07 theta; -0.15 psi 2021-02-10T18:02:04Z- waiting for 1612980124.13, time is 1612980123.15 2021-02-10T18:02:04Z- sync is 1.18, coherence is 2.00 2021-02-10T18:02:04Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1612980124336; depth 0.00 2021-02-10T18:02:04Z- waiting for 1612980124.13, time is 1612980123.15 2021-02-10T18:02:04Z- sync is 1.18, coherence is 2.00 2021-02-10T18:02:04Z- handleDvl() - RDI_Pathfinder msg: 1612980124.35 epoch sec; seqNo:401 2021-02-10T18:02:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.86 , 45.35 , 42.73 , 39.92 2021-02-10T18:02:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.04 , 0.02 2021-02-10T18:02:04Z- waiting for 1612980124.13, time is 1612980124.35 2021-02-10T18:02:04Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:04Z- LcmTrn::updateTrn() >>>> pose time 1612980124.33, meas time 1612980124.35 <<<< 2021-02-10T18:02:04Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980124.35 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:02:04Z- TerrainNav::motionUpdate() - currEstimate = (4061682, 594300.07, 49.69) 2021-02-10T18:02:04Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:02:04Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:02:04Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:02:04Z- TNavBF::mmse selected from filter -1 2021-02-10T18:02:04Z- variances([0], [2], and psi_berg) = 804.656873 833.113626 0.000000 2021-02-10T18:02:04Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:02:04Z- LcmTrn::cycle() - MLE : 4061650.51 594253.57 49.69 2021-02-10T18:02:04Z- LcmTrn::cycle() - MMSE : 4061682.01 594300.07 49.69 2021-02-10T18:02:04Z- LcmTrn::cycle() - COVAR: 804.66 833.11 40.32 0.00 2021-02-10T18:02:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980124.36 epoch sec; seqNo:991; 4061681.63 north; 594300.07 east 2021-02-10T18:02:04Z- waiting for 1612980127.35, time is 1612980124.35 2021-02-10T18:02:04Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:04Z- AHRS_M2 msg: 1612980124.74 epoch sec; seqNo:986 2021-02-10T18:02:04Z- AHRS_M2 msg: 4.43 phi; -0.07 theta; -0.15 psi 2021-02-10T18:02:04Z- waiting for 1612980127.35, time is 1612980124.35 2021-02-10T18:02:04Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:04Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1612980124743; depth 0.00 2021-02-10T18:02:04Z- waiting for 1612980127.35, time is 1612980124.35 2021-02-10T18:02:04Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980124.75 epoch sec; seqNo:992; 4061681.63 north; 594300.07 east 2021-02-10T18:02:04Z- waiting for 1612980127.35, time is 1612980124.35 2021-02-10T18:02:04Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:05Z- AHRS_M2 msg: 1612980125.14 epoch sec; seqNo:987 2021-02-10T18:02:05Z- AHRS_M2 msg: 4.43 phi; -0.06 theta; -0.15 psi 2021-02-10T18:02:05Z- waiting for 1612980127.35, time is 1612980124.35 2021-02-10T18:02:05Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:05Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1612980125154; depth 0.00 2021-02-10T18:02:05Z- waiting for 1612980127.35, time is 1612980124.35 2021-02-10T18:02:05Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:05Z- handleDvl() - RDI_Pathfinder msg: 1612980125.17 epoch sec; seqNo:402 2021-02-10T18:02:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.42 , 46.10 , 42.92 , 40.48 2021-02-10T18:02:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.06 , 0.02 2021-02-10T18:02:05Z- waiting for 1612980127.35, time is 1612980125.17 2021-02-10T18:02:05Z- sync is 0.03, coherence is 2.00 2021-02-10T18:02:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980125.18 epoch sec; seqNo:993; 4061681.62 north; 594298.85 east 2021-02-10T18:02:05Z- waiting for 1612980127.35, time is 1612980125.17 2021-02-10T18:02:05Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:05Z- AHRS_M2 msg: 1612980125.55 epoch sec; seqNo:988 2021-02-10T18:02:05Z- AHRS_M2 msg: 4.43 phi; -0.06 theta; -0.15 psi 2021-02-10T18:02:05Z- waiting for 1612980127.35, time is 1612980125.17 2021-02-10T18:02:05Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:05Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1612980125551; depth 0.00 2021-02-10T18:02:05Z- waiting for 1612980127.35, time is 1612980125.17 2021-02-10T18:02:05Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980125.56 epoch sec; seqNo:994; 4061681.24 north; 594298.86 east 2021-02-10T18:02:05Z- waiting for 1612980127.35, time is 1612980125.17 2021-02-10T18:02:05Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:05Z- AHRS_M2 msg: 1612980125.95 epoch sec; seqNo:989 2021-02-10T18:02:05Z- AHRS_M2 msg: 4.43 phi; -0.06 theta; -0.15 psi 2021-02-10T18:02:05Z- waiting for 1612980127.35, time is 1612980125.17 2021-02-10T18:02:05Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:05Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1612980125953; depth 0.00 2021-02-10T18:02:05Z- waiting for 1612980127.35, time is 1612980125.17 2021-02-10T18:02:05Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980125.96 epoch sec; seqNo:995; 4061681.24 north; 594298.86 east 2021-02-10T18:02:05Z- waiting for 1612980127.35, time is 1612980125.17 2021-02-10T18:02:05Z- sync is 0.80, coherence is 2.00 2021-02-10T18:02:06Z- AHRS_M2 msg: 1612980126.35 epoch sec; seqNo:990 2021-02-10T18:02:06Z- AHRS_M2 msg: 4.43 phi; -0.06 theta; -0.15 psi 2021-02-10T18:02:06Z- waiting for 1612980127.35, time is 1612980125.17 2021-02-10T18:02:06Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:06Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1612980126362; depth 0.00 2021-02-10T18:02:06Z- waiting for 1612980127.35, time is 1612980125.17 2021-02-10T18:02:06Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:06Z- handleDvl() - RDI_Pathfinder msg: 1612980126.37 epoch sec; seqNo:403 2021-02-10T18:02:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.44 , 46.00 , 42.94 , 34.14 2021-02-10T18:02:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.06 , 0.02 2021-02-10T18:02:06Z- waiting for 1612980127.35, time is 1612980126.37 2021-02-10T18:02:06Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980126.38 epoch sec; seqNo:996; 4061681.22 north; 594297.64 east 2021-02-10T18:02:06Z- waiting for 1612980127.35, time is 1612980126.37 2021-02-10T18:02:06Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:06Z- AHRS_M2 msg: 1612980126.76 epoch sec; seqNo:991 2021-02-10T18:02:06Z- AHRS_M2 msg: 4.43 phi; -0.06 theta; -0.15 psi 2021-02-10T18:02:06Z- waiting for 1612980127.35, time is 1612980126.37 2021-02-10T18:02:06Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:06Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1612980126760; depth 0.00 2021-02-10T18:02:06Z- waiting for 1612980127.35, time is 1612980126.37 2021-02-10T18:02:06Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980126.79 epoch sec; seqNo:997; 4061680.85 north; 594297.64 east 2021-02-10T18:02:06Z- waiting for 1612980127.35, time is 1612980126.37 2021-02-10T18:02:06Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:07Z- AHRS_M2 msg: 1612980127.16 epoch sec; seqNo:992 2021-02-10T18:02:07Z- AHRS_M2 msg: 4.43 phi; -0.06 theta; -0.15 psi 2021-02-10T18:02:07Z- waiting for 1612980127.35, time is 1612980126.37 2021-02-10T18:02:07Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:07Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1612980127164; depth 0.00 2021-02-10T18:02:07Z- waiting for 1612980127.35, time is 1612980126.37 2021-02-10T18:02:07Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:07Z- handleDvl() - RDI_Pathfinder msg: 1612980127.18 epoch sec; seqNo:404 2021-02-10T18:02:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.98 , 46.10 , 42.92 , 40.11 2021-02-10T18:02:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.06 , 0.02 2021-02-10T18:02:07Z- waiting for 1612980127.35, time is 1612980127.18 2021-02-10T18:02:07Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980127.19 epoch sec; seqNo:998; 4061680.85 north; 594297.64 east 2021-02-10T18:02:07Z- waiting for 1612980127.35, time is 1612980127.18 2021-02-10T18:02:07Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:07Z- AHRS_M2 msg: 1612980127.57 epoch sec; seqNo:993 2021-02-10T18:02:07Z- AHRS_M2 msg: 4.44 phi; -0.06 theta; -0.15 psi 2021-02-10T18:02:07Z- waiting for 1612980127.35, time is 1612980127.18 2021-02-10T18:02:07Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:07Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1612980127576; depth 0.00 2021-02-10T18:02:07Z- waiting for 1612980127.35, time is 1612980127.18 2021-02-10T18:02:07Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980127.59 epoch sec; seqNo:999; 4061680.83 north; 594296.42 east 2021-02-10T18:02:07Z- waiting for 1612980127.35, time is 1612980127.18 2021-02-10T18:02:07Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:08Z- AHRS_M2 msg: 1612980128.00 epoch sec; seqNo:994 2021-02-10T18:02:08Z- AHRS_M2 msg: 4.44 phi; -0.06 theta; -0.15 psi 2021-02-10T18:02:08Z- waiting for 1612980127.35, time is 1612980127.18 2021-02-10T18:02:08Z- sync is 0.82, coherence is 2.00 2021-02-10T18:02:08Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1612980128001; depth 0.00 2021-02-10T18:02:08Z- waiting for 1612980127.35, time is 1612980127.18 2021-02-10T18:02:08Z- sync is 0.82, coherence is 2.00 2021-02-10T18:02:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980128.01 epoch sec; seqNo:1000; 4061680.45 north; 594296.43 east 2021-02-10T18:02:08Z- waiting for 1612980127.35, time is 1612980127.18 2021-02-10T18:02:08Z- sync is 0.83, coherence is 2.00 2021-02-10T18:02:08Z- AHRS_M2 msg: 1612980128.37 epoch sec; seqNo:995 2021-02-10T18:02:08Z- AHRS_M2 msg: 4.44 phi; -0.06 theta; -0.15 psi 2021-02-10T18:02:08Z- waiting for 1612980127.35, time is 1612980127.18 2021-02-10T18:02:08Z- sync is 1.20, coherence is 2.00 2021-02-10T18:02:08Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1612980128376; depth 0.00 2021-02-10T18:02:08Z- waiting for 1612980127.35, time is 1612980127.18 2021-02-10T18:02:08Z- sync is 1.20, coherence is 2.00 2021-02-10T18:02:08Z- handleDvl() - RDI_Pathfinder msg: 1612980128.39 epoch sec; seqNo:405 2021-02-10T18:02:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.05 , 46.62 , 43.14 , 40.69 2021-02-10T18:02:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.05 , 0.03 2021-02-10T18:02:08Z- waiting for 1612980127.35, time is 1612980128.39 2021-02-10T18:02:08Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:08Z- LcmTrn::updateTrn() >>>> pose time 1612980128.37, meas time 1612980128.39 <<<< 2021-02-10T18:02:08Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980128.39 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:02:08Z- TerrainNav::motionUpdate() - currEstimate = (4061680, 594296.43, 49.89) 2021-02-10T18:02:08Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:02:08Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:02:08Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:02:08Z- TNavBF::mmse selected from filter -1 2021-02-10T18:02:08Z- variances([0], [2], and psi_berg) = 804.406716 833.113011 0.000000 2021-02-10T18:02:08Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:02:08Z- LcmTrn::cycle() - MLE : 4061648.95 594249.93 49.89 2021-02-10T18:02:08Z- LcmTrn::cycle() - MMSE : 4061680.45 594296.43 49.89 2021-02-10T18:02:08Z- LcmTrn::cycle() - COVAR: 804.41 833.11 40.53 0.00 2021-02-10T18:02:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980128.40 epoch sec; seqNo:1001; 4061680.45 north; 594296.43 east 2021-02-10T18:02:08Z- waiting for 1612980131.39, time is 1612980128.39 2021-02-10T18:02:08Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:08Z- AHRS_M2 msg: 1612980128.78 epoch sec; seqNo:996 2021-02-10T18:02:08Z- AHRS_M2 msg: 4.44 phi; -0.06 theta; -0.15 psi 2021-02-10T18:02:08Z- waiting for 1612980131.39, time is 1612980128.39 2021-02-10T18:02:08Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:08Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1612980128781; depth 0.00 2021-02-10T18:02:08Z- waiting for 1612980131.39, time is 1612980128.39 2021-02-10T18:02:08Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-02-10T18:02:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-02-10T18:02:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-02-10T18:02:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-02-10T18:02:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-02-10T18:02:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-02-10T18:02:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-02-10T18:02:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-02-10T18:02:08Z- handleDvl() - RDI_Pathfinder msg: 1612980128.78 epoch sec; seqNo:406 2021-02-10T18:02:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-02-10T18:02:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.05 , 0.03 2021-02-10T18:02:08Z- waiting for 1612980131.39, time is 1612980128.78 2021-02-10T18:02:08Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980128.79 epoch sec; seqNo:1002; 4061680.44 north; 594295.21 east 2021-02-10T18:02:08Z- waiting for 1612980131.39, time is 1612980128.78 2021-02-10T18:02:08Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:09Z- AHRS_M2 msg: 1612980129.18 epoch sec; seqNo:997 2021-02-10T18:02:09Z- AHRS_M2 msg: 4.44 phi; -0.05 theta; -0.16 psi 2021-02-10T18:02:09Z- waiting for 1612980131.39, time is 1612980128.78 2021-02-10T18:02:09Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:09Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1612980129184; depth 0.00 2021-02-10T18:02:09Z- waiting for 1612980131.39, time is 1612980128.78 2021-02-10T18:02:09Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:09Z- handleDvl() - RDI_Pathfinder msg: 1612980129.20 epoch sec; seqNo:407 2021-02-10T18:02:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.05 , 47.02 , 43.14 , 40.89 2021-02-10T18:02:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.06 , 0.03 2021-02-10T18:02:09Z- waiting for 1612980131.39, time is 1612980129.20 2021-02-10T18:02:09Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980129.21 epoch sec; seqNo:1003; 4061680.06 north; 594295.21 east 2021-02-10T18:02:09Z- waiting for 1612980131.39, time is 1612980129.20 2021-02-10T18:02:09Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:09Z- AHRS_M2 msg: 1612980129.58 epoch sec; seqNo:998 2021-02-10T18:02:09Z- AHRS_M2 msg: 4.44 phi; -0.05 theta; -0.16 psi 2021-02-10T18:02:09Z- waiting for 1612980131.39, time is 1612980129.20 2021-02-10T18:02:09Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:09Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1612980129588; depth 0.00 2021-02-10T18:02:09Z- waiting for 1612980131.39, time is 1612980129.20 2021-02-10T18:02:09Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980129.60 epoch sec; seqNo:1004; 4061680.06 north; 594295.21 east 2021-02-10T18:02:09Z- waiting for 1612980131.39, time is 1612980129.20 2021-02-10T18:02:09Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:09Z- AHRS_M2 msg: 1612980129.99 epoch sec; seqNo:999 2021-02-10T18:02:09Z- AHRS_M2 msg: 4.44 phi; -0.05 theta; -0.16 psi 2021-02-10T18:02:09Z- waiting for 1612980131.39, time is 1612980129.20 2021-02-10T18:02:09Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:09Z- handleDepth()-Depth_Keller msg: 49.96 epoch sec; seqNo:1612980129997; depth 0.00 2021-02-10T18:02:09Z- waiting for 1612980131.39, time is 1612980129.20 2021-02-10T18:02:09Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980130.01 epoch sec; seqNo:1005; 4061680.06 north; 594295.21 east 2021-02-10T18:02:10Z- waiting for 1612980131.39, time is 1612980129.20 2021-02-10T18:02:10Z- sync is 0.80, coherence is 2.00 2021-02-10T18:02:10Z- AHRS_M2 msg: 1612980130.39 epoch sec; seqNo:1000 2021-02-10T18:02:10Z- AHRS_M2 msg: 4.44 phi; -0.05 theta; -0.16 psi 2021-02-10T18:02:10Z- waiting for 1612980131.39, time is 1612980129.20 2021-02-10T18:02:10Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:10Z- handleDepth()-Depth_Keller msg: 49.97 epoch sec; seqNo:1612980130399; depth 0.00 2021-02-10T18:02:10Z- waiting for 1612980131.39, time is 1612980129.20 2021-02-10T18:02:10Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:10Z- handleDvl() - RDI_Pathfinder msg: 1612980130.41 epoch sec; seqNo:408 2021-02-10T18:02:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.05 , 47.02 , 43.14 , 40.89 2021-02-10T18:02:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.07 , 0.03 2021-02-10T18:02:10Z- waiting for 1612980131.39, time is 1612980130.41 2021-02-10T18:02:10Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980130.42 epoch sec; seqNo:1006; 4061679.67 north; 594293.99 east 2021-02-10T18:02:10Z- waiting for 1612980131.39, time is 1612980130.41 2021-02-10T18:02:10Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:10Z- AHRS_M2 msg: 1612980130.80 epoch sec; seqNo:1001 2021-02-10T18:02:10Z- AHRS_M2 msg: 4.45 phi; -0.05 theta; -0.16 psi 2021-02-10T18:02:10Z- waiting for 1612980131.39, time is 1612980130.41 2021-02-10T18:02:10Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:10Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1612980130804; depth 0.00 2021-02-10T18:02:10Z- waiting for 1612980131.39, time is 1612980130.41 2021-02-10T18:02:10Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980130.82 epoch sec; seqNo:1007; 4061679.67 north; 594293.99 east 2021-02-10T18:02:10Z- waiting for 1612980131.39, time is 1612980130.41 2021-02-10T18:02:10Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:11Z- AHRS_M2 msg: 1612980131.20 epoch sec; seqNo:1002 2021-02-10T18:02:11Z- AHRS_M2 msg: 4.45 phi; -0.05 theta; -0.16 psi 2021-02-10T18:02:11Z- waiting for 1612980131.39, time is 1612980130.41 2021-02-10T18:02:11Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:11Z- handleDepth()-Depth_Keller msg: 50.01 epoch sec; seqNo:1612980131209; depth 0.00 2021-02-10T18:02:11Z- waiting for 1612980131.39, time is 1612980130.41 2021-02-10T18:02:11Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:11Z- handleDvl() - RDI_Pathfinder msg: 1612980131.22 epoch sec; seqNo:409 2021-02-10T18:02:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.05 , 46.62 , 43.34 , 40.89 2021-02-10T18:02:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.07 , 0.02 2021-02-10T18:02:11Z- waiting for 1612980131.39, time is 1612980131.22 2021-02-10T18:02:11Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980131.23 epoch sec; seqNo:1008; 4061679.67 north; 594293.99 east 2021-02-10T18:02:11Z- waiting for 1612980131.39, time is 1612980131.22 2021-02-10T18:02:11Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:11Z- AHRS_M2 msg: 1612980131.61 epoch sec; seqNo:1003 2021-02-10T18:02:11Z- AHRS_M2 msg: 4.45 phi; -0.05 theta; -0.16 psi 2021-02-10T18:02:11Z- waiting for 1612980131.39, time is 1612980131.22 2021-02-10T18:02:11Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:11Z- handleDepth()-Depth_Keller msg: 50.02 epoch sec; seqNo:1612980131614; depth 0.00 2021-02-10T18:02:11Z- waiting for 1612980131.39, time is 1612980131.22 2021-02-10T18:02:11Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980131.62 epoch sec; seqNo:1009; 4061679.28 north; 594292.78 east 2021-02-10T18:02:11Z- waiting for 1612980131.39, time is 1612980131.22 2021-02-10T18:02:11Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:12Z- AHRS_M2 msg: 1612980132.01 epoch sec; seqNo:1004 2021-02-10T18:02:12Z- AHRS_M2 msg: 4.45 phi; -0.05 theta; -0.16 psi 2021-02-10T18:02:12Z- waiting for 1612980131.39, time is 1612980131.22 2021-02-10T18:02:12Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:12Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1612980132012; depth 0.00 2021-02-10T18:02:12Z- waiting for 1612980131.39, time is 1612980131.22 2021-02-10T18:02:12Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980132.03 epoch sec; seqNo:1010; 4061679.28 north; 594292.78 east 2021-02-10T18:02:12Z- waiting for 1612980131.39, time is 1612980131.22 2021-02-10T18:02:12Z- sync is 0.81, coherence is 2.00 2021-02-10T18:02:12Z- AHRS_M2 msg: 1612980132.41 epoch sec; seqNo:1005 2021-02-10T18:02:12Z- AHRS_M2 msg: 4.45 phi; -0.05 theta; -0.16 psi 2021-02-10T18:02:12Z- waiting for 1612980131.39, time is 1612980131.22 2021-02-10T18:02:12Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:12Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1612980132416; depth 0.00 2021-02-10T18:02:12Z- waiting for 1612980131.39, time is 1612980131.22 2021-02-10T18:02:12Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:12Z- handleDvl() - RDI_Pathfinder msg: 1612980132.43 epoch sec; seqNo:410 2021-02-10T18:02:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.05 , 47.23 , 43.55 , 40.28 2021-02-10T18:02:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.09 , 0.02 2021-02-10T18:02:12Z- waiting for 1612980131.39, time is 1612980132.43 2021-02-10T18:02:12Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:12Z- LcmTrn::updateTrn() >>>> pose time 1612980132.41, meas time 1612980132.43 <<<< 2021-02-10T18:02:12Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980132.43 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:02:12Z- TerrainNav::motionUpdate() - currEstimate = (4061679, 594292.78, 50.04) 2021-02-10T18:02:12Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:02:12Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:02:12Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:02:12Z- TNavBF::mmse selected from filter -1 2021-02-10T18:02:12Z- variances([0], [2], and psi_berg) = 804.162139 833.112415 0.000000 2021-02-10T18:02:12Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:02:12Z- LcmTrn::cycle() - MLE : 4061647.78 594246.28 50.04 2021-02-10T18:02:12Z- LcmTrn::cycle() - MMSE : 4061679.28 594292.78 50.04 2021-02-10T18:02:12Z- LcmTrn::cycle() - COVAR: 804.16 833.11 40.72 0.00 2021-02-10T18:02:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980132.45 epoch sec; seqNo:1011; 4061679.28 north; 594292.78 east 2021-02-10T18:02:12Z- waiting for 1612980135.43, time is 1612980132.43 2021-02-10T18:02:12Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:12Z- AHRS_M2 msg: 1612980132.82 epoch sec; seqNo:1006 2021-02-10T18:02:12Z- AHRS_M2 msg: 4.45 phi; -0.05 theta; -0.16 psi 2021-02-10T18:02:12Z- waiting for 1612980135.43, time is 1612980132.43 2021-02-10T18:02:12Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:12Z- handleDepth()-Depth_Keller msg: 50.07 epoch sec; seqNo:1612980132820; depth 0.00 2021-02-10T18:02:12Z- waiting for 1612980135.43, time is 1612980132.43 2021-02-10T18:02:12Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980132.83 epoch sec; seqNo:1012; 4061678.88 north; 594291.56 east 2021-02-10T18:02:12Z- waiting for 1612980135.43, time is 1612980132.43 2021-02-10T18:02:12Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:13Z- AHRS_M2 msg: 1612980133.22 epoch sec; seqNo:1007 2021-02-10T18:02:13Z- AHRS_M2 msg: 4.46 phi; -0.05 theta; -0.16 psi 2021-02-10T18:02:13Z- waiting for 1612980135.43, time is 1612980132.43 2021-02-10T18:02:13Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:13Z- handleDepth()-Depth_Keller msg: 50.08 epoch sec; seqNo:1612980133226; depth 0.00 2021-02-10T18:02:13Z- waiting for 1612980135.43, time is 1612980132.43 2021-02-10T18:02:13Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:13Z- handleDvl() - RDI_Pathfinder msg: 1612980133.24 epoch sec; seqNo:411 2021-02-10T18:02:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.05 , 47.64 , 43.55 , 40.69 2021-02-10T18:02:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.10 , 0.02 2021-02-10T18:02:13Z- waiting for 1612980135.43, time is 1612980133.24 2021-02-10T18:02:13Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980133.25 epoch sec; seqNo:1013; 4061678.88 north; 594291.56 east 2021-02-10T18:02:13Z- waiting for 1612980135.43, time is 1612980133.24 2021-02-10T18:02:13Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:13Z- AHRS_M2 msg: 1612980133.63 epoch sec; seqNo:1008 2021-02-10T18:02:13Z- AHRS_M2 msg: 4.46 phi; -0.05 theta; -0.16 psi 2021-02-10T18:02:13Z- waiting for 1612980135.43, time is 1612980133.24 2021-02-10T18:02:13Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:13Z- handleDepth()-Depth_Keller msg: 50.08 epoch sec; seqNo:1612980133635; depth 0.00 2021-02-10T18:02:13Z- waiting for 1612980135.43, time is 1612980133.24 2021-02-10T18:02:13Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980133.65 epoch sec; seqNo:1014; 4061678.88 north; 594291.56 east 2021-02-10T18:02:13Z- waiting for 1612980135.43, time is 1612980133.24 2021-02-10T18:02:13Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:14Z- AHRS_M2 msg: 1612980134.03 epoch sec; seqNo:1009 2021-02-10T18:02:14Z- AHRS_M2 msg: 4.46 phi; -0.05 theta; -0.16 psi 2021-02-10T18:02:14Z- waiting for 1612980135.43, time is 1612980133.24 2021-02-10T18:02:14Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:14Z- handleDepth()-Depth_Keller msg: 50.10 epoch sec; seqNo:1612980134039; depth 0.00 2021-02-10T18:02:14Z- waiting for 1612980135.43, time is 1612980133.24 2021-02-10T18:02:14Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980134.05 epoch sec; seqNo:1015; 4061678.51 north; 594291.57 east 2021-02-10T18:02:14Z- waiting for 1612980135.43, time is 1612980133.24 2021-02-10T18:02:14Z- sync is 0.81, coherence is 2.00 2021-02-10T18:02:14Z- AHRS_M2 msg: 1612980134.43 epoch sec; seqNo:1010 2021-02-10T18:02:14Z- AHRS_M2 msg: 4.46 phi; -0.05 theta; -0.16 psi 2021-02-10T18:02:14Z- waiting for 1612980135.43, time is 1612980133.24 2021-02-10T18:02:14Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:14Z- handleDepth()-Depth_Keller msg: 50.10 epoch sec; seqNo:1612980134441; depth 0.00 2021-02-10T18:02:14Z- waiting for 1612980135.43, time is 1612980133.24 2021-02-10T18:02:14Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:14Z- handleDvl() - RDI_Pathfinder msg: 1612980134.45 epoch sec; seqNo:412 2021-02-10T18:02:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.26 , 47.64 , 43.55 , 40.89 2021-02-10T18:02:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.10 , 0.02 2021-02-10T18:02:14Z- waiting for 1612980135.43, time is 1612980134.45 2021-02-10T18:02:14Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980134.46 epoch sec; seqNo:1016; 4061678.49 north; 594290.35 east 2021-02-10T18:02:14Z- waiting for 1612980135.43, time is 1612980134.45 2021-02-10T18:02:14Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:14Z- AHRS_M2 msg: 1612980134.84 epoch sec; seqNo:1011 2021-02-10T18:02:14Z- AHRS_M2 msg: 4.47 phi; -0.04 theta; -0.16 psi 2021-02-10T18:02:14Z- waiting for 1612980135.43, time is 1612980134.45 2021-02-10T18:02:14Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:14Z- handleDepth()-Depth_Keller msg: 50.13 epoch sec; seqNo:1612980134849; depth 0.00 2021-02-10T18:02:14Z- waiting for 1612980135.43, time is 1612980134.45 2021-02-10T18:02:14Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980134.86 epoch sec; seqNo:1017; 4061678.49 north; 594290.35 east 2021-02-10T18:02:14Z- waiting for 1612980135.43, time is 1612980134.45 2021-02-10T18:02:14Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:15Z- AHRS_M2 msg: 1612980135.24 epoch sec; seqNo:1012 2021-02-10T18:02:15Z- AHRS_M2 msg: 4.47 phi; -0.04 theta; -0.16 psi 2021-02-10T18:02:15Z- waiting for 1612980135.43, time is 1612980134.45 2021-02-10T18:02:15Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:15Z- handleDepth()-Depth_Keller msg: 50.13 epoch sec; seqNo:1612980135244; depth 0.00 2021-02-10T18:02:15Z- waiting for 1612980135.43, time is 1612980134.45 2021-02-10T18:02:15Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:15Z- handleDvl() - RDI_Pathfinder msg: 1612980135.26 epoch sec; seqNo:413 2021-02-10T18:02:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.46 , 47.23 , 43.55 , 40.07 2021-02-10T18:02:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.10 , 0.02 2021-02-10T18:02:15Z- waiting for 1612980135.43, time is 1612980135.26 2021-02-10T18:02:15Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980135.27 epoch sec; seqNo:1018; 4061678.11 north; 594290.35 east 2021-02-10T18:02:15Z- waiting for 1612980135.43, time is 1612980135.26 2021-02-10T18:02:15Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:15Z- AHRS_M2 msg: 1612980135.65 epoch sec; seqNo:1013 2021-02-10T18:02:15Z- AHRS_M2 msg: 4.47 phi; -0.04 theta; -0.15 psi 2021-02-10T18:02:15Z- waiting for 1612980135.43, time is 1612980135.26 2021-02-10T18:02:15Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:15Z- handleDepth()-Depth_Keller msg: 50.15 epoch sec; seqNo:1612980135650; depth 0.00 2021-02-10T18:02:15Z- waiting for 1612980135.43, time is 1612980135.26 2021-02-10T18:02:15Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980135.66 epoch sec; seqNo:1019; 4061678.10 north; 594289.13 east 2021-02-10T18:02:15Z- waiting for 1612980135.43, time is 1612980135.26 2021-02-10T18:02:15Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:16Z- AHRS_M2 msg: 1612980136.05 epoch sec; seqNo:1014 2021-02-10T18:02:16Z- AHRS_M2 msg: 4.47 phi; -0.04 theta; -0.15 psi 2021-02-10T18:02:16Z- waiting for 1612980135.43, time is 1612980135.26 2021-02-10T18:02:16Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:16Z- handleDepth()-Depth_Keller msg: 50.16 epoch sec; seqNo:1612980136062; depth 0.00 2021-02-10T18:02:16Z- waiting for 1612980135.43, time is 1612980135.26 2021-02-10T18:02:16Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980136.07 epoch sec; seqNo:1020; 4061678.10 north; 594289.13 east 2021-02-10T18:02:16Z- waiting for 1612980135.43, time is 1612980135.26 2021-02-10T18:02:16Z- sync is 0.82, coherence is 2.00 2021-02-10T18:02:16Z- AHRS_M2 msg: 1612980136.45 epoch sec; seqNo:1015 2021-02-10T18:02:16Z- AHRS_M2 msg: 4.48 phi; -0.04 theta; -0.15 psi 2021-02-10T18:02:16Z- waiting for 1612980135.43, time is 1612980135.26 2021-02-10T18:02:16Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:16Z- handleDepth()-Depth_Keller msg: 50.18 epoch sec; seqNo:1612980136461; depth 0.00 2021-02-10T18:02:16Z- waiting for 1612980135.43, time is 1612980135.26 2021-02-10T18:02:16Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:16Z- handleDvl() - RDI_Pathfinder msg: 1612980136.48 epoch sec; seqNo:414 2021-02-10T18:02:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.66 , 47.43 , 43.54 , 40.07 2021-02-10T18:02:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.09 , 0.02 2021-02-10T18:02:16Z- waiting for 1612980135.43, time is 1612980136.48 2021-02-10T18:02:16Z- sync is 0.03, coherence is 2.00 2021-02-10T18:02:16Z- LcmTrn::updateTrn() >>>> pose time 1612980136.45, meas time 1612980136.48 <<<< 2021-02-10T18:02:16Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980136.48 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:02:16Z- TerrainNav::motionUpdate() - currEstimate = (4061678, 594289.13, 50.18) 2021-02-10T18:02:16Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:02:16Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:02:16Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:02:16Z- TNavBF::mmse selected from filter -1 2021-02-10T18:02:16Z- variances([0], [2], and psi_berg) = 803.918994 833.111826 0.000000 2021-02-10T18:02:16Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:02:16Z- LcmTrn::cycle() - MLE : 4061646.60 594242.63 50.18 2021-02-10T18:02:16Z- LcmTrn::cycle() - MMSE : 4061678.10 594289.13 50.18 2021-02-10T18:02:16Z- LcmTrn::cycle() - COVAR: 803.92 833.11 40.92 0.00 2021-02-10T18:02:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980136.49 epoch sec; seqNo:1021; 4061677.72 north; 594289.13 east 2021-02-10T18:02:16Z- waiting for 1612980139.48, time is 1612980136.48 2021-02-10T18:02:16Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:16Z- AHRS_M2 msg: 1612980136.86 epoch sec; seqNo:1016 2021-02-10T18:02:16Z- AHRS_M2 msg: 4.48 phi; -0.04 theta; -0.15 psi 2021-02-10T18:02:16Z- waiting for 1612980139.48, time is 1612980136.48 2021-02-10T18:02:16Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:16Z- handleDepth()-Depth_Keller msg: 50.19 epoch sec; seqNo:1612980136865; depth 0.00 2021-02-10T18:02:16Z- waiting for 1612980139.48, time is 1612980136.48 2021-02-10T18:02:16Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980136.88 epoch sec; seqNo:1022; 4061677.71 north; 594287.91 east 2021-02-10T18:02:16Z- waiting for 1612980139.48, time is 1612980136.48 2021-02-10T18:02:16Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:17Z- AHRS_M2 msg: 1612980137.26 epoch sec; seqNo:1017 2021-02-10T18:02:17Z- AHRS_M2 msg: 4.48 phi; -0.04 theta; -0.15 psi 2021-02-10T18:02:17Z- waiting for 1612980139.48, time is 1612980136.48 2021-02-10T18:02:17Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:17Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1612980137264; depth 0.00 2021-02-10T18:02:17Z- waiting for 1612980139.48, time is 1612980136.48 2021-02-10T18:02:17Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:17Z- handleDvl() - RDI_Pathfinder msg: 1612980137.28 epoch sec; seqNo:415 2021-02-10T18:02:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.66 , 46.81 , 43.75 , 40.27 2021-02-10T18:02:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.05 , 0.03 2021-02-10T18:02:17Z- waiting for 1612980139.48, time is 1612980137.28 2021-02-10T18:02:17Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980137.29 epoch sec; seqNo:1023; 4061677.71 north; 594287.91 east 2021-02-10T18:02:17Z- waiting for 1612980139.48, time is 1612980137.28 2021-02-10T18:02:17Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:17Z- AHRS_M2 msg: 1612980137.66 epoch sec; seqNo:1018 2021-02-10T18:02:17Z- AHRS_M2 msg: 4.48 phi; -0.04 theta; -0.15 psi 2021-02-10T18:02:17Z- waiting for 1612980139.48, time is 1612980137.28 2021-02-10T18:02:17Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:17Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1612980137677; depth 0.00 2021-02-10T18:02:17Z- waiting for 1612980139.48, time is 1612980137.28 2021-02-10T18:02:17Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980137.69 epoch sec; seqNo:1024; 4061677.33 north; 594287.92 east 2021-02-10T18:02:17Z- waiting for 1612980139.48, time is 1612980137.28 2021-02-10T18:02:17Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:18Z- AHRS_M2 msg: 1612980138.07 epoch sec; seqNo:1019 2021-02-10T18:02:18Z- AHRS_M2 msg: 4.48 phi; -0.04 theta; -0.15 psi 2021-02-10T18:02:18Z- waiting for 1612980139.48, time is 1612980137.28 2021-02-10T18:02:18Z- sync is 0.80, coherence is 2.00 2021-02-10T18:02:18Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1612980138075; depth 0.00 2021-02-10T18:02:18Z- waiting for 1612980139.48, time is 1612980137.28 2021-02-10T18:02:18Z- sync is 0.80, coherence is 2.00 2021-02-10T18:02:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980138.11 epoch sec; seqNo:1025; 4061677.33 north; 594287.92 east 2021-02-10T18:02:18Z- waiting for 1612980139.48, time is 1612980137.28 2021-02-10T18:02:18Z- sync is 0.84, coherence is 2.00 2021-02-10T18:02:18Z- AHRS_M2 msg: 1612980138.47 epoch sec; seqNo:1020 2021-02-10T18:02:18Z- AHRS_M2 msg: 4.48 phi; -0.04 theta; -0.15 psi 2021-02-10T18:02:18Z- waiting for 1612980139.48, time is 1612980137.28 2021-02-10T18:02:18Z- sync is 1.20, coherence is 2.00 2021-02-10T18:02:18Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1612980138476; depth 0.00 2021-02-10T18:02:18Z- waiting for 1612980139.48, time is 1612980137.28 2021-02-10T18:02:18Z- sync is 1.20, coherence is 2.00 2021-02-10T18:02:18Z- handleDvl() - RDI_Pathfinder msg: 1612980138.49 epoch sec; seqNo:416 2021-02-10T18:02:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.86 , 47.02 , 43.75 , 40.07 2021-02-10T18:02:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.03 , 0.03 2021-02-10T18:02:18Z- waiting for 1612980139.48, time is 1612980138.49 2021-02-10T18:02:18Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980138.50 epoch sec; seqNo:1026; 4061677.32 north; 594286.70 east 2021-02-10T18:02:18Z- waiting for 1612980139.48, time is 1612980138.49 2021-02-10T18:02:18Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:18Z- AHRS_M2 msg: 1612980138.88 epoch sec; seqNo:1021 2021-02-10T18:02:18Z- AHRS_M2 msg: 4.48 phi; -0.04 theta; -0.15 psi 2021-02-10T18:02:18Z- waiting for 1612980139.48, time is 1612980138.49 2021-02-10T18:02:18Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:18Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1612980138886; depth 0.00 2021-02-10T18:02:18Z- waiting for 1612980139.48, time is 1612980138.49 2021-02-10T18:02:18Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980138.90 epoch sec; seqNo:1027; 4061677.32 north; 594286.70 east 2021-02-10T18:02:18Z- waiting for 1612980139.48, time is 1612980138.49 2021-02-10T18:02:18Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:19Z- AHRS_M2 msg: 1612980139.28 epoch sec; seqNo:1022 2021-02-10T18:02:19Z- AHRS_M2 msg: 4.48 phi; -0.04 theta; -0.15 psi 2021-02-10T18:02:19Z- waiting for 1612980139.48, time is 1612980138.49 2021-02-10T18:02:19Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:19Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1612980139284; depth 0.00 2021-02-10T18:02:19Z- waiting for 1612980139.48, time is 1612980138.49 2021-02-10T18:02:19Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:19Z- handleDvl() - RDI_Pathfinder msg: 1612980139.30 epoch sec; seqNo:417 2021-02-10T18:02:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.07 , 47.43 , 43.54 , 40.07 2021-02-10T18:02:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.01 , 0.04 2021-02-10T18:02:19Z- waiting for 1612980139.48, time is 1612980139.30 2021-02-10T18:02:19Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980139.32 epoch sec; seqNo:1028; 4061676.94 north; 594286.70 east 2021-02-10T18:02:19Z- waiting for 1612980139.48, time is 1612980139.30 2021-02-10T18:02:19Z- sync is 0.03, coherence is 2.00 2021-02-10T18:02:19Z- AHRS_M2 msg: 1612980139.69 epoch sec; seqNo:1023 2021-02-10T18:02:19Z- AHRS_M2 msg: 4.48 phi; -0.04 theta; -0.15 psi 2021-02-10T18:02:19Z- waiting for 1612980139.48, time is 1612980139.30 2021-02-10T18:02:19Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:19Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1612980139694; depth 0.00 2021-02-10T18:02:19Z- waiting for 1612980139.48, time is 1612980139.30 2021-02-10T18:02:19Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980139.71 epoch sec; seqNo:1029; 4061676.92 north; 594285.48 east 2021-02-10T18:02:19Z- waiting for 1612980139.48, time is 1612980139.30 2021-02-10T18:02:19Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:20Z- AHRS_M2 msg: 1612980140.11 epoch sec; seqNo:1024 2021-02-10T18:02:20Z- AHRS_M2 msg: 4.49 phi; -0.04 theta; -0.15 psi 2021-02-10T18:02:20Z- waiting for 1612980139.48, time is 1612980139.30 2021-02-10T18:02:20Z- sync is 0.81, coherence is 2.00 2021-02-10T18:02:20Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1612980140123; depth 0.00 2021-02-10T18:02:20Z- waiting for 1612980139.48, time is 1612980139.30 2021-02-10T18:02:20Z- sync is 0.81, coherence is 2.00 2021-02-10T18:02:20Z- handleDvl() - RDI_Pathfinder msg: 1612980140.13 epoch sec; seqNo:418 2021-02-10T18:02:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.07 , 47.43 , 43.75 , 39.86 2021-02-10T18:02:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.02 , 0.04 2021-02-10T18:02:20Z- waiting for 1612980139.48, time is 1612980140.13 2021-02-10T18:02:20Z- sync is 0.03, coherence is 2.00 2021-02-10T18:02:20Z- LcmTrn::updateTrn() >>>> pose time 1612980140.11, meas time 1612980140.13 <<<< 2021-02-10T18:02:20Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980140.13 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:02:20Z- TerrainNav::motionUpdate() - currEstimate = (4061677, 594285.48, 50.31) 2021-02-10T18:02:20Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:02:20Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:02:20Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:02:20Z- TNavBF::mmse selected from filter -1 2021-02-10T18:02:20Z- variances([0], [2], and psi_berg) = 803.677257 833.111244 0.000000 2021-02-10T18:02:20Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:02:20Z- LcmTrn::cycle() - MLE : 4061645.42 594238.98 50.31 2021-02-10T18:02:20Z- LcmTrn::cycle() - MMSE : 4061676.92 594285.48 50.31 2021-02-10T18:02:20Z- LcmTrn::cycle() - COVAR: 803.68 833.11 41.11 0.00 2021-02-10T18:02:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980140.16 epoch sec; seqNo:1030; 4061676.92 north; 594285.48 east 2021-02-10T18:02:20Z- waiting for 1612980143.13, time is 1612980140.13 2021-02-10T18:02:20Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:20Z- AHRS_M2 msg: 1612980140.49 epoch sec; seqNo:1025 2021-02-10T18:02:20Z- AHRS_M2 msg: 4.49 phi; -0.04 theta; -0.15 psi 2021-02-10T18:02:20Z- waiting for 1612980143.13, time is 1612980140.13 2021-02-10T18:02:20Z- sync is 0.36, coherence is 2.00 2021-02-10T18:02:20Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1612980140496; depth 0.00 2021-02-10T18:02:20Z- waiting for 1612980143.13, time is 1612980140.13 2021-02-10T18:02:20Z- sync is 0.36, coherence is 2.00 2021-02-10T18:02:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980140.51 epoch sec; seqNo:1031; 4061676.92 north; 594285.48 east 2021-02-10T18:02:20Z- waiting for 1612980143.13, time is 1612980140.13 2021-02-10T18:02:20Z- sync is 0.37, coherence is 2.00 2021-02-10T18:02:20Z- AHRS_M2 msg: 1612980140.89 epoch sec; seqNo:1026 2021-02-10T18:02:20Z- AHRS_M2 msg: 4.49 phi; -0.03 theta; -0.15 psi 2021-02-10T18:02:20Z- waiting for 1612980143.13, time is 1612980140.13 2021-02-10T18:02:20Z- sync is 0.76, coherence is 2.00 2021-02-10T18:02:20Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1612980140905; depth 0.00 2021-02-10T18:02:20Z- waiting for 1612980143.13, time is 1612980140.13 2021-02-10T18:02:20Z- sync is 0.76, coherence is 2.00 2021-02-10T18:02:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980140.91 epoch sec; seqNo:1032; 4061676.53 north; 594284.26 east 2021-02-10T18:02:20Z- waiting for 1612980143.13, time is 1612980140.13 2021-02-10T18:02:20Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:21Z- AHRS_M2 msg: 1612980141.30 epoch sec; seqNo:1027 2021-02-10T18:02:21Z- AHRS_M2 msg: 4.49 phi; -0.03 theta; -0.15 psi 2021-02-10T18:02:21Z- waiting for 1612980143.13, time is 1612980140.13 2021-02-10T18:02:21Z- sync is 1.17, coherence is 2.00 2021-02-10T18:02:21Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1612980141305; depth 0.00 2021-02-10T18:02:21Z- waiting for 1612980143.13, time is 1612980140.13 2021-02-10T18:02:21Z- sync is 1.17, coherence is 2.00 2021-02-10T18:02:21Z- handleDvl() - RDI_Pathfinder msg: 1612980141.32 epoch sec; seqNo:419 2021-02-10T18:02:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.07 , 47.84 , 43.75 , 39.86 2021-02-10T18:02:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.02 , 0.04 2021-02-10T18:02:21Z- waiting for 1612980143.13, time is 1612980141.32 2021-02-10T18:02:21Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980141.33 epoch sec; seqNo:1033; 4061676.53 north; 594284.26 east 2021-02-10T18:02:21Z- waiting for 1612980143.13, time is 1612980141.32 2021-02-10T18:02:21Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:21Z- AHRS_M2 msg: 1612980141.70 epoch sec; seqNo:1028 2021-02-10T18:02:21Z- AHRS_M2 msg: 4.49 phi; -0.03 theta; -0.15 psi 2021-02-10T18:02:21Z- waiting for 1612980143.13, time is 1612980141.32 2021-02-10T18:02:21Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:21Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1612980141718; depth 0.00 2021-02-10T18:02:21Z- waiting for 1612980143.13, time is 1612980141.32 2021-02-10T18:02:21Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980141.73 epoch sec; seqNo:1034; 4061676.53 north; 594284.26 east 2021-02-10T18:02:21Z- waiting for 1612980143.13, time is 1612980141.32 2021-02-10T18:02:21Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:22Z- AHRS_M2 msg: 1612980142.12 epoch sec; seqNo:1029 2021-02-10T18:02:22Z- AHRS_M2 msg: 4.49 phi; -0.03 theta; -0.15 psi 2021-02-10T18:02:22Z- waiting for 1612980143.13, time is 1612980141.32 2021-02-10T18:02:22Z- sync is 0.81, coherence is 2.00 2021-02-10T18:02:22Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1612980142127; depth 0.00 2021-02-10T18:02:22Z- waiting for 1612980143.13, time is 1612980141.32 2021-02-10T18:02:22Z- sync is 0.81, coherence is 2.00 2021-02-10T18:02:22Z- handleDvl() - RDI_Pathfinder msg: 1612980142.15 epoch sec; seqNo:420 2021-02-10T18:02:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.07 , 47.84 , 43.75 , 39.86 2021-02-10T18:02:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.03 , 0.03 2021-02-10T18:02:22Z- waiting for 1612980143.13, time is 1612980142.15 2021-02-10T18:02:22Z- sync is 0.03, coherence is 2.00 2021-02-10T18:02:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980142.16 epoch sec; seqNo:1035; 4061676.52 north; 594283.04 east 2021-02-10T18:02:22Z- waiting for 1612980143.13, time is 1612980142.15 2021-02-10T18:02:22Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:22Z- AHRS_M2 msg: 1612980142.51 epoch sec; seqNo:1030 2021-02-10T18:02:22Z- AHRS_M2 msg: 4.49 phi; -0.03 theta; -0.15 psi 2021-02-10T18:02:22Z- waiting for 1612980143.13, time is 1612980142.15 2021-02-10T18:02:22Z- sync is 0.36, coherence is 2.00 2021-02-10T18:02:22Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1612980142516; depth 0.00 2021-02-10T18:02:22Z- waiting for 1612980143.13, time is 1612980142.15 2021-02-10T18:02:22Z- sync is 0.36, coherence is 2.00 2021-02-10T18:02:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980142.53 epoch sec; seqNo:1036; 4061676.14 north; 594283.05 east 2021-02-10T18:02:22Z- waiting for 1612980143.13, time is 1612980142.15 2021-02-10T18:02:22Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:22Z- AHRS_M2 msg: 1612980142.92 epoch sec; seqNo:1031 2021-02-10T18:02:22Z- AHRS_M2 msg: 4.49 phi; -0.03 theta; -0.15 psi 2021-02-10T18:02:22Z- waiting for 1612980143.13, time is 1612980142.15 2021-02-10T18:02:22Z- sync is 0.77, coherence is 2.00 2021-02-10T18:02:22Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1612980142922; depth 0.00 2021-02-10T18:02:22Z- waiting for 1612980143.13, time is 1612980142.15 2021-02-10T18:02:22Z- sync is 0.77, coherence is 2.00 2021-02-10T18:02:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980142.93 epoch sec; seqNo:1037; 4061676.14 north; 594283.05 east 2021-02-10T18:02:22Z- waiting for 1612980143.13, time is 1612980142.15 2021-02-10T18:02:22Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:23Z- AHRS_M2 msg: 1612980143.32 epoch sec; seqNo:1032 2021-02-10T18:02:23Z- AHRS_M2 msg: 4.49 phi; -0.03 theta; -0.15 psi 2021-02-10T18:02:23Z- waiting for 1612980143.13, time is 1612980142.15 2021-02-10T18:02:23Z- sync is 1.17, coherence is 2.00 2021-02-10T18:02:23Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1612980143329; depth 0.00 2021-02-10T18:02:23Z- waiting for 1612980143.13, time is 1612980142.15 2021-02-10T18:02:23Z- sync is 1.17, coherence is 2.00 2021-02-10T18:02:23Z- handleDvl() - RDI_Pathfinder msg: 1612980143.35 epoch sec; seqNo:421 2021-02-10T18:02:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.27 , 47.84 , 43.95 , 39.66 2021-02-10T18:02:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.05 , 0.02 2021-02-10T18:02:23Z- waiting for 1612980143.13, time is 1612980143.35 2021-02-10T18:02:23Z- sync is 0.03, coherence is 2.00 2021-02-10T18:02:23Z- LcmTrn::updateTrn() >>>> pose time 1612980143.32, meas time 1612980143.35 <<<< 2021-02-10T18:02:23Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980143.35 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:02:23Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594283.05, 50.41) 2021-02-10T18:02:23Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:02:23Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:02:23Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:02:23Z- TNavBF::mmse selected from filter -1 2021-02-10T18:02:23Z- variances([0], [2], and psi_berg) = 803.481019 833.110776 0.000000 2021-02-10T18:02:23Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:02:23Z- LcmTrn::cycle() - MLE : 4061644.64 594236.55 50.41 2021-02-10T18:02:23Z- LcmTrn::cycle() - MMSE : 4061676.14 594283.05 50.41 2021-02-10T18:02:23Z- LcmTrn::cycle() - COVAR: 803.48 833.11 41.24 0.00 2021-02-10T18:02:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980143.36 epoch sec; seqNo:1038; 4061676.13 north; 594281.83 east 2021-02-10T18:02:23Z- waiting for 1612980146.35, time is 1612980143.35 2021-02-10T18:02:23Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:23Z- AHRS_M2 msg: 1612980143.72 epoch sec; seqNo:1033 2021-02-10T18:02:23Z- AHRS_M2 msg: 4.49 phi; -0.03 theta; -0.15 psi 2021-02-10T18:02:23Z- waiting for 1612980146.35, time is 1612980143.35 2021-02-10T18:02:23Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:23Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1612980143733; depth 0.00 2021-02-10T18:02:23Z- waiting for 1612980146.35, time is 1612980143.35 2021-02-10T18:02:23Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980143.74 epoch sec; seqNo:1039; 4061675.75 north; 594281.83 east 2021-02-10T18:02:23Z- waiting for 1612980146.35, time is 1612980143.35 2021-02-10T18:02:23Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:24Z- AHRS_M2 msg: 1612980144.13 epoch sec; seqNo:1034 2021-02-10T18:02:24Z- AHRS_M2 msg: 4.49 phi; -0.03 theta; -0.15 psi 2021-02-10T18:02:24Z- waiting for 1612980146.35, time is 1612980143.35 2021-02-10T18:02:24Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:24Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1612980144135; depth 0.00 2021-02-10T18:02:24Z- waiting for 1612980146.35, time is 1612980143.35 2021-02-10T18:02:24Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:24Z- handleDvl() - RDI_Pathfinder msg: 1612980144.15 epoch sec; seqNo:422 2021-02-10T18:02:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.27 , 48.04 , 43.75 , 39.66 2021-02-10T18:02:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.07 , 0.01 2021-02-10T18:02:24Z- waiting for 1612980146.35, time is 1612980144.15 2021-02-10T18:02:24Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980144.16 epoch sec; seqNo:1040; 4061675.75 north; 594281.83 east 2021-02-10T18:02:24Z- waiting for 1612980146.35, time is 1612980144.15 2021-02-10T18:02:24Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:24Z- AHRS_M2 msg: 1612980144.53 epoch sec; seqNo:1035 2021-02-10T18:02:24Z- AHRS_M2 msg: 4.49 phi; -0.03 theta; -0.15 psi 2021-02-10T18:02:24Z- waiting for 1612980146.35, time is 1612980144.15 2021-02-10T18:02:24Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:24Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1612980144537; depth 0.00 2021-02-10T18:02:24Z- waiting for 1612980146.35, time is 1612980144.15 2021-02-10T18:02:24Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980144.55 epoch sec; seqNo:1041; 4061675.73 north; 594280.61 east 2021-02-10T18:02:24Z- waiting for 1612980146.35, time is 1612980144.15 2021-02-10T18:02:24Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:24Z- AHRS_M2 msg: 1612980144.94 epoch sec; seqNo:1036 2021-02-10T18:02:24Z- AHRS_M2 msg: 4.50 phi; -0.03 theta; -0.15 psi 2021-02-10T18:02:24Z- waiting for 1612980146.35, time is 1612980144.15 2021-02-10T18:02:24Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:24Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1612980144940; depth 0.00 2021-02-10T18:02:24Z- waiting for 1612980146.35, time is 1612980144.15 2021-02-10T18:02:24Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980144.96 epoch sec; seqNo:1042; 4061675.73 north; 594280.61 east 2021-02-10T18:02:24Z- waiting for 1612980146.35, time is 1612980144.15 2021-02-10T18:02:24Z- sync is 0.81, coherence is 2.00 2021-02-10T18:02:25Z- AHRS_M2 msg: 1612980145.34 epoch sec; seqNo:1037 2021-02-10T18:02:25Z- AHRS_M2 msg: 4.50 phi; -0.03 theta; -0.15 psi 2021-02-10T18:02:25Z- waiting for 1612980146.35, time is 1612980144.15 2021-02-10T18:02:25Z- sync is 1.20, coherence is 2.00 2021-02-10T18:02:25Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1612980145349; depth 0.00 2021-02-10T18:02:25Z- waiting for 1612980146.35, time is 1612980144.15 2021-02-10T18:02:25Z- sync is 1.20, coherence is 2.00 2021-02-10T18:02:25Z- handleDvl() - RDI_Pathfinder msg: 1612980145.36 epoch sec; seqNo:423 2021-02-10T18:02:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.86 , 47.63 , 43.95 , 39.25 2021-02-10T18:02:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.09 , -0.00 2021-02-10T18:02:25Z- waiting for 1612980146.35, time is 1612980145.36 2021-02-10T18:02:25Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980145.38 epoch sec; seqNo:1043; 4061675.35 north; 594280.62 east 2021-02-10T18:02:25Z- waiting for 1612980146.35, time is 1612980145.36 2021-02-10T18:02:25Z- sync is 0.03, coherence is 2.00 2021-02-10T18:02:25Z- AHRS_M2 msg: 1612980145.74 epoch sec; seqNo:1038 2021-02-10T18:02:25Z- AHRS_M2 msg: 4.50 phi; -0.03 theta; -0.15 psi 2021-02-10T18:02:25Z- waiting for 1612980146.35, time is 1612980145.36 2021-02-10T18:02:25Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:25Z- handleDepth()-Depth_Keller msg: 50.43 epoch sec; seqNo:1612980145748; depth 0.00 2021-02-10T18:02:25Z- waiting for 1612980146.35, time is 1612980145.36 2021-02-10T18:02:25Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980145.76 epoch sec; seqNo:1044; 4061675.35 north; 594280.62 east 2021-02-10T18:02:25Z- waiting for 1612980146.35, time is 1612980145.36 2021-02-10T18:02:25Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:26Z- AHRS_M2 msg: 1612980146.15 epoch sec; seqNo:1039 2021-02-10T18:02:26Z- AHRS_M2 msg: 4.50 phi; -0.03 theta; -0.15 psi 2021-02-10T18:02:26Z- waiting for 1612980146.35, time is 1612980145.36 2021-02-10T18:02:26Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:26Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1612980146154; depth 0.00 2021-02-10T18:02:26Z- waiting for 1612980146.35, time is 1612980145.36 2021-02-10T18:02:26Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:26Z- handleDvl() - RDI_Pathfinder msg: 1612980146.17 epoch sec; seqNo:424 2021-02-10T18:02:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.86 , 47.84 , 43.95 , 39.05 2021-02-10T18:02:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.09 , -0.01 2021-02-10T18:02:26Z- waiting for 1612980146.35, time is 1612980146.17 2021-02-10T18:02:26Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980146.18 epoch sec; seqNo:1045; 4061675.34 north; 594279.40 east 2021-02-10T18:02:26Z- waiting for 1612980146.35, time is 1612980146.17 2021-02-10T18:02:26Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:26Z- AHRS_M2 msg: 1612980146.55 epoch sec; seqNo:1040 2021-02-10T18:02:26Z- AHRS_M2 msg: 4.50 phi; -0.03 theta; -0.15 psi 2021-02-10T18:02:26Z- waiting for 1612980146.35, time is 1612980146.17 2021-02-10T18:02:26Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:26Z- handleDepth()-Depth_Keller msg: 50.43 epoch sec; seqNo:1612980146556; depth 0.00 2021-02-10T18:02:26Z- waiting for 1612980146.35, time is 1612980146.17 2021-02-10T18:02:26Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980146.58 epoch sec; seqNo:1046; 4061674.96 north; 594279.40 east 2021-02-10T18:02:26Z- waiting for 1612980146.35, time is 1612980146.17 2021-02-10T18:02:26Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:26Z- AHRS_M2 msg: 1612980146.95 epoch sec; seqNo:1041 2021-02-10T18:02:26Z- AHRS_M2 msg: 4.50 phi; -0.03 theta; -0.15 psi 2021-02-10T18:02:26Z- waiting for 1612980146.35, time is 1612980146.17 2021-02-10T18:02:26Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:26Z- handleDepth()-Depth_Keller msg: 50.45 epoch sec; seqNo:1612980146961; depth 0.00 2021-02-10T18:02:26Z- waiting for 1612980146.35, time is 1612980146.17 2021-02-10T18:02:26Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980146.97 epoch sec; seqNo:1047; 4061674.96 north; 594279.40 east 2021-02-10T18:02:26Z- waiting for 1612980146.35, time is 1612980146.17 2021-02-10T18:02:26Z- sync is 0.81, coherence is 2.00 2021-02-10T18:02:27Z- AHRS_M2 msg: 1612980147.36 epoch sec; seqNo:1042 2021-02-10T18:02:27Z- AHRS_M2 msg: 4.51 phi; -0.03 theta; -0.15 psi 2021-02-10T18:02:27Z- waiting for 1612980146.35, time is 1612980146.17 2021-02-10T18:02:27Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:27Z- handleDepth()-Depth_Keller msg: 50.45 epoch sec; seqNo:1612980147365; depth 0.00 2021-02-10T18:02:27Z- waiting for 1612980146.35, time is 1612980146.17 2021-02-10T18:02:27Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:27Z- handleDvl() - RDI_Pathfinder msg: 1612980147.38 epoch sec; seqNo:425 2021-02-10T18:02:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.86 , 48.25 , 43.75 , 39.05 2021-02-10T18:02:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.08 , -0.01 2021-02-10T18:02:27Z- waiting for 1612980146.35, time is 1612980147.38 2021-02-10T18:02:27Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:27Z- LcmTrn::updateTrn() >>>> pose time 1612980147.36, meas time 1612980147.38 <<<< 2021-02-10T18:02:27Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980147.38 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:02:27Z- TerrainNav::motionUpdate() - currEstimate = (4061675, 594279.40, 50.45) 2021-02-10T18:02:27Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:02:27Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:02:27Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:02:27Z- TNavBF::mmse selected from filter -1 2021-02-10T18:02:27Z- variances([0], [2], and psi_berg) = 803.241785 833.110207 0.000000 2021-02-10T18:02:27Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:02:27Z- LcmTrn::cycle() - MLE : 4061644.46 594229.90 50.45 2021-02-10T18:02:27Z- LcmTrn::cycle() - MMSE : 4061674.96 594279.40 50.45 2021-02-10T18:02:27Z- LcmTrn::cycle() - COVAR: 803.24 833.11 41.44 0.00 2021-02-10T18:02:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980147.39 epoch sec; seqNo:1048; 4061674.95 north; 594278.18 east 2021-02-10T18:02:27Z- waiting for 1612980150.38, time is 1612980147.38 2021-02-10T18:02:27Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:27Z- AHRS_M2 msg: 1612980147.76 epoch sec; seqNo:1043 2021-02-10T18:02:27Z- AHRS_M2 msg: 4.51 phi; -0.03 theta; -0.15 psi 2021-02-10T18:02:27Z- waiting for 1612980150.38, time is 1612980147.38 2021-02-10T18:02:27Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:27Z- handleDepth()-Depth_Keller msg: 50.43 epoch sec; seqNo:1612980147777; depth 0.00 2021-02-10T18:02:27Z- waiting for 1612980150.38, time is 1612980147.38 2021-02-10T18:02:27Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980147.79 epoch sec; seqNo:1049; 4061674.57 north; 594278.18 east 2021-02-10T18:02:27Z- waiting for 1612980150.38, time is 1612980147.38 2021-02-10T18:02:27Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:28Z- AHRS_M2 msg: 1612980148.17 epoch sec; seqNo:1044 2021-02-10T18:02:28Z- AHRS_M2 msg: 4.51 phi; -0.03 theta; -0.15 psi 2021-02-10T18:02:28Z- waiting for 1612980150.38, time is 1612980147.38 2021-02-10T18:02:28Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:28Z- handleDepth()-Depth_Keller msg: 50.45 epoch sec; seqNo:1612980148172; depth 0.00 2021-02-10T18:02:28Z- waiting for 1612980150.38, time is 1612980147.38 2021-02-10T18:02:28Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:28Z- handleDvl() - RDI_Pathfinder msg: 1612980148.19 epoch sec; seqNo:426 2021-02-10T18:02:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.27 , 48.45 , 43.75 , 38.64 2021-02-10T18:02:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.08 , 0.00 2021-02-10T18:02:28Z- waiting for 1612980150.38, time is 1612980148.19 2021-02-10T18:02:28Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980148.20 epoch sec; seqNo:1050; 4061674.57 north; 594278.18 east 2021-02-10T18:02:28Z- waiting for 1612980150.38, time is 1612980148.19 2021-02-10T18:02:28Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:28Z- AHRS_M2 msg: 1612980148.57 epoch sec; seqNo:1045 2021-02-10T18:02:28Z- AHRS_M2 msg: 4.51 phi; -0.03 theta; -0.16 psi 2021-02-10T18:02:28Z- waiting for 1612980150.38, time is 1612980148.19 2021-02-10T18:02:28Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:28Z- handleDepth()-Depth_Keller msg: 50.46 epoch sec; seqNo:1612980148576; depth 0.00 2021-02-10T18:02:28Z- waiting for 1612980150.38, time is 1612980148.19 2021-02-10T18:02:28Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980148.59 epoch sec; seqNo:1051; 4061674.56 north; 594276.96 east 2021-02-10T18:02:28Z- waiting for 1612980150.38, time is 1612980148.19 2021-02-10T18:02:28Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:28Z- AHRS_M2 msg: 1612980148.98 epoch sec; seqNo:1046 2021-02-10T18:02:28Z- AHRS_M2 msg: 4.51 phi; -0.03 theta; -0.16 psi 2021-02-10T18:02:28Z- waiting for 1612980150.38, time is 1612980148.19 2021-02-10T18:02:28Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:28Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1612980148980; depth 0.00 2021-02-10T18:02:28Z- waiting for 1612980150.38, time is 1612980148.19 2021-02-10T18:02:28Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980148.99 epoch sec; seqNo:1052; 4061674.56 north; 594276.96 east 2021-02-10T18:02:28Z- waiting for 1612980150.38, time is 1612980148.19 2021-02-10T18:02:28Z- sync is 0.80, coherence is 2.00 2021-02-10T18:02:29Z- AHRS_M2 msg: 1612980149.38 epoch sec; seqNo:1047 2021-02-10T18:02:29Z- AHRS_M2 msg: 4.51 phi; -0.03 theta; -0.16 psi 2021-02-10T18:02:29Z- waiting for 1612980150.38, time is 1612980148.19 2021-02-10T18:02:29Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:29Z- handleDepth()-Depth_Keller msg: 50.47 epoch sec; seqNo:1612980149393; depth 0.00 2021-02-10T18:02:29Z- waiting for 1612980150.38, time is 1612980148.19 2021-02-10T18:02:29Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:29Z- handleDvl() - RDI_Pathfinder msg: 1612980149.40 epoch sec; seqNo:427 2021-02-10T18:02:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.27 , 48.45 , 43.95 , 38.84 2021-02-10T18:02:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.08 , 0.01 2021-02-10T18:02:29Z- waiting for 1612980150.38, time is 1612980149.40 2021-02-10T18:02:29Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980149.42 epoch sec; seqNo:1053; 4061674.18 north; 594276.97 east 2021-02-10T18:02:29Z- waiting for 1612980150.38, time is 1612980149.40 2021-02-10T18:02:29Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:29Z- AHRS_M2 msg: 1612980149.79 epoch sec; seqNo:1048 2021-02-10T18:02:29Z- AHRS_M2 msg: 4.51 phi; -0.03 theta; -0.16 psi 2021-02-10T18:02:29Z- waiting for 1612980150.38, time is 1612980149.40 2021-02-10T18:02:29Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:29Z- handleDepth()-Depth_Keller msg: 50.47 epoch sec; seqNo:1612980149792; depth 0.00 2021-02-10T18:02:29Z- waiting for 1612980150.38, time is 1612980149.40 2021-02-10T18:02:29Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980149.82 epoch sec; seqNo:1054; 4061674.16 north; 594275.75 east 2021-02-10T18:02:29Z- waiting for 1612980150.38, time is 1612980149.40 2021-02-10T18:02:29Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:30Z- AHRS_M2 msg: 1612980150.19 epoch sec; seqNo:1049 2021-02-10T18:02:30Z- AHRS_M2 msg: 4.51 phi; -0.03 theta; -0.16 psi 2021-02-10T18:02:30Z- waiting for 1612980150.38, time is 1612980149.40 2021-02-10T18:02:30Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:30Z- handleDepth()-Depth_Keller msg: 50.48 epoch sec; seqNo:1612980150197; depth 0.00 2021-02-10T18:02:30Z- waiting for 1612980150.38, time is 1612980149.40 2021-02-10T18:02:30Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:30Z- handleDvl() - RDI_Pathfinder msg: 1612980150.21 epoch sec; seqNo:428 2021-02-10T18:02:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.48 , 48.45 , 43.75 , 39.25 2021-02-10T18:02:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.07 , 0.03 2021-02-10T18:02:30Z- waiting for 1612980150.38, time is 1612980150.21 2021-02-10T18:02:30Z- sync is 0.03, coherence is 2.00 2021-02-10T18:02:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980150.24 epoch sec; seqNo:1055; 4061674.16 north; 594275.75 east 2021-02-10T18:02:30Z- waiting for 1612980150.38, time is 1612980150.21 2021-02-10T18:02:30Z- sync is 0.03, coherence is 2.00 2021-02-10T18:02:30Z- AHRS_M2 msg: 1612980150.59 epoch sec; seqNo:1050 2021-02-10T18:02:30Z- AHRS_M2 msg: 4.51 phi; -0.03 theta; -0.16 psi 2021-02-10T18:02:30Z- waiting for 1612980150.38, time is 1612980150.21 2021-02-10T18:02:30Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:30Z- handleDepth()-Depth_Keller msg: 50.49 epoch sec; seqNo:1612980150602; depth 0.00 2021-02-10T18:02:30Z- waiting for 1612980150.38, time is 1612980150.21 2021-02-10T18:02:30Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980150.61 epoch sec; seqNo:1056; 4061674.16 north; 594275.75 east 2021-02-10T18:02:30Z- waiting for 1612980150.38, time is 1612980150.21 2021-02-10T18:02:30Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:31Z- AHRS_M2 msg: 1612980151.00 epoch sec; seqNo:1051 2021-02-10T18:02:31Z- AHRS_M2 msg: 4.51 phi; -0.03 theta; -0.16 psi 2021-02-10T18:02:31Z- waiting for 1612980150.38, time is 1612980150.21 2021-02-10T18:02:31Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:31Z- handleDepth()-Depth_Keller msg: 50.50 epoch sec; seqNo:1612980151011; depth 0.00 2021-02-10T18:02:31Z- waiting for 1612980150.38, time is 1612980150.21 2021-02-10T18:02:31Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980151.02 epoch sec; seqNo:1057; 4061673.79 north; 594275.75 east 2021-02-10T18:02:31Z- waiting for 1612980150.38, time is 1612980150.21 2021-02-10T18:02:31Z- sync is 0.81, coherence is 2.00 2021-02-10T18:02:31Z- AHRS_M2 msg: 1612980151.40 epoch sec; seqNo:1052 2021-02-10T18:02:31Z- AHRS_M2 msg: 4.51 phi; -0.03 theta; -0.16 psi 2021-02-10T18:02:31Z- waiting for 1612980150.38, time is 1612980150.21 2021-02-10T18:02:31Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:31Z- handleDepth()-Depth_Keller msg: 50.51 epoch sec; seqNo:1612980151406; depth 0.00 2021-02-10T18:02:31Z- waiting for 1612980150.38, time is 1612980150.21 2021-02-10T18:02:31Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:31Z- handleDvl() - RDI_Pathfinder msg: 1612980151.42 epoch sec; seqNo:429 2021-02-10T18:02:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.48 , 48.65 , 43.95 , 39.86 2021-02-10T18:02:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.08 , 0.04 2021-02-10T18:02:31Z- waiting for 1612980150.38, time is 1612980151.42 2021-02-10T18:02:31Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:31Z- LcmTrn::updateTrn() >>>> pose time 1612980151.40, meas time 1612980151.42 <<<< 2021-02-10T18:02:31Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980151.42 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:02:31Z- TerrainNav::motionUpdate() - currEstimate = (4061674, 594275.75, 50.51) 2021-02-10T18:02:31Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:02:31Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:02:31Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:02:31Z- TNavBF::mmse selected from filter -1 2021-02-10T18:02:31Z- variances([0], [2], and psi_berg) = 803.003901 833.109645 0.000000 2021-02-10T18:02:31Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:02:31Z- LcmTrn::cycle() - MLE : 4061643.29 594226.25 50.51 2021-02-10T18:02:31Z- LcmTrn::cycle() - MMSE : 4061673.79 594275.75 50.51 2021-02-10T18:02:31Z- LcmTrn::cycle() - COVAR: 803.00 833.11 41.63 0.00 2021-02-10T18:02:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980151.43 epoch sec; seqNo:1058; 4061673.77 north; 594274.53 east 2021-02-10T18:02:31Z- waiting for 1612980154.42, time is 1612980151.42 2021-02-10T18:02:31Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:31Z- AHRS_M2 msg: 1612980151.81 epoch sec; seqNo:1053 2021-02-10T18:02:31Z- AHRS_M2 msg: 4.52 phi; -0.03 theta; -0.16 psi 2021-02-10T18:02:31Z- waiting for 1612980154.42, time is 1612980151.42 2021-02-10T18:02:31Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:31Z- handleDepth()-Depth_Keller msg: 50.53 epoch sec; seqNo:1612980151812; depth 0.00 2021-02-10T18:02:31Z- waiting for 1612980154.42, time is 1612980151.42 2021-02-10T18:02:31Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980151.82 epoch sec; seqNo:1059; 4061673.77 north; 594274.53 east 2021-02-10T18:02:31Z- waiting for 1612980154.42, time is 1612980151.42 2021-02-10T18:02:31Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:32Z- AHRS_M2 msg: 1612980152.21 epoch sec; seqNo:1054 2021-02-10T18:02:32Z- AHRS_M2 msg: 4.52 phi; -0.03 theta; -0.16 psi 2021-02-10T18:02:32Z- waiting for 1612980154.42, time is 1612980151.42 2021-02-10T18:02:32Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:32Z- handleDepth()-Depth_Keller msg: 50.53 epoch sec; seqNo:1612980152212; depth 0.00 2021-02-10T18:02:32Z- waiting for 1612980154.42, time is 1612980151.42 2021-02-10T18:02:32Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:32Z- handleDvl() - RDI_Pathfinder msg: 1612980152.24 epoch sec; seqNo:430 2021-02-10T18:02:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.27 , 48.65 , 43.95 , 40.07 2021-02-10T18:02:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.07 , 0.06 2021-02-10T18:02:32Z- waiting for 1612980154.42, time is 1612980152.24 2021-02-10T18:02:32Z- sync is 0.03, coherence is 2.00 2021-02-10T18:02:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980152.25 epoch sec; seqNo:1060; 4061673.39 north; 594274.54 east 2021-02-10T18:02:32Z- waiting for 1612980154.42, time is 1612980152.24 2021-02-10T18:02:32Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:32Z- AHRS_M2 msg: 1612980152.61 epoch sec; seqNo:1055 2021-02-10T18:02:32Z- AHRS_M2 msg: 4.52 phi; -0.03 theta; -0.16 psi 2021-02-10T18:02:32Z- waiting for 1612980154.42, time is 1612980152.24 2021-02-10T18:02:32Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:32Z- handleDepth()-Depth_Keller msg: 50.55 epoch sec; seqNo:1612980152616; depth 0.00 2021-02-10T18:02:32Z- waiting for 1612980154.42, time is 1612980152.24 2021-02-10T18:02:32Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980152.63 epoch sec; seqNo:1061; 4061673.38 north; 594273.32 east 2021-02-10T18:02:32Z- waiting for 1612980154.42, time is 1612980152.24 2021-02-10T18:02:32Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:33Z- AHRS_M2 msg: 1612980153.02 epoch sec; seqNo:1056 2021-02-10T18:02:33Z- AHRS_M2 msg: 4.52 phi; -0.03 theta; -0.16 psi 2021-02-10T18:02:33Z- waiting for 1612980154.42, time is 1612980152.24 2021-02-10T18:02:33Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:33Z- handleDepth()-Depth_Keller msg: 50.57 epoch sec; seqNo:1612980153025; depth 0.00 2021-02-10T18:02:33Z- waiting for 1612980154.42, time is 1612980152.24 2021-02-10T18:02:33Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980153.03 epoch sec; seqNo:1062; 4061673.38 north; 594273.32 east 2021-02-10T18:02:33Z- waiting for 1612980154.42, time is 1612980152.24 2021-02-10T18:02:33Z- sync is 0.80, coherence is 2.00 2021-02-10T18:02:33Z- AHRS_M2 msg: 1612980153.42 epoch sec; seqNo:1057 2021-02-10T18:02:33Z- AHRS_M2 msg: 4.52 phi; -0.02 theta; -0.16 psi 2021-02-10T18:02:33Z- waiting for 1612980154.42, time is 1612980152.24 2021-02-10T18:02:33Z- sync is 1.18, coherence is 2.00 2021-02-10T18:02:33Z- handleDepth()-Depth_Keller msg: 50.58 epoch sec; seqNo:1612980153425; depth 0.00 2021-02-10T18:02:33Z- waiting for 1612980154.42, time is 1612980152.24 2021-02-10T18:02:33Z- sync is 1.18, coherence is 2.00 2021-02-10T18:02:33Z- handleDvl() - RDI_Pathfinder msg: 1612980153.44 epoch sec; seqNo:431 2021-02-10T18:02:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.48 , 48.65 , 43.95 , 39.86 2021-02-10T18:02:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.07 , 0.06 2021-02-10T18:02:33Z- waiting for 1612980154.42, time is 1612980153.44 2021-02-10T18:02:33Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980153.45 epoch sec; seqNo:1063; 4061673.38 north; 594273.32 east 2021-02-10T18:02:33Z- waiting for 1612980154.42, time is 1612980153.44 2021-02-10T18:02:33Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:33Z- AHRS_M2 msg: 1612980153.82 epoch sec; seqNo:1058 2021-02-10T18:02:33Z- AHRS_M2 msg: 4.52 phi; -0.02 theta; -0.16 psi 2021-02-10T18:02:33Z- waiting for 1612980154.42, time is 1612980153.44 2021-02-10T18:02:33Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:33Z- handleDepth()-Depth_Keller msg: 50.59 epoch sec; seqNo:1612980153830; depth 0.00 2021-02-10T18:02:33Z- waiting for 1612980154.42, time is 1612980153.44 2021-02-10T18:02:33Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980153.84 epoch sec; seqNo:1064; 4061672.99 north; 594272.10 east 2021-02-10T18:02:33Z- waiting for 1612980154.42, time is 1612980153.44 2021-02-10T18:02:33Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:34Z- AHRS_M2 msg: 1612980154.23 epoch sec; seqNo:1059 2021-02-10T18:02:34Z- AHRS_M2 msg: 4.52 phi; -0.02 theta; -0.16 psi 2021-02-10T18:02:34Z- waiting for 1612980154.42, time is 1612980153.44 2021-02-10T18:02:34Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:34Z- handleDepth()-Depth_Keller msg: 50.61 epoch sec; seqNo:1612980154233; depth 0.00 2021-02-10T18:02:34Z- waiting for 1612980154.42, time is 1612980153.44 2021-02-10T18:02:34Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:34Z- handleDvl() - RDI_Pathfinder msg: 1612980154.25 epoch sec; seqNo:432 2021-02-10T18:02:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.48 , 48.65 , 44.16 , 40.27 2021-02-10T18:02:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.08 , 0.05 2021-02-10T18:02:34Z- waiting for 1612980154.42, time is 1612980154.25 2021-02-10T18:02:34Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980154.26 epoch sec; seqNo:1065; 4061672.99 north; 594272.10 east 2021-02-10T18:02:34Z- waiting for 1612980154.42, time is 1612980154.25 2021-02-10T18:02:34Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:34Z- AHRS_M2 msg: 1612980154.63 epoch sec; seqNo:1060 2021-02-10T18:02:34Z- AHRS_M2 msg: 4.52 phi; -0.02 theta; -0.16 psi 2021-02-10T18:02:34Z- waiting for 1612980154.42, time is 1612980154.25 2021-02-10T18:02:34Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:34Z- handleDepth()-Depth_Keller msg: 50.62 epoch sec; seqNo:1612980154636; depth 0.00 2021-02-10T18:02:34Z- waiting for 1612980154.42, time is 1612980154.25 2021-02-10T18:02:34Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980154.65 epoch sec; seqNo:1066; 4061672.99 north; 594272.10 east 2021-02-10T18:02:34Z- waiting for 1612980154.42, time is 1612980154.25 2021-02-10T18:02:34Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:35Z- AHRS_M2 msg: 1612980155.04 epoch sec; seqNo:1061 2021-02-10T18:02:35Z- AHRS_M2 msg: 4.52 phi; -0.02 theta; -0.16 psi 2021-02-10T18:02:35Z- waiting for 1612980154.42, time is 1612980154.25 2021-02-10T18:02:35Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:35Z- handleDepth()-Depth_Keller msg: 50.64 epoch sec; seqNo:1612980155041; depth 0.00 2021-02-10T18:02:35Z- waiting for 1612980154.42, time is 1612980154.25 2021-02-10T18:02:35Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980155.05 epoch sec; seqNo:1067; 4061672.97 north; 594270.88 east 2021-02-10T18:02:35Z- waiting for 1612980154.42, time is 1612980154.25 2021-02-10T18:02:35Z- sync is 0.80, coherence is 2.00 2021-02-10T18:02:35Z- AHRS_M2 msg: 1612980155.44 epoch sec; seqNo:1062 2021-02-10T18:02:35Z- AHRS_M2 msg: 4.52 phi; -0.02 theta; -0.17 psi 2021-02-10T18:02:35Z- waiting for 1612980154.42, time is 1612980154.25 2021-02-10T18:02:35Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:35Z- handleDepth()-Depth_Keller msg: 50.65 epoch sec; seqNo:1612980155444; depth 0.00 2021-02-10T18:02:35Z- waiting for 1612980154.42, time is 1612980154.25 2021-02-10T18:02:35Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:35Z- handleDvl() - RDI_Pathfinder msg: 1612980155.46 epoch sec; seqNo:433 2021-02-10T18:02:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.68 , 49.06 , 43.95 , 40.48 2021-02-10T18:02:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.07 , 0.05 2021-02-10T18:02:35Z- waiting for 1612980154.42, time is 1612980155.46 2021-02-10T18:02:35Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:35Z- LcmTrn::updateTrn() >>>> pose time 1612980155.44, meas time 1612980155.46 <<<< 2021-02-10T18:02:35Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980155.46 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:02:35Z- TerrainNav::motionUpdate() - currEstimate = (4061673, 594270.88, 50.65) 2021-02-10T18:02:35Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:02:35Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:02:35Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:02:35Z- TNavBF::mmse selected from filter -1 2021-02-10T18:02:35Z- variances([0], [2], and psi_berg) = 802.735363 833.109016 0.000000 2021-02-10T18:02:35Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:02:35Z- LcmTrn::cycle() - MLE : 4061642.47 594224.38 50.65 2021-02-10T18:02:35Z- LcmTrn::cycle() - MMSE : 4061672.97 594270.88 50.65 2021-02-10T18:02:35Z- LcmTrn::cycle() - COVAR: 802.74 833.11 41.88 0.00 2021-02-10T18:02:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980155.48 epoch sec; seqNo:1068; 4061672.59 north; 594270.88 east 2021-02-10T18:02:35Z- waiting for 1612980158.46, time is 1612980155.46 2021-02-10T18:02:35Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:35Z- AHRS_M2 msg: 1612980155.84 epoch sec; seqNo:1063 2021-02-10T18:02:35Z- AHRS_M2 msg: 4.52 phi; -0.02 theta; -0.17 psi 2021-02-10T18:02:35Z- waiting for 1612980158.46, time is 1612980155.46 2021-02-10T18:02:35Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:35Z- handleDepth()-Depth_Keller msg: 50.65 epoch sec; seqNo:1612980155853; depth 0.00 2021-02-10T18:02:35Z- waiting for 1612980158.46, time is 1612980155.46 2021-02-10T18:02:35Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980155.86 epoch sec; seqNo:1069; 4061672.59 north; 594270.88 east 2021-02-10T18:02:35Z- waiting for 1612980158.46, time is 1612980155.46 2021-02-10T18:02:35Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:36Z- AHRS_M2 msg: 1612980156.25 epoch sec; seqNo:1064 2021-02-10T18:02:36Z- AHRS_M2 msg: 4.52 phi; -0.02 theta; -0.17 psi 2021-02-10T18:02:36Z- waiting for 1612980158.46, time is 1612980155.46 2021-02-10T18:02:36Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:36Z- handleDepth()-Depth_Keller msg: 50.67 epoch sec; seqNo:1612980156252; depth 0.00 2021-02-10T18:02:36Z- waiting for 1612980158.46, time is 1612980155.46 2021-02-10T18:02:36Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:36Z- handleDvl() - RDI_Pathfinder msg: 1612980156.27 epoch sec; seqNo:434 2021-02-10T18:02:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.27 , 49.06 , 44.16 , 40.68 2021-02-10T18:02:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.07 , 0.03 2021-02-10T18:02:36Z- waiting for 1612980158.46, time is 1612980156.27 2021-02-10T18:02:36Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980156.28 epoch sec; seqNo:1070; 4061672.59 north; 594270.88 east 2021-02-10T18:02:36Z- waiting for 1612980158.46, time is 1612980156.27 2021-02-10T18:02:36Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:36Z- AHRS_M2 msg: 1612980156.65 epoch sec; seqNo:1065 2021-02-10T18:02:36Z- AHRS_M2 msg: 4.52 phi; -0.02 theta; -0.17 psi 2021-02-10T18:02:36Z- waiting for 1612980158.46, time is 1612980156.27 2021-02-10T18:02:36Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:36Z- handleDepth()-Depth_Keller msg: 50.67 epoch sec; seqNo:1612980156665; depth 0.00 2021-02-10T18:02:36Z- waiting for 1612980158.46, time is 1612980156.27 2021-02-10T18:02:36Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980156.67 epoch sec; seqNo:1071; 4061672.58 north; 594269.66 east 2021-02-10T18:02:36Z- waiting for 1612980158.46, time is 1612980156.27 2021-02-10T18:02:36Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:37Z- AHRS_M2 msg: 1612980157.06 epoch sec; seqNo:1066 2021-02-10T18:02:37Z- AHRS_M2 msg: 4.52 phi; -0.02 theta; -0.17 psi 2021-02-10T18:02:37Z- waiting for 1612980158.46, time is 1612980156.27 2021-02-10T18:02:37Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:37Z- handleDepth()-Depth_Keller msg: 50.69 epoch sec; seqNo:1612980157060; depth 0.00 2021-02-10T18:02:37Z- waiting for 1612980158.46, time is 1612980156.27 2021-02-10T18:02:37Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980157.08 epoch sec; seqNo:1072; 4061672.20 north; 594269.67 east 2021-02-10T18:02:37Z- waiting for 1612980158.46, time is 1612980156.27 2021-02-10T18:02:37Z- sync is 0.81, coherence is 2.00 2021-02-10T18:02:37Z- AHRS_M2 msg: 1612980157.46 epoch sec; seqNo:1067 2021-02-10T18:02:37Z- AHRS_M2 msg: 4.52 phi; -0.01 theta; -0.17 psi 2021-02-10T18:02:37Z- waiting for 1612980158.46, time is 1612980156.27 2021-02-10T18:02:37Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:37Z- handleDepth()-Depth_Keller msg: 50.71 epoch sec; seqNo:1612980157465; depth 0.00 2021-02-10T18:02:37Z- waiting for 1612980158.46, time is 1612980156.27 2021-02-10T18:02:37Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:37Z- handleDvl() - RDI_Pathfinder msg: 1612980157.48 epoch sec; seqNo:435 2021-02-10T18:02:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.27 , 49.27 , 44.36 , 40.89 2021-02-10T18:02:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.05 , 0.01 2021-02-10T18:02:37Z- waiting for 1612980158.46, time is 1612980157.48 2021-02-10T18:02:37Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980157.49 epoch sec; seqNo:1073; 4061672.20 north; 594269.67 east 2021-02-10T18:02:37Z- waiting for 1612980158.46, time is 1612980157.48 2021-02-10T18:02:37Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:37Z- AHRS_M2 msg: 1612980157.86 epoch sec; seqNo:1068 2021-02-10T18:02:37Z- AHRS_M2 msg: 4.51 phi; -0.01 theta; -0.17 psi 2021-02-10T18:02:37Z- waiting for 1612980158.46, time is 1612980157.48 2021-02-10T18:02:37Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:37Z- handleDepth()-Depth_Keller msg: 50.70 epoch sec; seqNo:1612980157874; depth 0.00 2021-02-10T18:02:37Z- waiting for 1612980158.46, time is 1612980157.48 2021-02-10T18:02:37Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980157.88 epoch sec; seqNo:1074; 4061672.19 north; 594268.45 east 2021-02-10T18:02:37Z- waiting for 1612980158.46, time is 1612980157.48 2021-02-10T18:02:37Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:38Z- AHRS_M2 msg: 1612980158.27 epoch sec; seqNo:1069 2021-02-10T18:02:38Z- AHRS_M2 msg: 4.51 phi; -0.01 theta; -0.17 psi 2021-02-10T18:02:38Z- waiting for 1612980158.46, time is 1612980157.48 2021-02-10T18:02:38Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:38Z- handleDepth()-Depth_Keller msg: 50.70 epoch sec; seqNo:1612980158277; depth 0.00 2021-02-10T18:02:38Z- waiting for 1612980158.46, time is 1612980157.48 2021-02-10T18:02:38Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:38Z- handleDvl() - RDI_Pathfinder msg: 1612980158.29 epoch sec; seqNo:436 2021-02-10T18:02:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.47 , 49.26 , 44.15 , 41.29 2021-02-10T18:02:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.05 , -0.01 2021-02-10T18:02:38Z- waiting for 1612980158.46, time is 1612980158.29 2021-02-10T18:02:38Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980158.30 epoch sec; seqNo:1075; 4061672.19 north; 594268.45 east 2021-02-10T18:02:38Z- waiting for 1612980158.46, time is 1612980158.29 2021-02-10T18:02:38Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:38Z- AHRS_M2 msg: 1612980158.67 epoch sec; seqNo:1070 2021-02-10T18:02:38Z- AHRS_M2 msg: 4.51 phi; -0.01 theta; -0.17 psi 2021-02-10T18:02:38Z- waiting for 1612980158.46, time is 1612980158.29 2021-02-10T18:02:38Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:38Z- handleDepth()-Depth_Keller msg: 50.71 epoch sec; seqNo:1612980158678; depth 0.00 2021-02-10T18:02:38Z- waiting for 1612980158.46, time is 1612980158.29 2021-02-10T18:02:38Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980158.69 epoch sec; seqNo:1076; 4061671.81 north; 594268.45 east 2021-02-10T18:02:38Z- waiting for 1612980158.46, time is 1612980158.29 2021-02-10T18:02:38Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:39Z- AHRS_M2 msg: 1612980159.08 epoch sec; seqNo:1071 2021-02-10T18:02:39Z- AHRS_M2 msg: 4.51 phi; -0.00 theta; -0.18 psi 2021-02-10T18:02:39Z- waiting for 1612980158.46, time is 1612980158.29 2021-02-10T18:02:39Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:39Z- handleDepth()-Depth_Keller msg: 50.72 epoch sec; seqNo:1612980159100; depth 0.00 2021-02-10T18:02:39Z- waiting for 1612980158.46, time is 1612980158.29 2021-02-10T18:02:39Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980159.12 epoch sec; seqNo:1077; 4061671.80 north; 594267.23 east 2021-02-10T18:02:39Z- waiting for 1612980158.46, time is 1612980158.29 2021-02-10T18:02:39Z- sync is 0.83, coherence is 2.00 2021-02-10T18:02:39Z- AHRS_M2 msg: 1612980159.48 epoch sec; seqNo:1072 2021-02-10T18:02:39Z- AHRS_M2 msg: 4.51 phi; -0.00 theta; -0.17 psi 2021-02-10T18:02:39Z- waiting for 1612980158.46, time is 1612980158.29 2021-02-10T18:02:39Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:39Z- handleDepth()-Depth_Keller msg: 50.72 epoch sec; seqNo:1612980159484; depth 0.00 2021-02-10T18:02:39Z- waiting for 1612980158.46, time is 1612980158.29 2021-02-10T18:02:39Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:39Z- handleDvl() - RDI_Pathfinder msg: 1612980159.50 epoch sec; seqNo:437 2021-02-10T18:02:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.27 , 49.26 , 44.36 , 41.70 2021-02-10T18:02:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.06 , -0.02 2021-02-10T18:02:39Z- waiting for 1612980158.46, time is 1612980159.50 2021-02-10T18:02:39Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:39Z- LcmTrn::updateTrn() >>>> pose time 1612980159.48, meas time 1612980159.50 <<<< 2021-02-10T18:02:39Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980159.50 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:02:39Z- TerrainNav::motionUpdate() - currEstimate = (4061672, 594267.23, 50.72) 2021-02-10T18:02:39Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:02:39Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:02:39Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:02:39Z- TNavBF::mmse selected from filter -1 2021-02-10T18:02:39Z- variances([0], [2], and psi_berg) = 802.500294 833.108468 0.000000 2021-02-10T18:02:39Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:02:39Z- LcmTrn::cycle() - MLE : 4061641.30 594220.73 50.72 2021-02-10T18:02:39Z- LcmTrn::cycle() - MMSE : 4061671.80 594267.23 50.72 2021-02-10T18:02:39Z- LcmTrn::cycle() - COVAR: 802.50 833.11 42.08 0.00 2021-02-10T18:02:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980159.52 epoch sec; seqNo:1078; 4061671.80 north; 594267.23 east 2021-02-10T18:02:39Z- waiting for 1612980162.50, time is 1612980159.50 2021-02-10T18:02:39Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:39Z- AHRS_M2 msg: 1612980159.88 epoch sec; seqNo:1073 2021-02-10T18:02:39Z- AHRS_M2 msg: 4.51 phi; -0.00 theta; -0.17 psi 2021-02-10T18:02:39Z- waiting for 1612980162.50, time is 1612980159.50 2021-02-10T18:02:39Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:39Z- handleDepth()-Depth_Keller msg: 50.73 epoch sec; seqNo:1612980159888; depth 0.00 2021-02-10T18:02:39Z- waiting for 1612980162.50, time is 1612980159.50 2021-02-10T18:02:39Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980159.90 epoch sec; seqNo:1079; 4061671.80 north; 594267.23 east 2021-02-10T18:02:39Z- waiting for 1612980162.50, time is 1612980159.50 2021-02-10T18:02:39Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:40Z- AHRS_M2 msg: 1612980160.29 epoch sec; seqNo:1074 2021-02-10T18:02:40Z- AHRS_M2 msg: 4.51 phi; 0.00 theta; -0.17 psi 2021-02-10T18:02:40Z- waiting for 1612980162.50, time is 1612980159.50 2021-02-10T18:02:40Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:40Z- handleDepth()-Depth_Keller msg: 50.72 epoch sec; seqNo:1612980160298; depth 0.00 2021-02-10T18:02:40Z- waiting for 1612980162.50, time is 1612980159.50 2021-02-10T18:02:40Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:40Z- handleDvl() - RDI_Pathfinder msg: 1612980160.31 epoch sec; seqNo:438 2021-02-10T18:02:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.47 , 49.26 , 44.36 , 41.70 2021-02-10T18:02:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.05 , -0.03 2021-02-10T18:02:40Z- waiting for 1612980162.50, time is 1612980160.31 2021-02-10T18:02:40Z- sync is 0.03, coherence is 2.00 2021-02-10T18:02:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980160.32 epoch sec; seqNo:1080; 4061671.40 north; 594266.01 east 2021-02-10T18:02:40Z- waiting for 1612980162.50, time is 1612980160.31 2021-02-10T18:02:40Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:40Z- AHRS_M2 msg: 1612980160.69 epoch sec; seqNo:1075 2021-02-10T18:02:40Z- AHRS_M2 msg: 4.51 phi; 0.00 theta; -0.17 psi 2021-02-10T18:02:40Z- waiting for 1612980162.50, time is 1612980160.31 2021-02-10T18:02:40Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:40Z- handleDepth()-Depth_Keller msg: 50.72 epoch sec; seqNo:1612980160696; depth 0.00 2021-02-10T18:02:40Z- waiting for 1612980162.50, time is 1612980160.31 2021-02-10T18:02:40Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980160.72 epoch sec; seqNo:1081; 4061671.40 north; 594266.01 east 2021-02-10T18:02:40Z- waiting for 1612980162.50, time is 1612980160.31 2021-02-10T18:02:40Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:41Z- AHRS_M2 msg: 1612980161.12 epoch sec; seqNo:1076 2021-02-10T18:02:41Z- AHRS_M2 msg: 4.51 phi; 0.01 theta; -0.17 psi 2021-02-10T18:02:41Z- waiting for 1612980162.50, time is 1612980160.31 2021-02-10T18:02:41Z- sync is 0.81, coherence is 2.00 2021-02-10T18:02:41Z- handleDepth()-Depth_Keller msg: 50.72 epoch sec; seqNo:1612980161135; depth 0.00 2021-02-10T18:02:41Z- waiting for 1612980162.50, time is 1612980160.31 2021-02-10T18:02:41Z- sync is 0.81, coherence is 2.00 2021-02-10T18:02:41Z- handleDvl() - RDI_Pathfinder msg: 1612980161.15 epoch sec; seqNo:439 2021-02-10T18:02:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.47 , 49.06 , 44.56 , 41.70 2021-02-10T18:02:41Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.04 , -0.03 2021-02-10T18:02:41Z- waiting for 1612980162.50, time is 1612980161.15 2021-02-10T18:02:41Z- sync is 0.03, coherence is 2.00 2021-02-10T18:02:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980161.16 epoch sec; seqNo:1082; 4061671.40 north; 594266.01 east 2021-02-10T18:02:41Z- waiting for 1612980162.50, time is 1612980161.15 2021-02-10T18:02:41Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:41Z- AHRS_M2 msg: 1612980161.50 epoch sec; seqNo:1077 2021-02-10T18:02:41Z- AHRS_M2 msg: 4.51 phi; 0.01 theta; -0.17 psi 2021-02-10T18:02:41Z- waiting for 1612980162.50, time is 1612980161.15 2021-02-10T18:02:41Z- sync is 0.35, coherence is 2.00 2021-02-10T18:02:41Z- handleDepth()-Depth_Keller msg: 50.72 epoch sec; seqNo:1612980161504; depth 0.00 2021-02-10T18:02:41Z- waiting for 1612980162.50, time is 1612980161.15 2021-02-10T18:02:41Z- sync is 0.35, coherence is 2.00 2021-02-10T18:02:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980161.52 epoch sec; seqNo:1083; 4061671.01 north; 594264.80 east 2021-02-10T18:02:41Z- waiting for 1612980162.50, time is 1612980161.15 2021-02-10T18:02:41Z- sync is 0.37, coherence is 2.00 2021-02-10T18:02:41Z- AHRS_M2 msg: 1612980161.90 epoch sec; seqNo:1078 2021-02-10T18:02:41Z- AHRS_M2 msg: 4.51 phi; 0.01 theta; -0.17 psi 2021-02-10T18:02:41Z- waiting for 1612980162.50, time is 1612980161.15 2021-02-10T18:02:41Z- sync is 0.76, coherence is 2.00 2021-02-10T18:02:41Z- handleDepth()-Depth_Keller msg: 50.71 epoch sec; seqNo:1612980161910; depth 0.00 2021-02-10T18:02:41Z- waiting for 1612980162.50, time is 1612980161.15 2021-02-10T18:02:41Z- sync is 0.76, coherence is 2.00 2021-02-10T18:02:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980161.92 epoch sec; seqNo:1084; 4061671.01 north; 594264.80 east 2021-02-10T18:02:41Z- waiting for 1612980162.50, time is 1612980161.15 2021-02-10T18:02:41Z- sync is 0.77, coherence is 2.00 2021-02-10T18:02:42Z- AHRS_M2 msg: 1612980162.31 epoch sec; seqNo:1079 2021-02-10T18:02:42Z- AHRS_M2 msg: 4.51 phi; 0.01 theta; -0.17 psi 2021-02-10T18:02:42Z- waiting for 1612980162.50, time is 1612980161.15 2021-02-10T18:02:42Z- sync is 1.16, coherence is 2.00 2021-02-10T18:02:42Z- handleDepth()-Depth_Keller msg: 50.71 epoch sec; seqNo:1612980162317; depth 0.00 2021-02-10T18:02:42Z- waiting for 1612980162.50, time is 1612980161.15 2021-02-10T18:02:42Z- sync is 1.16, coherence is 2.00 2021-02-10T18:02:42Z- handleDvl() - RDI_Pathfinder msg: 1612980162.34 epoch sec; seqNo:440 2021-02-10T18:02:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.47 , 48.85 , 44.56 , 41.90 2021-02-10T18:02:42Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.05 , -0.02 2021-02-10T18:02:42Z- waiting for 1612980162.50, time is 1612980162.34 2021-02-10T18:02:42Z- sync is 0.03, coherence is 2.00 2021-02-10T18:02:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980162.35 epoch sec; seqNo:1085; 4061671.01 north; 594264.80 east 2021-02-10T18:02:42Z- waiting for 1612980162.50, time is 1612980162.34 2021-02-10T18:02:42Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:42Z- AHRS_M2 msg: 1612980162.72 epoch sec; seqNo:1080 2021-02-10T18:02:42Z- AHRS_M2 msg: 4.51 phi; 0.01 theta; -0.17 psi 2021-02-10T18:02:42Z- waiting for 1612980162.50, time is 1612980162.34 2021-02-10T18:02:42Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:42Z- handleDepth()-Depth_Keller msg: 50.71 epoch sec; seqNo:1612980162720; depth 0.00 2021-02-10T18:02:42Z- waiting for 1612980162.50, time is 1612980162.34 2021-02-10T18:02:42Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980162.73 epoch sec; seqNo:1086; 4061671.01 north; 594264.80 east 2021-02-10T18:02:42Z- waiting for 1612980162.50, time is 1612980162.34 2021-02-10T18:02:42Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:43Z- AHRS_M2 msg: 1612980163.13 epoch sec; seqNo:1081 2021-02-10T18:02:43Z- AHRS_M2 msg: 4.50 phi; 0.01 theta; -0.17 psi 2021-02-10T18:02:43Z- waiting for 1612980162.50, time is 1612980162.34 2021-02-10T18:02:43Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:43Z- handleDepth()-Depth_Keller msg: 50.70 epoch sec; seqNo:1612980163135; depth 0.00 2021-02-10T18:02:43Z- waiting for 1612980162.50, time is 1612980162.34 2021-02-10T18:02:43Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:43Z- handleDvl() - RDI_Pathfinder msg: 1612980163.15 epoch sec; seqNo:441 2021-02-10T18:02:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.27 , 49.06 , 44.77 , 42.11 2021-02-10T18:02:43Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.04 , -0.00 2021-02-10T18:02:43Z- waiting for 1612980162.50, time is 1612980163.15 2021-02-10T18:02:43Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:43Z- LcmTrn::updateTrn() >>>> pose time 1612980163.13, meas time 1612980163.15 <<<< 2021-02-10T18:02:43Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980163.15 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:02:43Z- TerrainNav::motionUpdate() - currEstimate = (4061671, 594264.80, 50.70) 2021-02-10T18:02:43Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:02:43Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:02:43Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:02:43Z- TNavBF::mmse selected from filter -1 2021-02-10T18:02:43Z- variances([0], [2], and psi_berg) = 802.309418 833.108027 0.000000 2021-02-10T18:02:43Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:02:43Z- LcmTrn::cycle() - MLE : 4061640.51 594218.30 50.70 2021-02-10T18:02:43Z- LcmTrn::cycle() - MMSE : 4061671.01 594264.80 50.70 2021-02-10T18:02:43Z- LcmTrn::cycle() - COVAR: 802.31 833.11 42.21 0.00 2021-02-10T18:02:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980163.16 epoch sec; seqNo:1087; 4061670.62 north; 594263.58 east 2021-02-10T18:02:43Z- waiting for 1612980166.15, time is 1612980163.15 2021-02-10T18:02:43Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:43Z- AHRS_M2 msg: 1612980163.52 epoch sec; seqNo:1082 2021-02-10T18:02:43Z- AHRS_M2 msg: 4.50 phi; 0.02 theta; -0.17 psi 2021-02-10T18:02:43Z- waiting for 1612980166.15, time is 1612980163.15 2021-02-10T18:02:43Z- sync is 0.37, coherence is 2.00 2021-02-10T18:02:43Z- handleDepth()-Depth_Keller msg: 50.70 epoch sec; seqNo:1612980163524; depth 0.00 2021-02-10T18:02:43Z- waiting for 1612980166.15, time is 1612980163.15 2021-02-10T18:02:43Z- sync is 0.37, coherence is 2.00 2021-02-10T18:02:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980163.54 epoch sec; seqNo:1088; 4061670.62 north; 594263.58 east 2021-02-10T18:02:43Z- waiting for 1612980166.15, time is 1612980163.15 2021-02-10T18:02:43Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:43Z- AHRS_M2 msg: 1612980163.92 epoch sec; seqNo:1083 2021-02-10T18:02:43Z- AHRS_M2 msg: 4.50 phi; 0.02 theta; -0.16 psi 2021-02-10T18:02:43Z- waiting for 1612980166.15, time is 1612980163.15 2021-02-10T18:02:43Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:43Z- handleDepth()-Depth_Keller msg: 50.71 epoch sec; seqNo:1612980163933; depth 0.00 2021-02-10T18:02:43Z- waiting for 1612980166.15, time is 1612980163.15 2021-02-10T18:02:43Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980163.94 epoch sec; seqNo:1089; 4061670.62 north; 594263.58 east 2021-02-10T18:02:43Z- waiting for 1612980166.15, time is 1612980163.15 2021-02-10T18:02:43Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:44Z- AHRS_M2 msg: 1612980164.33 epoch sec; seqNo:1084 2021-02-10T18:02:44Z- AHRS_M2 msg: 4.50 phi; 0.02 theta; -0.16 psi 2021-02-10T18:02:44Z- waiting for 1612980166.15, time is 1612980163.15 2021-02-10T18:02:44Z- sync is 1.18, coherence is 2.00 2021-02-10T18:02:44Z- handleDepth()-Depth_Keller msg: 50.70 epoch sec; seqNo:1612980164333; depth 0.00 2021-02-10T18:02:44Z- waiting for 1612980166.15, time is 1612980163.15 2021-02-10T18:02:44Z- sync is 1.18, coherence is 2.00 2021-02-10T18:02:44Z- handleDvl() - RDI_Pathfinder msg: 1612980164.35 epoch sec; seqNo:442 2021-02-10T18:02:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.27 , 48.85 , 44.97 , 42.11 2021-02-10T18:02:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.05 , 0.01 2021-02-10T18:02:44Z- waiting for 1612980166.15, time is 1612980164.35 2021-02-10T18:02:44Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980164.36 epoch sec; seqNo:1090; 4061670.61 north; 594262.36 east 2021-02-10T18:02:44Z- waiting for 1612980166.15, time is 1612980164.35 2021-02-10T18:02:44Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:44Z- AHRS_M2 msg: 1612980164.73 epoch sec; seqNo:1085 2021-02-10T18:02:44Z- AHRS_M2 msg: 4.50 phi; 0.02 theta; -0.16 psi 2021-02-10T18:02:44Z- waiting for 1612980166.15, time is 1612980164.35 2021-02-10T18:02:44Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:44Z- handleDepth()-Depth_Keller msg: 50.70 epoch sec; seqNo:1612980164742; depth 0.00 2021-02-10T18:02:44Z- waiting for 1612980166.15, time is 1612980164.35 2021-02-10T18:02:44Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980164.75 epoch sec; seqNo:1091; 4061670.23 north; 594262.37 east 2021-02-10T18:02:44Z- waiting for 1612980166.15, time is 1612980164.35 2021-02-10T18:02:44Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:45Z- AHRS_M2 msg: 1612980165.14 epoch sec; seqNo:1086 2021-02-10T18:02:45Z- AHRS_M2 msg: 4.50 phi; 0.02 theta; -0.16 psi 2021-02-10T18:02:45Z- waiting for 1612980166.15, time is 1612980164.35 2021-02-10T18:02:45Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:45Z- handleDepth()-Depth_Keller msg: 50.70 epoch sec; seqNo:1612980165145; depth 0.00 2021-02-10T18:02:45Z- waiting for 1612980166.15, time is 1612980164.35 2021-02-10T18:02:45Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:45Z- handleDvl() - RDI_Pathfinder msg: 1612980165.16 epoch sec; seqNo:443 2021-02-10T18:02:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.47 , 49.06 , 45.17 , 42.31 2021-02-10T18:02:45Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.05 , 0.02 2021-02-10T18:02:45Z- waiting for 1612980166.15, time is 1612980165.16 2021-02-10T18:02:45Z- sync is 0.03, coherence is 2.00 2021-02-10T18:02:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980165.17 epoch sec; seqNo:1092; 4061670.23 north; 594262.37 east 2021-02-10T18:02:45Z- waiting for 1612980166.15, time is 1612980165.16 2021-02-10T18:02:45Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:45Z- AHRS_M2 msg: 1612980165.54 epoch sec; seqNo:1087 2021-02-10T18:02:45Z- AHRS_M2 msg: 4.50 phi; 0.02 theta; -0.16 psi 2021-02-10T18:02:45Z- waiting for 1612980166.15, time is 1612980165.16 2021-02-10T18:02:45Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:45Z- handleDepth()-Depth_Keller msg: 50.69 epoch sec; seqNo:1612980165544; depth 0.00 2021-02-10T18:02:45Z- waiting for 1612980166.15, time is 1612980165.16 2021-02-10T18:02:45Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980165.56 epoch sec; seqNo:1093; 4061670.21 north; 594261.15 east 2021-02-10T18:02:45Z- waiting for 1612980166.15, time is 1612980165.16 2021-02-10T18:02:45Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:45Z- AHRS_M2 msg: 1612980165.94 epoch sec; seqNo:1088 2021-02-10T18:02:45Z- AHRS_M2 msg: 4.50 phi; 0.02 theta; -0.16 psi 2021-02-10T18:02:45Z- waiting for 1612980166.15, time is 1612980165.16 2021-02-10T18:02:45Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:45Z- handleDepth()-Depth_Keller msg: 50.69 epoch sec; seqNo:1612980165953; depth 0.00 2021-02-10T18:02:45Z- waiting for 1612980166.15, time is 1612980165.16 2021-02-10T18:02:45Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980165.96 epoch sec; seqNo:1094; 4061669.84 north; 594261.15 east 2021-02-10T18:02:45Z- waiting for 1612980166.15, time is 1612980165.16 2021-02-10T18:02:45Z- sync is 0.80, coherence is 2.00 2021-02-10T18:02:46Z- AHRS_M2 msg: 1612980166.35 epoch sec; seqNo:1089 2021-02-10T18:02:46Z- AHRS_M2 msg: 4.50 phi; 0.03 theta; -0.16 psi 2021-02-10T18:02:46Z- waiting for 1612980166.15, time is 1612980165.16 2021-02-10T18:02:46Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:46Z- handleDepth()-Depth_Keller msg: 50.70 epoch sec; seqNo:1612980166361; depth 0.00 2021-02-10T18:02:46Z- waiting for 1612980166.15, time is 1612980165.16 2021-02-10T18:02:46Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:46Z- handleDvl() - RDI_Pathfinder msg: 1612980166.37 epoch sec; seqNo:444 2021-02-10T18:02:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.47 , 48.85 , 45.38 , 42.11 2021-02-10T18:02:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.08 , 0.02 2021-02-10T18:02:46Z- waiting for 1612980166.15, time is 1612980166.37 2021-02-10T18:02:46Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:46Z- LcmTrn::updateTrn() >>>> pose time 1612980166.35, meas time 1612980166.37 <<<< 2021-02-10T18:02:46Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980166.37 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:02:46Z- TerrainNav::motionUpdate() - currEstimate = (4061670, 594261.15, 50.70) 2021-02-10T18:02:46Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:02:46Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:02:46Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:02:46Z- TNavBF::mmse selected from filter -1 2021-02-10T18:02:46Z- variances([0], [2], and psi_berg) = 802.076673 833.107491 0.000000 2021-02-10T18:02:46Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:02:46Z- LcmTrn::cycle() - MLE : 4061639.34 594214.65 50.70 2021-02-10T18:02:46Z- LcmTrn::cycle() - MMSE : 4061669.84 594261.15 50.70 2021-02-10T18:02:46Z- LcmTrn::cycle() - COVAR: 802.08 833.11 42.40 0.00 2021-02-10T18:02:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980166.38 epoch sec; seqNo:1095; 4061669.84 north; 594261.15 east 2021-02-10T18:02:46Z- waiting for 1612980169.37, time is 1612980166.37 2021-02-10T18:02:46Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:46Z- AHRS_M2 msg: 1612980166.76 epoch sec; seqNo:1090 2021-02-10T18:02:46Z- AHRS_M2 msg: 4.50 phi; 0.03 theta; -0.17 psi 2021-02-10T18:02:46Z- waiting for 1612980169.37, time is 1612980166.37 2021-02-10T18:02:46Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:46Z- handleDepth()-Depth_Keller msg: 50.70 epoch sec; seqNo:1612980166777; depth 0.00 2021-02-10T18:02:46Z- waiting for 1612980169.37, time is 1612980166.37 2021-02-10T18:02:46Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980166.80 epoch sec; seqNo:1096; 4061669.82 north; 594259.93 east 2021-02-10T18:02:46Z- waiting for 1612980169.37, time is 1612980166.37 2021-02-10T18:02:46Z- sync is 0.42, coherence is 2.00 2021-02-10T18:02:47Z- AHRS_M2 msg: 1612980167.16 epoch sec; seqNo:1091 2021-02-10T18:02:47Z- AHRS_M2 msg: 4.50 phi; 0.03 theta; -0.17 psi 2021-02-10T18:02:47Z- waiting for 1612980169.37, time is 1612980166.37 2021-02-10T18:02:47Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:47Z- handleDepth()-Depth_Keller msg: 50.69 epoch sec; seqNo:1612980167165; depth 0.00 2021-02-10T18:02:47Z- waiting for 1612980169.37, time is 1612980166.37 2021-02-10T18:02:47Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:47Z- handleDvl() - RDI_Pathfinder msg: 1612980167.19 epoch sec; seqNo:445 2021-02-10T18:02:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.68 , 49.47 , 45.58 , 42.31 2021-02-10T18:02:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.08 , 0.02 2021-02-10T18:02:47Z- waiting for 1612980169.37, time is 1612980167.19 2021-02-10T18:02:47Z- sync is 0.03, coherence is 2.00 2021-02-10T18:02:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980167.20 epoch sec; seqNo:1097; 4061669.82 north; 594259.93 east 2021-02-10T18:02:47Z- waiting for 1612980169.37, time is 1612980167.19 2021-02-10T18:02:47Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:47Z- AHRS_M2 msg: 1612980167.56 epoch sec; seqNo:1092 2021-02-10T18:02:47Z- AHRS_M2 msg: 4.50 phi; 0.03 theta; -0.17 psi 2021-02-10T18:02:47Z- waiting for 1612980169.37, time is 1612980167.19 2021-02-10T18:02:47Z- sync is 0.37, coherence is 2.00 2021-02-10T18:02:47Z- handleDepth()-Depth_Keller msg: 50.69 epoch sec; seqNo:1612980167570; depth 0.00 2021-02-10T18:02:47Z- waiting for 1612980169.37, time is 1612980167.19 2021-02-10T18:02:47Z- sync is 0.37, coherence is 2.00 2021-02-10T18:02:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980167.58 epoch sec; seqNo:1098; 4061669.44 north; 594259.93 east 2021-02-10T18:02:47Z- waiting for 1612980169.37, time is 1612980167.19 2021-02-10T18:02:47Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:47Z- AHRS_M2 msg: 1612980167.97 epoch sec; seqNo:1093 2021-02-10T18:02:47Z- AHRS_M2 msg: 4.50 phi; 0.03 theta; -0.17 psi 2021-02-10T18:02:47Z- waiting for 1612980169.37, time is 1612980167.19 2021-02-10T18:02:47Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:47Z- handleDepth()-Depth_Keller msg: 50.68 epoch sec; seqNo:1612980167975; depth 0.00 2021-02-10T18:02:47Z- waiting for 1612980169.37, time is 1612980167.19 2021-02-10T18:02:47Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980167.98 epoch sec; seqNo:1099; 4061669.43 north; 594258.71 east 2021-02-10T18:02:47Z- waiting for 1612980169.37, time is 1612980167.19 2021-02-10T18:02:47Z- sync is 0.80, coherence is 2.00 2021-02-10T18:02:48Z- AHRS_M2 msg: 1612980168.37 epoch sec; seqNo:1094 2021-02-10T18:02:48Z- AHRS_M2 msg: 4.50 phi; 0.03 theta; -0.17 psi 2021-02-10T18:02:48Z- waiting for 1612980169.37, time is 1612980167.19 2021-02-10T18:02:48Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:48Z- handleDepth()-Depth_Keller msg: 50.68 epoch sec; seqNo:1612980168378; depth 0.00 2021-02-10T18:02:48Z- waiting for 1612980169.37, time is 1612980167.19 2021-02-10T18:02:48Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:48Z- handleDvl() - RDI_Pathfinder msg: 1612980168.40 epoch sec; seqNo:446 2021-02-10T18:02:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.06 , 49.67 , 45.99 , 42.31 2021-02-10T18:02:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.10 , 0.01 2021-02-10T18:02:48Z- waiting for 1612980169.37, time is 1612980168.40 2021-02-10T18:02:48Z- sync is 0.03, coherence is 2.00 2021-02-10T18:02:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980168.41 epoch sec; seqNo:1100; 4061669.43 north; 594258.71 east 2021-02-10T18:02:48Z- waiting for 1612980169.37, time is 1612980168.40 2021-02-10T18:02:48Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:48Z- AHRS_M2 msg: 1612980168.78 epoch sec; seqNo:1095 2021-02-10T18:02:48Z- AHRS_M2 msg: 4.50 phi; 0.03 theta; -0.17 psi 2021-02-10T18:02:48Z- waiting for 1612980169.37, time is 1612980168.40 2021-02-10T18:02:48Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:48Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1612980168789; depth 0.00 2021-02-10T18:02:48Z- waiting for 1612980169.37, time is 1612980168.40 2021-02-10T18:02:48Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980168.80 epoch sec; seqNo:1101; 4061669.05 north; 594258.72 east 2021-02-10T18:02:48Z- waiting for 1612980169.37, time is 1612980168.40 2021-02-10T18:02:48Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:49Z- AHRS_M2 msg: 1612980169.18 epoch sec; seqNo:1096 2021-02-10T18:02:49Z- AHRS_M2 msg: 4.50 phi; 0.04 theta; -0.17 psi 2021-02-10T18:02:49Z- waiting for 1612980169.37, time is 1612980168.40 2021-02-10T18:02:49Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:49Z- handleDepth()-Depth_Keller msg: 50.67 epoch sec; seqNo:1612980169182; depth 0.00 2021-02-10T18:02:49Z- waiting for 1612980169.37, time is 1612980168.40 2021-02-10T18:02:49Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:49Z- handleDvl() - RDI_Pathfinder msg: 1612980169.19 epoch sec; seqNo:447 2021-02-10T18:02:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.68 , 49.47 , 45.99 , 42.72 2021-02-10T18:02:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.07 , 0.01 2021-02-10T18:02:49Z- waiting for 1612980169.37, time is 1612980169.19 2021-02-10T18:02:49Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980169.20 epoch sec; seqNo:1102; 4061669.04 north; 594257.50 east 2021-02-10T18:02:49Z- waiting for 1612980169.37, time is 1612980169.19 2021-02-10T18:02:49Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:49Z- AHRS_M2 msg: 1612980169.58 epoch sec; seqNo:1097 2021-02-10T18:02:49Z- AHRS_M2 msg: 4.50 phi; 0.04 theta; -0.17 psi 2021-02-10T18:02:49Z- waiting for 1612980169.37, time is 1612980169.19 2021-02-10T18:02:49Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:49Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1612980169584; depth 0.00 2021-02-10T18:02:49Z- waiting for 1612980169.37, time is 1612980169.19 2021-02-10T18:02:49Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980169.60 epoch sec; seqNo:1103; 4061669.04 north; 594257.50 east 2021-02-10T18:02:49Z- waiting for 1612980169.37, time is 1612980169.19 2021-02-10T18:02:49Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:49Z- AHRS_M2 msg: 1612980169.98 epoch sec; seqNo:1098 2021-02-10T18:02:49Z- AHRS_M2 msg: 4.50 phi; 0.04 theta; -0.17 psi 2021-02-10T18:02:49Z- waiting for 1612980169.37, time is 1612980169.19 2021-02-10T18:02:49Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:49Z- handleDepth()-Depth_Keller msg: 50.65 epoch sec; seqNo:1612980169988; depth 0.00 2021-02-10T18:02:49Z- waiting for 1612980169.37, time is 1612980169.19 2021-02-10T18:02:49Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980170.00 epoch sec; seqNo:1104; 4061669.04 north; 594257.50 east 2021-02-10T18:02:50Z- waiting for 1612980169.37, time is 1612980169.19 2021-02-10T18:02:50Z- sync is 0.80, coherence is 2.00 2021-02-10T18:02:50Z- AHRS_M2 msg: 1612980170.39 epoch sec; seqNo:1099 2021-02-10T18:02:50Z- AHRS_M2 msg: 4.50 phi; 0.04 theta; -0.17 psi 2021-02-10T18:02:50Z- waiting for 1612980169.37, time is 1612980169.19 2021-02-10T18:02:50Z- sync is 1.20, coherence is 2.00 2021-02-10T18:02:50Z- handleDepth()-Depth_Keller msg: 50.64 epoch sec; seqNo:1612980170409; depth 0.00 2021-02-10T18:02:50Z- waiting for 1612980169.37, time is 1612980169.19 2021-02-10T18:02:50Z- sync is 1.20, coherence is 2.00 2021-02-10T18:02:50Z- handleDvl() - RDI_Pathfinder msg: 1612980170.42 epoch sec; seqNo:448 2021-02-10T18:02:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.68 , 49.67 , 46.40 , 42.72 2021-02-10T18:02:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.08 , 0.00 2021-02-10T18:02:50Z- waiting for 1612980169.37, time is 1612980170.42 2021-02-10T18:02:50Z- sync is 0.03, coherence is 2.00 2021-02-10T18:02:50Z- LcmTrn::updateTrn() >>>> pose time 1612980170.39, meas time 1612980170.42 <<<< 2021-02-10T18:02:50Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980170.42 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:02:50Z- TerrainNav::motionUpdate() - currEstimate = (4061669, 594257.50, 50.64) 2021-02-10T18:02:50Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:02:50Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:02:50Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:02:50Z- TNavBF::mmse selected from filter -1 2021-02-10T18:02:50Z- variances([0], [2], and psi_berg) = 801.848061 833.106968 0.000000 2021-02-10T18:02:50Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:02:50Z- LcmTrn::cycle() - MLE : 4061638.54 594211.00 50.64 2021-02-10T18:02:50Z- LcmTrn::cycle() - MMSE : 4061669.04 594257.50 50.64 2021-02-10T18:02:50Z- LcmTrn::cycle() - COVAR: 801.85 833.11 42.60 0.00 2021-02-10T18:02:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980170.43 epoch sec; seqNo:1105; 4061668.66 north; 594257.50 east 2021-02-10T18:02:50Z- waiting for 1612980173.42, time is 1612980170.42 2021-02-10T18:02:50Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:50Z- AHRS_M2 msg: 1612980170.80 epoch sec; seqNo:1100 2021-02-10T18:02:50Z- AHRS_M2 msg: 4.50 phi; 0.04 theta; -0.17 psi 2021-02-10T18:02:50Z- waiting for 1612980173.42, time is 1612980170.42 2021-02-10T18:02:50Z- sync is 0.37, coherence is 2.00 2021-02-10T18:02:50Z- handleDepth()-Depth_Keller msg: 50.64 epoch sec; seqNo:1612980170800; depth 0.00 2021-02-10T18:02:50Z- waiting for 1612980173.42, time is 1612980170.42 2021-02-10T18:02:50Z- sync is 0.37, coherence is 2.00 2021-02-10T18:02:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980170.82 epoch sec; seqNo:1106; 4061668.65 north; 594256.28 east 2021-02-10T18:02:50Z- waiting for 1612980173.42, time is 1612980170.42 2021-02-10T18:02:50Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:51Z- AHRS_M2 msg: 1612980171.19 epoch sec; seqNo:1101 2021-02-10T18:02:51Z- AHRS_M2 msg: 4.50 phi; 0.04 theta; -0.17 psi 2021-02-10T18:02:51Z- waiting for 1612980173.42, time is 1612980170.42 2021-02-10T18:02:51Z- sync is 0.77, coherence is 2.00 2021-02-10T18:02:51Z- handleDepth()-Depth_Keller msg: 50.62 epoch sec; seqNo:1612980171205; depth 0.00 2021-02-10T18:02:51Z- waiting for 1612980173.42, time is 1612980170.42 2021-02-10T18:02:51Z- sync is 0.77, coherence is 2.00 2021-02-10T18:02:51Z- handleDvl() - RDI_Pathfinder msg: 1612980171.22 epoch sec; seqNo:449 2021-02-10T18:02:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.68 , 49.67 , 46.40 , 42.72 2021-02-10T18:02:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.06 , 0.00 2021-02-10T18:02:51Z- waiting for 1612980173.42, time is 1612980171.22 2021-02-10T18:02:51Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980171.24 epoch sec; seqNo:1107; 4061668.65 north; 594256.28 east 2021-02-10T18:02:51Z- waiting for 1612980173.42, time is 1612980171.22 2021-02-10T18:02:51Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:51Z- AHRS_M2 msg: 1612980171.60 epoch sec; seqNo:1102 2021-02-10T18:02:51Z- AHRS_M2 msg: 4.50 phi; 0.05 theta; -0.17 psi 2021-02-10T18:02:51Z- waiting for 1612980173.42, time is 1612980171.22 2021-02-10T18:02:51Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:51Z- handleDepth()-Depth_Keller msg: 50.61 epoch sec; seqNo:1612980171604; depth 0.00 2021-02-10T18:02:51Z- waiting for 1612980173.42, time is 1612980171.22 2021-02-10T18:02:51Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980171.62 epoch sec; seqNo:1108; 4061668.27 north; 594256.28 east 2021-02-10T18:02:51Z- waiting for 1612980173.42, time is 1612980171.22 2021-02-10T18:02:51Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:52Z- AHRS_M2 msg: 1612980172.00 epoch sec; seqNo:1103 2021-02-10T18:02:52Z- AHRS_M2 msg: 4.50 phi; 0.05 theta; -0.17 psi 2021-02-10T18:02:52Z- waiting for 1612980173.42, time is 1612980171.22 2021-02-10T18:02:52Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:52Z- handleDepth()-Depth_Keller msg: 50.59 epoch sec; seqNo:1612980172010; depth 0.00 2021-02-10T18:02:52Z- waiting for 1612980173.42, time is 1612980171.22 2021-02-10T18:02:52Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980172.02 epoch sec; seqNo:1109; 4061668.25 north; 594255.06 east 2021-02-10T18:02:52Z- waiting for 1612980173.42, time is 1612980171.22 2021-02-10T18:02:52Z- sync is 0.80, coherence is 2.00 2021-02-10T18:02:52Z- AHRS_M2 msg: 1612980172.41 epoch sec; seqNo:1104 2021-02-10T18:02:52Z- AHRS_M2 msg: 4.50 phi; 0.05 theta; -0.17 psi 2021-02-10T18:02:52Z- waiting for 1612980173.42, time is 1612980171.22 2021-02-10T18:02:52Z- sync is 1.20, coherence is 2.00 2021-02-10T18:02:52Z- handleDepth()-Depth_Keller msg: 50.59 epoch sec; seqNo:1612980172419; depth 0.00 2021-02-10T18:02:52Z- waiting for 1612980173.42, time is 1612980171.22 2021-02-10T18:02:52Z- sync is 1.20, coherence is 2.00 2021-02-10T18:02:52Z- handleDvl() - RDI_Pathfinder msg: 1612980172.43 epoch sec; seqNo:450 2021-02-10T18:02:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.68 , 49.67 , 46.81 , 42.72 2021-02-10T18:02:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.05 , 0.01 2021-02-10T18:02:52Z- waiting for 1612980173.42, time is 1612980172.43 2021-02-10T18:02:52Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980172.45 epoch sec; seqNo:1110; 4061668.25 north; 594255.06 east 2021-02-10T18:02:52Z- waiting for 1612980173.42, time is 1612980172.43 2021-02-10T18:02:52Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:52Z- AHRS_M2 msg: 1612980172.81 epoch sec; seqNo:1105 2021-02-10T18:02:52Z- AHRS_M2 msg: 4.50 phi; 0.05 theta; -0.17 psi 2021-02-10T18:02:52Z- waiting for 1612980173.42, time is 1612980172.43 2021-02-10T18:02:52Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:52Z- handleDepth()-Depth_Keller msg: 50.56 epoch sec; seqNo:1612980172818; depth 0.00 2021-02-10T18:02:52Z- waiting for 1612980173.42, time is 1612980172.43 2021-02-10T18:02:52Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980172.83 epoch sec; seqNo:1111; 4061668.25 north; 594255.06 east 2021-02-10T18:02:52Z- waiting for 1612980173.42, time is 1612980172.43 2021-02-10T18:02:52Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:53Z- AHRS_M2 msg: 1612980173.22 epoch sec; seqNo:1106 2021-02-10T18:02:53Z- AHRS_M2 msg: 4.50 phi; 0.05 theta; -0.17 psi 2021-02-10T18:02:53Z- waiting for 1612980173.42, time is 1612980172.43 2021-02-10T18:02:53Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:53Z- handleDepth()-Depth_Keller msg: 50.54 epoch sec; seqNo:1612980173227; depth 0.00 2021-02-10T18:02:53Z- waiting for 1612980173.42, time is 1612980172.43 2021-02-10T18:02:53Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:53Z- handleDvl() - RDI_Pathfinder msg: 1612980173.24 epoch sec; seqNo:451 2021-02-10T18:02:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.88 , 49.88 , 47.22 , 42.93 2021-02-10T18:02:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.04 , 0.00 2021-02-10T18:02:53Z- waiting for 1612980173.42, time is 1612980173.24 2021-02-10T18:02:53Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980173.25 epoch sec; seqNo:1112; 4061667.86 north; 594253.85 east 2021-02-10T18:02:53Z- waiting for 1612980173.42, time is 1612980173.24 2021-02-10T18:02:53Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:53Z- AHRS_M2 msg: 1612980173.62 epoch sec; seqNo:1107 2021-02-10T18:02:53Z- AHRS_M2 msg: 4.50 phi; 0.05 theta; -0.17 psi 2021-02-10T18:02:53Z- waiting for 1612980173.42, time is 1612980173.24 2021-02-10T18:02:53Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:53Z- handleDepth()-Depth_Keller msg: 50.54 epoch sec; seqNo:1612980173629; depth 0.00 2021-02-10T18:02:53Z- waiting for 1612980173.42, time is 1612980173.24 2021-02-10T18:02:53Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980173.65 epoch sec; seqNo:1113; 4061667.86 north; 594253.85 east 2021-02-10T18:02:53Z- waiting for 1612980173.42, time is 1612980173.24 2021-02-10T18:02:53Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:54Z- AHRS_M2 msg: 1612980174.02 epoch sec; seqNo:1108 2021-02-10T18:02:54Z- AHRS_M2 msg: 4.50 phi; 0.05 theta; -0.17 psi 2021-02-10T18:02:54Z- waiting for 1612980173.42, time is 1612980173.24 2021-02-10T18:02:54Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:54Z- handleDepth()-Depth_Keller msg: 50.52 epoch sec; seqNo:1612980174029; depth 0.00 2021-02-10T18:02:54Z- waiting for 1612980173.42, time is 1612980173.24 2021-02-10T18:02:54Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980174.04 epoch sec; seqNo:1114; 4061667.86 north; 594253.85 east 2021-02-10T18:02:54Z- waiting for 1612980173.42, time is 1612980173.24 2021-02-10T18:02:54Z- sync is 0.80, coherence is 2.00 2021-02-10T18:02:54Z- AHRS_M2 msg: 1612980174.43 epoch sec; seqNo:1109 2021-02-10T18:02:54Z- AHRS_M2 msg: 4.50 phi; 0.05 theta; -0.17 psi 2021-02-10T18:02:54Z- waiting for 1612980173.42, time is 1612980173.24 2021-02-10T18:02:54Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:54Z- handleDepth()-Depth_Keller msg: 50.50 epoch sec; seqNo:1612980174434; depth 0.00 2021-02-10T18:02:54Z- waiting for 1612980173.42, time is 1612980173.24 2021-02-10T18:02:54Z- sync is 1.19, coherence is 2.00 2021-02-10T18:02:54Z- handleDvl() - RDI_Pathfinder msg: 1612980174.45 epoch sec; seqNo:452 2021-02-10T18:02:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.88 , 49.46 , 47.42 , 43.13 2021-02-10T18:02:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.03 , 0.00 2021-02-10T18:02:54Z- waiting for 1612980173.42, time is 1612980174.45 2021-02-10T18:02:54Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:54Z- LcmTrn::updateTrn() >>>> pose time 1612980174.43, meas time 1612980174.45 <<<< 2021-02-10T18:02:54Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980174.45 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:02:54Z- TerrainNav::motionUpdate() - currEstimate = (4061668, 594253.85, 50.50) 2021-02-10T18:02:54Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:02:54Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:02:54Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:02:54Z- TNavBF::mmse selected from filter -1 2021-02-10T18:02:54Z- variances([0], [2], and psi_berg) = 801.617790 833.106445 0.000000 2021-02-10T18:02:54Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:02:54Z- LcmTrn::cycle() - MLE : 4061637.36 594207.35 50.50 2021-02-10T18:02:54Z- LcmTrn::cycle() - MMSE : 4061667.86 594253.85 50.50 2021-02-10T18:02:54Z- LcmTrn::cycle() - COVAR: 801.62 833.11 42.79 0.00 2021-02-10T18:02:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980174.46 epoch sec; seqNo:1115; 4061667.85 north; 594252.63 east 2021-02-10T18:02:54Z- waiting for 1612980177.45, time is 1612980174.45 2021-02-10T18:02:54Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:54Z- AHRS_M2 msg: 1612980174.83 epoch sec; seqNo:1110 2021-02-10T18:02:54Z- AHRS_M2 msg: 4.50 phi; 0.05 theta; -0.17 psi 2021-02-10T18:02:54Z- waiting for 1612980177.45, time is 1612980174.45 2021-02-10T18:02:54Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:54Z- handleDepth()-Depth_Keller msg: 50.48 epoch sec; seqNo:1612980174846; depth 0.00 2021-02-10T18:02:54Z- waiting for 1612980177.45, time is 1612980174.45 2021-02-10T18:02:54Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980174.86 epoch sec; seqNo:1116; 4061667.47 north; 594252.63 east 2021-02-10T18:02:54Z- waiting for 1612980177.45, time is 1612980174.45 2021-02-10T18:02:54Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:55Z- AHRS_M2 msg: 1612980175.24 epoch sec; seqNo:1111 2021-02-10T18:02:55Z- AHRS_M2 msg: 4.50 phi; 0.05 theta; -0.17 psi 2021-02-10T18:02:55Z- waiting for 1612980177.45, time is 1612980174.45 2021-02-10T18:02:55Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:55Z- handleDepth()-Depth_Keller msg: 50.47 epoch sec; seqNo:1612980175240; depth 0.00 2021-02-10T18:02:55Z- waiting for 1612980177.45, time is 1612980174.45 2021-02-10T18:02:55Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:55Z- handleDvl() - RDI_Pathfinder msg: 1612980175.25 epoch sec; seqNo:453 2021-02-10T18:02:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.08 , 49.67 , 47.62 , 43.33 2021-02-10T18:02:55Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.02 , -0.01 2021-02-10T18:02:55Z- waiting for 1612980177.45, time is 1612980175.25 2021-02-10T18:02:55Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980175.27 epoch sec; seqNo:1117; 4061667.47 north; 594252.63 east 2021-02-10T18:02:55Z- waiting for 1612980177.45, time is 1612980175.25 2021-02-10T18:02:55Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:55Z- AHRS_M2 msg: 1612980175.64 epoch sec; seqNo:1112 2021-02-10T18:02:55Z- AHRS_M2 msg: 4.50 phi; 0.06 theta; -0.17 psi 2021-02-10T18:02:55Z- waiting for 1612980177.45, time is 1612980175.25 2021-02-10T18:02:55Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:55Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1612980175644; depth 0.00 2021-02-10T18:02:55Z- waiting for 1612980177.45, time is 1612980175.25 2021-02-10T18:02:55Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980175.65 epoch sec; seqNo:1118; 4061667.47 north; 594252.63 east 2021-02-10T18:02:55Z- waiting for 1612980177.45, time is 1612980175.25 2021-02-10T18:02:55Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:56Z- AHRS_M2 msg: 1612980176.04 epoch sec; seqNo:1113 2021-02-10T18:02:56Z- AHRS_M2 msg: 4.49 phi; 0.06 theta; -0.17 psi 2021-02-10T18:02:56Z- waiting for 1612980177.45, time is 1612980175.25 2021-02-10T18:02:56Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:56Z- handleDepth()-Depth_Keller msg: 50.43 epoch sec; seqNo:1612980176056; depth 0.00 2021-02-10T18:02:56Z- waiting for 1612980177.45, time is 1612980175.25 2021-02-10T18:02:56Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980176.07 epoch sec; seqNo:1119; 4061667.45 north; 594251.41 east 2021-02-10T18:02:56Z- waiting for 1612980177.45, time is 1612980175.25 2021-02-10T18:02:56Z- sync is 0.81, coherence is 2.00 2021-02-10T18:02:56Z- AHRS_M2 msg: 1612980176.45 epoch sec; seqNo:1114 2021-02-10T18:02:56Z- AHRS_M2 msg: 4.49 phi; 0.06 theta; -0.17 psi 2021-02-10T18:02:56Z- waiting for 1612980177.45, time is 1612980175.25 2021-02-10T18:02:56Z- sync is 1.20, coherence is 2.00 2021-02-10T18:02:56Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1612980176452; depth 0.00 2021-02-10T18:02:56Z- waiting for 1612980177.45, time is 1612980175.25 2021-02-10T18:02:56Z- sync is 1.20, coherence is 2.00 2021-02-10T18:02:56Z- handleDvl() - RDI_Pathfinder msg: 1612980176.46 epoch sec; seqNo:454 2021-02-10T18:02:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.19 , 49.60 , 47.83 , 43.40 2021-02-10T18:02:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.01 , -0.01 2021-02-10T18:02:56Z- waiting for 1612980177.45, time is 1612980176.46 2021-02-10T18:02:56Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980176.48 epoch sec; seqNo:1120; 4061667.08 north; 594251.42 east 2021-02-10T18:02:56Z- waiting for 1612980177.45, time is 1612980176.46 2021-02-10T18:02:56Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:56Z- AHRS_M2 msg: 1612980176.86 epoch sec; seqNo:1115 2021-02-10T18:02:56Z- AHRS_M2 msg: 4.49 phi; 0.06 theta; -0.17 psi 2021-02-10T18:02:56Z- waiting for 1612980177.45, time is 1612980176.46 2021-02-10T18:02:56Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:56Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1612980176862; depth 0.00 2021-02-10T18:02:56Z- waiting for 1612980177.45, time is 1612980176.46 2021-02-10T18:02:56Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980176.87 epoch sec; seqNo:1121; 4061667.08 north; 594251.42 east 2021-02-10T18:02:56Z- waiting for 1612980177.45, time is 1612980176.46 2021-02-10T18:02:56Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:57Z- AHRS_M2 msg: 1612980177.26 epoch sec; seqNo:1116 2021-02-10T18:02:57Z- AHRS_M2 msg: 4.49 phi; 0.06 theta; -0.17 psi 2021-02-10T18:02:57Z- waiting for 1612980177.45, time is 1612980176.46 2021-02-10T18:02:57Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:57Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1612980177269; depth 0.00 2021-02-10T18:02:57Z- waiting for 1612980177.45, time is 1612980176.46 2021-02-10T18:02:57Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:57Z- handleDvl() - RDI_Pathfinder msg: 1612980177.28 epoch sec; seqNo:455 2021-02-10T18:02:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.19 , 49.82 , 48.05 , 43.40 2021-02-10T18:02:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.04 , 0.00 2021-02-10T18:02:57Z- waiting for 1612980177.45, time is 1612980177.28 2021-02-10T18:02:57Z- sync is 0.03, coherence is 2.00 2021-02-10T18:02:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980177.29 epoch sec; seqNo:1122; 4061667.06 north; 594250.20 east 2021-02-10T18:02:57Z- waiting for 1612980177.45, time is 1612980177.28 2021-02-10T18:02:57Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:57Z- AHRS_M2 msg: 1612980177.66 epoch sec; seqNo:1117 2021-02-10T18:02:57Z- AHRS_M2 msg: 4.49 phi; 0.06 theta; -0.17 psi 2021-02-10T18:02:57Z- waiting for 1612980177.45, time is 1612980177.28 2021-02-10T18:02:57Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:57Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1612980177664; depth 0.00 2021-02-10T18:02:57Z- waiting for 1612980177.45, time is 1612980177.28 2021-02-10T18:02:57Z- sync is 0.38, coherence is 2.00 2021-02-10T18:02:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980177.68 epoch sec; seqNo:1123; 4061667.06 north; 594250.20 east 2021-02-10T18:02:57Z- waiting for 1612980177.45, time is 1612980177.28 2021-02-10T18:02:57Z- sync is 0.40, coherence is 2.00 2021-02-10T18:02:58Z- AHRS_M2 msg: 1612980178.06 epoch sec; seqNo:1118 2021-02-10T18:02:58Z- AHRS_M2 msg: 4.49 phi; 0.06 theta; -0.17 psi 2021-02-10T18:02:58Z- waiting for 1612980177.45, time is 1612980177.28 2021-02-10T18:02:58Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:58Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1612980178074; depth 0.00 2021-02-10T18:02:58Z- waiting for 1612980177.45, time is 1612980177.28 2021-02-10T18:02:58Z- sync is 0.78, coherence is 2.00 2021-02-10T18:02:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980178.09 epoch sec; seqNo:1124; 4061666.68 north; 594250.20 east 2021-02-10T18:02:58Z- waiting for 1612980177.45, time is 1612980177.28 2021-02-10T18:02:58Z- sync is 0.80, coherence is 2.00 2021-02-10T18:02:58Z- AHRS_M2 msg: 1612980178.47 epoch sec; seqNo:1119 2021-02-10T18:02:58Z- AHRS_M2 msg: 4.48 phi; 0.06 theta; -0.17 psi 2021-02-10T18:02:58Z- waiting for 1612980177.45, time is 1612980177.28 2021-02-10T18:02:58Z- sync is 1.18, coherence is 2.00 2021-02-10T18:02:58Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1612980178472; depth 0.00 2021-02-10T18:02:58Z- waiting for 1612980177.45, time is 1612980177.28 2021-02-10T18:02:58Z- sync is 1.18, coherence is 2.00 2021-02-10T18:02:58Z- handleDvl() - RDI_Pathfinder msg: 1612980178.48 epoch sec; seqNo:456 2021-02-10T18:02:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.96 , 49.82 , 48.27 , 43.40 2021-02-10T18:02:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.03 , 0.00 2021-02-10T18:02:58Z- waiting for 1612980177.45, time is 1612980178.48 2021-02-10T18:02:58Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:58Z- LcmTrn::updateTrn() >>>> pose time 1612980178.47, meas time 1612980178.48 <<<< 2021-02-10T18:02:58Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980178.48 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:02:58Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594250.20, 50.30) 2021-02-10T18:02:58Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:02:58Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:02:58Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:02:58Z- TNavBF::mmse selected from filter -1 2021-02-10T18:02:58Z- variances([0], [2], and psi_berg) = 801.388737 833.105927 0.000000 2021-02-10T18:02:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:02:58Z- LcmTrn::cycle() - MLE : 4061636.18 594203.70 50.30 2021-02-10T18:02:58Z- LcmTrn::cycle() - MMSE : 4061666.68 594250.20 50.30 2021-02-10T18:02:58Z- LcmTrn::cycle() - COVAR: 801.39 833.11 42.99 0.00 2021-02-10T18:02:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980178.49 epoch sec; seqNo:1125; 4061666.67 north; 594248.98 east 2021-02-10T18:02:58Z- waiting for 1612980181.48, time is 1612980178.48 2021-02-10T18:02:58Z- sync is 0.01, coherence is 2.00 2021-02-10T18:02:58Z- AHRS_M2 msg: 1612980178.87 epoch sec; seqNo:1120 2021-02-10T18:02:58Z- AHRS_M2 msg: 4.48 phi; 0.06 theta; -0.17 psi 2021-02-10T18:02:58Z- waiting for 1612980181.48, time is 1612980178.48 2021-02-10T18:02:58Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:58Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1612980178882; depth 0.00 2021-02-10T18:02:58Z- waiting for 1612980181.48, time is 1612980178.48 2021-02-10T18:02:58Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980178.89 epoch sec; seqNo:1126; 4061666.67 north; 594248.98 east 2021-02-10T18:02:58Z- waiting for 1612980181.48, time is 1612980178.48 2021-02-10T18:02:58Z- sync is 0.41, coherence is 2.00 2021-02-10T18:02:59Z- AHRS_M2 msg: 1612980179.28 epoch sec; seqNo:1121 2021-02-10T18:02:59Z- AHRS_M2 msg: 4.48 phi; 0.06 theta; -0.17 psi 2021-02-10T18:02:59Z- waiting for 1612980181.48, time is 1612980178.48 2021-02-10T18:02:59Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:59Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1612980179280; depth 0.00 2021-02-10T18:02:59Z- waiting for 1612980181.48, time is 1612980178.48 2021-02-10T18:02:59Z- sync is 0.79, coherence is 2.00 2021-02-10T18:02:59Z- handleDvl() - RDI_Pathfinder msg: 1612980179.29 epoch sec; seqNo:457 2021-02-10T18:02:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.19 , 50.04 , 48.27 , 43.84 2021-02-10T18:02:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.05 , 0.01 2021-02-10T18:02:59Z- waiting for 1612980181.48, time is 1612980179.29 2021-02-10T18:02:59Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980179.31 epoch sec; seqNo:1127; 4061666.29 north; 594248.98 east 2021-02-10T18:02:59Z- waiting for 1612980181.48, time is 1612980179.29 2021-02-10T18:02:59Z- sync is 0.02, coherence is 2.00 2021-02-10T18:02:59Z- AHRS_M2 msg: 1612980179.68 epoch sec; seqNo:1122 2021-02-10T18:02:59Z- AHRS_M2 msg: 4.48 phi; 0.06 theta; -0.17 psi 2021-02-10T18:02:59Z- waiting for 1612980181.48, time is 1612980179.29 2021-02-10T18:02:59Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:59Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1612980179685; depth 0.00 2021-02-10T18:02:59Z- waiting for 1612980181.48, time is 1612980179.29 2021-02-10T18:02:59Z- sync is 0.39, coherence is 2.00 2021-02-10T18:02:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980179.70 epoch sec; seqNo:1128; 4061666.28 north; 594247.76 east 2021-02-10T18:02:59Z- waiting for 1612980181.48, time is 1612980179.29 2021-02-10T18:02:59Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:00Z- AHRS_M2 msg: 1612980180.09 epoch sec; seqNo:1123 2021-02-10T18:03:00Z- AHRS_M2 msg: 4.48 phi; 0.06 theta; -0.17 psi 2021-02-10T18:03:00Z- waiting for 1612980181.48, time is 1612980179.29 2021-02-10T18:03:00Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:00Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1612980180098; depth 0.00 2021-02-10T18:03:00Z- waiting for 1612980181.48, time is 1612980179.29 2021-02-10T18:03:00Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980180.12 epoch sec; seqNo:1129; 4061666.28 north; 594247.76 east 2021-02-10T18:03:00Z- waiting for 1612980181.48, time is 1612980179.29 2021-02-10T18:03:00Z- sync is 0.83, coherence is 2.00 2021-02-10T18:03:00Z- AHRS_M2 msg: 1612980180.49 epoch sec; seqNo:1124 2021-02-10T18:03:00Z- AHRS_M2 msg: 4.48 phi; 0.05 theta; -0.17 psi 2021-02-10T18:03:00Z- waiting for 1612980181.48, time is 1612980179.29 2021-02-10T18:03:00Z- sync is 1.20, coherence is 2.00 2021-02-10T18:03:00Z- handleDepth()-Depth_Keller msg: 50.19 epoch sec; seqNo:1612980180501; depth 0.00 2021-02-10T18:03:00Z- waiting for 1612980181.48, time is 1612980179.29 2021-02-10T18:03:00Z- sync is 1.20, coherence is 2.00 2021-02-10T18:03:00Z- handleDvl() - RDI_Pathfinder msg: 1612980180.51 epoch sec; seqNo:458 2021-02-10T18:03:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.41 , 50.26 , 48.49 , 43.84 2021-02-10T18:03:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.05 , 0.01 2021-02-10T18:03:00Z- waiting for 1612980181.48, time is 1612980180.51 2021-02-10T18:03:00Z- sync is 0.03, coherence is 2.00 2021-02-10T18:03:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980180.52 epoch sec; seqNo:1130; 4061666.28 north; 594247.76 east 2021-02-10T18:03:00Z- waiting for 1612980181.48, time is 1612980180.51 2021-02-10T18:03:00Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:00Z- AHRS_M2 msg: 1612980180.89 epoch sec; seqNo:1125 2021-02-10T18:03:00Z- AHRS_M2 msg: 4.48 phi; 0.05 theta; -0.18 psi 2021-02-10T18:03:00Z- waiting for 1612980181.48, time is 1612980180.51 2021-02-10T18:03:00Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:00Z- handleDepth()-Depth_Keller msg: 50.17 epoch sec; seqNo:1612980180901; depth 0.00 2021-02-10T18:03:00Z- waiting for 1612980181.48, time is 1612980180.51 2021-02-10T18:03:00Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980180.92 epoch sec; seqNo:1131; 4061665.89 north; 594246.55 east 2021-02-10T18:03:00Z- waiting for 1612980181.48, time is 1612980180.51 2021-02-10T18:03:00Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:01Z- AHRS_M2 msg: 1612980181.30 epoch sec; seqNo:1126 2021-02-10T18:03:01Z- AHRS_M2 msg: 4.48 phi; 0.05 theta; -0.18 psi 2021-02-10T18:03:01Z- waiting for 1612980181.48, time is 1612980180.51 2021-02-10T18:03:01Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:01Z- handleDepth()-Depth_Keller msg: 50.14 epoch sec; seqNo:1612980181300; depth 0.00 2021-02-10T18:03:01Z- waiting for 1612980181.48, time is 1612980180.51 2021-02-10T18:03:01Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:01Z- handleDvl() - RDI_Pathfinder msg: 1612980181.31 epoch sec; seqNo:459 2021-02-10T18:03:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.19 , 50.04 , 48.27 , 43.62 2021-02-10T18:03:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.06 , 0.00 2021-02-10T18:03:01Z- waiting for 1612980181.48, time is 1612980181.31 2021-02-10T18:03:01Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980181.34 epoch sec; seqNo:1132; 4061665.89 north; 594246.55 east 2021-02-10T18:03:01Z- waiting for 1612980181.48, time is 1612980181.31 2021-02-10T18:03:01Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:01Z- AHRS_M2 msg: 1612980181.70 epoch sec; seqNo:1127 2021-02-10T18:03:01Z- AHRS_M2 msg: 4.48 phi; 0.05 theta; -0.18 psi 2021-02-10T18:03:01Z- waiting for 1612980181.48, time is 1612980181.31 2021-02-10T18:03:01Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:01Z- handleDepth()-Depth_Keller msg: 50.12 epoch sec; seqNo:1612980181709; depth 0.00 2021-02-10T18:03:01Z- waiting for 1612980181.48, time is 1612980181.31 2021-02-10T18:03:01Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980181.72 epoch sec; seqNo:1133; 4061665.89 north; 594246.55 east 2021-02-10T18:03:01Z- waiting for 1612980181.48, time is 1612980181.31 2021-02-10T18:03:01Z- sync is 0.41, coherence is 2.00 2021-02-10T18:03:02Z- AHRS_M2 msg: 1612980182.13 epoch sec; seqNo:1128 2021-02-10T18:03:02Z- AHRS_M2 msg: 4.48 phi; 0.05 theta; -0.18 psi 2021-02-10T18:03:02Z- waiting for 1612980181.48, time is 1612980181.31 2021-02-10T18:03:02Z- sync is 0.82, coherence is 2.00 2021-02-10T18:03:02Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1612980182136; depth 0.00 2021-02-10T18:03:02Z- waiting for 1612980181.48, time is 1612980181.31 2021-02-10T18:03:02Z- sync is 0.82, coherence is 2.00 2021-02-10T18:03:02Z- handleDvl() - RDI_Pathfinder msg: 1612980182.15 epoch sec; seqNo:460 2021-02-10T18:03:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.41 , 50.26 , 48.27 , 43.84 2021-02-10T18:03:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.05 , 0.00 2021-02-10T18:03:02Z- waiting for 1612980181.48, time is 1612980182.15 2021-02-10T18:03:02Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:02Z- LcmTrn::updateTrn() >>>> pose time 1612980182.13, meas time 1612980182.15 <<<< 2021-02-10T18:03:02Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980182.15 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:03:02Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594246.55, 50.11) 2021-02-10T18:03:02Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:03:02Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:03:02Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:03:02Z- TNavBF::mmse selected from filter -1 2021-02-10T18:03:02Z- variances([0], [2], and psi_berg) = 801.163720 833.105422 0.000000 2021-02-10T18:03:02Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:03:02Z- LcmTrn::cycle() - MLE : 4061635.39 594200.05 50.11 2021-02-10T18:03:02Z- LcmTrn::cycle() - MMSE : 4061665.89 594246.55 50.11 2021-02-10T18:03:02Z- LcmTrn::cycle() - COVAR: 801.16 833.11 43.18 0.00 2021-02-10T18:03:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980182.17 epoch sec; seqNo:1134; 4061665.49 north; 594245.33 east 2021-02-10T18:03:02Z- waiting for 1612980185.15, time is 1612980182.15 2021-02-10T18:03:02Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:02Z- AHRS_M2 msg: 1612980182.51 epoch sec; seqNo:1129 2021-02-10T18:03:02Z- AHRS_M2 msg: 4.48 phi; 0.05 theta; -0.18 psi 2021-02-10T18:03:02Z- waiting for 1612980185.15, time is 1612980182.15 2021-02-10T18:03:02Z- sync is 0.36, coherence is 2.00 2021-02-10T18:03:02Z- handleDepth()-Depth_Keller msg: 50.08 epoch sec; seqNo:1612980182512; depth 0.00 2021-02-10T18:03:02Z- waiting for 1612980185.15, time is 1612980182.15 2021-02-10T18:03:02Z- sync is 0.36, coherence is 2.00 2021-02-10T18:03:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980182.53 epoch sec; seqNo:1135; 4061665.49 north; 594245.33 east 2021-02-10T18:03:02Z- waiting for 1612980185.15, time is 1612980182.15 2021-02-10T18:03:02Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:02Z- AHRS_M2 msg: 1612980182.91 epoch sec; seqNo:1130 2021-02-10T18:03:02Z- AHRS_M2 msg: 4.48 phi; 0.05 theta; -0.17 psi 2021-02-10T18:03:02Z- waiting for 1612980185.15, time is 1612980182.15 2021-02-10T18:03:02Z- sync is 0.76, coherence is 2.00 2021-02-10T18:03:02Z- handleDepth()-Depth_Keller msg: 50.07 epoch sec; seqNo:1612980182916; depth 0.00 2021-02-10T18:03:02Z- waiting for 1612980185.15, time is 1612980182.15 2021-02-10T18:03:02Z- sync is 0.76, coherence is 2.00 2021-02-10T18:03:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980182.92 epoch sec; seqNo:1136; 4061665.49 north; 594245.33 east 2021-02-10T18:03:02Z- waiting for 1612980185.15, time is 1612980182.15 2021-02-10T18:03:02Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:03Z- AHRS_M2 msg: 1612980183.32 epoch sec; seqNo:1131 2021-02-10T18:03:03Z- AHRS_M2 msg: 4.48 phi; 0.05 theta; -0.17 psi 2021-02-10T18:03:03Z- waiting for 1612980185.15, time is 1612980182.15 2021-02-10T18:03:03Z- sync is 1.17, coherence is 2.00 2021-02-10T18:03:03Z- handleDepth()-Depth_Keller msg: 50.05 epoch sec; seqNo:1612980183321; depth 0.00 2021-02-10T18:03:03Z- waiting for 1612980185.15, time is 1612980182.15 2021-02-10T18:03:03Z- sync is 1.17, coherence is 2.00 2021-02-10T18:03:03Z- handleDvl() - RDI_Pathfinder msg: 1612980183.33 epoch sec; seqNo:461 2021-02-10T18:03:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.41 , 50.26 , 48.27 , 44.06 2021-02-10T18:03:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.06 , 0.00 2021-02-10T18:03:03Z- waiting for 1612980185.15, time is 1612980183.33 2021-02-10T18:03:03Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980183.34 epoch sec; seqNo:1137; 4061665.10 north; 594244.11 east 2021-02-10T18:03:03Z- waiting for 1612980185.15, time is 1612980183.33 2021-02-10T18:03:03Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:03Z- AHRS_M2 msg: 1612980183.72 epoch sec; seqNo:1132 2021-02-10T18:03:03Z- AHRS_M2 msg: 4.48 phi; 0.05 theta; -0.17 psi 2021-02-10T18:03:03Z- waiting for 1612980185.15, time is 1612980183.33 2021-02-10T18:03:03Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:03Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1612980183726; depth 0.00 2021-02-10T18:03:03Z- waiting for 1612980185.15, time is 1612980183.33 2021-02-10T18:03:03Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980183.74 epoch sec; seqNo:1138; 4061665.10 north; 594244.11 east 2021-02-10T18:03:03Z- waiting for 1612980185.15, time is 1612980183.33 2021-02-10T18:03:03Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:04Z- AHRS_M2 msg: 1612980184.14 epoch sec; seqNo:1133 2021-02-10T18:03:04Z- AHRS_M2 msg: 4.48 phi; 0.05 theta; -0.17 psi 2021-02-10T18:03:04Z- waiting for 1612980185.15, time is 1612980183.33 2021-02-10T18:03:04Z- sync is 0.81, coherence is 2.00 2021-02-10T18:03:04Z- handleDepth()-Depth_Keller msg: 50.01 epoch sec; seqNo:1612980184143; depth 0.00 2021-02-10T18:03:04Z- waiting for 1612980185.15, time is 1612980183.33 2021-02-10T18:03:04Z- sync is 0.81, coherence is 2.00 2021-02-10T18:03:04Z- handleDvl() - RDI_Pathfinder msg: 1612980184.16 epoch sec; seqNo:462 2021-02-10T18:03:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.63 , 50.26 , 48.27 , 44.06 2021-02-10T18:03:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.06 , 0.01 2021-02-10T18:03:04Z- waiting for 1612980185.15, time is 1612980184.16 2021-02-10T18:03:04Z- sync is 0.03, coherence is 2.00 2021-02-10T18:03:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980184.17 epoch sec; seqNo:1139; 4061665.10 north; 594244.11 east 2021-02-10T18:03:04Z- waiting for 1612980185.15, time is 1612980184.16 2021-02-10T18:03:04Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:04Z- AHRS_M2 msg: 1612980184.53 epoch sec; seqNo:1134 2021-02-10T18:03:04Z- AHRS_M2 msg: 4.48 phi; 0.05 theta; -0.17 psi 2021-02-10T18:03:04Z- waiting for 1612980185.15, time is 1612980184.16 2021-02-10T18:03:04Z- sync is 0.36, coherence is 2.00 2021-02-10T18:03:04Z- handleDepth()-Depth_Keller msg: 50.00 epoch sec; seqNo:1612980184532; depth 0.00 2021-02-10T18:03:04Z- waiting for 1612980185.15, time is 1612980184.16 2021-02-10T18:03:04Z- sync is 0.36, coherence is 2.00 2021-02-10T18:03:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980184.55 epoch sec; seqNo:1140; 4061665.10 north; 594244.11 east 2021-02-10T18:03:04Z- waiting for 1612980185.15, time is 1612980184.16 2021-02-10T18:03:04Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:04Z- AHRS_M2 msg: 1612980184.93 epoch sec; seqNo:1135 2021-02-10T18:03:04Z- AHRS_M2 msg: 4.48 phi; 0.05 theta; -0.17 psi 2021-02-10T18:03:04Z- waiting for 1612980185.15, time is 1612980184.16 2021-02-10T18:03:04Z- sync is 0.77, coherence is 2.00 2021-02-10T18:03:04Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1612980184943; depth 0.00 2021-02-10T18:03:04Z- waiting for 1612980185.15, time is 1612980184.16 2021-02-10T18:03:04Z- sync is 0.77, coherence is 2.00 2021-02-10T18:03:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980184.95 epoch sec; seqNo:1141; 4061664.71 north; 594242.90 east 2021-02-10T18:03:04Z- waiting for 1612980185.15, time is 1612980184.16 2021-02-10T18:03:04Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:05Z- AHRS_M2 msg: 1612980185.34 epoch sec; seqNo:1136 2021-02-10T18:03:05Z- AHRS_M2 msg: 4.48 phi; 0.05 theta; -0.17 psi 2021-02-10T18:03:05Z- waiting for 1612980185.15, time is 1612980184.16 2021-02-10T18:03:05Z- sync is 1.18, coherence is 2.00 2021-02-10T18:03:05Z- handleDepth()-Depth_Keller msg: 49.97 epoch sec; seqNo:1612980185345; depth 0.00 2021-02-10T18:03:05Z- waiting for 1612980185.15, time is 1612980184.16 2021-02-10T18:03:05Z- sync is 1.18, coherence is 2.00 2021-02-10T18:03:05Z- handleDvl() - RDI_Pathfinder msg: 1612980185.36 epoch sec; seqNo:463 2021-02-10T18:03:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.63 , 50.71 , 48.27 , 44.28 2021-02-10T18:03:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.06 , 0.01 2021-02-10T18:03:05Z- waiting for 1612980185.15, time is 1612980185.36 2021-02-10T18:03:05Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:05Z- LcmTrn::updateTrn() >>>> pose time 1612980185.34, meas time 1612980185.36 <<<< 2021-02-10T18:03:05Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980185.36 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:03:05Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594242.90, 49.97) 2021-02-10T18:03:05Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:03:05Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:03:05Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:03:05Z- TNavBF::mmse selected from filter -1 2021-02-10T18:03:05Z- variances([0], [2], and psi_berg) = 800.937038 833.104915 0.000000 2021-02-10T18:03:05Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:03:05Z- LcmTrn::cycle() - MLE : 4061634.21 594196.40 49.97 2021-02-10T18:03:05Z- LcmTrn::cycle() - MMSE : 4061664.71 594242.90 49.97 2021-02-10T18:03:05Z- LcmTrn::cycle() - COVAR: 800.94 833.10 43.37 0.00 2021-02-10T18:03:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980185.38 epoch sec; seqNo:1142; 4061664.71 north; 594242.90 east 2021-02-10T18:03:05Z- waiting for 1612980188.36, time is 1612980185.36 2021-02-10T18:03:05Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:05Z- AHRS_M2 msg: 1612980185.74 epoch sec; seqNo:1137 2021-02-10T18:03:05Z- AHRS_M2 msg: 4.48 phi; 0.05 theta; -0.17 psi 2021-02-10T18:03:05Z- waiting for 1612980188.36, time is 1612980185.36 2021-02-10T18:03:05Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:05Z- handleDepth()-Depth_Keller msg: 49.96 epoch sec; seqNo:1612980185753; depth 0.00 2021-02-10T18:03:05Z- waiting for 1612980188.36, time is 1612980185.36 2021-02-10T18:03:05Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980185.76 epoch sec; seqNo:1143; 4061664.71 north; 594242.90 east 2021-02-10T18:03:05Z- waiting for 1612980188.36, time is 1612980185.36 2021-02-10T18:03:05Z- sync is 0.41, coherence is 2.00 2021-02-10T18:03:06Z- AHRS_M2 msg: 1612980186.15 epoch sec; seqNo:1138 2021-02-10T18:03:06Z- AHRS_M2 msg: 4.48 phi; 0.04 theta; -0.17 psi 2021-02-10T18:03:06Z- waiting for 1612980188.36, time is 1612980185.36 2021-02-10T18:03:06Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:06Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1612980186156; depth 0.00 2021-02-10T18:03:06Z- waiting for 1612980188.36, time is 1612980185.36 2021-02-10T18:03:06Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:06Z- handleDvl() - RDI_Pathfinder msg: 1612980186.17 epoch sec; seqNo:464 2021-02-10T18:03:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.62 , 50.48 , 48.27 , 44.28 2021-02-10T18:03:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.06 , 0.01 2021-02-10T18:03:06Z- waiting for 1612980188.36, time is 1612980186.17 2021-02-10T18:03:06Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980186.18 epoch sec; seqNo:1144; 4061664.32 north; 594241.68 east 2021-02-10T18:03:06Z- waiting for 1612980188.36, time is 1612980186.17 2021-02-10T18:03:06Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:06Z- AHRS_M2 msg: 1612980186.55 epoch sec; seqNo:1139 2021-02-10T18:03:06Z- AHRS_M2 msg: 4.48 phi; 0.04 theta; -0.17 psi 2021-02-10T18:03:06Z- waiting for 1612980188.36, time is 1612980186.17 2021-02-10T18:03:06Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:06Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1612980186552; depth 0.00 2021-02-10T18:03:06Z- waiting for 1612980188.36, time is 1612980186.17 2021-02-10T18:03:06Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980186.56 epoch sec; seqNo:1145; 4061664.32 north; 594241.68 east 2021-02-10T18:03:06Z- waiting for 1612980188.36, time is 1612980186.17 2021-02-10T18:03:06Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:06Z- AHRS_M2 msg: 1612980186.95 epoch sec; seqNo:1140 2021-02-10T18:03:06Z- AHRS_M2 msg: 4.48 phi; 0.04 theta; -0.17 psi 2021-02-10T18:03:06Z- waiting for 1612980188.36, time is 1612980186.17 2021-02-10T18:03:06Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:06Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1612980186955; depth 0.00 2021-02-10T18:03:06Z- waiting for 1612980188.36, time is 1612980186.17 2021-02-10T18:03:06Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980186.96 epoch sec; seqNo:1146; 4061664.32 north; 594241.68 east 2021-02-10T18:03:06Z- waiting for 1612980188.36, time is 1612980186.17 2021-02-10T18:03:06Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:07Z- AHRS_M2 msg: 1612980187.36 epoch sec; seqNo:1141 2021-02-10T18:03:07Z- AHRS_M2 msg: 4.48 phi; 0.04 theta; -0.18 psi 2021-02-10T18:03:07Z- waiting for 1612980188.36, time is 1612980186.17 2021-02-10T18:03:07Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:07Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1612980187362; depth 0.00 2021-02-10T18:03:07Z- waiting for 1612980188.36, time is 1612980186.17 2021-02-10T18:03:07Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:07Z- handleDvl() - RDI_Pathfinder msg: 1612980187.37 epoch sec; seqNo:465 2021-02-10T18:03:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.40 , 50.48 , 48.49 , 44.28 2021-02-10T18:03:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.04 , 0.01 2021-02-10T18:03:07Z- waiting for 1612980188.36, time is 1612980187.37 2021-02-10T18:03:07Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980187.38 epoch sec; seqNo:1147; 4061663.92 north; 594240.47 east 2021-02-10T18:03:07Z- waiting for 1612980188.36, time is 1612980187.37 2021-02-10T18:03:07Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:07Z- AHRS_M2 msg: 1612980187.76 epoch sec; seqNo:1142 2021-02-10T18:03:07Z- AHRS_M2 msg: 4.48 phi; 0.04 theta; -0.18 psi 2021-02-10T18:03:07Z- waiting for 1612980188.36, time is 1612980187.37 2021-02-10T18:03:07Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:07Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1612980187764; depth 0.00 2021-02-10T18:03:07Z- waiting for 1612980188.36, time is 1612980187.37 2021-02-10T18:03:07Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980187.79 epoch sec; seqNo:1148; 4061663.92 north; 594240.47 east 2021-02-10T18:03:07Z- waiting for 1612980188.36, time is 1612980187.37 2021-02-10T18:03:07Z- sync is 0.41, coherence is 2.00 2021-02-10T18:03:08Z- AHRS_M2 msg: 1612980188.16 epoch sec; seqNo:1143 2021-02-10T18:03:08Z- AHRS_M2 msg: 4.48 phi; 0.04 theta; -0.18 psi 2021-02-10T18:03:08Z- waiting for 1612980188.36, time is 1612980187.37 2021-02-10T18:03:08Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:08Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1612980188173; depth 0.00 2021-02-10T18:03:08Z- waiting for 1612980188.36, time is 1612980187.37 2021-02-10T18:03:08Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:08Z- handleDvl() - RDI_Pathfinder msg: 1612980188.19 epoch sec; seqNo:466 2021-02-10T18:03:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.62 , 50.48 , 48.27 , 44.50 2021-02-10T18:03:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.04 , 0.01 2021-02-10T18:03:08Z- waiting for 1612980188.36, time is 1612980188.19 2021-02-10T18:03:08Z- sync is 0.03, coherence is 2.00 2021-02-10T18:03:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980188.21 epoch sec; seqNo:1149; 4061663.92 north; 594240.47 east 2021-02-10T18:03:08Z- waiting for 1612980188.36, time is 1612980188.19 2021-02-10T18:03:08Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:08Z- AHRS_M2 msg: 1612980188.57 epoch sec; seqNo:1144 2021-02-10T18:03:08Z- AHRS_M2 msg: 4.48 phi; 0.04 theta; -0.18 psi 2021-02-10T18:03:08Z- waiting for 1612980188.36, time is 1612980188.19 2021-02-10T18:03:08Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:08Z- handleDepth()-Depth_Keller msg: 49.86 epoch sec; seqNo:1612980188578; depth 0.00 2021-02-10T18:03:08Z- waiting for 1612980188.36, time is 1612980188.19 2021-02-10T18:03:08Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980188.59 epoch sec; seqNo:1150; 4061663.91 north; 594239.25 east 2021-02-10T18:03:08Z- waiting for 1612980188.36, time is 1612980188.19 2021-02-10T18:03:08Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:08Z- AHRS_M2 msg: 1612980188.97 epoch sec; seqNo:1145 2021-02-10T18:03:08Z- AHRS_M2 msg: 4.48 phi; 0.04 theta; -0.18 psi 2021-02-10T18:03:08Z- waiting for 1612980188.36, time is 1612980188.19 2021-02-10T18:03:08Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:08Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1612980188976; depth 0.00 2021-02-10T18:03:08Z- waiting for 1612980188.36, time is 1612980188.19 2021-02-10T18:03:08Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980188.99 epoch sec; seqNo:1151; 4061663.53 north; 594239.25 east 2021-02-10T18:03:08Z- waiting for 1612980188.36, time is 1612980188.19 2021-02-10T18:03:08Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:09Z- AHRS_M2 msg: 1612980189.38 epoch sec; seqNo:1146 2021-02-10T18:03:09Z- AHRS_M2 msg: 4.48 phi; 0.04 theta; -0.17 psi 2021-02-10T18:03:09Z- waiting for 1612980188.36, time is 1612980188.19 2021-02-10T18:03:09Z- sync is 1.18, coherence is 2.00 2021-02-10T18:03:09Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1612980189385; depth 0.00 2021-02-10T18:03:09Z- waiting for 1612980188.36, time is 1612980188.19 2021-02-10T18:03:09Z- sync is 1.18, coherence is 2.00 2021-02-10T18:03:09Z- handleDvl() - RDI_Pathfinder msg: 1612980189.40 epoch sec; seqNo:467 2021-02-10T18:03:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.62 , 50.48 , 48.04 , 44.28 2021-02-10T18:03:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.03 , -0.01 2021-02-10T18:03:09Z- waiting for 1612980188.36, time is 1612980189.40 2021-02-10T18:03:09Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:09Z- LcmTrn::updateTrn() >>>> pose time 1612980189.38, meas time 1612980189.40 <<<< 2021-02-10T18:03:09Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980189.40 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:03:09Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594239.25, 49.84) 2021-02-10T18:03:09Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:03:09Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:03:09Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:03:09Z- TNavBF::mmse selected from filter -1 2021-02-10T18:03:09Z- variances([0], [2], and psi_berg) = 800.711524 833.104415 0.000000 2021-02-10T18:03:09Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:03:09Z- LcmTrn::cycle() - MLE : 4061633.03 594286.75 49.84 2021-02-10T18:03:09Z- LcmTrn::cycle() - MMSE : 4061663.53 594239.25 49.84 2021-02-10T18:03:09Z- LcmTrn::cycle() - COVAR: 800.71 833.10 43.57 0.00 2021-02-10T18:03:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980189.41 epoch sec; seqNo:1152; 4061663.53 north; 594239.25 east 2021-02-10T18:03:09Z- waiting for 1612980192.40, time is 1612980189.40 2021-02-10T18:03:09Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:09Z- AHRS_M2 msg: 1612980189.78 epoch sec; seqNo:1147 2021-02-10T18:03:09Z- AHRS_M2 msg: 4.48 phi; 0.04 theta; -0.18 psi 2021-02-10T18:03:09Z- waiting for 1612980192.40, time is 1612980189.40 2021-02-10T18:03:09Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:09Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1612980189787; depth 0.00 2021-02-10T18:03:09Z- waiting for 1612980192.40, time is 1612980189.40 2021-02-10T18:03:09Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980189.81 epoch sec; seqNo:1153; 4061663.52 north; 594238.03 east 2021-02-10T18:03:09Z- waiting for 1612980192.40, time is 1612980189.40 2021-02-10T18:03:09Z- sync is 0.41, coherence is 2.00 2021-02-10T18:03:10Z- AHRS_M2 msg: 1612980190.18 epoch sec; seqNo:1148 2021-02-10T18:03:10Z- AHRS_M2 msg: 4.48 phi; 0.04 theta; -0.17 psi 2021-02-10T18:03:10Z- waiting for 1612980192.40, time is 1612980189.40 2021-02-10T18:03:10Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:10Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1612980190189; depth 0.00 2021-02-10T18:03:10Z- waiting for 1612980192.40, time is 1612980189.40 2021-02-10T18:03:10Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:10Z- handleDvl() - RDI_Pathfinder msg: 1612980190.20 epoch sec; seqNo:468 2021-02-10T18:03:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.62 , 50.48 , 48.04 , 44.50 2021-02-10T18:03:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.04 , -0.02 2021-02-10T18:03:10Z- waiting for 1612980192.40, time is 1612980190.20 2021-02-10T18:03:10Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980190.21 epoch sec; seqNo:1154; 4061663.14 north; 594238.03 east 2021-02-10T18:03:10Z- waiting for 1612980192.40, time is 1612980190.20 2021-02-10T18:03:10Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:10Z- AHRS_M2 msg: 1612980190.59 epoch sec; seqNo:1149 2021-02-10T18:03:10Z- AHRS_M2 msg: 4.48 phi; 0.03 theta; -0.17 psi 2021-02-10T18:03:10Z- waiting for 1612980192.40, time is 1612980190.20 2021-02-10T18:03:10Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:10Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1612980190605; depth 0.00 2021-02-10T18:03:10Z- waiting for 1612980192.40, time is 1612980190.20 2021-02-10T18:03:10Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980190.62 epoch sec; seqNo:1155; 4061663.14 north; 594238.03 east 2021-02-10T18:03:10Z- waiting for 1612980192.40, time is 1612980190.20 2021-02-10T18:03:10Z- sync is 0.41, coherence is 2.00 2021-02-10T18:03:10Z- AHRS_M2 msg: 1612980190.99 epoch sec; seqNo:1150 2021-02-10T18:03:10Z- AHRS_M2 msg: 4.48 phi; 0.03 theta; -0.17 psi 2021-02-10T18:03:10Z- waiting for 1612980192.40, time is 1612980190.20 2021-02-10T18:03:10Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:10Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1612980190996; depth 0.00 2021-02-10T18:03:10Z- waiting for 1612980192.40, time is 1612980190.20 2021-02-10T18:03:10Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980191.00 epoch sec; seqNo:1156; 4061663.14 north; 594238.03 east 2021-02-10T18:03:11Z- waiting for 1612980192.40, time is 1612980190.20 2021-02-10T18:03:11Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:11Z- AHRS_M2 msg: 1612980191.40 epoch sec; seqNo:1151 2021-02-10T18:03:11Z- AHRS_M2 msg: 4.48 phi; 0.03 theta; -0.17 psi 2021-02-10T18:03:11Z- waiting for 1612980192.40, time is 1612980190.20 2021-02-10T18:03:11Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:11Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1612980191400; depth 0.00 2021-02-10T18:03:11Z- waiting for 1612980192.40, time is 1612980190.20 2021-02-10T18:03:11Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:11Z- handleDvl() - RDI_Pathfinder msg: 1612980191.41 epoch sec; seqNo:469 2021-02-10T18:03:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.62 , 50.70 , 48.04 , 44.72 2021-02-10T18:03:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.03 , -0.01 2021-02-10T18:03:11Z- waiting for 1612980192.40, time is 1612980191.41 2021-02-10T18:03:11Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980191.42 epoch sec; seqNo:1157; 4061663.13 north; 594236.81 east 2021-02-10T18:03:11Z- waiting for 1612980192.40, time is 1612980191.41 2021-02-10T18:03:11Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:11Z- AHRS_M2 msg: 1612980191.80 epoch sec; seqNo:1152 2021-02-10T18:03:11Z- AHRS_M2 msg: 4.48 phi; 0.03 theta; -0.17 psi 2021-02-10T18:03:11Z- waiting for 1612980192.40, time is 1612980191.41 2021-02-10T18:03:11Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:11Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1612980191809; depth 0.00 2021-02-10T18:03:11Z- waiting for 1612980192.40, time is 1612980191.41 2021-02-10T18:03:11Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980191.82 epoch sec; seqNo:1158; 4061662.75 north; 594236.82 east 2021-02-10T18:03:11Z- waiting for 1612980192.40, time is 1612980191.41 2021-02-10T18:03:11Z- sync is 0.41, coherence is 2.00 2021-02-10T18:03:12Z- AHRS_M2 msg: 1612980192.20 epoch sec; seqNo:1153 2021-02-10T18:03:12Z- AHRS_M2 msg: 4.48 phi; 0.02 theta; -0.17 psi 2021-02-10T18:03:12Z- waiting for 1612980192.40, time is 1612980191.41 2021-02-10T18:03:12Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:12Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1612980192208; depth 0.00 2021-02-10T18:03:12Z- waiting for 1612980192.40, time is 1612980191.41 2021-02-10T18:03:12Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:12Z- handleDvl() - RDI_Pathfinder msg: 1612980192.23 epoch sec; seqNo:470 2021-02-10T18:03:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.62 , 50.48 , 47.82 , 44.94 2021-02-10T18:03:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.03 , -0.00 2021-02-10T18:03:12Z- waiting for 1612980192.40, time is 1612980192.23 2021-02-10T18:03:12Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980192.24 epoch sec; seqNo:1159; 4061662.75 north; 594236.82 east 2021-02-10T18:03:12Z- waiting for 1612980192.40, time is 1612980192.23 2021-02-10T18:03:12Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:12Z- AHRS_M2 msg: 1612980192.61 epoch sec; seqNo:1154 2021-02-10T18:03:12Z- AHRS_M2 msg: 4.47 phi; 0.02 theta; -0.17 psi 2021-02-10T18:03:12Z- waiting for 1612980192.40, time is 1612980192.23 2021-02-10T18:03:12Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:12Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1612980192612; depth 0.00 2021-02-10T18:03:12Z- waiting for 1612980192.40, time is 1612980192.23 2021-02-10T18:03:12Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980192.62 epoch sec; seqNo:1160; 4061662.73 north; 594235.60 east 2021-02-10T18:03:12Z- waiting for 1612980192.40, time is 1612980192.23 2021-02-10T18:03:12Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:13Z- AHRS_M2 msg: 1612980193.01 epoch sec; seqNo:1155 2021-02-10T18:03:13Z- AHRS_M2 msg: 4.47 phi; 0.02 theta; -0.17 psi 2021-02-10T18:03:13Z- waiting for 1612980192.40, time is 1612980192.23 2021-02-10T18:03:13Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:13Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1612980193024; depth 0.00 2021-02-10T18:03:13Z- waiting for 1612980192.40, time is 1612980192.23 2021-02-10T18:03:13Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980193.06 epoch sec; seqNo:1161; 4061662.36 north; 594235.60 east 2021-02-10T18:03:13Z- waiting for 1612980192.40, time is 1612980192.23 2021-02-10T18:03:13Z- sync is 0.83, coherence is 2.00 2021-02-10T18:03:13Z- AHRS_M2 msg: 1612980193.42 epoch sec; seqNo:1156 2021-02-10T18:03:13Z- AHRS_M2 msg: 4.47 phi; 0.02 theta; -0.17 psi 2021-02-10T18:03:13Z- waiting for 1612980192.40, time is 1612980192.23 2021-02-10T18:03:13Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:13Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1612980193429; depth 0.00 2021-02-10T18:03:13Z- waiting for 1612980192.40, time is 1612980192.23 2021-02-10T18:03:13Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:13Z- handleDvl() - RDI_Pathfinder msg: 1612980193.44 epoch sec; seqNo:471 2021-02-10T18:03:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.62 , 50.48 , 47.60 , 45.17 2021-02-10T18:03:13Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.04 , 0.01 2021-02-10T18:03:13Z- waiting for 1612980192.40, time is 1612980193.44 2021-02-10T18:03:13Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:13Z- LcmTrn::updateTrn() >>>> pose time 1612980193.42, meas time 1612980193.44 <<<< 2021-02-10T18:03:13Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980193.44 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:03:13Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594235.60, 49.75) 2021-02-10T18:03:13Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:03:13Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:03:13Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:03:13Z- TNavBF::mmse selected from filter -1 2021-02-10T18:03:13Z- variances([0], [2], and psi_berg) = 800.487162 833.103919 0.000000 2021-02-10T18:03:13Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:03:13Z- LcmTrn::cycle() - MLE : 4061631.86 594283.10 49.75 2021-02-10T18:03:13Z- LcmTrn::cycle() - MMSE : 4061662.36 594235.60 49.75 2021-02-10T18:03:13Z- LcmTrn::cycle() - COVAR: 800.49 833.10 43.76 0.00 2021-02-10T18:03:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980193.45 epoch sec; seqNo:1162; 4061662.36 north; 594235.60 east 2021-02-10T18:03:13Z- waiting for 1612980196.44, time is 1612980193.44 2021-02-10T18:03:13Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:13Z- AHRS_M2 msg: 1612980193.82 epoch sec; seqNo:1157 2021-02-10T18:03:13Z- AHRS_M2 msg: 4.47 phi; 0.01 theta; -0.17 psi 2021-02-10T18:03:13Z- waiting for 1612980196.44, time is 1612980193.44 2021-02-10T18:03:13Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:13Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1612980193845; depth 0.00 2021-02-10T18:03:13Z- waiting for 1612980196.44, time is 1612980193.44 2021-02-10T18:03:13Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980193.86 epoch sec; seqNo:1163; 4061662.34 north; 594234.38 east 2021-02-10T18:03:13Z- waiting for 1612980196.44, time is 1612980193.44 2021-02-10T18:03:13Z- sync is 0.41, coherence is 2.00 2021-02-10T18:03:14Z- AHRS_M2 msg: 1612980194.22 epoch sec; seqNo:1158 2021-02-10T18:03:14Z- AHRS_M2 msg: 4.47 phi; 0.01 theta; -0.17 psi 2021-02-10T18:03:14Z- waiting for 1612980196.44, time is 1612980193.44 2021-02-10T18:03:14Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:14Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1612980194233; depth 0.00 2021-02-10T18:03:14Z- waiting for 1612980196.44, time is 1612980193.44 2021-02-10T18:03:14Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:14Z- handleDvl() - RDI_Pathfinder msg: 1612980194.25 epoch sec; seqNo:472 2021-02-10T18:03:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.62 , 50.70 , 47.38 , 44.72 2021-02-10T18:03:14Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.03 , 0.01 2021-02-10T18:03:14Z- waiting for 1612980196.44, time is 1612980194.25 2021-02-10T18:03:14Z- sync is 0.03, coherence is 2.00 2021-02-10T18:03:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980194.26 epoch sec; seqNo:1164; 4061662.34 north; 594234.38 east 2021-02-10T18:03:14Z- waiting for 1612980196.44, time is 1612980194.25 2021-02-10T18:03:14Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:14Z- AHRS_M2 msg: 1612980194.63 epoch sec; seqNo:1159 2021-02-10T18:03:14Z- AHRS_M2 msg: 4.47 phi; 0.01 theta; -0.17 psi 2021-02-10T18:03:14Z- waiting for 1612980196.44, time is 1612980194.25 2021-02-10T18:03:14Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:14Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1612980194632; depth 0.00 2021-02-10T18:03:14Z- waiting for 1612980196.44, time is 1612980194.25 2021-02-10T18:03:14Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980194.64 epoch sec; seqNo:1165; 4061661.96 north; 594234.39 east 2021-02-10T18:03:14Z- waiting for 1612980196.44, time is 1612980194.25 2021-02-10T18:03:14Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:15Z- AHRS_M2 msg: 1612980195.03 epoch sec; seqNo:1160 2021-02-10T18:03:15Z- AHRS_M2 msg: 4.47 phi; 0.01 theta; -0.17 psi 2021-02-10T18:03:15Z- waiting for 1612980196.44, time is 1612980194.25 2021-02-10T18:03:15Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:15Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1612980195044; depth 0.00 2021-02-10T18:03:15Z- waiting for 1612980196.44, time is 1612980194.25 2021-02-10T18:03:15Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980195.05 epoch sec; seqNo:1166; 4061661.95 north; 594233.17 east 2021-02-10T18:03:15Z- waiting for 1612980196.44, time is 1612980194.25 2021-02-10T18:03:15Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:15Z- AHRS_M2 msg: 1612980195.43 epoch sec; seqNo:1161 2021-02-10T18:03:15Z- AHRS_M2 msg: 4.47 phi; 0.01 theta; -0.17 psi 2021-02-10T18:03:15Z- waiting for 1612980196.44, time is 1612980194.25 2021-02-10T18:03:15Z- sync is 1.18, coherence is 2.00 2021-02-10T18:03:15Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1612980195445; depth 0.00 2021-02-10T18:03:15Z- waiting for 1612980196.44, time is 1612980194.25 2021-02-10T18:03:15Z- sync is 1.18, coherence is 2.00 2021-02-10T18:03:15Z- handleDvl() - RDI_Pathfinder msg: 1612980195.46 epoch sec; seqNo:473 2021-02-10T18:03:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.85 , 50.48 , 47.16 , 45.17 2021-02-10T18:03:15Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.05 , 0.01 2021-02-10T18:03:15Z- waiting for 1612980196.44, time is 1612980195.46 2021-02-10T18:03:15Z- sync is 0.03, coherence is 2.00 2021-02-10T18:03:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980195.47 epoch sec; seqNo:1167; 4061661.95 north; 594233.17 east 2021-02-10T18:03:15Z- waiting for 1612980196.44, time is 1612980195.46 2021-02-10T18:03:15Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:15Z- AHRS_M2 msg: 1612980195.84 epoch sec; seqNo:1162 2021-02-10T18:03:15Z- AHRS_M2 msg: 4.47 phi; 0.01 theta; -0.17 psi 2021-02-10T18:03:15Z- waiting for 1612980196.44, time is 1612980195.46 2021-02-10T18:03:15Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:15Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1612980195847; depth 0.00 2021-02-10T18:03:15Z- waiting for 1612980196.44, time is 1612980195.46 2021-02-10T18:03:15Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980195.86 epoch sec; seqNo:1168; 4061661.57 north; 594233.17 east 2021-02-10T18:03:15Z- waiting for 1612980196.44, time is 1612980195.46 2021-02-10T18:03:15Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:16Z- AHRS_M2 msg: 1612980196.24 epoch sec; seqNo:1163 2021-02-10T18:03:16Z- AHRS_M2 msg: 4.47 phi; 0.00 theta; -0.16 psi 2021-02-10T18:03:16Z- waiting for 1612980196.44, time is 1612980195.46 2021-02-10T18:03:16Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:16Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1612980196249; depth 0.00 2021-02-10T18:03:16Z- waiting for 1612980196.44, time is 1612980195.46 2021-02-10T18:03:16Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:16Z- handleDvl() - RDI_Pathfinder msg: 1612980196.26 epoch sec; seqNo:474 2021-02-10T18:03:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.84 , 50.47 , 47.38 , 45.38 2021-02-10T18:03:16Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.05 , 0.01 2021-02-10T18:03:16Z- waiting for 1612980196.44, time is 1612980196.26 2021-02-10T18:03:16Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980196.27 epoch sec; seqNo:1169; 4061661.56 north; 594231.95 east 2021-02-10T18:03:16Z- waiting for 1612980196.44, time is 1612980196.26 2021-02-10T18:03:16Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:16Z- AHRS_M2 msg: 1612980196.65 epoch sec; seqNo:1164 2021-02-10T18:03:16Z- AHRS_M2 msg: 4.47 phi; 0.00 theta; -0.16 psi 2021-02-10T18:03:16Z- waiting for 1612980196.44, time is 1612980196.26 2021-02-10T18:03:16Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:16Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1612980196654; depth 0.00 2021-02-10T18:03:16Z- waiting for 1612980196.44, time is 1612980196.26 2021-02-10T18:03:16Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980196.66 epoch sec; seqNo:1170; 4061661.56 north; 594231.95 east 2021-02-10T18:03:16Z- waiting for 1612980196.44, time is 1612980196.26 2021-02-10T18:03:16Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:17Z- AHRS_M2 msg: 1612980197.05 epoch sec; seqNo:1165 2021-02-10T18:03:17Z- AHRS_M2 msg: 4.47 phi; 0.00 theta; -0.17 psi 2021-02-10T18:03:17Z- waiting for 1612980196.44, time is 1612980196.26 2021-02-10T18:03:17Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:17Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1612980197061; depth 0.00 2021-02-10T18:03:17Z- waiting for 1612980196.44, time is 1612980196.26 2021-02-10T18:03:17Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980197.07 epoch sec; seqNo:1171; 4061661.56 north; 594231.95 east 2021-02-10T18:03:17Z- waiting for 1612980196.44, time is 1612980196.26 2021-02-10T18:03:17Z- sync is 0.81, coherence is 2.00 2021-02-10T18:03:17Z- AHRS_M2 msg: 1612980197.46 epoch sec; seqNo:1166 2021-02-10T18:03:17Z- AHRS_M2 msg: 4.47 phi; -0.00 theta; -0.17 psi 2021-02-10T18:03:17Z- waiting for 1612980196.44, time is 1612980196.26 2021-02-10T18:03:17Z- sync is 1.20, coherence is 2.00 2021-02-10T18:03:17Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1612980197469; depth 0.00 2021-02-10T18:03:17Z- waiting for 1612980196.44, time is 1612980196.26 2021-02-10T18:03:17Z- sync is 1.20, coherence is 2.00 2021-02-10T18:03:17Z- handleDvl() - RDI_Pathfinder msg: 1612980197.48 epoch sec; seqNo:475 2021-02-10T18:03:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.84 , 50.25 , 47.15 , 45.38 2021-02-10T18:03:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.04 , 0.01 2021-02-10T18:03:17Z- waiting for 1612980196.44, time is 1612980197.48 2021-02-10T18:03:17Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:17Z- LcmTrn::updateTrn() >>>> pose time 1612980197.46, meas time 1612980197.48 <<<< 2021-02-10T18:03:17Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980197.48 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:03:17Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594231.95, 49.75) 2021-02-10T18:03:17Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:03:17Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:03:17Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:03:17Z- TNavBF::mmse selected from filter -1 2021-02-10T18:03:17Z- variances([0], [2], and psi_berg) = 800.266714 833.103436 0.000000 2021-02-10T18:03:17Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:03:17Z- LcmTrn::cycle() - MLE : 4061631.06 594279.45 49.75 2021-02-10T18:03:17Z- LcmTrn::cycle() - MMSE : 4061661.56 594231.95 49.75 2021-02-10T18:03:17Z- LcmTrn::cycle() - COVAR: 800.27 833.10 43.95 0.00 2021-02-10T18:03:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980197.49 epoch sec; seqNo:1172; 4061661.17 north; 594230.73 east 2021-02-10T18:03:17Z- waiting for 1612980200.48, time is 1612980197.48 2021-02-10T18:03:17Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:17Z- AHRS_M2 msg: 1612980197.86 epoch sec; seqNo:1167 2021-02-10T18:03:17Z- AHRS_M2 msg: 4.47 phi; -0.00 theta; -0.17 psi 2021-02-10T18:03:17Z- waiting for 1612980200.48, time is 1612980197.48 2021-02-10T18:03:17Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:17Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1612980197867; depth 0.00 2021-02-10T18:03:17Z- waiting for 1612980200.48, time is 1612980197.48 2021-02-10T18:03:17Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980197.89 epoch sec; seqNo:1173; 4061661.17 north; 594230.73 east 2021-02-10T18:03:17Z- waiting for 1612980200.48, time is 1612980197.48 2021-02-10T18:03:17Z- sync is 0.41, coherence is 2.00 2021-02-10T18:03:18Z- AHRS_M2 msg: 1612980198.26 epoch sec; seqNo:1168 2021-02-10T18:03:18Z- AHRS_M2 msg: 4.47 phi; -0.00 theta; -0.17 psi 2021-02-10T18:03:18Z- waiting for 1612980200.48, time is 1612980197.48 2021-02-10T18:03:18Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:18Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1612980198273; depth 0.00 2021-02-10T18:03:18Z- waiting for 1612980200.48, time is 1612980197.48 2021-02-10T18:03:18Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:18Z- handleDvl() - RDI_Pathfinder msg: 1612980198.29 epoch sec; seqNo:476 2021-02-10T18:03:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.85 , 50.26 , 46.94 , 45.39 2021-02-10T18:03:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.04 , -0.00 2021-02-10T18:03:18Z- waiting for 1612980200.48, time is 1612980198.29 2021-02-10T18:03:18Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980198.31 epoch sec; seqNo:1174; 4061661.17 north; 594230.73 east 2021-02-10T18:03:18Z- waiting for 1612980200.48, time is 1612980198.29 2021-02-10T18:03:18Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:18Z- AHRS_M2 msg: 1612980198.67 epoch sec; seqNo:1169 2021-02-10T18:03:18Z- AHRS_M2 msg: 4.46 phi; -0.00 theta; -0.17 psi 2021-02-10T18:03:18Z- waiting for 1612980200.48, time is 1612980198.29 2021-02-10T18:03:18Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:18Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1612980198672; depth 0.00 2021-02-10T18:03:18Z- waiting for 1612980200.48, time is 1612980198.29 2021-02-10T18:03:18Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980198.68 epoch sec; seqNo:1175; 4061660.79 north; 594230.74 east 2021-02-10T18:03:18Z- waiting for 1612980200.48, time is 1612980198.29 2021-02-10T18:03:18Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:19Z- AHRS_M2 msg: 1612980199.07 epoch sec; seqNo:1170 2021-02-10T18:03:19Z- AHRS_M2 msg: 4.45 phi; -0.01 theta; -0.19 psi 2021-02-10T18:03:19Z- waiting for 1612980200.48, time is 1612980198.29 2021-02-10T18:03:19Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:19Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1612980199081; depth 0.00 2021-02-10T18:03:19Z- waiting for 1612980200.48, time is 1612980198.29 2021-02-10T18:03:19Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980199.09 epoch sec; seqNo:1176; 4061660.77 north; 594229.52 east 2021-02-10T18:03:19Z- waiting for 1612980200.48, time is 1612980198.29 2021-02-10T18:03:19Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:19Z- AHRS_M2 msg: 1612980199.48 epoch sec; seqNo:1171 2021-02-10T18:03:19Z- AHRS_M2 msg: 4.44 phi; -0.01 theta; -0.21 psi 2021-02-10T18:03:19Z- waiting for 1612980200.48, time is 1612980198.29 2021-02-10T18:03:19Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:19Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1612980199484; depth 0.00 2021-02-10T18:03:19Z- waiting for 1612980200.48, time is 1612980198.29 2021-02-10T18:03:19Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:19Z- handleDvl() - RDI_Pathfinder msg: 1612980199.50 epoch sec; seqNo:477 2021-02-10T18:03:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.40 , 51.59 , 47.16 , 45.83 2021-02-10T18:03:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.05 , -0.02 2021-02-10T18:03:19Z- waiting for 1612980200.48, time is 1612980199.50 2021-02-10T18:03:19Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980199.51 epoch sec; seqNo:1177; 4061660.77 north; 594229.52 east 2021-02-10T18:03:19Z- waiting for 1612980200.48, time is 1612980199.50 2021-02-10T18:03:19Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:19Z- AHRS_M2 msg: 1612980199.88 epoch sec; seqNo:1172 2021-02-10T18:03:19Z- AHRS_M2 msg: 4.43 phi; -0.01 theta; -0.23 psi 2021-02-10T18:03:19Z- waiting for 1612980200.48, time is 1612980199.50 2021-02-10T18:03:19Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:19Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1612980199884; depth 0.00 2021-02-10T18:03:19Z- waiting for 1612980200.48, time is 1612980199.50 2021-02-10T18:03:19Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980199.89 epoch sec; seqNo:1178; 4061660.39 north; 594229.52 east 2021-02-10T18:03:19Z- waiting for 1612980200.48, time is 1612980199.50 2021-02-10T18:03:19Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:20Z- AHRS_M2 msg: 1612980200.28 epoch sec; seqNo:1173 2021-02-10T18:03:20Z- AHRS_M2 msg: 4.41 phi; -0.02 theta; -0.26 psi 2021-02-10T18:03:20Z- waiting for 1612980200.48, time is 1612980199.50 2021-02-10T18:03:20Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:20Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1612980200288; depth 0.00 2021-02-10T18:03:20Z- waiting for 1612980200.48, time is 1612980199.50 2021-02-10T18:03:20Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:20Z- handleDvl() - RDI_Pathfinder msg: 1612980200.30 epoch sec; seqNo:478 2021-02-10T18:03:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.73 , 54.90 , 47.60 , 46.93 2021-02-10T18:03:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.04 , -0.01 2021-02-10T18:03:20Z- waiting for 1612980200.48, time is 1612980200.30 2021-02-10T18:03:20Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980200.31 epoch sec; seqNo:1179; 4061660.38 north; 594228.30 east 2021-02-10T18:03:20Z- waiting for 1612980200.48, time is 1612980200.30 2021-02-10T18:03:20Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:20Z- AHRS_M2 msg: 1612980200.69 epoch sec; seqNo:1174 2021-02-10T18:03:20Z- AHRS_M2 msg: 4.38 phi; -0.02 theta; -0.30 psi 2021-02-10T18:03:20Z- waiting for 1612980200.48, time is 1612980200.30 2021-02-10T18:03:20Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:20Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1612980200696; depth 0.00 2021-02-10T18:03:20Z- waiting for 1612980200.48, time is 1612980200.30 2021-02-10T18:03:20Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980200.71 epoch sec; seqNo:1180; 4061660.38 north; 594228.30 east 2021-02-10T18:03:20Z- waiting for 1612980200.48, time is 1612980200.30 2021-02-10T18:03:20Z- sync is 0.41, coherence is 2.00 2021-02-10T18:03:21Z- AHRS_M2 msg: 1612980201.10 epoch sec; seqNo:1175 2021-02-10T18:03:21Z- AHRS_M2 msg: 4.35 phi; -0.03 theta; -0.33 psi 2021-02-10T18:03:21Z- waiting for 1612980200.48, time is 1612980200.30 2021-02-10T18:03:21Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:21Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1612980201116; depth 0.00 2021-02-10T18:03:21Z- waiting for 1612980200.48, time is 1612980200.30 2021-02-10T18:03:21Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980201.14 epoch sec; seqNo:1181; 4061660.00 north; 594228.30 east 2021-02-10T18:03:21Z- waiting for 1612980200.48, time is 1612980200.30 2021-02-10T18:03:21Z- sync is 0.84, coherence is 2.00 2021-02-10T18:03:21Z- AHRS_M2 msg: 1612980201.50 epoch sec; seqNo:1176 2021-02-10T18:03:21Z- AHRS_M2 msg: 4.32 phi; -0.03 theta; -0.38 psi 2021-02-10T18:03:21Z- waiting for 1612980200.48, time is 1612980200.30 2021-02-10T18:03:21Z- sync is 1.20, coherence is 2.00 2021-02-10T18:03:21Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1612980201500; depth 0.00 2021-02-10T18:03:21Z- waiting for 1612980200.48, time is 1612980200.30 2021-02-10T18:03:21Z- sync is 1.20, coherence is 2.00 2021-02-10T18:03:21Z- handleDvl() - RDI_Pathfinder msg: 1612980201.51 epoch sec; seqNo:479 2021-02-10T18:03:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.51 , 61.54 , 48.92 , 48.92 2021-02-10T18:03:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.02 , -0.01 2021-02-10T18:03:21Z- waiting for 1612980200.48, time is 1612980201.51 2021-02-10T18:03:21Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:21Z- LcmTrn::updateTrn() >>>> pose time 1612980201.50, meas time 1612980201.51 <<<< 2021-02-10T18:03:21Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980201.51 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:03:21Z- TerrainNav::motionUpdate() - currEstimate = (4061660, 594228.30, 49.79) 2021-02-10T18:03:21Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:03:21Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:03:21Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:03:21Z- TNavBF::mmse selected from filter -1 2021-02-10T18:03:21Z- variances([0], [2], and psi_berg) = 800.040892 833.102943 0.000000 2021-02-10T18:03:21Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:03:21Z- LcmTrn::cycle() - MLE : 4061629.50 594275.80 49.79 2021-02-10T18:03:21Z- LcmTrn::cycle() - MMSE : 4061660.00 594228.30 49.79 2021-02-10T18:03:21Z- LcmTrn::cycle() - COVAR: 800.04 833.10 44.16 0.00 2021-02-10T18:03:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980201.54 epoch sec; seqNo:1182; 4061659.99 north; 594227.08 east 2021-02-10T18:03:21Z- waiting for 1612980204.51, time is 1612980201.51 2021-02-10T18:03:21Z- sync is 0.03, coherence is 2.00 2021-02-10T18:03:21Z- AHRS_M2 msg: 1612980201.90 epoch sec; seqNo:1177 2021-02-10T18:03:21Z- AHRS_M2 msg: 4.28 phi; -0.04 theta; -0.42 psi 2021-02-10T18:03:21Z- waiting for 1612980204.51, time is 1612980201.51 2021-02-10T18:03:21Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:21Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1612980201909; depth 0.00 2021-02-10T18:03:21Z- waiting for 1612980204.51, time is 1612980201.51 2021-02-10T18:03:21Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980201.93 epoch sec; seqNo:1183; 4061659.61 north; 594227.09 east 2021-02-10T18:03:21Z- waiting for 1612980204.51, time is 1612980201.51 2021-02-10T18:03:21Z- sync is 0.42, coherence is 2.00 2021-02-10T18:03:22Z- AHRS_M2 msg: 1612980202.31 epoch sec; seqNo:1178 2021-02-10T18:03:22Z- AHRS_M2 msg: 4.20 phi; -0.06 theta; -0.48 psi 2021-02-10T18:03:22Z- waiting for 1612980204.51, time is 1612980201.51 2021-02-10T18:03:22Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:22Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1612980202318; depth 0.00 2021-02-10T18:03:22Z- waiting for 1612980204.51, time is 1612980201.51 2021-02-10T18:03:22Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:22Z- handleDvl() - RDI_Pathfinder msg: 1612980202.33 epoch sec; seqNo:480 2021-02-10T18:03:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.05 , 6.00 , 50.78 , 51.97 2021-02-10T18:03:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.01 , -0.02 2021-02-10T18:03:22Z- waiting for 1612980204.51, time is 1612980202.33 2021-02-10T18:03:22Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980202.34 epoch sec; seqNo:1184; 4061659.61 north; 594227.09 east 2021-02-10T18:03:22Z- waiting for 1612980204.51, time is 1612980202.33 2021-02-10T18:03:22Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:22Z- AHRS_M2 msg: 1612980202.71 epoch sec; seqNo:1179 2021-02-10T18:03:22Z- AHRS_M2 msg: 4.16 phi; -0.07 theta; -0.50 psi 2021-02-10T18:03:22Z- waiting for 1612980204.51, time is 1612980202.33 2021-02-10T18:03:22Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:22Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1612980202722; depth 0.00 2021-02-10T18:03:22Z- waiting for 1612980204.51, time is 1612980202.33 2021-02-10T18:03:22Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980202.73 epoch sec; seqNo:1185; 4061659.23 north; 594227.09 east 2021-02-10T18:03:22Z- waiting for 1612980204.51, time is 1612980202.33 2021-02-10T18:03:22Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:23Z- AHRS_M2 msg: 1612980203.13 epoch sec; seqNo:1180 2021-02-10T18:03:23Z- AHRS_M2 msg: 4.13 phi; -0.07 theta; -0.51 psi 2021-02-10T18:03:23Z- waiting for 1612980204.51, time is 1612980202.33 2021-02-10T18:03:23Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:23Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1612980203137; depth 0.00 2021-02-10T18:03:23Z- waiting for 1612980204.51, time is 1612980202.33 2021-02-10T18:03:23Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:23Z- handleDvl() - RDI_Pathfinder msg: 1612980203.15 epoch sec; seqNo:481 2021-02-10T18:03:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.07 , 7.00 , 51.14 , 54.24 2021-02-10T18:03:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.02 , -0.02 2021-02-10T18:03:23Z- waiting for 1612980204.51, time is 1612980203.15 2021-02-10T18:03:23Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980203.17 epoch sec; seqNo:1186; 4061659.22 north; 594225.87 east 2021-02-10T18:03:23Z- waiting for 1612980204.51, time is 1612980203.15 2021-02-10T18:03:23Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:23Z- AHRS_M2 msg: 1612980203.52 epoch sec; seqNo:1181 2021-02-10T18:03:23Z- AHRS_M2 msg: 4.09 phi; -0.08 theta; -0.51 psi 2021-02-10T18:03:23Z- waiting for 1612980204.51, time is 1612980203.15 2021-02-10T18:03:23Z- sync is 0.36, coherence is 2.00 2021-02-10T18:03:23Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1612980203525; depth 0.00 2021-02-10T18:03:23Z- waiting for 1612980204.51, time is 1612980203.15 2021-02-10T18:03:23Z- sync is 0.36, coherence is 2.00 2021-02-10T18:03:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980203.54 epoch sec; seqNo:1187; 4061658.84 north; 594225.88 east 2021-02-10T18:03:23Z- waiting for 1612980204.51, time is 1612980203.15 2021-02-10T18:03:23Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:23Z- AHRS_M2 msg: 1612980203.93 epoch sec; seqNo:1182 2021-02-10T18:03:23Z- AHRS_M2 msg: 4.05 phi; -0.09 theta; -0.50 psi 2021-02-10T18:03:23Z- waiting for 1612980204.51, time is 1612980203.15 2021-02-10T18:03:23Z- sync is 0.77, coherence is 2.00 2021-02-10T18:03:23Z- handleDepth()-Depth_Keller msg: 49.88 epoch sec; seqNo:1612980203930; depth 0.00 2021-02-10T18:03:23Z- waiting for 1612980204.51, time is 1612980203.15 2021-02-10T18:03:23Z- sync is 0.77, coherence is 2.00 2021-02-10T18:03:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980203.94 epoch sec; seqNo:1188; 4061658.84 north; 594225.88 east 2021-02-10T18:03:23Z- waiting for 1612980204.51, time is 1612980203.15 2021-02-10T18:03:23Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:24Z- AHRS_M2 msg: 1612980204.32 epoch sec; seqNo:1183 2021-02-10T18:03:24Z- AHRS_M2 msg: 4.02 phi; -0.09 theta; -0.48 psi 2021-02-10T18:03:24Z- waiting for 1612980204.51, time is 1612980203.15 2021-02-10T18:03:24Z- sync is 1.17, coherence is 2.00 2021-02-10T18:03:24Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1612980204328; depth 0.00 2021-02-10T18:03:24Z- waiting for 1612980204.51, time is 1612980203.15 2021-02-10T18:03:24Z- sync is 1.17, coherence is 2.00 2021-02-10T18:03:24Z- handleDvl() - RDI_Pathfinder msg: 1612980204.35 epoch sec; seqNo:482 2021-02-10T18:03:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.29 , 8.00 , 50.47 , 54.68 2021-02-10T18:03:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.01 , -0.02 2021-02-10T18:03:24Z- waiting for 1612980204.51, time is 1612980204.35 2021-02-10T18:03:24Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980204.36 epoch sec; seqNo:1189; 4061658.46 north; 594225.88 east 2021-02-10T18:03:24Z- waiting for 1612980204.51, time is 1612980204.35 2021-02-10T18:03:24Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:24Z- AHRS_M2 msg: 1612980204.73 epoch sec; seqNo:1184 2021-02-10T18:03:24Z- AHRS_M2 msg: 3.98 phi; -0.09 theta; -0.46 psi 2021-02-10T18:03:24Z- waiting for 1612980204.51, time is 1612980204.35 2021-02-10T18:03:24Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:24Z- handleDepth()-Depth_Keller msg: 49.98 epoch sec; seqNo:1612980204737; depth 0.00 2021-02-10T18:03:24Z- waiting for 1612980204.51, time is 1612980204.35 2021-02-10T18:03:24Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980204.75 epoch sec; seqNo:1190; 4061658.07 north; 594224.66 east 2021-02-10T18:03:24Z- waiting for 1612980204.51, time is 1612980204.35 2021-02-10T18:03:24Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:25Z- AHRS_M2 msg: 1612980205.15 epoch sec; seqNo:1185 2021-02-10T18:03:25Z- AHRS_M2 msg: 3.95 phi; -0.10 theta; -0.43 psi 2021-02-10T18:03:25Z- waiting for 1612980204.51, time is 1612980204.35 2021-02-10T18:03:25Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:25Z- handleDepth()-Depth_Keller msg: 50.01 epoch sec; seqNo:1612980205150; depth 0.00 2021-02-10T18:03:25Z- waiting for 1612980204.51, time is 1612980204.35 2021-02-10T18:03:25Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:25Z- handleDvl() - RDI_Pathfinder msg: 1612980205.16 epoch sec; seqNo:483 2021-02-10T18:03:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.29 , 69.51 , 48.48 , 52.69 2021-02-10T18:03:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.02 , -0.02 2021-02-10T18:03:25Z- waiting for 1612980204.51, time is 1612980205.16 2021-02-10T18:03:25Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:25Z- LcmTrn::updateTrn() >>>> pose time 1612980205.15, meas time 1612980205.16 <<<< 2021-02-10T18:03:25Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980205.16 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:03:25Z- TerrainNav::motionUpdate() - currEstimate = (4061658, 594224.66, 50.01) 2021-02-10T18:03:25Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:03:25Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:03:25Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:03:25Z- TNavBF::mmse selected from filter -1 2021-02-10T18:03:25Z- variances([0], [2], and psi_berg) = 799.811727 833.102445 0.000000 2021-02-10T18:03:25Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:03:25Z- LcmTrn::cycle() - MLE : 4061627.57 594272.16 50.01 2021-02-10T18:03:25Z- LcmTrn::cycle() - MMSE : 4061658.07 594224.66 50.01 2021-02-10T18:03:25Z- LcmTrn::cycle() - COVAR: 799.81 833.10 44.37 0.00 2021-02-10T18:03:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980205.17 epoch sec; seqNo:1191; 4061657.69 north; 594224.67 east 2021-02-10T18:03:25Z- waiting for 1612980208.16, time is 1612980205.16 2021-02-10T18:03:25Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:25Z- AHRS_M2 msg: 1612980205.54 epoch sec; seqNo:1186 2021-02-10T18:03:25Z- AHRS_M2 msg: 3.91 phi; -0.10 theta; -0.40 psi 2021-02-10T18:03:25Z- waiting for 1612980208.16, time is 1612980205.16 2021-02-10T18:03:25Z- sync is 0.37, coherence is 2.00 2021-02-10T18:03:25Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1612980205549; depth 0.00 2021-02-10T18:03:25Z- waiting for 1612980208.16, time is 1612980205.16 2021-02-10T18:03:25Z- sync is 0.37, coherence is 2.00 2021-02-10T18:03:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980205.56 epoch sec; seqNo:1192; 4061657.69 north; 594224.67 east 2021-02-10T18:03:25Z- waiting for 1612980208.16, time is 1612980205.16 2021-02-10T18:03:25Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:25Z- AHRS_M2 msg: 1612980205.94 epoch sec; seqNo:1187 2021-02-10T18:03:25Z- AHRS_M2 msg: 3.87 phi; -0.10 theta; -0.39 psi 2021-02-10T18:03:25Z- waiting for 1612980208.16, time is 1612980205.16 2021-02-10T18:03:25Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:25Z- handleDepth()-Depth_Keller msg: 50.09 epoch sec; seqNo:1612980205944; depth 0.00 2021-02-10T18:03:25Z- waiting for 1612980208.16, time is 1612980205.16 2021-02-10T18:03:25Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980205.96 epoch sec; seqNo:1193; 4061657.31 north; 594224.67 east 2021-02-10T18:03:25Z- waiting for 1612980208.16, time is 1612980205.16 2021-02-10T18:03:25Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:26Z- AHRS_M2 msg: 1612980206.34 epoch sec; seqNo:1188 2021-02-10T18:03:26Z- AHRS_M2 msg: 3.83 phi; -0.10 theta; -0.38 psi 2021-02-10T18:03:26Z- waiting for 1612980208.16, time is 1612980205.16 2021-02-10T18:03:26Z- sync is 1.18, coherence is 2.00 2021-02-10T18:03:26Z- handleDepth()-Depth_Keller msg: 50.12 epoch sec; seqNo:1612980206353; depth 0.00 2021-02-10T18:03:26Z- waiting for 1612980208.16, time is 1612980205.16 2021-02-10T18:03:26Z- sync is 1.18, coherence is 2.00 2021-02-10T18:03:26Z- handleDvl() - RDI_Pathfinder msg: 1612980206.37 epoch sec; seqNo:484 2021-02-10T18:03:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.85 , 65.65 , 47.26 , 51.60 2021-02-10T18:03:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.01 , -0.01 2021-02-10T18:03:26Z- waiting for 1612980208.16, time is 1612980206.37 2021-02-10T18:03:26Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980206.39 epoch sec; seqNo:1194; 4061656.93 north; 594224.68 east 2021-02-10T18:03:26Z- waiting for 1612980208.16, time is 1612980206.37 2021-02-10T18:03:26Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:26Z- AHRS_M2 msg: 1612980206.75 epoch sec; seqNo:1189 2021-02-10T18:03:26Z- AHRS_M2 msg: 3.80 phi; -0.09 theta; -0.38 psi 2021-02-10T18:03:26Z- waiting for 1612980208.16, time is 1612980206.37 2021-02-10T18:03:26Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:26Z- handleDepth()-Depth_Keller msg: 50.19 epoch sec; seqNo:1612980206761; depth 0.00 2021-02-10T18:03:26Z- waiting for 1612980208.16, time is 1612980206.37 2021-02-10T18:03:26Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980206.77 epoch sec; seqNo:1195; 4061656.92 north; 594223.46 east 2021-02-10T18:03:26Z- waiting for 1612980208.16, time is 1612980206.37 2021-02-10T18:03:26Z- sync is 0.41, coherence is 2.00 2021-02-10T18:03:27Z- AHRS_M2 msg: 1612980207.16 epoch sec; seqNo:1190 2021-02-10T18:03:27Z- AHRS_M2 msg: 3.76 phi; -0.09 theta; -0.38 psi 2021-02-10T18:03:27Z- waiting for 1612980208.16, time is 1612980206.37 2021-02-10T18:03:27Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:27Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1612980207167; depth 0.00 2021-02-10T18:03:27Z- waiting for 1612980208.16, time is 1612980206.37 2021-02-10T18:03:27Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:27Z- handleDvl() - RDI_Pathfinder msg: 1612980207.18 epoch sec; seqNo:485 2021-02-10T18:03:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.05 , 65.32 , 47.21 , 51.02 2021-02-10T18:03:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.00 , -0.01 2021-02-10T18:03:27Z- waiting for 1612980208.16, time is 1612980207.18 2021-02-10T18:03:27Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980207.19 epoch sec; seqNo:1196; 4061656.54 north; 594223.46 east 2021-02-10T18:03:27Z- waiting for 1612980208.16, time is 1612980207.18 2021-02-10T18:03:27Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:27Z- AHRS_M2 msg: 1612980207.56 epoch sec; seqNo:1191 2021-02-10T18:03:27Z- AHRS_M2 msg: 3.72 phi; -0.09 theta; -0.38 psi 2021-02-10T18:03:27Z- waiting for 1612980208.16, time is 1612980207.18 2021-02-10T18:03:27Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:27Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1612980207560; depth 0.00 2021-02-10T18:03:27Z- waiting for 1612980208.16, time is 1612980207.18 2021-02-10T18:03:27Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980207.58 epoch sec; seqNo:1197; 4061656.16 north; 594223.47 east 2021-02-10T18:03:27Z- waiting for 1612980208.16, time is 1612980207.18 2021-02-10T18:03:27Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:27Z- AHRS_M2 msg: 1612980207.96 epoch sec; seqNo:1192 2021-02-10T18:03:27Z- AHRS_M2 msg: 3.68 phi; -0.08 theta; -0.38 psi 2021-02-10T18:03:27Z- waiting for 1612980208.16, time is 1612980207.18 2021-02-10T18:03:27Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:27Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1612980207969; depth 0.00 2021-02-10T18:03:27Z- waiting for 1612980208.16, time is 1612980207.18 2021-02-10T18:03:27Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980207.98 epoch sec; seqNo:1198; 4061655.78 north; 594223.47 east 2021-02-10T18:03:27Z- waiting for 1612980208.16, time is 1612980207.18 2021-02-10T18:03:27Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:28Z- AHRS_M2 msg: 1612980208.36 epoch sec; seqNo:1193 2021-02-10T18:03:28Z- AHRS_M2 msg: 3.64 phi; -0.07 theta; -0.39 psi 2021-02-10T18:03:28Z- waiting for 1612980208.16, time is 1612980207.18 2021-02-10T18:03:28Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:28Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1612980208368; depth 0.00 2021-02-10T18:03:28Z- waiting for 1612980208.16, time is 1612980207.18 2021-02-10T18:03:28Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:28Z- handleDvl() - RDI_Pathfinder msg: 1612980208.38 epoch sec; seqNo:486 2021-02-10T18:03:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.05 , 64.85 , 47.44 , 50.78 2021-02-10T18:03:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.00 , -0.01 2021-02-10T18:03:28Z- waiting for 1612980208.16, time is 1612980208.38 2021-02-10T18:03:28Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:28Z- LcmTrn::updateTrn() >>>> pose time 1612980208.36, meas time 1612980208.38 <<<< 2021-02-10T18:03:28Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980208.38 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:03:28Z- TerrainNav::motionUpdate() - currEstimate = (4061656, 594223.47, 50.36) 2021-02-10T18:03:28Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:03:28Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:03:28Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:03:28Z- TNavBF::mmse selected from filter -1 2021-02-10T18:03:28Z- variances([0], [2], and psi_berg) = 799.631361 833.102056 0.000000 2021-02-10T18:03:28Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:03:28Z- LcmTrn::cycle() - MLE : 4061625.28 594270.97 50.36 2021-02-10T18:03:28Z- LcmTrn::cycle() - MMSE : 4061655.78 594223.47 50.36 2021-02-10T18:03:28Z- LcmTrn::cycle() - COVAR: 799.63 833.10 44.50 0.00 2021-02-10T18:03:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980208.39 epoch sec; seqNo:1199; 4061655.40 north; 594223.47 east 2021-02-10T18:03:28Z- waiting for 1612980211.38, time is 1612980208.38 2021-02-10T18:03:28Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:28Z- AHRS_M2 msg: 1612980208.77 epoch sec; seqNo:1194 2021-02-10T18:03:28Z- AHRS_M2 msg: 3.61 phi; -0.07 theta; -0.39 psi 2021-02-10T18:03:28Z- waiting for 1612980211.38, time is 1612980208.38 2021-02-10T18:03:28Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:28Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1612980208776; depth 0.00 2021-02-10T18:03:28Z- waiting for 1612980211.38, time is 1612980208.38 2021-02-10T18:03:28Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980208.79 epoch sec; seqNo:1200; 4061655.40 north; 594223.47 east 2021-02-10T18:03:28Z- waiting for 1612980211.38, time is 1612980208.38 2021-02-10T18:03:28Z- sync is 0.41, coherence is 2.00 2021-02-10T18:03:29Z- AHRS_M2 msg: 1612980209.17 epoch sec; seqNo:1195 2021-02-10T18:03:29Z- AHRS_M2 msg: 3.57 phi; -0.06 theta; -0.38 psi 2021-02-10T18:03:29Z- waiting for 1612980211.38, time is 1612980208.38 2021-02-10T18:03:29Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:29Z- handleDepth()-Depth_Keller msg: 50.46 epoch sec; seqNo:1612980209181; depth 0.00 2021-02-10T18:03:29Z- waiting for 1612980211.38, time is 1612980208.38 2021-02-10T18:03:29Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:29Z- handleDvl() - RDI_Pathfinder msg: 1612980209.20 epoch sec; seqNo:487 2021-02-10T18:03:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.81 , 64.61 , 47.68 , 50.31 2021-02-10T18:03:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , 0.00 , -0.01 2021-02-10T18:03:29Z- waiting for 1612980211.38, time is 1612980209.20 2021-02-10T18:03:29Z- sync is 0.03, coherence is 2.00 2021-02-10T18:03:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980209.21 epoch sec; seqNo:1201; 4061655.02 north; 594223.48 east 2021-02-10T18:03:29Z- waiting for 1612980211.38, time is 1612980209.20 2021-02-10T18:03:29Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:29Z- AHRS_M2 msg: 1612980209.58 epoch sec; seqNo:1196 2021-02-10T18:03:29Z- AHRS_M2 msg: 3.53 phi; -0.05 theta; -0.38 psi 2021-02-10T18:03:29Z- waiting for 1612980211.38, time is 1612980209.20 2021-02-10T18:03:29Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:29Z- handleDepth()-Depth_Keller msg: 50.50 epoch sec; seqNo:1612980209585; depth 0.00 2021-02-10T18:03:29Z- waiting for 1612980211.38, time is 1612980209.20 2021-02-10T18:03:29Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980209.60 epoch sec; seqNo:1202; 4061654.63 north; 594222.26 east 2021-02-10T18:03:29Z- waiting for 1612980211.38, time is 1612980209.20 2021-02-10T18:03:29Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:29Z- AHRS_M2 msg: 1612980209.98 epoch sec; seqNo:1197 2021-02-10T18:03:29Z- AHRS_M2 msg: 3.49 phi; -0.05 theta; -0.38 psi 2021-02-10T18:03:29Z- waiting for 1612980211.38, time is 1612980209.20 2021-02-10T18:03:29Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:29Z- handleDepth()-Depth_Keller msg: 50.54 epoch sec; seqNo:1612980209986; depth 0.00 2021-02-10T18:03:29Z- waiting for 1612980211.38, time is 1612980209.20 2021-02-10T18:03:29Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980209.99 epoch sec; seqNo:1203; 4061654.25 north; 594222.27 east 2021-02-10T18:03:29Z- waiting for 1612980211.38, time is 1612980209.20 2021-02-10T18:03:29Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:30Z- AHRS_M2 msg: 1612980210.38 epoch sec; seqNo:1198 2021-02-10T18:03:30Z- AHRS_M2 msg: 3.46 phi; -0.04 theta; -0.37 psi 2021-02-10T18:03:30Z- waiting for 1612980211.38, time is 1612980209.20 2021-02-10T18:03:30Z- sync is 1.18, coherence is 2.00 2021-02-10T18:03:30Z- handleDepth()-Depth_Keller msg: 50.59 epoch sec; seqNo:1612980210388; depth 0.00 2021-02-10T18:03:30Z- waiting for 1612980211.38, time is 1612980209.20 2021-02-10T18:03:30Z- sync is 1.18, coherence is 2.00 2021-02-10T18:03:30Z- handleDvl() - RDI_Pathfinder msg: 1612980210.41 epoch sec; seqNo:488 2021-02-10T18:03:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.81 , 63.42 , 47.92 , 50.07 2021-02-10T18:03:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , 0.01 , -0.03 2021-02-10T18:03:30Z- waiting for 1612980211.38, time is 1612980210.41 2021-02-10T18:03:30Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980210.42 epoch sec; seqNo:1204; 4061653.87 north; 594222.27 east 2021-02-10T18:03:30Z- waiting for 1612980211.38, time is 1612980210.41 2021-02-10T18:03:30Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:30Z- AHRS_M2 msg: 1612980210.79 epoch sec; seqNo:1199 2021-02-10T18:03:30Z- AHRS_M2 msg: 3.42 phi; -0.03 theta; -0.37 psi 2021-02-10T18:03:30Z- waiting for 1612980211.38, time is 1612980210.41 2021-02-10T18:03:30Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:30Z- handleDepth()-Depth_Keller msg: 50.62 epoch sec; seqNo:1612980210797; depth 0.00 2021-02-10T18:03:30Z- waiting for 1612980211.38, time is 1612980210.41 2021-02-10T18:03:30Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980210.81 epoch sec; seqNo:1205; 4061653.49 north; 594222.27 east 2021-02-10T18:03:30Z- waiting for 1612980211.38, time is 1612980210.41 2021-02-10T18:03:30Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:31Z- AHRS_M2 msg: 1612980211.19 epoch sec; seqNo:1200 2021-02-10T18:03:31Z- AHRS_M2 msg: 3.38 phi; -0.03 theta; -0.37 psi 2021-02-10T18:03:31Z- waiting for 1612980211.38, time is 1612980210.41 2021-02-10T18:03:31Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:31Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1612980211201; depth 0.00 2021-02-10T18:03:31Z- waiting for 1612980211.38, time is 1612980210.41 2021-02-10T18:03:31Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:31Z- handleDvl() - RDI_Pathfinder msg: 1612980211.21 epoch sec; seqNo:489 2021-02-10T18:03:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.81 , 62.94 , 47.92 , 50.07 2021-02-10T18:03:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , 0.02 , -0.03 2021-02-10T18:03:31Z- waiting for 1612980211.38, time is 1612980211.21 2021-02-10T18:03:31Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980211.22 epoch sec; seqNo:1206; 4061653.49 north; 594222.27 east 2021-02-10T18:03:31Z- waiting for 1612980211.38, time is 1612980211.21 2021-02-10T18:03:31Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:31Z- AHRS_M2 msg: 1612980211.60 epoch sec; seqNo:1201 2021-02-10T18:03:31Z- AHRS_M2 msg: 3.34 phi; -0.02 theta; -0.36 psi 2021-02-10T18:03:31Z- waiting for 1612980211.38, time is 1612980211.21 2021-02-10T18:03:31Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:31Z- handleDepth()-Depth_Keller msg: 50.70 epoch sec; seqNo:1612980211600; depth 0.00 2021-02-10T18:03:31Z- waiting for 1612980211.38, time is 1612980211.21 2021-02-10T18:03:31Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980211.62 epoch sec; seqNo:1207; 4061653.12 north; 594222.28 east 2021-02-10T18:03:31Z- waiting for 1612980211.38, time is 1612980211.21 2021-02-10T18:03:31Z- sync is 0.41, coherence is 2.00 2021-02-10T18:03:32Z- AHRS_M2 msg: 1612980212.00 epoch sec; seqNo:1202 2021-02-10T18:03:32Z- AHRS_M2 msg: 3.30 phi; -0.01 theta; -0.36 psi 2021-02-10T18:03:32Z- waiting for 1612980211.38, time is 1612980211.21 2021-02-10T18:03:32Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:32Z- handleDepth()-Depth_Keller msg: 50.73 epoch sec; seqNo:1612980212004; depth 0.00 2021-02-10T18:03:32Z- waiting for 1612980211.38, time is 1612980211.21 2021-02-10T18:03:32Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980212.01 epoch sec; seqNo:1208; 4061652.74 north; 594222.28 east 2021-02-10T18:03:32Z- waiting for 1612980211.38, time is 1612980211.21 2021-02-10T18:03:32Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:32Z- AHRS_M2 msg: 1612980212.40 epoch sec; seqNo:1203 2021-02-10T18:03:32Z- AHRS_M2 msg: 3.27 phi; -0.01 theta; -0.37 psi 2021-02-10T18:03:32Z- waiting for 1612980211.38, time is 1612980211.21 2021-02-10T18:03:32Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:32Z- handleDepth()-Depth_Keller msg: 50.75 epoch sec; seqNo:1612980212408; depth 0.00 2021-02-10T18:03:32Z- waiting for 1612980211.38, time is 1612980211.21 2021-02-10T18:03:32Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:32Z- handleDvl() - RDI_Pathfinder msg: 1612980212.42 epoch sec; seqNo:490 2021-02-10T18:03:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.81 , 62.46 , 48.40 , 49.35 2021-02-10T18:03:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , 0.01 , -0.03 2021-02-10T18:03:32Z- waiting for 1612980211.38, time is 1612980212.42 2021-02-10T18:03:32Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:32Z- LcmTrn::updateTrn() >>>> pose time 1612980212.40, meas time 1612980212.42 <<<< 2021-02-10T18:03:32Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980212.42 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:03:32Z- TerrainNav::motionUpdate() - currEstimate = (4061653, 594222.28, 50.75) 2021-02-10T18:03:32Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:03:32Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:03:32Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:03:32Z- TNavBF::mmse selected from filter -1 2021-02-10T18:03:32Z- variances([0], [2], and psi_berg) = 799.429199 833.101622 0.000000 2021-02-10T18:03:32Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:03:32Z- LcmTrn::cycle() - MLE : 4061622.24 594269.78 50.75 2021-02-10T18:03:32Z- LcmTrn::cycle() - MMSE : 4061652.74 594222.28 50.75 2021-02-10T18:03:32Z- LcmTrn::cycle() - COVAR: 799.43 833.10 44.66 0.00 2021-02-10T18:03:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980212.43 epoch sec; seqNo:1209; 4061652.36 north; 594222.29 east 2021-02-10T18:03:32Z- waiting for 1612980215.42, time is 1612980212.42 2021-02-10T18:03:32Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:32Z- AHRS_M2 msg: 1612980212.81 epoch sec; seqNo:1204 2021-02-10T18:03:32Z- AHRS_M2 msg: 3.23 phi; -0.00 theta; -0.37 psi 2021-02-10T18:03:32Z- waiting for 1612980215.42, time is 1612980212.42 2021-02-10T18:03:32Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:32Z- handleDepth()-Depth_Keller msg: 50.77 epoch sec; seqNo:1612980212815; depth 0.00 2021-02-10T18:03:32Z- waiting for 1612980215.42, time is 1612980212.42 2021-02-10T18:03:32Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980212.83 epoch sec; seqNo:1210; 4061651.98 north; 594222.29 east 2021-02-10T18:03:32Z- waiting for 1612980215.42, time is 1612980212.42 2021-02-10T18:03:32Z- sync is 0.41, coherence is 2.00 2021-02-10T18:03:33Z- AHRS_M2 msg: 1612980213.21 epoch sec; seqNo:1205 2021-02-10T18:03:33Z- AHRS_M2 msg: 3.19 phi; 0.01 theta; -0.37 psi 2021-02-10T18:03:33Z- waiting for 1612980215.42, time is 1612980212.42 2021-02-10T18:03:33Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:33Z- handleDepth()-Depth_Keller msg: 50.81 epoch sec; seqNo:1612980213222; depth 0.00 2021-02-10T18:03:33Z- waiting for 1612980215.42, time is 1612980212.42 2021-02-10T18:03:33Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:33Z- handleDvl() - RDI_Pathfinder msg: 1612980213.24 epoch sec; seqNo:491 2021-02-10T18:03:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.81 , 62.70 , 48.87 , 49.11 2021-02-10T18:03:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , 0.02 , -0.03 2021-02-10T18:03:33Z- waiting for 1612980215.42, time is 1612980213.24 2021-02-10T18:03:33Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980213.25 epoch sec; seqNo:1211; 4061651.60 north; 594222.29 east 2021-02-10T18:03:33Z- waiting for 1612980215.42, time is 1612980213.24 2021-02-10T18:03:33Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:33Z- AHRS_M2 msg: 1612980213.62 epoch sec; seqNo:1206 2021-02-10T18:03:33Z- AHRS_M2 msg: 3.16 phi; 0.01 theta; -0.37 psi 2021-02-10T18:03:33Z- waiting for 1612980215.42, time is 1612980213.24 2021-02-10T18:03:33Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:33Z- handleDepth()-Depth_Keller msg: 50.82 epoch sec; seqNo:1612980213621; depth 0.00 2021-02-10T18:03:33Z- waiting for 1612980215.42, time is 1612980213.24 2021-02-10T18:03:33Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980213.63 epoch sec; seqNo:1212; 4061651.22 north; 594222.30 east 2021-02-10T18:03:33Z- waiting for 1612980215.42, time is 1612980213.24 2021-02-10T18:03:33Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:34Z- AHRS_M2 msg: 1612980214.02 epoch sec; seqNo:1207 2021-02-10T18:03:34Z- AHRS_M2 msg: 3.12 phi; 0.02 theta; -0.37 psi 2021-02-10T18:03:34Z- waiting for 1612980215.42, time is 1612980213.24 2021-02-10T18:03:34Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:34Z- handleDepth()-Depth_Keller msg: 50.83 epoch sec; seqNo:1612980214024; depth 0.00 2021-02-10T18:03:34Z- waiting for 1612980215.42, time is 1612980213.24 2021-02-10T18:03:34Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980214.03 epoch sec; seqNo:1213; 4061651.22 north; 594222.30 east 2021-02-10T18:03:34Z- waiting for 1612980215.42, time is 1612980213.24 2021-02-10T18:03:34Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:34Z- AHRS_M2 msg: 1612980214.42 epoch sec; seqNo:1208 2021-02-10T18:03:34Z- AHRS_M2 msg: 3.08 phi; 0.02 theta; -0.37 psi 2021-02-10T18:03:34Z- waiting for 1612980215.42, time is 1612980213.24 2021-02-10T18:03:34Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:34Z- handleDepth()-Depth_Keller msg: 50.86 epoch sec; seqNo:1612980214433; depth 0.00 2021-02-10T18:03:34Z- waiting for 1612980215.42, time is 1612980213.24 2021-02-10T18:03:34Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:34Z- handleDvl() - RDI_Pathfinder msg: 1612980214.44 epoch sec; seqNo:492 2021-02-10T18:03:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.57 , 63.41 , 49.35 , 48.63 2021-02-10T18:03:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , 0.01 , -0.04 2021-02-10T18:03:34Z- waiting for 1612980215.42, time is 1612980214.44 2021-02-10T18:03:34Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980214.45 epoch sec; seqNo:1214; 4061650.84 north; 594222.30 east 2021-02-10T18:03:34Z- waiting for 1612980215.42, time is 1612980214.44 2021-02-10T18:03:34Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:34Z- AHRS_M2 msg: 1612980214.83 epoch sec; seqNo:1209 2021-02-10T18:03:34Z- AHRS_M2 msg: 3.05 phi; 0.03 theta; -0.37 psi 2021-02-10T18:03:34Z- waiting for 1612980215.42, time is 1612980214.44 2021-02-10T18:03:34Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:34Z- handleDepth()-Depth_Keller msg: 50.87 epoch sec; seqNo:1612980214839; depth 0.00 2021-02-10T18:03:34Z- waiting for 1612980215.42, time is 1612980214.44 2021-02-10T18:03:34Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980214.85 epoch sec; seqNo:1215; 4061650.46 north; 594222.31 east 2021-02-10T18:03:34Z- waiting for 1612980215.42, time is 1612980214.44 2021-02-10T18:03:34Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:35Z- AHRS_M2 msg: 1612980215.23 epoch sec; seqNo:1210 2021-02-10T18:03:35Z- AHRS_M2 msg: 3.01 phi; 0.03 theta; -0.36 psi 2021-02-10T18:03:35Z- waiting for 1612980215.42, time is 1612980214.44 2021-02-10T18:03:35Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:35Z- handleDepth()-Depth_Keller msg: 50.88 epoch sec; seqNo:1612980215238; depth 0.00 2021-02-10T18:03:35Z- waiting for 1612980215.42, time is 1612980214.44 2021-02-10T18:03:35Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:35Z- handleDvl() - RDI_Pathfinder msg: 1612980215.26 epoch sec; seqNo:493 2021-02-10T18:03:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.81 , 62.46 , 49.11 , 47.92 2021-02-10T18:03:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , 0.02 , -0.05 2021-02-10T18:03:35Z- waiting for 1612980215.42, time is 1612980215.26 2021-02-10T18:03:35Z- sync is 0.03, coherence is 2.00 2021-02-10T18:03:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980215.28 epoch sec; seqNo:1216; 4061650.08 north; 594222.31 east 2021-02-10T18:03:35Z- waiting for 1612980215.42, time is 1612980215.26 2021-02-10T18:03:35Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:35Z- AHRS_M2 msg: 1612980215.64 epoch sec; seqNo:1211 2021-02-10T18:03:35Z- AHRS_M2 msg: 2.97 phi; 0.03 theta; -0.36 psi 2021-02-10T18:03:35Z- waiting for 1612980215.42, time is 1612980215.26 2021-02-10T18:03:35Z- sync is 0.37, coherence is 2.00 2021-02-10T18:03:35Z- handleDepth()-Depth_Keller msg: 50.89 epoch sec; seqNo:1612980215640; depth 0.00 2021-02-10T18:03:35Z- waiting for 1612980215.42, time is 1612980215.26 2021-02-10T18:03:35Z- sync is 0.37, coherence is 2.00 2021-02-10T18:03:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980215.65 epoch sec; seqNo:1217; 4061649.71 north; 594222.32 east 2021-02-10T18:03:35Z- waiting for 1612980215.42, time is 1612980215.26 2021-02-10T18:03:35Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:36Z- AHRS_M2 msg: 1612980216.04 epoch sec; seqNo:1212 2021-02-10T18:03:36Z- AHRS_M2 msg: 2.94 phi; 0.04 theta; -0.35 psi 2021-02-10T18:03:36Z- waiting for 1612980215.42, time is 1612980215.26 2021-02-10T18:03:36Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:36Z- handleDepth()-Depth_Keller msg: 50.91 epoch sec; seqNo:1612980216046; depth 0.00 2021-02-10T18:03:36Z- waiting for 1612980215.42, time is 1612980215.26 2021-02-10T18:03:36Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980216.06 epoch sec; seqNo:1218; 4061649.33 north; 594222.32 east 2021-02-10T18:03:36Z- waiting for 1612980215.42, time is 1612980215.26 2021-02-10T18:03:36Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:36Z- AHRS_M2 msg: 1612980216.44 epoch sec; seqNo:1213 2021-02-10T18:03:36Z- AHRS_M2 msg: 2.90 phi; 0.04 theta; -0.35 psi 2021-02-10T18:03:36Z- waiting for 1612980215.42, time is 1612980215.26 2021-02-10T18:03:36Z- sync is 1.18, coherence is 2.00 2021-02-10T18:03:36Z- handleDepth()-Depth_Keller msg: 50.90 epoch sec; seqNo:1612980216448; depth 0.00 2021-02-10T18:03:36Z- waiting for 1612980215.42, time is 1612980215.26 2021-02-10T18:03:36Z- sync is 1.18, coherence is 2.00 2021-02-10T18:03:36Z- handleDvl() - RDI_Pathfinder msg: 1612980216.46 epoch sec; seqNo:494 2021-02-10T18:03:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.57 , 61.74 , 49.35 , 47.68 2021-02-10T18:03:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , 0.02 , -0.07 2021-02-10T18:03:36Z- waiting for 1612980215.42, time is 1612980216.46 2021-02-10T18:03:36Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:36Z- LcmTrn::updateTrn() >>>> pose time 1612980216.44, meas time 1612980216.46 <<<< 2021-02-10T18:03:36Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980216.46 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:03:36Z- TerrainNav::motionUpdate() - currEstimate = (4061649, 594222.32, 50.90) 2021-02-10T18:03:36Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:03:36Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:03:36Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:03:36Z- TNavBF::mmse selected from filter -1 2021-02-10T18:03:36Z- variances([0], [2], and psi_berg) = 799.223605 833.101183 0.000000 2021-02-10T18:03:36Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:03:36Z- LcmTrn::cycle() - MLE : 4061619.83 594174.82 50.90 2021-02-10T18:03:36Z- LcmTrn::cycle() - MMSE : 4061649.33 594222.32 50.90 2021-02-10T18:03:36Z- LcmTrn::cycle() - COVAR: 799.22 833.10 44.84 0.00 2021-02-10T18:03:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980216.48 epoch sec; seqNo:1219; 4061648.95 north; 594222.32 east 2021-02-10T18:03:36Z- waiting for 1612980219.46, time is 1612980216.46 2021-02-10T18:03:36Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:36Z- AHRS_M2 msg: 1612980216.85 epoch sec; seqNo:1214 2021-02-10T18:03:36Z- AHRS_M2 msg: 2.87 phi; 0.04 theta; -0.35 psi 2021-02-10T18:03:36Z- waiting for 1612980219.46, time is 1612980216.46 2021-02-10T18:03:36Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:36Z- handleDepth()-Depth_Keller msg: 50.91 epoch sec; seqNo:1612980216852; depth 0.00 2021-02-10T18:03:36Z- waiting for 1612980219.46, time is 1612980216.46 2021-02-10T18:03:36Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980216.86 epoch sec; seqNo:1220; 4061648.95 north; 594222.32 east 2021-02-10T18:03:36Z- waiting for 1612980219.46, time is 1612980216.46 2021-02-10T18:03:36Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:37Z- AHRS_M2 msg: 1612980217.25 epoch sec; seqNo:1215 2021-02-10T18:03:37Z- AHRS_M2 msg: 2.83 phi; 0.05 theta; -0.35 psi 2021-02-10T18:03:37Z- waiting for 1612980219.46, time is 1612980216.46 2021-02-10T18:03:37Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:37Z- handleDepth()-Depth_Keller msg: 50.91 epoch sec; seqNo:1612980217257; depth 0.00 2021-02-10T18:03:37Z- waiting for 1612980219.46, time is 1612980216.46 2021-02-10T18:03:37Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:37Z- handleDvl() - RDI_Pathfinder msg: 1612980217.27 epoch sec; seqNo:495 2021-02-10T18:03:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.57 , 61.50 , 49.58 , 47.44 2021-02-10T18:03:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , 0.04 , -0.07 2021-02-10T18:03:37Z- waiting for 1612980219.46, time is 1612980217.27 2021-02-10T18:03:37Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980217.28 epoch sec; seqNo:1221; 4061648.57 north; 594222.33 east 2021-02-10T18:03:37Z- waiting for 1612980219.46, time is 1612980217.27 2021-02-10T18:03:37Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:37Z- AHRS_M2 msg: 1612980217.66 epoch sec; seqNo:1216 2021-02-10T18:03:37Z- AHRS_M2 msg: 2.80 phi; 0.05 theta; -0.35 psi 2021-02-10T18:03:37Z- waiting for 1612980219.46, time is 1612980217.27 2021-02-10T18:03:37Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:37Z- handleDepth()-Depth_Keller msg: 50.90 epoch sec; seqNo:1612980217661; depth 0.00 2021-02-10T18:03:37Z- waiting for 1612980219.46, time is 1612980217.27 2021-02-10T18:03:37Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980217.68 epoch sec; seqNo:1222; 4061648.19 north; 594222.33 east 2021-02-10T18:03:37Z- waiting for 1612980219.46, time is 1612980217.27 2021-02-10T18:03:37Z- sync is 0.41, coherence is 2.00 2021-02-10T18:03:38Z- AHRS_M2 msg: 1612980218.08 epoch sec; seqNo:1217 2021-02-10T18:03:38Z- AHRS_M2 msg: 2.76 phi; 0.05 theta; -0.35 psi 2021-02-10T18:03:38Z- waiting for 1612980219.46, time is 1612980217.27 2021-02-10T18:03:38Z- sync is 0.81, coherence is 2.00 2021-02-10T18:03:38Z- handleDepth()-Depth_Keller msg: 50.91 epoch sec; seqNo:1612980218088; depth 0.00 2021-02-10T18:03:38Z- waiting for 1612980219.46, time is 1612980217.27 2021-02-10T18:03:38Z- sync is 0.81, coherence is 2.00 2021-02-10T18:03:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980218.11 epoch sec; seqNo:1223; 4061647.82 north; 594223.56 east 2021-02-10T18:03:38Z- waiting for 1612980219.46, time is 1612980217.27 2021-02-10T18:03:38Z- sync is 0.84, coherence is 2.00 2021-02-10T18:03:38Z- AHRS_M2 msg: 1612980218.46 epoch sec; seqNo:1218 2021-02-10T18:03:38Z- AHRS_M2 msg: 2.73 phi; 0.06 theta; -0.35 psi 2021-02-10T18:03:38Z- waiting for 1612980219.46, time is 1612980217.27 2021-02-10T18:03:38Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:38Z- handleDepth()-Depth_Keller msg: 50.91 epoch sec; seqNo:1612980218473; depth 0.00 2021-02-10T18:03:38Z- waiting for 1612980219.46, time is 1612980217.27 2021-02-10T18:03:38Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:38Z- handleDvl() - RDI_Pathfinder msg: 1612980218.48 epoch sec; seqNo:496 2021-02-10T18:03:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.57 , 61.50 , 49.58 , 47.20 2021-02-10T18:03:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , 0.05 , -0.07 2021-02-10T18:03:38Z- waiting for 1612980219.46, time is 1612980218.48 2021-02-10T18:03:38Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980218.51 epoch sec; seqNo:1224; 4061647.45 north; 594223.56 east 2021-02-10T18:03:38Z- waiting for 1612980219.46, time is 1612980218.48 2021-02-10T18:03:38Z- sync is 0.03, coherence is 2.00 2021-02-10T18:03:38Z- AHRS_M2 msg: 1612980218.87 epoch sec; seqNo:1219 2021-02-10T18:03:38Z- AHRS_M2 msg: 2.69 phi; 0.06 theta; -0.35 psi 2021-02-10T18:03:38Z- waiting for 1612980219.46, time is 1612980218.48 2021-02-10T18:03:38Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:38Z- handleDepth()-Depth_Keller msg: 50.91 epoch sec; seqNo:1612980218873; depth 0.00 2021-02-10T18:03:38Z- waiting for 1612980219.46, time is 1612980218.48 2021-02-10T18:03:38Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980218.89 epoch sec; seqNo:1225; 4061647.45 north; 594223.56 east 2021-02-10T18:03:38Z- waiting for 1612980219.46, time is 1612980218.48 2021-02-10T18:03:38Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:39Z- AHRS_M2 msg: 1612980219.27 epoch sec; seqNo:1220 2021-02-10T18:03:39Z- AHRS_M2 msg: 2.65 phi; 0.06 theta; -0.36 psi 2021-02-10T18:03:39Z- waiting for 1612980219.46, time is 1612980218.48 2021-02-10T18:03:39Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:39Z- handleDepth()-Depth_Keller msg: 50.91 epoch sec; seqNo:1612980219276; depth 0.00 2021-02-10T18:03:39Z- waiting for 1612980219.46, time is 1612980218.48 2021-02-10T18:03:39Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:39Z- handleDvl() - RDI_Pathfinder msg: 1612980219.30 epoch sec; seqNo:497 2021-02-10T18:03:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.62 , 62.22 , 49.82 , 47.44 2021-02-10T18:03:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , 0.06 , -0.07 2021-02-10T18:03:39Z- waiting for 1612980219.46, time is 1612980219.30 2021-02-10T18:03:39Z- sync is 0.03, coherence is 2.00 2021-02-10T18:03:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980219.31 epoch sec; seqNo:1226; 4061647.07 north; 594223.57 east 2021-02-10T18:03:39Z- waiting for 1612980219.46, time is 1612980219.30 2021-02-10T18:03:39Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:39Z- AHRS_M2 msg: 1612980219.68 epoch sec; seqNo:1221 2021-02-10T18:03:39Z- AHRS_M2 msg: 2.58 phi; 0.06 theta; -0.36 psi 2021-02-10T18:03:39Z- waiting for 1612980219.46, time is 1612980219.30 2021-02-10T18:03:39Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:39Z- handleDepth()-Depth_Keller msg: 50.90 epoch sec; seqNo:1612980219685; depth 0.00 2021-02-10T18:03:39Z- waiting for 1612980219.46, time is 1612980219.30 2021-02-10T18:03:39Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980219.70 epoch sec; seqNo:1227; 4061646.69 north; 594223.57 east 2021-02-10T18:03:39Z- waiting for 1612980219.46, time is 1612980219.30 2021-02-10T18:03:39Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:40Z- AHRS_M2 msg: 1612980220.08 epoch sec; seqNo:1222 2021-02-10T18:03:40Z- AHRS_M2 msg: 2.55 phi; 0.06 theta; -0.36 psi 2021-02-10T18:03:40Z- waiting for 1612980219.46, time is 1612980219.30 2021-02-10T18:03:40Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:40Z- handleDepth()-Depth_Keller msg: 50.90 epoch sec; seqNo:1612980220089; depth 0.00 2021-02-10T18:03:40Z- waiting for 1612980219.46, time is 1612980219.30 2021-02-10T18:03:40Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980220.10 epoch sec; seqNo:1228; 4061646.31 north; 594223.57 east 2021-02-10T18:03:40Z- waiting for 1612980219.46, time is 1612980219.30 2021-02-10T18:03:40Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:40Z- AHRS_M2 msg: 1612980220.48 epoch sec; seqNo:1223 2021-02-10T18:03:40Z- AHRS_M2 msg: 2.51 phi; 0.06 theta; -0.35 psi 2021-02-10T18:03:40Z- waiting for 1612980219.46, time is 1612980219.30 2021-02-10T18:03:40Z- sync is 1.18, coherence is 2.00 2021-02-10T18:03:40Z- handleDepth()-Depth_Keller msg: 50.90 epoch sec; seqNo:1612980220498; depth 0.00 2021-02-10T18:03:40Z- waiting for 1612980219.46, time is 1612980219.30 2021-02-10T18:03:40Z- sync is 1.18, coherence is 2.00 2021-02-10T18:03:40Z- handleDvl() - RDI_Pathfinder msg: 1612980220.51 epoch sec; seqNo:498 2021-02-10T18:03:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.90 , 62.22 , 49.82 , 47.20 2021-02-10T18:03:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , 0.06 , -0.05 2021-02-10T18:03:40Z- waiting for 1612980219.46, time is 1612980220.51 2021-02-10T18:03:40Z- sync is 0.03, coherence is 2.00 2021-02-10T18:03:40Z- LcmTrn::updateTrn() >>>> pose time 1612980220.48, meas time 1612980220.51 <<<< 2021-02-10T18:03:40Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980220.51 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:03:40Z- TerrainNav::motionUpdate() - currEstimate = (4061646, 594223.57, 50.90) 2021-02-10T18:03:40Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:03:40Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:03:40Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:03:40Z- TNavBF::mmse selected from filter -1 2021-02-10T18:03:40Z- variances([0], [2], and psi_berg) = 799.023266 833.100756 0.000000 2021-02-10T18:03:40Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:03:40Z- LcmTrn::cycle() - MLE : 4061616.81 594176.07 50.90 2021-02-10T18:03:40Z- LcmTrn::cycle() - MMSE : 4061646.31 594223.57 50.90 2021-02-10T18:03:40Z- LcmTrn::cycle() - COVAR: 799.02 833.10 45.00 0.00 2021-02-10T18:03:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980220.52 epoch sec; seqNo:1229; 4061646.31 north; 594223.57 east 2021-02-10T18:03:40Z- waiting for 1612980223.51, time is 1612980220.51 2021-02-10T18:03:40Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:40Z- AHRS_M2 msg: 1612980220.89 epoch sec; seqNo:1224 2021-02-10T18:03:40Z- AHRS_M2 msg: 2.48 phi; 0.07 theta; -0.35 psi 2021-02-10T18:03:40Z- waiting for 1612980223.51, time is 1612980220.51 2021-02-10T18:03:40Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:40Z- handleDepth()-Depth_Keller msg: 50.90 epoch sec; seqNo:1612980220898; depth 0.00 2021-02-10T18:03:40Z- waiting for 1612980223.51, time is 1612980220.51 2021-02-10T18:03:40Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980220.92 epoch sec; seqNo:1230; 4061645.93 north; 594223.58 east 2021-02-10T18:03:40Z- waiting for 1612980223.51, time is 1612980220.51 2021-02-10T18:03:40Z- sync is 0.41, coherence is 2.00 2021-02-10T18:03:41Z- AHRS_M2 msg: 1612980221.29 epoch sec; seqNo:1225 2021-02-10T18:03:41Z- AHRS_M2 msg: 2.44 phi; 0.07 theta; -0.34 psi 2021-02-10T18:03:41Z- waiting for 1612980223.51, time is 1612980220.51 2021-02-10T18:03:41Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:41Z- handleDepth()-Depth_Keller msg: 50.88 epoch sec; seqNo:1612980221296; depth 0.00 2021-02-10T18:03:41Z- waiting for 1612980223.51, time is 1612980220.51 2021-02-10T18:03:41Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:41Z- handleDvl() - RDI_Pathfinder msg: 1612980221.31 epoch sec; seqNo:499 2021-02-10T18:03:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.57 , 60.07 , 49.58 , 47.20 2021-02-10T18:03:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , 0.05 , -0.04 2021-02-10T18:03:41Z- waiting for 1612980223.51, time is 1612980221.31 2021-02-10T18:03:41Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980221.32 epoch sec; seqNo:1231; 4061645.57 north; 594224.80 east 2021-02-10T18:03:41Z- waiting for 1612980223.51, time is 1612980221.31 2021-02-10T18:03:41Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:41Z- AHRS_M2 msg: 1612980221.70 epoch sec; seqNo:1226 2021-02-10T18:03:41Z- AHRS_M2 msg: 2.41 phi; 0.07 theta; -0.35 psi 2021-02-10T18:03:41Z- waiting for 1612980223.51, time is 1612980221.31 2021-02-10T18:03:41Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:41Z- handleDepth()-Depth_Keller msg: 50.88 epoch sec; seqNo:1612980221701; depth 0.00 2021-02-10T18:03:41Z- waiting for 1612980223.51, time is 1612980221.31 2021-02-10T18:03:41Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980221.71 epoch sec; seqNo:1232; 4061645.57 north; 594224.80 east 2021-02-10T18:03:41Z- waiting for 1612980223.51, time is 1612980221.31 2021-02-10T18:03:41Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:42Z- AHRS_M2 msg: 1612980222.10 epoch sec; seqNo:1227 2021-02-10T18:03:42Z- AHRS_M2 msg: 2.37 phi; 0.07 theta; -0.35 psi 2021-02-10T18:03:42Z- waiting for 1612980223.51, time is 1612980221.31 2021-02-10T18:03:42Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:42Z- handleDepth()-Depth_Keller msg: 50.88 epoch sec; seqNo:1612980222114; depth 0.00 2021-02-10T18:03:42Z- waiting for 1612980223.51, time is 1612980221.31 2021-02-10T18:03:42Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980222.15 epoch sec; seqNo:1233; 4061645.19 north; 594224.81 east 2021-02-10T18:03:42Z- waiting for 1612980223.51, time is 1612980221.31 2021-02-10T18:03:42Z- sync is 0.84, coherence is 2.00 2021-02-10T18:03:42Z- AHRS_M2 msg: 1612980222.50 epoch sec; seqNo:1228 2021-02-10T18:03:42Z- AHRS_M2 msg: 2.34 phi; 0.07 theta; -0.36 psi 2021-02-10T18:03:42Z- waiting for 1612980223.51, time is 1612980221.31 2021-02-10T18:03:42Z- sync is 1.20, coherence is 2.00 2021-02-10T18:03:42Z- handleDepth()-Depth_Keller msg: 50.88 epoch sec; seqNo:1612980222508; depth 0.00 2021-02-10T18:03:42Z- waiting for 1612980223.51, time is 1612980221.31 2021-02-10T18:03:42Z- sync is 1.20, coherence is 2.00 2021-02-10T18:03:42Z- handleDvl() - RDI_Pathfinder msg: 1612980222.52 epoch sec; seqNo:500 2021-02-10T18:03:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.57 , 61.27 , 49.58 , 47.20 2021-02-10T18:03:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , 0.05 , -0.02 2021-02-10T18:03:42Z- waiting for 1612980223.51, time is 1612980222.52 2021-02-10T18:03:42Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980222.53 epoch sec; seqNo:1234; 4061645.19 north; 594224.81 east 2021-02-10T18:03:42Z- waiting for 1612980223.51, time is 1612980222.52 2021-02-10T18:03:42Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:42Z- AHRS_M2 msg: 1612980222.91 epoch sec; seqNo:1229 2021-02-10T18:03:42Z- AHRS_M2 msg: 2.31 phi; 0.06 theta; -0.36 psi 2021-02-10T18:03:42Z- waiting for 1612980223.51, time is 1612980222.52 2021-02-10T18:03:42Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:42Z- handleDepth()-Depth_Keller msg: 50.85 epoch sec; seqNo:1612980222913; depth 0.00 2021-02-10T18:03:42Z- waiting for 1612980223.51, time is 1612980222.52 2021-02-10T18:03:42Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980222.92 epoch sec; seqNo:1235; 4061644.81 north; 594224.81 east 2021-02-10T18:03:42Z- waiting for 1612980223.51, time is 1612980222.52 2021-02-10T18:03:42Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:43Z- AHRS_M2 msg: 1612980223.31 epoch sec; seqNo:1230 2021-02-10T18:03:43Z- AHRS_M2 msg: 2.27 phi; 0.06 theta; -0.35 psi 2021-02-10T18:03:43Z- waiting for 1612980223.51, time is 1612980222.52 2021-02-10T18:03:43Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:43Z- handleDepth()-Depth_Keller msg: 50.84 epoch sec; seqNo:1612980223333; depth 0.00 2021-02-10T18:03:43Z- waiting for 1612980223.51, time is 1612980222.52 2021-02-10T18:03:43Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:43Z- handleDvl() - RDI_Pathfinder msg: 1612980223.34 epoch sec; seqNo:501 2021-02-10T18:03:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.57 , 61.27 , 49.82 , 47.20 2021-02-10T18:03:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , 0.04 , -0.03 2021-02-10T18:03:43Z- waiting for 1612980223.51, time is 1612980223.34 2021-02-10T18:03:43Z- sync is 0.03, coherence is 2.00 2021-02-10T18:03:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980223.35 epoch sec; seqNo:1236; 4061644.43 north; 594224.81 east 2021-02-10T18:03:43Z- waiting for 1612980223.51, time is 1612980223.34 2021-02-10T18:03:43Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:43Z- AHRS_M2 msg: 1612980223.72 epoch sec; seqNo:1231 2021-02-10T18:03:43Z- AHRS_M2 msg: 2.24 phi; 0.06 theta; -0.34 psi 2021-02-10T18:03:43Z- waiting for 1612980223.51, time is 1612980223.34 2021-02-10T18:03:43Z- sync is 0.37, coherence is 2.00 2021-02-10T18:03:43Z- handleDepth()-Depth_Keller msg: 50.83 epoch sec; seqNo:1612980223720; depth 0.00 2021-02-10T18:03:43Z- waiting for 1612980223.51, time is 1612980223.34 2021-02-10T18:03:43Z- sync is 0.37, coherence is 2.00 2021-02-10T18:03:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980223.73 epoch sec; seqNo:1237; 4061644.44 north; 594226.03 east 2021-02-10T18:03:43Z- waiting for 1612980223.51, time is 1612980223.34 2021-02-10T18:03:43Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:44Z- AHRS_M2 msg: 1612980224.14 epoch sec; seqNo:1232 2021-02-10T18:03:44Z- AHRS_M2 msg: 2.20 phi; 0.06 theta; -0.34 psi 2021-02-10T18:03:44Z- waiting for 1612980223.51, time is 1612980223.34 2021-02-10T18:03:44Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:44Z- handleDepth()-Depth_Keller msg: 50.83 epoch sec; seqNo:1612980224149; depth 0.00 2021-02-10T18:03:44Z- waiting for 1612980223.51, time is 1612980223.34 2021-02-10T18:03:44Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:44Z- handleDvl() - RDI_Pathfinder msg: 1612980224.17 epoch sec; seqNo:502 2021-02-10T18:03:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.57 , 60.07 , 49.11 , 46.96 2021-02-10T18:03:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , 0.03 , -0.02 2021-02-10T18:03:44Z- waiting for 1612980223.51, time is 1612980224.17 2021-02-10T18:03:44Z- sync is 0.03, coherence is 2.00 2021-02-10T18:03:44Z- LcmTrn::updateTrn() >>>> pose time 1612980224.14, meas time 1612980224.17 <<<< 2021-02-10T18:03:44Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980224.17 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:03:44Z- TerrainNav::motionUpdate() - currEstimate = (4061644, 594226.03, 50.83) 2021-02-10T18:03:44Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:03:44Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:03:44Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:03:44Z- TNavBF::mmse selected from filter -1 2021-02-10T18:03:44Z- variances([0], [2], and psi_berg) = 798.829315 833.100346 0.000000 2021-02-10T18:03:44Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:03:44Z- LcmTrn::cycle() - MLE : 4061614.94 594178.53 50.83 2021-02-10T18:03:44Z- LcmTrn::cycle() - MMSE : 4061644.44 594226.03 50.83 2021-02-10T18:03:44Z- LcmTrn::cycle() - COVAR: 798.83 833.10 45.16 0.00 2021-02-10T18:03:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980224.18 epoch sec; seqNo:1238; 4061644.06 north; 594226.04 east 2021-02-10T18:03:44Z- waiting for 1612980227.17, time is 1612980224.17 2021-02-10T18:03:44Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:44Z- AHRS_M2 msg: 1612980224.53 epoch sec; seqNo:1233 2021-02-10T18:03:44Z- AHRS_M2 msg: 2.17 phi; 0.06 theta; -0.34 psi 2021-02-10T18:03:44Z- waiting for 1612980227.17, time is 1612980224.17 2021-02-10T18:03:44Z- sync is 0.36, coherence is 2.00 2021-02-10T18:03:44Z- handleDepth()-Depth_Keller msg: 50.82 epoch sec; seqNo:1612980224529; depth 0.00 2021-02-10T18:03:44Z- waiting for 1612980227.17, time is 1612980224.17 2021-02-10T18:03:44Z- sync is 0.36, coherence is 2.00 2021-02-10T18:03:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980224.54 epoch sec; seqNo:1239; 4061644.06 north; 594226.04 east 2021-02-10T18:03:44Z- waiting for 1612980227.17, time is 1612980224.17 2021-02-10T18:03:44Z- sync is 0.37, coherence is 2.00 2021-02-10T18:03:44Z- AHRS_M2 msg: 1612980224.93 epoch sec; seqNo:1234 2021-02-10T18:03:44Z- AHRS_M2 msg: 2.14 phi; 0.06 theta; -0.34 psi 2021-02-10T18:03:44Z- waiting for 1612980227.17, time is 1612980224.17 2021-02-10T18:03:44Z- sync is 0.76, coherence is 2.00 2021-02-10T18:03:44Z- handleDepth()-Depth_Keller msg: 50.82 epoch sec; seqNo:1612980224932; depth 0.00 2021-02-10T18:03:44Z- waiting for 1612980227.17, time is 1612980224.17 2021-02-10T18:03:44Z- sync is 0.76, coherence is 2.00 2021-02-10T18:03:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980224.95 epoch sec; seqNo:1240; 4061643.68 north; 594226.04 east 2021-02-10T18:03:44Z- waiting for 1612980227.17, time is 1612980224.17 2021-02-10T18:03:44Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:45Z- AHRS_M2 msg: 1612980225.33 epoch sec; seqNo:1235 2021-02-10T18:03:45Z- AHRS_M2 msg: 2.10 phi; 0.06 theta; -0.35 psi 2021-02-10T18:03:45Z- waiting for 1612980227.17, time is 1612980224.17 2021-02-10T18:03:45Z- sync is 1.16, coherence is 2.00 2021-02-10T18:03:45Z- handleDepth()-Depth_Keller msg: 50.80 epoch sec; seqNo:1612980225336; depth 0.00 2021-02-10T18:03:45Z- waiting for 1612980227.17, time is 1612980224.17 2021-02-10T18:03:45Z- sync is 1.16, coherence is 2.00 2021-02-10T18:03:45Z- handleDvl() - RDI_Pathfinder msg: 1612980225.35 epoch sec; seqNo:503 2021-02-10T18:03:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.62 , 29.00 , 49.14 , 47.15 2021-02-10T18:03:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , 0.03 , -0.03 2021-02-10T18:03:45Z- waiting for 1612980227.17, time is 1612980225.35 2021-02-10T18:03:45Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980225.37 epoch sec; seqNo:1241; 4061643.70 north; 594227.26 east 2021-02-10T18:03:45Z- waiting for 1612980227.17, time is 1612980225.35 2021-02-10T18:03:45Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:45Z- AHRS_M2 msg: 1612980225.73 epoch sec; seqNo:1236 2021-02-10T18:03:45Z- AHRS_M2 msg: 2.07 phi; 0.06 theta; -0.35 psi 2021-02-10T18:03:45Z- waiting for 1612980227.17, time is 1612980225.35 2021-02-10T18:03:45Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:45Z- handleDepth()-Depth_Keller msg: 50.80 epoch sec; seqNo:1612980225745; depth 0.00 2021-02-10T18:03:45Z- waiting for 1612980227.17, time is 1612980225.35 2021-02-10T18:03:45Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980225.76 epoch sec; seqNo:1242; 4061643.32 north; 594227.27 east 2021-02-10T18:03:45Z- waiting for 1612980227.17, time is 1612980225.35 2021-02-10T18:03:45Z- sync is 0.41, coherence is 2.00 2021-02-10T18:03:46Z- AHRS_M2 msg: 1612980226.14 epoch sec; seqNo:1237 2021-02-10T18:03:46Z- AHRS_M2 msg: 2.04 phi; 0.06 theta; -0.35 psi 2021-02-10T18:03:46Z- waiting for 1612980227.17, time is 1612980225.35 2021-02-10T18:03:46Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:46Z- handleDepth()-Depth_Keller msg: 50.79 epoch sec; seqNo:1612980226145; depth 0.00 2021-02-10T18:03:46Z- waiting for 1612980227.17, time is 1612980225.35 2021-02-10T18:03:46Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:46Z- handleDvl() - RDI_Pathfinder msg: 1612980226.16 epoch sec; seqNo:504 2021-02-10T18:03:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.64 , 60.88 , 49.24 , 47.40 2021-02-10T18:03:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , 0.02 , -0.05 2021-02-10T18:03:46Z- waiting for 1612980227.17, time is 1612980226.16 2021-02-10T18:03:46Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980226.17 epoch sec; seqNo:1243; 4061643.32 north; 594227.27 east 2021-02-10T18:03:46Z- waiting for 1612980227.17, time is 1612980226.16 2021-02-10T18:03:46Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:46Z- AHRS_M2 msg: 1612980226.55 epoch sec; seqNo:1238 2021-02-10T18:03:46Z- AHRS_M2 msg: 2.00 phi; 0.06 theta; -0.35 psi 2021-02-10T18:03:46Z- waiting for 1612980227.17, time is 1612980226.16 2021-02-10T18:03:46Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:46Z- handleDepth()-Depth_Keller msg: 50.77 epoch sec; seqNo:1612980226555; depth 0.00 2021-02-10T18:03:46Z- waiting for 1612980227.17, time is 1612980226.16 2021-02-10T18:03:46Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980226.57 epoch sec; seqNo:1244; 4061643.32 north; 594227.27 east 2021-02-10T18:03:46Z- waiting for 1612980227.17, time is 1612980226.16 2021-02-10T18:03:46Z- sync is 0.41, coherence is 2.00 2021-02-10T18:03:46Z- AHRS_M2 msg: 1612980226.95 epoch sec; seqNo:1239 2021-02-10T18:03:46Z- AHRS_M2 msg: 1.97 phi; 0.06 theta; -0.35 psi 2021-02-10T18:03:46Z- waiting for 1612980227.17, time is 1612980226.16 2021-02-10T18:03:46Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:46Z- handleDepth()-Depth_Keller msg: 50.76 epoch sec; seqNo:1612980226952; depth 0.00 2021-02-10T18:03:46Z- waiting for 1612980227.17, time is 1612980226.16 2021-02-10T18:03:46Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980226.96 epoch sec; seqNo:1245; 4061642.94 north; 594227.27 east 2021-02-10T18:03:46Z- waiting for 1612980227.17, time is 1612980226.16 2021-02-10T18:03:46Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:47Z- AHRS_M2 msg: 1612980227.35 epoch sec; seqNo:1240 2021-02-10T18:03:47Z- AHRS_M2 msg: 1.93 phi; 0.06 theta; -0.35 psi 2021-02-10T18:03:47Z- waiting for 1612980227.17, time is 1612980226.16 2021-02-10T18:03:47Z- sync is 1.20, coherence is 2.00 2021-02-10T18:03:47Z- handleDepth()-Depth_Keller msg: 50.76 epoch sec; seqNo:1612980227359; depth 0.00 2021-02-10T18:03:47Z- waiting for 1612980227.17, time is 1612980226.16 2021-02-10T18:03:47Z- sync is 1.20, coherence is 2.00 2021-02-10T18:03:47Z- handleDvl() - RDI_Pathfinder msg: 1612980227.37 epoch sec; seqNo:505 2021-02-10T18:03:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.57 , 60.07 , 48.87 , 47.20 2021-02-10T18:03:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , 0.03 , -0.06 2021-02-10T18:03:47Z- waiting for 1612980227.17, time is 1612980227.37 2021-02-10T18:03:47Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:47Z- LcmTrn::updateTrn() >>>> pose time 1612980227.35, meas time 1612980227.37 <<<< 2021-02-10T18:03:47Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980227.37 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:03:47Z- TerrainNav::motionUpdate() - currEstimate = (4061643, 594227.27, 50.76) 2021-02-10T18:03:47Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:03:47Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:03:47Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:03:47Z- TNavBF::mmse selected from filter -1 2021-02-10T18:03:47Z- variances([0], [2], and psi_berg) = 798.676060 833.100023 0.000000 2021-02-10T18:03:47Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:03:47Z- LcmTrn::cycle() - MLE : 4061613.44 594179.77 50.76 2021-02-10T18:03:47Z- LcmTrn::cycle() - MMSE : 4061642.94 594227.27 50.76 2021-02-10T18:03:47Z- LcmTrn::cycle() - COVAR: 798.68 833.10 45.26 0.00 2021-02-10T18:03:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980227.40 epoch sec; seqNo:1246; 4061642.95 north; 594228.49 east 2021-02-10T18:03:47Z- waiting for 1612980230.37, time is 1612980227.37 2021-02-10T18:03:47Z- sync is 0.03, coherence is 2.00 2021-02-10T18:03:47Z- AHRS_M2 msg: 1612980227.76 epoch sec; seqNo:1241 2021-02-10T18:03:47Z- AHRS_M2 msg: 1.90 phi; 0.06 theta; -0.34 psi 2021-02-10T18:03:47Z- waiting for 1612980230.37, time is 1612980227.37 2021-02-10T18:03:47Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:47Z- handleDepth()-Depth_Keller msg: 50.75 epoch sec; seqNo:1612980227761; depth 0.00 2021-02-10T18:03:47Z- waiting for 1612980230.37, time is 1612980227.37 2021-02-10T18:03:47Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980227.77 epoch sec; seqNo:1247; 4061642.95 north; 594228.49 east 2021-02-10T18:03:47Z- waiting for 1612980230.37, time is 1612980227.37 2021-02-10T18:03:47Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:48Z- AHRS_M2 msg: 1612980228.16 epoch sec; seqNo:1242 2021-02-10T18:03:48Z- AHRS_M2 msg: 1.87 phi; 0.06 theta; -0.34 psi 2021-02-10T18:03:48Z- waiting for 1612980230.37, time is 1612980227.37 2021-02-10T18:03:48Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:48Z- handleDepth()-Depth_Keller msg: 50.73 epoch sec; seqNo:1612980228173; depth 0.00 2021-02-10T18:03:48Z- waiting for 1612980230.37, time is 1612980227.37 2021-02-10T18:03:48Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:48Z- handleDvl() - RDI_Pathfinder msg: 1612980228.18 epoch sec; seqNo:506 2021-02-10T18:03:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.62 , 59.54 , 48.47 , 47.15 2021-02-10T18:03:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , 0.04 , -0.06 2021-02-10T18:03:48Z- waiting for 1612980230.37, time is 1612980228.18 2021-02-10T18:03:48Z- sync is 0.03, coherence is 2.00 2021-02-10T18:03:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980228.20 epoch sec; seqNo:1248; 4061642.95 north; 594228.49 east 2021-02-10T18:03:48Z- waiting for 1612980230.37, time is 1612980228.18 2021-02-10T18:03:48Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:48Z- AHRS_M2 msg: 1612980228.56 epoch sec; seqNo:1243 2021-02-10T18:03:48Z- AHRS_M2 msg: 1.83 phi; 0.05 theta; -0.34 psi 2021-02-10T18:03:48Z- waiting for 1612980230.37, time is 1612980228.18 2021-02-10T18:03:48Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:48Z- handleDepth()-Depth_Keller msg: 50.72 epoch sec; seqNo:1612980228568; depth 0.00 2021-02-10T18:03:48Z- waiting for 1612980230.37, time is 1612980228.18 2021-02-10T18:03:48Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980228.59 epoch sec; seqNo:1249; 4061642.57 north; 594228.50 east 2021-02-10T18:03:48Z- waiting for 1612980230.37, time is 1612980228.18 2021-02-10T18:03:48Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:48Z- AHRS_M2 msg: 1612980228.97 epoch sec; seqNo:1244 2021-02-10T18:03:48Z- AHRS_M2 msg: 1.80 phi; 0.05 theta; -0.34 psi 2021-02-10T18:03:48Z- waiting for 1612980230.37, time is 1612980228.18 2021-02-10T18:03:48Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:48Z- handleDepth()-Depth_Keller msg: 50.73 epoch sec; seqNo:1612980228973; depth 0.00 2021-02-10T18:03:48Z- waiting for 1612980230.37, time is 1612980228.18 2021-02-10T18:03:48Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980228.98 epoch sec; seqNo:1250; 4061642.59 north; 594229.72 east 2021-02-10T18:03:48Z- waiting for 1612980230.37, time is 1612980228.18 2021-02-10T18:03:48Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:49Z- AHRS_M2 msg: 1612980229.37 epoch sec; seqNo:1245 2021-02-10T18:03:49Z- AHRS_M2 msg: 1.76 phi; 0.05 theta; -0.34 psi 2021-02-10T18:03:49Z- waiting for 1612980230.37, time is 1612980228.18 2021-02-10T18:03:49Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:49Z- handleDepth()-Depth_Keller msg: 50.70 epoch sec; seqNo:1612980229377; depth 0.00 2021-02-10T18:03:49Z- waiting for 1612980230.37, time is 1612980228.18 2021-02-10T18:03:49Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:49Z- handleDvl() - RDI_Pathfinder msg: 1612980229.39 epoch sec; seqNo:507 2021-02-10T18:03:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.62 , 59.98 , 48.47 , 46.92 2021-02-10T18:03:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , 0.05 , -0.06 2021-02-10T18:03:49Z- waiting for 1612980230.37, time is 1612980229.39 2021-02-10T18:03:49Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980229.40 epoch sec; seqNo:1251; 4061642.59 north; 594229.72 east 2021-02-10T18:03:49Z- waiting for 1612980230.37, time is 1612980229.39 2021-02-10T18:03:49Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:49Z- AHRS_M2 msg: 1612980229.78 epoch sec; seqNo:1246 2021-02-10T18:03:49Z- AHRS_M2 msg: 1.73 phi; 0.05 theta; -0.35 psi 2021-02-10T18:03:49Z- waiting for 1612980230.37, time is 1612980229.39 2021-02-10T18:03:49Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:49Z- handleDepth()-Depth_Keller msg: 50.70 epoch sec; seqNo:1612980229785; depth 0.00 2021-02-10T18:03:49Z- waiting for 1612980230.37, time is 1612980229.39 2021-02-10T18:03:49Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980229.80 epoch sec; seqNo:1252; 4061642.59 north; 594229.72 east 2021-02-10T18:03:49Z- waiting for 1612980230.37, time is 1612980229.39 2021-02-10T18:03:49Z- sync is 0.41, coherence is 2.00 2021-02-10T18:03:50Z- AHRS_M2 msg: 1612980230.18 epoch sec; seqNo:1247 2021-02-10T18:03:50Z- AHRS_M2 msg: 1.69 phi; 0.05 theta; -0.35 psi 2021-02-10T18:03:50Z- waiting for 1612980230.37, time is 1612980229.39 2021-02-10T18:03:50Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:50Z- handleDepth()-Depth_Keller msg: 50.68 epoch sec; seqNo:1612980230189; depth 0.00 2021-02-10T18:03:50Z- waiting for 1612980230.37, time is 1612980229.39 2021-02-10T18:03:50Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:50Z- handleDvl() - RDI_Pathfinder msg: 1612980230.21 epoch sec; seqNo:508 2021-02-10T18:03:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.62 , 60.65 , 48.47 , 47.37 2021-02-10T18:03:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , 0.05 , -0.05 2021-02-10T18:03:50Z- waiting for 1612980230.37, time is 1612980230.21 2021-02-10T18:03:50Z- sync is 0.03, coherence is 2.00 2021-02-10T18:03:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980230.22 epoch sec; seqNo:1253; 4061642.59 north; 594229.72 east 2021-02-10T18:03:50Z- waiting for 1612980230.37, time is 1612980230.21 2021-02-10T18:03:50Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:50Z- AHRS_M2 msg: 1612980230.58 epoch sec; seqNo:1248 2021-02-10T18:03:50Z- AHRS_M2 msg: 1.66 phi; 0.05 theta; -0.35 psi 2021-02-10T18:03:50Z- waiting for 1612980230.37, time is 1612980230.21 2021-02-10T18:03:50Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:50Z- handleDepth()-Depth_Keller msg: 50.69 epoch sec; seqNo:1612980230588; depth 0.00 2021-02-10T18:03:50Z- waiting for 1612980230.37, time is 1612980230.21 2021-02-10T18:03:50Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980230.60 epoch sec; seqNo:1254; 4061642.60 north; 594230.94 east 2021-02-10T18:03:50Z- waiting for 1612980230.37, time is 1612980230.21 2021-02-10T18:03:50Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:50Z- AHRS_M2 msg: 1612980230.99 epoch sec; seqNo:1249 2021-02-10T18:03:50Z- AHRS_M2 msg: 1.63 phi; 0.05 theta; -0.35 psi 2021-02-10T18:03:50Z- waiting for 1612980230.37, time is 1612980230.21 2021-02-10T18:03:50Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:51Z- handleDepth()-Depth_Keller msg: 50.68 epoch sec; seqNo:1612980231001; depth 0.00 2021-02-10T18:03:51Z- waiting for 1612980230.37, time is 1612980230.21 2021-02-10T18:03:51Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980231.01 epoch sec; seqNo:1255; 4061642.60 north; 594230.94 east 2021-02-10T18:03:51Z- waiting for 1612980230.37, time is 1612980230.21 2021-02-10T18:03:51Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:51Z- AHRS_M2 msg: 1612980231.40 epoch sec; seqNo:1250 2021-02-10T18:03:51Z- AHRS_M2 msg: 1.59 phi; 0.05 theta; -0.35 psi 2021-02-10T18:03:51Z- waiting for 1612980230.37, time is 1612980230.21 2021-02-10T18:03:51Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:51Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1612980231403; depth 0.00 2021-02-10T18:03:51Z- waiting for 1612980230.37, time is 1612980230.21 2021-02-10T18:03:51Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:51Z- handleDvl() - RDI_Pathfinder msg: 1612980231.41 epoch sec; seqNo:509 2021-02-10T18:03:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.62 , 59.98 , 48.25 , 47.37 2021-02-10T18:03:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , 0.05 , -0.04 2021-02-10T18:03:51Z- waiting for 1612980230.37, time is 1612980231.41 2021-02-10T18:03:51Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:51Z- LcmTrn::updateTrn() >>>> pose time 1612980231.40, meas time 1612980231.41 <<<< 2021-02-10T18:03:51Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980231.41 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:03:51Z- TerrainNav::motionUpdate() - currEstimate = (4061643, 594230.94, 50.66) 2021-02-10T18:03:51Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:03:51Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:03:51Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:03:51Z- TNavBF::mmse selected from filter -1 2021-02-10T18:03:51Z- variances([0], [2], and psi_berg) = 798.465976 833.099582 0.000000 2021-02-10T18:03:51Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:03:51Z- LcmTrn::cycle() - MLE : 4061613.10 594183.44 50.66 2021-02-10T18:03:51Z- LcmTrn::cycle() - MMSE : 4061642.60 594230.94 50.66 2021-02-10T18:03:51Z- LcmTrn::cycle() - COVAR: 798.47 833.10 45.45 0.00 2021-02-10T18:03:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980231.43 epoch sec; seqNo:1256; 4061642.60 north; 594230.94 east 2021-02-10T18:03:51Z- waiting for 1612980234.41, time is 1612980231.41 2021-02-10T18:03:51Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:51Z- AHRS_M2 msg: 1612980231.80 epoch sec; seqNo:1251 2021-02-10T18:03:51Z- AHRS_M2 msg: 1.56 phi; 0.05 theta; -0.35 psi 2021-02-10T18:03:51Z- waiting for 1612980234.41, time is 1612980231.41 2021-02-10T18:03:51Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:51Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1612980231814; depth 0.00 2021-02-10T18:03:51Z- waiting for 1612980234.41, time is 1612980231.41 2021-02-10T18:03:51Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980231.82 epoch sec; seqNo:1257; 4061642.60 north; 594230.94 east 2021-02-10T18:03:51Z- waiting for 1612980234.41, time is 1612980231.41 2021-02-10T18:03:51Z- sync is 0.41, coherence is 2.00 2021-02-10T18:03:52Z- AHRS_M2 msg: 1612980232.20 epoch sec; seqNo:1252 2021-02-10T18:03:52Z- AHRS_M2 msg: 1.52 phi; 0.05 theta; -0.35 psi 2021-02-10T18:03:52Z- waiting for 1612980234.41, time is 1612980231.41 2021-02-10T18:03:52Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:52Z- handleDepth()-Depth_Keller msg: 50.67 epoch sec; seqNo:1612980232204; depth 0.00 2021-02-10T18:03:52Z- waiting for 1612980234.41, time is 1612980231.41 2021-02-10T18:03:52Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:52Z- handleDvl() - RDI_Pathfinder msg: 1612980232.22 epoch sec; seqNo:510 2021-02-10T18:03:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.62 , 59.98 , 48.03 , 47.37 2021-02-10T18:03:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , 0.05 , -0.03 2021-02-10T18:03:52Z- waiting for 1612980234.41, time is 1612980232.22 2021-02-10T18:03:52Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980232.23 epoch sec; seqNo:1258; 4061642.61 north; 594232.16 east 2021-02-10T18:03:52Z- waiting for 1612980234.41, time is 1612980232.22 2021-02-10T18:03:52Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:52Z- AHRS_M2 msg: 1612980232.61 epoch sec; seqNo:1253 2021-02-10T18:03:52Z- AHRS_M2 msg: 1.49 phi; 0.05 theta; -0.35 psi 2021-02-10T18:03:52Z- waiting for 1612980234.41, time is 1612980232.22 2021-02-10T18:03:52Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:52Z- handleDepth()-Depth_Keller msg: 50.65 epoch sec; seqNo:1612980232613; depth 0.00 2021-02-10T18:03:52Z- waiting for 1612980234.41, time is 1612980232.22 2021-02-10T18:03:52Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980232.62 epoch sec; seqNo:1259; 4061642.61 north; 594232.16 east 2021-02-10T18:03:52Z- waiting for 1612980234.41, time is 1612980232.22 2021-02-10T18:03:52Z- sync is 0.41, coherence is 2.00 2021-02-10T18:03:53Z- AHRS_M2 msg: 1612980233.02 epoch sec; seqNo:1254 2021-02-10T18:03:53Z- AHRS_M2 msg: 1.45 phi; 0.05 theta; -0.35 psi 2021-02-10T18:03:53Z- waiting for 1612980234.41, time is 1612980232.22 2021-02-10T18:03:53Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:53Z- handleDepth()-Depth_Keller msg: 50.63 epoch sec; seqNo:1612980233022; depth 0.00 2021-02-10T18:03:53Z- waiting for 1612980234.41, time is 1612980232.22 2021-02-10T18:03:53Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980233.03 epoch sec; seqNo:1260; 4061642.61 north; 594232.16 east 2021-02-10T18:03:53Z- waiting for 1612980234.41, time is 1612980232.22 2021-02-10T18:03:53Z- sync is 0.81, coherence is 2.00 2021-02-10T18:03:53Z- AHRS_M2 msg: 1612980233.41 epoch sec; seqNo:1255 2021-02-10T18:03:53Z- AHRS_M2 msg: 1.42 phi; 0.05 theta; -0.36 psi 2021-02-10T18:03:53Z- waiting for 1612980234.41, time is 1612980232.22 2021-02-10T18:03:53Z- sync is 1.20, coherence is 2.00 2021-02-10T18:03:53Z- handleDepth()-Depth_Keller msg: 50.65 epoch sec; seqNo:1612980233421; depth 0.00 2021-02-10T18:03:53Z- waiting for 1612980234.41, time is 1612980232.22 2021-02-10T18:03:53Z- sync is 1.20, coherence is 2.00 2021-02-10T18:03:53Z- handleDvl() - RDI_Pathfinder msg: 1612980233.43 epoch sec; seqNo:511 2021-02-10T18:03:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.62 , 59.54 , 48.25 , 47.37 2021-02-10T18:03:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , 0.06 , -0.03 2021-02-10T18:03:53Z- waiting for 1612980234.41, time is 1612980233.43 2021-02-10T18:03:53Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980233.44 epoch sec; seqNo:1261; 4061642.61 north; 594232.16 east 2021-02-10T18:03:53Z- waiting for 1612980234.41, time is 1612980233.43 2021-02-10T18:03:53Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:53Z- AHRS_M2 msg: 1612980233.82 epoch sec; seqNo:1256 2021-02-10T18:03:53Z- AHRS_M2 msg: 1.38 phi; 0.05 theta; -0.36 psi 2021-02-10T18:03:53Z- waiting for 1612980234.41, time is 1612980233.43 2021-02-10T18:03:53Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:53Z- handleDepth()-Depth_Keller msg: 50.63 epoch sec; seqNo:1612980233822; depth 0.00 2021-02-10T18:03:53Z- waiting for 1612980234.41, time is 1612980233.43 2021-02-10T18:03:53Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980233.83 epoch sec; seqNo:1262; 4061642.61 north; 594232.16 east 2021-02-10T18:03:53Z- waiting for 1612980234.41, time is 1612980233.43 2021-02-10T18:03:53Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:54Z- AHRS_M2 msg: 1612980234.22 epoch sec; seqNo:1257 2021-02-10T18:03:54Z- AHRS_M2 msg: 1.35 phi; 0.05 theta; -0.36 psi 2021-02-10T18:03:54Z- waiting for 1612980234.41, time is 1612980233.43 2021-02-10T18:03:54Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:54Z- handleDepth()-Depth_Keller msg: 50.64 epoch sec; seqNo:1612980234229; depth 0.00 2021-02-10T18:03:54Z- waiting for 1612980234.41, time is 1612980233.43 2021-02-10T18:03:54Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:54Z- handleDvl() - RDI_Pathfinder msg: 1612980234.24 epoch sec; seqNo:512 2021-02-10T18:03:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.62 , 60.65 , 48.25 , 47.59 2021-02-10T18:03:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , 0.05 , -0.02 2021-02-10T18:03:54Z- waiting for 1612980234.41, time is 1612980234.24 2021-02-10T18:03:54Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980234.26 epoch sec; seqNo:1263; 4061642.63 north; 594233.38 east 2021-02-10T18:03:54Z- waiting for 1612980234.41, time is 1612980234.24 2021-02-10T18:03:54Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:54Z- AHRS_M2 msg: 1612980234.62 epoch sec; seqNo:1258 2021-02-10T18:03:54Z- AHRS_M2 msg: 1.32 phi; 0.05 theta; -0.36 psi 2021-02-10T18:03:54Z- waiting for 1612980234.41, time is 1612980234.24 2021-02-10T18:03:54Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:54Z- handleDepth()-Depth_Keller msg: 50.63 epoch sec; seqNo:1612980234628; depth 0.00 2021-02-10T18:03:54Z- waiting for 1612980234.41, time is 1612980234.24 2021-02-10T18:03:54Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980234.64 epoch sec; seqNo:1264; 4061642.63 north; 594233.38 east 2021-02-10T18:03:54Z- waiting for 1612980234.41, time is 1612980234.24 2021-02-10T18:03:54Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:55Z- AHRS_M2 msg: 1612980235.09 epoch sec; seqNo:1259 2021-02-10T18:03:55Z- AHRS_M2 msg: 1.25 phi; 0.05 theta; -0.35 psi 2021-02-10T18:03:55Z- waiting for 1612980234.41, time is 1612980234.24 2021-02-10T18:03:55Z- sync is 0.85, coherence is 2.00 2021-02-10T18:03:55Z- handleDepth()-Depth_Keller msg: 50.63 epoch sec; seqNo:1612980235097; depth 0.00 2021-02-10T18:03:55Z- waiting for 1612980234.41, time is 1612980234.24 2021-02-10T18:03:55Z- sync is 0.85, coherence is 2.00 2021-02-10T18:03:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980235.12 epoch sec; seqNo:1265; 4061642.63 north; 594233.38 east 2021-02-10T18:03:55Z- waiting for 1612980234.41, time is 1612980234.24 2021-02-10T18:03:55Z- sync is 0.88, coherence is 2.00 2021-02-10T18:03:55Z- handleDepth()-Depth_Keller msg: 50.63 epoch sec; seqNo:1612980235447; depth 0.00 2021-02-10T18:03:55Z- waiting for 1612980234.41, time is 1612980234.24 2021-02-10T18:03:55Z- sync is 0.88, coherence is 2.00 2021-02-10T18:03:55Z- handleDvl() - RDI_Pathfinder msg: 1612980235.46 epoch sec; seqNo:513 2021-02-10T18:03:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.62 , 59.54 , 48.03 , 47.37 2021-02-10T18:03:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , 0.05 , -0.01 2021-02-10T18:03:55Z- waiting for 1612980234.41, time is 1612980235.46 2021-02-10T18:03:55Z- sync is 0.34, coherence is 2.00 2021-02-10T18:03:55Z- LcmTrn::updateTrn() >>>> pose time 1612980235.12, meas time 1612980235.46 <<<< 2021-02-10T18:03:55Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980235.46 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:03:55Z- TerrainNav::motionUpdate() - currEstimate = (4061643, 594233.38, 50.63) 2021-02-10T18:03:55Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:03:55Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:03:55Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:03:55Z- TNavBF::mmse selected from filter -1 2021-02-10T18:03:55Z- variances([0], [2], and psi_berg) = 798.295691 833.099227 0.000000 2021-02-10T18:03:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:03:55Z- LcmTrn::cycle() - MLE : 4061613.13 594185.88 50.63 2021-02-10T18:03:55Z- LcmTrn::cycle() - MMSE : 4061642.63 594233.38 50.63 2021-02-10T18:03:55Z- LcmTrn::cycle() - COVAR: 798.30 833.10 45.57 0.00 2021-02-10T18:03:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980235.47 epoch sec; seqNo:1266; 4061642.63 north; 594233.38 east 2021-02-10T18:03:55Z- waiting for 1612980238.46, time is 1612980235.46 2021-02-10T18:03:55Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:55Z- AHRS_M2 msg: 1612980235.84 epoch sec; seqNo:1260 2021-02-10T18:03:55Z- AHRS_M2 msg: 1.21 phi; 0.05 theta; -0.35 psi 2021-02-10T18:03:55Z- waiting for 1612980238.46, time is 1612980235.46 2021-02-10T18:03:55Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:55Z- handleDepth()-Depth_Keller msg: 50.62 epoch sec; seqNo:1612980235883; depth 0.00 2021-02-10T18:03:55Z- waiting for 1612980238.46, time is 1612980235.46 2021-02-10T18:03:55Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980235.97 epoch sec; seqNo:1267; 4061643.02 north; 594234.59 east 2021-02-10T18:03:55Z- waiting for 1612980238.46, time is 1612980235.46 2021-02-10T18:03:55Z- sync is 0.51, coherence is 2.00 2021-02-10T18:03:56Z- AHRS_M2 msg: 1612980236.24 epoch sec; seqNo:1261 2021-02-10T18:03:56Z- AHRS_M2 msg: 1.18 phi; 0.05 theta; -0.35 psi 2021-02-10T18:03:56Z- waiting for 1612980238.46, time is 1612980235.46 2021-02-10T18:03:56Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:56Z- handleDepth()-Depth_Keller msg: 50.61 epoch sec; seqNo:1612980236245; depth 0.00 2021-02-10T18:03:56Z- waiting for 1612980238.46, time is 1612980235.46 2021-02-10T18:03:56Z- sync is 0.78, coherence is 2.00 2021-02-10T18:03:56Z- handleDvl() - RDI_Pathfinder msg: 1612980236.26 epoch sec; seqNo:514 2021-02-10T18:03:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.62 , 59.32 , 48.03 , 47.81 2021-02-10T18:03:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , 0.04 , -0.01 2021-02-10T18:03:56Z- waiting for 1612980238.46, time is 1612980236.26 2021-02-10T18:03:56Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980236.27 epoch sec; seqNo:1268; 4061643.02 north; 594234.59 east 2021-02-10T18:03:56Z- waiting for 1612980238.46, time is 1612980236.26 2021-02-10T18:03:56Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:56Z- AHRS_M2 msg: 1612980236.64 epoch sec; seqNo:1262 2021-02-10T18:03:56Z- AHRS_M2 msg: 1.15 phi; 0.05 theta; -0.35 psi 2021-02-10T18:03:56Z- waiting for 1612980238.46, time is 1612980236.26 2021-02-10T18:03:56Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:56Z- handleDepth()-Depth_Keller msg: 50.60 epoch sec; seqNo:1612980236654; depth 0.00 2021-02-10T18:03:56Z- waiting for 1612980238.46, time is 1612980236.26 2021-02-10T18:03:56Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980236.67 epoch sec; seqNo:1269; 4061643.02 north; 594234.59 east 2021-02-10T18:03:56Z- waiting for 1612980238.46, time is 1612980236.26 2021-02-10T18:03:56Z- sync is 0.41, coherence is 2.00 2021-02-10T18:03:57Z- AHRS_M2 msg: 1612980237.06 epoch sec; seqNo:1263 2021-02-10T18:03:57Z- AHRS_M2 msg: 1.08 phi; 0.05 theta; -0.35 psi 2021-02-10T18:03:57Z- waiting for 1612980238.46, time is 1612980236.26 2021-02-10T18:03:57Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:57Z- handleDepth()-Depth_Keller msg: 50.60 epoch sec; seqNo:1612980237062; depth 0.00 2021-02-10T18:03:57Z- waiting for 1612980238.46, time is 1612980236.26 2021-02-10T18:03:57Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980237.07 epoch sec; seqNo:1270; 4061643.40 north; 594234.59 east 2021-02-10T18:03:57Z- waiting for 1612980238.46, time is 1612980236.26 2021-02-10T18:03:57Z- sync is 0.81, coherence is 2.00 2021-02-10T18:03:57Z- AHRS_M2 msg: 1612980237.45 epoch sec; seqNo:1264 2021-02-10T18:03:57Z- AHRS_M2 msg: 1.04 phi; 0.05 theta; -0.34 psi 2021-02-10T18:03:57Z- waiting for 1612980238.46, time is 1612980236.26 2021-02-10T18:03:57Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:57Z- handleDepth()-Depth_Keller msg: 50.60 epoch sec; seqNo:1612980237459; depth 0.00 2021-02-10T18:03:57Z- waiting for 1612980238.46, time is 1612980236.26 2021-02-10T18:03:57Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:57Z- handleDvl() - RDI_Pathfinder msg: 1612980237.47 epoch sec; seqNo:515 2021-02-10T18:03:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.62 , 59.10 , 47.59 , 47.37 2021-02-10T18:03:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , 0.03 , -0.02 2021-02-10T18:03:57Z- waiting for 1612980238.46, time is 1612980237.47 2021-02-10T18:03:57Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980237.48 epoch sec; seqNo:1271; 4061643.41 north; 594235.81 east 2021-02-10T18:03:57Z- waiting for 1612980238.46, time is 1612980237.47 2021-02-10T18:03:57Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:57Z- AHRS_M2 msg: 1612980237.86 epoch sec; seqNo:1265 2021-02-10T18:03:57Z- AHRS_M2 msg: 1.01 phi; 0.04 theta; -0.34 psi 2021-02-10T18:03:57Z- waiting for 1612980238.46, time is 1612980237.47 2021-02-10T18:03:57Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:57Z- handleDepth()-Depth_Keller msg: 50.59 epoch sec; seqNo:1612980237860; depth 0.00 2021-02-10T18:03:57Z- waiting for 1612980238.46, time is 1612980237.47 2021-02-10T18:03:57Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980237.88 epoch sec; seqNo:1272; 4061643.41 north; 594235.81 east 2021-02-10T18:03:57Z- waiting for 1612980238.46, time is 1612980237.47 2021-02-10T18:03:57Z- sync is 0.41, coherence is 2.00 2021-02-10T18:03:58Z- AHRS_M2 msg: 1612980238.26 epoch sec; seqNo:1266 2021-02-10T18:03:58Z- AHRS_M2 msg: 0.97 phi; 0.04 theta; -0.33 psi 2021-02-10T18:03:58Z- waiting for 1612980238.46, time is 1612980237.47 2021-02-10T18:03:58Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:58Z- handleDepth()-Depth_Keller msg: 50.59 epoch sec; seqNo:1612980238265; depth 0.00 2021-02-10T18:03:58Z- waiting for 1612980238.46, time is 1612980237.47 2021-02-10T18:03:58Z- sync is 0.79, coherence is 2.00 2021-02-10T18:03:58Z- handleDvl() - RDI_Pathfinder msg: 1612980238.28 epoch sec; seqNo:516 2021-02-10T18:03:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.62 , 58.43 , 47.37 , 47.15 2021-02-10T18:03:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , 0.04 , -0.03 2021-02-10T18:03:58Z- waiting for 1612980238.46, time is 1612980238.28 2021-02-10T18:03:58Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980238.30 epoch sec; seqNo:1273; 4061643.79 north; 594235.81 east 2021-02-10T18:03:58Z- waiting for 1612980238.46, time is 1612980238.28 2021-02-10T18:03:58Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:58Z- AHRS_M2 msg: 1612980238.66 epoch sec; seqNo:1267 2021-02-10T18:03:58Z- AHRS_M2 msg: 0.94 phi; 0.04 theta; -0.34 psi 2021-02-10T18:03:58Z- waiting for 1612980238.46, time is 1612980238.28 2021-02-10T18:03:58Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:58Z- handleDepth()-Depth_Keller msg: 50.58 epoch sec; seqNo:1612980238668; depth 0.00 2021-02-10T18:03:58Z- waiting for 1612980238.46, time is 1612980238.28 2021-02-10T18:03:58Z- sync is 0.39, coherence is 2.00 2021-02-10T18:03:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980238.68 epoch sec; seqNo:1274; 4061643.79 north; 594235.81 east 2021-02-10T18:03:58Z- waiting for 1612980238.46, time is 1612980238.28 2021-02-10T18:03:58Z- sync is 0.40, coherence is 2.00 2021-02-10T18:03:59Z- AHRS_M2 msg: 1612980239.08 epoch sec; seqNo:1268 2021-02-10T18:03:59Z- AHRS_M2 msg: 0.91 phi; 0.04 theta; -0.34 psi 2021-02-10T18:03:59Z- waiting for 1612980238.46, time is 1612980238.28 2021-02-10T18:03:59Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:59Z- handleDepth()-Depth_Keller msg: 50.58 epoch sec; seqNo:1612980239079; depth 0.00 2021-02-10T18:03:59Z- waiting for 1612980238.46, time is 1612980238.28 2021-02-10T18:03:59Z- sync is 0.80, coherence is 2.00 2021-02-10T18:03:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980239.09 epoch sec; seqNo:1275; 4061644.17 north; 594235.80 east 2021-02-10T18:03:59Z- waiting for 1612980238.46, time is 1612980238.28 2021-02-10T18:03:59Z- sync is 0.81, coherence is 2.00 2021-02-10T18:03:59Z- AHRS_M2 msg: 1612980239.47 epoch sec; seqNo:1269 2021-02-10T18:03:59Z- AHRS_M2 msg: 0.87 phi; 0.04 theta; -0.34 psi 2021-02-10T18:03:59Z- waiting for 1612980238.46, time is 1612980238.28 2021-02-10T18:03:59Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:59Z- handleDepth()-Depth_Keller msg: 50.58 epoch sec; seqNo:1612980239477; depth 0.00 2021-02-10T18:03:59Z- waiting for 1612980238.46, time is 1612980238.28 2021-02-10T18:03:59Z- sync is 1.19, coherence is 2.00 2021-02-10T18:03:59Z- handleDvl() - RDI_Pathfinder msg: 1612980239.49 epoch sec; seqNo:517 2021-02-10T18:03:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.84 , 58.21 , 47.59 , 47.15 2021-02-10T18:03:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , 0.04 , -0.04 2021-02-10T18:03:59Z- waiting for 1612980238.46, time is 1612980239.49 2021-02-10T18:03:59Z- sync is 0.02, coherence is 2.00 2021-02-10T18:03:59Z- LcmTrn::updateTrn() >>>> pose time 1612980239.47, meas time 1612980239.49 <<<< 2021-02-10T18:03:59Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980239.49 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:03:59Z- TerrainNav::motionUpdate() - currEstimate = (4061644, 594235.80, 50.58) 2021-02-10T18:03:59Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:03:59Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:03:59Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:03:59Z- TNavBF::mmse selected from filter -1 2021-02-10T18:03:59Z- variances([0], [2], and psi_berg) = 798.111628 833.098844 0.000000 2021-02-10T18:03:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:03:59Z- LcmTrn::cycle() - MLE : 4061614.67 594190.30 50.58 2021-02-10T18:03:59Z- LcmTrn::cycle() - MMSE : 4061644.17 594235.80 50.58 2021-02-10T18:03:59Z- LcmTrn::cycle() - COVAR: 798.11 833.10 45.72 0.00 2021-02-10T18:03:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980239.51 epoch sec; seqNo:1276; 4061644.18 north; 594237.02 east 2021-02-10T18:03:59Z- waiting for 1612980242.49, time is 1612980239.49 2021-02-10T18:03:59Z- sync is 0.01, coherence is 2.00 2021-02-10T18:03:59Z- AHRS_M2 msg: 1612980239.88 epoch sec; seqNo:1270 2021-02-10T18:03:59Z- AHRS_M2 msg: 0.84 phi; 0.05 theta; -0.34 psi 2021-02-10T18:03:59Z- waiting for 1612980242.49, time is 1612980239.49 2021-02-10T18:03:59Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:59Z- handleDepth()-Depth_Keller msg: 50.57 epoch sec; seqNo:1612980239885; depth 0.00 2021-02-10T18:03:59Z- waiting for 1612980242.49, time is 1612980239.49 2021-02-10T18:03:59Z- sync is 0.38, coherence is 2.00 2021-02-10T18:03:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980239.89 epoch sec; seqNo:1277; 4061644.56 north; 594237.02 east 2021-02-10T18:03:59Z- waiting for 1612980242.49, time is 1612980239.49 2021-02-10T18:03:59Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:00Z- AHRS_M2 msg: 1612980240.28 epoch sec; seqNo:1271 2021-02-10T18:04:00Z- AHRS_M2 msg: 0.81 phi; 0.05 theta; -0.34 psi 2021-02-10T18:04:00Z- waiting for 1612980242.49, time is 1612980239.49 2021-02-10T18:04:00Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:00Z- handleDepth()-Depth_Keller msg: 50.56 epoch sec; seqNo:1612980240289; depth 0.00 2021-02-10T18:04:00Z- waiting for 1612980242.49, time is 1612980239.49 2021-02-10T18:04:00Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:00Z- handleDvl() - RDI_Pathfinder msg: 1612980240.30 epoch sec; seqNo:518 2021-02-10T18:04:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.62 , 58.65 , 47.59 , 46.92 2021-02-10T18:04:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , 0.02 , -0.05 2021-02-10T18:04:00Z- waiting for 1612980242.49, time is 1612980240.30 2021-02-10T18:04:00Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980240.31 epoch sec; seqNo:1278; 4061644.56 north; 594237.02 east 2021-02-10T18:04:00Z- waiting for 1612980242.49, time is 1612980240.30 2021-02-10T18:04:00Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:00Z- AHRS_M2 msg: 1612980240.68 epoch sec; seqNo:1272 2021-02-10T18:04:00Z- AHRS_M2 msg: 0.78 phi; 0.05 theta; -0.33 psi 2021-02-10T18:04:00Z- waiting for 1612980242.49, time is 1612980240.30 2021-02-10T18:04:00Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:00Z- handleDepth()-Depth_Keller msg: 50.57 epoch sec; seqNo:1612980240689; depth 0.00 2021-02-10T18:04:00Z- waiting for 1612980242.49, time is 1612980240.30 2021-02-10T18:04:00Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980240.70 epoch sec; seqNo:1279; 4061644.94 north; 594237.01 east 2021-02-10T18:04:00Z- waiting for 1612980242.49, time is 1612980240.30 2021-02-10T18:04:00Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:01Z- AHRS_M2 msg: 1612980241.09 epoch sec; seqNo:1273 2021-02-10T18:04:01Z- AHRS_M2 msg: 0.75 phi; 0.05 theta; -0.31 psi 2021-02-10T18:04:01Z- waiting for 1612980242.49, time is 1612980240.30 2021-02-10T18:04:01Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:01Z- handleDepth()-Depth_Keller msg: 50.55 epoch sec; seqNo:1612980241097; depth 0.00 2021-02-10T18:04:01Z- waiting for 1612980242.49, time is 1612980240.30 2021-02-10T18:04:01Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980241.14 epoch sec; seqNo:1280; 4061645.32 north; 594237.01 east 2021-02-10T18:04:01Z- waiting for 1612980242.49, time is 1612980240.30 2021-02-10T18:04:01Z- sync is 0.84, coherence is 2.00 2021-02-10T18:04:01Z- AHRS_M2 msg: 1612980241.50 epoch sec; seqNo:1274 2021-02-10T18:04:01Z- AHRS_M2 msg: 0.73 phi; 0.05 theta; -0.31 psi 2021-02-10T18:04:01Z- waiting for 1612980242.49, time is 1612980240.30 2021-02-10T18:04:01Z- sync is 1.20, coherence is 2.00 2021-02-10T18:04:01Z- handleDepth()-Depth_Keller msg: 50.54 epoch sec; seqNo:1612980241502; depth 0.00 2021-02-10T18:04:01Z- waiting for 1612980242.49, time is 1612980240.30 2021-02-10T18:04:01Z- sync is 1.20, coherence is 2.00 2021-02-10T18:04:01Z- handleDvl() - RDI_Pathfinder msg: 1612980241.51 epoch sec; seqNo:519 2021-02-10T18:04:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.84 , 57.10 , 47.37 , 46.26 2021-02-10T18:04:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , 0.01 , -0.06 2021-02-10T18:04:01Z- waiting for 1612980242.49, time is 1612980241.51 2021-02-10T18:04:01Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980241.52 epoch sec; seqNo:1281; 4061645.33 north; 594238.23 east 2021-02-10T18:04:01Z- waiting for 1612980242.49, time is 1612980241.51 2021-02-10T18:04:01Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:01Z- AHRS_M2 msg: 1612980241.89 epoch sec; seqNo:1275 2021-02-10T18:04:01Z- AHRS_M2 msg: 0.71 phi; 0.05 theta; -0.30 psi 2021-02-10T18:04:01Z- waiting for 1612980242.49, time is 1612980241.51 2021-02-10T18:04:01Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:01Z- handleDepth()-Depth_Keller msg: 50.55 epoch sec; seqNo:1612980241900; depth 0.00 2021-02-10T18:04:01Z- waiting for 1612980242.49, time is 1612980241.51 2021-02-10T18:04:01Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980241.92 epoch sec; seqNo:1282; 4061645.71 north; 594238.23 east 2021-02-10T18:04:01Z- waiting for 1612980242.49, time is 1612980241.51 2021-02-10T18:04:01Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:02Z- AHRS_M2 msg: 1612980242.30 epoch sec; seqNo:1276 2021-02-10T18:04:02Z- AHRS_M2 msg: 0.69 phi; 0.06 theta; -0.30 psi 2021-02-10T18:04:02Z- waiting for 1612980242.49, time is 1612980241.51 2021-02-10T18:04:02Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:02Z- handleDepth()-Depth_Keller msg: 50.54 epoch sec; seqNo:1612980242306; depth 0.00 2021-02-10T18:04:02Z- waiting for 1612980242.49, time is 1612980241.51 2021-02-10T18:04:02Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:02Z- handleDvl() - RDI_Pathfinder msg: 1612980242.33 epoch sec; seqNo:520 2021-02-10T18:04:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.84 , 55.33 , 47.37 , 45.82 2021-02-10T18:04:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.00 , -0.06 2021-02-10T18:04:02Z- waiting for 1612980242.49, time is 1612980242.33 2021-02-10T18:04:02Z- sync is 0.03, coherence is 2.00 2021-02-10T18:04:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980242.35 epoch sec; seqNo:1283; 4061645.71 north; 594238.23 east 2021-02-10T18:04:02Z- waiting for 1612980242.49, time is 1612980242.33 2021-02-10T18:04:02Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:02Z- AHRS_M2 msg: 1612980242.70 epoch sec; seqNo:1277 2021-02-10T18:04:02Z- AHRS_M2 msg: 0.67 phi; 0.06 theta; -0.30 psi 2021-02-10T18:04:02Z- waiting for 1612980242.49, time is 1612980242.33 2021-02-10T18:04:02Z- sync is 0.37, coherence is 2.00 2021-02-10T18:04:02Z- handleDepth()-Depth_Keller msg: 50.52 epoch sec; seqNo:1612980242708; depth 0.00 2021-02-10T18:04:02Z- waiting for 1612980242.49, time is 1612980242.33 2021-02-10T18:04:02Z- sync is 0.37, coherence is 2.00 2021-02-10T18:04:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980242.72 epoch sec; seqNo:1284; 4061646.09 north; 594238.22 east 2021-02-10T18:04:02Z- waiting for 1612980242.49, time is 1612980242.33 2021-02-10T18:04:02Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:03Z- AHRS_M2 msg: 1612980243.14 epoch sec; seqNo:1278 2021-02-10T18:04:03Z- AHRS_M2 msg: 0.66 phi; 0.06 theta; -0.30 psi 2021-02-10T18:04:03Z- waiting for 1612980242.49, time is 1612980242.33 2021-02-10T18:04:03Z- sync is 0.81, coherence is 2.00 2021-02-10T18:04:03Z- handleDepth()-Depth_Keller msg: 50.51 epoch sec; seqNo:1612980243151; depth 0.00 2021-02-10T18:04:03Z- waiting for 1612980242.49, time is 1612980242.33 2021-02-10T18:04:03Z- sync is 0.81, coherence is 2.00 2021-02-10T18:04:03Z- handleDvl() - RDI_Pathfinder msg: 1612980243.17 epoch sec; seqNo:521 2021-02-10T18:04:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.84 , 55.78 , 47.37 , 45.60 2021-02-10T18:04:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.01 , -0.05 2021-02-10T18:04:03Z- waiting for 1612980242.49, time is 1612980243.17 2021-02-10T18:04:03Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:03Z- LcmTrn::updateTrn() >>>> pose time 1612980243.14, meas time 1612980243.17 <<<< 2021-02-10T18:04:03Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980243.17 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:04:03Z- TerrainNav::motionUpdate() - currEstimate = (4061646, 594238.22, 50.51) 2021-02-10T18:04:03Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:04:03Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:04:03Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:04:03Z- TNavBF::mmse selected from filter -1 2021-02-10T18:04:03Z- variances([0], [2], and psi_berg) = 797.921514 833.098451 0.000000 2021-02-10T18:04:03Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:04:03Z- LcmTrn::cycle() - MLE : 4061616.59 594192.72 50.51 2021-02-10T18:04:03Z- LcmTrn::cycle() - MMSE : 4061646.09 594238.22 50.51 2021-02-10T18:04:03Z- LcmTrn::cycle() - COVAR: 797.92 833.10 45.88 0.00 2021-02-10T18:04:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980243.18 epoch sec; seqNo:1285; 4061646.47 north; 594238.22 east 2021-02-10T18:04:03Z- waiting for 1612980246.17, time is 1612980243.17 2021-02-10T18:04:03Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:03Z- AHRS_M2 msg: 1612980243.51 epoch sec; seqNo:1279 2021-02-10T18:04:03Z- AHRS_M2 msg: 0.64 phi; 0.06 theta; -0.30 psi 2021-02-10T18:04:03Z- waiting for 1612980246.17, time is 1612980243.17 2021-02-10T18:04:03Z- sync is 0.35, coherence is 2.00 2021-02-10T18:04:03Z- handleDepth()-Depth_Keller msg: 50.51 epoch sec; seqNo:1612980243516; depth 0.00 2021-02-10T18:04:03Z- waiting for 1612980246.17, time is 1612980243.17 2021-02-10T18:04:03Z- sync is 0.35, coherence is 2.00 2021-02-10T18:04:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980243.54 epoch sec; seqNo:1286; 4061646.47 north; 594238.22 east 2021-02-10T18:04:03Z- waiting for 1612980246.17, time is 1612980243.17 2021-02-10T18:04:03Z- sync is 0.37, coherence is 2.00 2021-02-10T18:04:03Z- AHRS_M2 msg: 1612980243.92 epoch sec; seqNo:1280 2021-02-10T18:04:03Z- AHRS_M2 msg: 0.63 phi; 0.06 theta; -0.29 psi 2021-02-10T18:04:03Z- waiting for 1612980246.17, time is 1612980243.17 2021-02-10T18:04:03Z- sync is 0.75, coherence is 2.00 2021-02-10T18:04:03Z- handleDepth()-Depth_Keller msg: 50.50 epoch sec; seqNo:1612980243920; depth 0.00 2021-02-10T18:04:03Z- waiting for 1612980246.17, time is 1612980243.17 2021-02-10T18:04:03Z- sync is 0.75, coherence is 2.00 2021-02-10T18:04:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980243.93 epoch sec; seqNo:1287; 4061646.85 north; 594238.21 east 2021-02-10T18:04:03Z- waiting for 1612980246.17, time is 1612980243.17 2021-02-10T18:04:03Z- sync is 0.76, coherence is 2.00 2021-02-10T18:04:04Z- AHRS_M2 msg: 1612980244.32 epoch sec; seqNo:1281 2021-02-10T18:04:04Z- AHRS_M2 msg: 0.62 phi; 0.06 theta; -0.29 psi 2021-02-10T18:04:04Z- waiting for 1612980246.17, time is 1612980243.17 2021-02-10T18:04:04Z- sync is 1.15, coherence is 2.00 2021-02-10T18:04:04Z- handleDepth()-Depth_Keller msg: 50.48 epoch sec; seqNo:1612980244329; depth 0.00 2021-02-10T18:04:04Z- waiting for 1612980246.17, time is 1612980243.17 2021-02-10T18:04:04Z- sync is 1.15, coherence is 2.00 2021-02-10T18:04:04Z- handleDvl() - RDI_Pathfinder msg: 1612980244.34 epoch sec; seqNo:522 2021-02-10T18:04:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.84 , 55.11 , 47.15 , 45.15 2021-02-10T18:04:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.02 , -0.04 2021-02-10T18:04:04Z- waiting for 1612980246.17, time is 1612980244.34 2021-02-10T18:04:04Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980244.35 epoch sec; seqNo:1288; 4061647.24 north; 594239.43 east 2021-02-10T18:04:04Z- waiting for 1612980246.17, time is 1612980244.34 2021-02-10T18:04:04Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:04Z- AHRS_M2 msg: 1612980244.72 epoch sec; seqNo:1282 2021-02-10T18:04:04Z- AHRS_M2 msg: 0.61 phi; 0.07 theta; -0.28 psi 2021-02-10T18:04:04Z- waiting for 1612980246.17, time is 1612980244.34 2021-02-10T18:04:04Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:04Z- handleDepth()-Depth_Keller msg: 50.46 epoch sec; seqNo:1612980244737; depth 0.00 2021-02-10T18:04:04Z- waiting for 1612980246.17, time is 1612980244.34 2021-02-10T18:04:04Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980244.75 epoch sec; seqNo:1289; 4061647.24 north; 594239.43 east 2021-02-10T18:04:04Z- waiting for 1612980246.17, time is 1612980244.34 2021-02-10T18:04:04Z- sync is 0.41, coherence is 2.00 2021-02-10T18:04:05Z- AHRS_M2 msg: 1612980245.14 epoch sec; seqNo:1283 2021-02-10T18:04:05Z- AHRS_M2 msg: 0.60 phi; 0.07 theta; -0.27 psi 2021-02-10T18:04:05Z- waiting for 1612980246.17, time is 1612980244.34 2021-02-10T18:04:05Z- sync is 0.80, coherence is 2.00 2021-02-10T18:04:05Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1612980245149; depth 0.00 2021-02-10T18:04:05Z- waiting for 1612980246.17, time is 1612980244.34 2021-02-10T18:04:05Z- sync is 0.80, coherence is 2.00 2021-02-10T18:04:05Z- handleDvl() - RDI_Pathfinder msg: 1612980245.16 epoch sec; seqNo:523 2021-02-10T18:04:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.28 , 53.78 , 47.37 , 44.93 2021-02-10T18:04:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.03 , -0.02 2021-02-10T18:04:05Z- waiting for 1612980246.17, time is 1612980245.16 2021-02-10T18:04:05Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980245.17 epoch sec; seqNo:1290; 4061647.62 north; 594239.43 east 2021-02-10T18:04:05Z- waiting for 1612980246.17, time is 1612980245.16 2021-02-10T18:04:05Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:05Z- AHRS_M2 msg: 1612980245.53 epoch sec; seqNo:1284 2021-02-10T18:04:05Z- AHRS_M2 msg: 0.59 phi; 0.07 theta; -0.26 psi 2021-02-10T18:04:05Z- waiting for 1612980246.17, time is 1612980245.16 2021-02-10T18:04:05Z- sync is 0.37, coherence is 2.00 2021-02-10T18:04:05Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1612980245536; depth 0.00 2021-02-10T18:04:05Z- waiting for 1612980246.17, time is 1612980245.16 2021-02-10T18:04:05Z- sync is 0.37, coherence is 2.00 2021-02-10T18:04:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980245.55 epoch sec; seqNo:1291; 4061648.00 north; 594239.42 east 2021-02-10T18:04:05Z- waiting for 1612980246.17, time is 1612980245.16 2021-02-10T18:04:05Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:05Z- AHRS_M2 msg: 1612980245.93 epoch sec; seqNo:1285 2021-02-10T18:04:05Z- AHRS_M2 msg: 0.59 phi; 0.07 theta; -0.25 psi 2021-02-10T18:04:05Z- waiting for 1612980246.17, time is 1612980245.16 2021-02-10T18:04:05Z- sync is 0.77, coherence is 2.00 2021-02-10T18:04:05Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1612980245948; depth 0.00 2021-02-10T18:04:05Z- waiting for 1612980246.17, time is 1612980245.16 2021-02-10T18:04:05Z- sync is 0.77, coherence is 2.00 2021-02-10T18:04:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980245.96 epoch sec; seqNo:1292; 4061648.00 north; 594239.42 east 2021-02-10T18:04:05Z- waiting for 1612980246.17, time is 1612980245.16 2021-02-10T18:04:05Z- sync is 0.80, coherence is 2.00 2021-02-10T18:04:06Z- AHRS_M2 msg: 1612980246.34 epoch sec; seqNo:1286 2021-02-10T18:04:06Z- AHRS_M2 msg: 0.58 phi; 0.07 theta; -0.24 psi 2021-02-10T18:04:06Z- waiting for 1612980246.17, time is 1612980245.16 2021-02-10T18:04:06Z- sync is 1.18, coherence is 2.00 2021-02-10T18:04:06Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1612980246346; depth 0.00 2021-02-10T18:04:06Z- waiting for 1612980246.17, time is 1612980245.16 2021-02-10T18:04:06Z- sync is 1.18, coherence is 2.00 2021-02-10T18:04:06Z- handleDvl() - RDI_Pathfinder msg: 1612980246.36 epoch sec; seqNo:524 2021-02-10T18:04:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.73 , 52.46 , 47.15 , 44.49 2021-02-10T18:04:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.03 , 0.00 2021-02-10T18:04:06Z- waiting for 1612980246.17, time is 1612980246.36 2021-02-10T18:04:06Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:06Z- LcmTrn::updateTrn() >>>> pose time 1612980246.34, meas time 1612980246.36 <<<< 2021-02-10T18:04:06Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980246.36 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:04:06Z- TerrainNav::motionUpdate() - currEstimate = (4061648, 594239.42, 50.41) 2021-02-10T18:04:06Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:04:06Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:04:06Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:04:06Z- TNavBF::mmse selected from filter -1 2021-02-10T18:04:06Z- variances([0], [2], and psi_berg) = 797.759827 833.098118 0.000000 2021-02-10T18:04:06Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:04:06Z- LcmTrn::cycle() - MLE : 4061618.50 594193.92 50.41 2021-02-10T18:04:06Z- LcmTrn::cycle() - MMSE : 4061648.00 594239.42 50.41 2021-02-10T18:04:06Z- LcmTrn::cycle() - COVAR: 797.76 833.10 45.99 0.00 2021-02-10T18:04:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980246.37 epoch sec; seqNo:1293; 4061648.38 north; 594239.42 east 2021-02-10T18:04:06Z- waiting for 1612980249.36, time is 1612980246.36 2021-02-10T18:04:06Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:06Z- AHRS_M2 msg: 1612980246.74 epoch sec; seqNo:1287 2021-02-10T18:04:06Z- AHRS_M2 msg: 0.58 phi; 0.07 theta; -0.23 psi 2021-02-10T18:04:06Z- waiting for 1612980249.36, time is 1612980246.36 2021-02-10T18:04:06Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:06Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1612980246748; depth 0.00 2021-02-10T18:04:06Z- waiting for 1612980249.36, time is 1612980246.36 2021-02-10T18:04:06Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980246.77 epoch sec; seqNo:1294; 4061648.76 north; 594239.41 east 2021-02-10T18:04:06Z- waiting for 1612980249.36, time is 1612980246.36 2021-02-10T18:04:06Z- sync is 0.41, coherence is 2.00 2021-02-10T18:04:07Z- AHRS_M2 msg: 1612980247.15 epoch sec; seqNo:1288 2021-02-10T18:04:07Z- AHRS_M2 msg: 0.57 phi; 0.07 theta; -0.22 psi 2021-02-10T18:04:07Z- waiting for 1612980249.36, time is 1612980246.36 2021-02-10T18:04:07Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:07Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1612980247153; depth 0.00 2021-02-10T18:04:07Z- waiting for 1612980249.36, time is 1612980246.36 2021-02-10T18:04:07Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:07Z- handleDvl() - RDI_Pathfinder msg: 1612980247.16 epoch sec; seqNo:525 2021-02-10T18:04:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.95 , 51.13 , 46.70 , 44.27 2021-02-10T18:04:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.03 , 0.02 2021-02-10T18:04:07Z- waiting for 1612980249.36, time is 1612980247.16 2021-02-10T18:04:07Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980247.18 epoch sec; seqNo:1295; 4061648.76 north; 594239.41 east 2021-02-10T18:04:07Z- waiting for 1612980249.36, time is 1612980247.16 2021-02-10T18:04:07Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:07Z- AHRS_M2 msg: 1612980247.55 epoch sec; seqNo:1289 2021-02-10T18:04:07Z- AHRS_M2 msg: 0.57 phi; 0.07 theta; -0.22 psi 2021-02-10T18:04:07Z- waiting for 1612980249.36, time is 1612980247.16 2021-02-10T18:04:07Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:07Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1612980247556; depth 0.00 2021-02-10T18:04:07Z- waiting for 1612980249.36, time is 1612980247.16 2021-02-10T18:04:07Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980247.57 epoch sec; seqNo:1296; 4061649.15 north; 594240.63 east 2021-02-10T18:04:07Z- waiting for 1612980249.36, time is 1612980247.16 2021-02-10T18:04:07Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:07Z- AHRS_M2 msg: 1612980247.96 epoch sec; seqNo:1290 2021-02-10T18:04:07Z- AHRS_M2 msg: 0.56 phi; 0.07 theta; -0.21 psi 2021-02-10T18:04:07Z- waiting for 1612980249.36, time is 1612980247.16 2021-02-10T18:04:07Z- sync is 0.80, coherence is 2.00 2021-02-10T18:04:07Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1612980247969; depth 0.00 2021-02-10T18:04:07Z- waiting for 1612980249.36, time is 1612980247.16 2021-02-10T18:04:07Z- sync is 0.80, coherence is 2.00 2021-02-10T18:04:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980247.98 epoch sec; seqNo:1297; 4061649.53 north; 594240.62 east 2021-02-10T18:04:07Z- waiting for 1612980249.36, time is 1612980247.16 2021-02-10T18:04:07Z- sync is 0.81, coherence is 2.00 2021-02-10T18:04:08Z- AHRS_M2 msg: 1612980248.36 epoch sec; seqNo:1291 2021-02-10T18:04:08Z- AHRS_M2 msg: 0.56 phi; 0.07 theta; -0.21 psi 2021-02-10T18:04:08Z- waiting for 1612980249.36, time is 1612980247.16 2021-02-10T18:04:08Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:08Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1612980248364; depth 0.00 2021-02-10T18:04:08Z- waiting for 1612980249.36, time is 1612980247.16 2021-02-10T18:04:08Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:08Z- handleDvl() - RDI_Pathfinder msg: 1612980248.38 epoch sec; seqNo:526 2021-02-10T18:04:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.17 , 51.12 , 46.92 , 44.26 2021-02-10T18:04:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.03 , 0.03 2021-02-10T18:04:08Z- waiting for 1612980249.36, time is 1612980248.38 2021-02-10T18:04:08Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980248.39 epoch sec; seqNo:1298; 4061649.91 north; 594240.62 east 2021-02-10T18:04:08Z- waiting for 1612980249.36, time is 1612980248.38 2021-02-10T18:04:08Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:08Z- AHRS_M2 msg: 1612980248.76 epoch sec; seqNo:1292 2021-02-10T18:04:08Z- AHRS_M2 msg: 0.55 phi; 0.07 theta; -0.21 psi 2021-02-10T18:04:08Z- waiting for 1612980249.36, time is 1612980248.38 2021-02-10T18:04:08Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:08Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1612980248768; depth 0.00 2021-02-10T18:04:08Z- waiting for 1612980249.36, time is 1612980248.38 2021-02-10T18:04:08Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980248.78 epoch sec; seqNo:1299; 4061649.91 north; 594240.62 east 2021-02-10T18:04:08Z- waiting for 1612980249.36, time is 1612980248.38 2021-02-10T18:04:08Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:09Z- AHRS_M2 msg: 1612980249.17 epoch sec; seqNo:1293 2021-02-10T18:04:09Z- AHRS_M2 msg: 0.55 phi; 0.07 theta; -0.21 psi 2021-02-10T18:04:09Z- waiting for 1612980249.36, time is 1612980248.38 2021-02-10T18:04:09Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:09Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1612980249173; depth 0.00 2021-02-10T18:04:09Z- waiting for 1612980249.36, time is 1612980248.38 2021-02-10T18:04:09Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:09Z- handleDvl() - RDI_Pathfinder msg: 1612980249.18 epoch sec; seqNo:527 2021-02-10T18:04:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.39 , 50.90 , 46.92 , 44.04 2021-02-10T18:04:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.01 , 0.04 2021-02-10T18:04:09Z- waiting for 1612980249.36, time is 1612980249.18 2021-02-10T18:04:09Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980249.19 epoch sec; seqNo:1300; 4061650.29 north; 594240.62 east 2021-02-10T18:04:09Z- waiting for 1612980249.36, time is 1612980249.18 2021-02-10T18:04:09Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:09Z- AHRS_M2 msg: 1612980249.58 epoch sec; seqNo:1294 2021-02-10T18:04:09Z- AHRS_M2 msg: 0.54 phi; 0.07 theta; -0.21 psi 2021-02-10T18:04:09Z- waiting for 1612980249.36, time is 1612980249.18 2021-02-10T18:04:09Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:09Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1612980249582; depth 0.00 2021-02-10T18:04:09Z- waiting for 1612980249.36, time is 1612980249.18 2021-02-10T18:04:09Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980249.59 epoch sec; seqNo:1301; 4061650.66 north; 594240.61 east 2021-02-10T18:04:09Z- waiting for 1612980249.36, time is 1612980249.18 2021-02-10T18:04:09Z- sync is 0.41, coherence is 2.00 2021-02-10T18:04:09Z- AHRS_M2 msg: 1612980249.97 epoch sec; seqNo:1295 2021-02-10T18:04:09Z- AHRS_M2 msg: 0.54 phi; 0.07 theta; -0.21 psi 2021-02-10T18:04:09Z- waiting for 1612980249.36, time is 1612980249.18 2021-02-10T18:04:09Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:09Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1612980249990; depth 0.00 2021-02-10T18:04:09Z- waiting for 1612980249.36, time is 1612980249.18 2021-02-10T18:04:09Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980250.00 epoch sec; seqNo:1302; 4061651.04 north; 594240.61 east 2021-02-10T18:04:10Z- waiting for 1612980249.36, time is 1612980249.18 2021-02-10T18:04:10Z- sync is 0.81, coherence is 2.00 2021-02-10T18:04:10Z- AHRS_M2 msg: 1612980250.38 epoch sec; seqNo:1296 2021-02-10T18:04:10Z- AHRS_M2 msg: 0.54 phi; 0.07 theta; -0.21 psi 2021-02-10T18:04:10Z- waiting for 1612980249.36, time is 1612980249.18 2021-02-10T18:04:10Z- sync is 1.20, coherence is 2.00 2021-02-10T18:04:10Z- handleDepth()-Depth_Keller msg: 50.26 epoch sec; seqNo:1612980250385; depth 0.00 2021-02-10T18:04:10Z- waiting for 1612980249.36, time is 1612980249.18 2021-02-10T18:04:10Z- sync is 1.20, coherence is 2.00 2021-02-10T18:04:10Z- handleDvl() - RDI_Pathfinder msg: 1612980250.40 epoch sec; seqNo:528 2021-02-10T18:04:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.39 , 50.90 , 47.14 , 44.04 2021-02-10T18:04:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.01 , 0.04 2021-02-10T18:04:10Z- waiting for 1612980249.36, time is 1612980250.40 2021-02-10T18:04:10Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:10Z- LcmTrn::updateTrn() >>>> pose time 1612980250.38, meas time 1612980250.40 <<<< 2021-02-10T18:04:10Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980250.40 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:04:10Z- TerrainNav::motionUpdate() - currEstimate = (4061651, 594240.61, 50.26) 2021-02-10T18:04:10Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:04:10Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:04:10Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:04:10Z- TNavBF::mmse selected from filter -1 2021-02-10T18:04:10Z- variances([0], [2], and psi_berg) = 797.565808 833.097719 0.000000 2021-02-10T18:04:10Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:04:10Z- LcmTrn::cycle() - MLE : 4061621.54 594195.11 50.26 2021-02-10T18:04:10Z- LcmTrn::cycle() - MMSE : 4061651.04 594240.61 50.26 2021-02-10T18:04:10Z- LcmTrn::cycle() - COVAR: 797.57 833.10 46.16 0.00 2021-02-10T18:04:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980250.41 epoch sec; seqNo:1303; 4061651.06 north; 594241.83 east 2021-02-10T18:04:10Z- waiting for 1612980253.40, time is 1612980250.40 2021-02-10T18:04:10Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:10Z- AHRS_M2 msg: 1612980250.79 epoch sec; seqNo:1297 2021-02-10T18:04:10Z- AHRS_M2 msg: 0.54 phi; 0.07 theta; -0.20 psi 2021-02-10T18:04:10Z- waiting for 1612980253.40, time is 1612980250.40 2021-02-10T18:04:10Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:10Z- handleDepth()-Depth_Keller msg: 50.26 epoch sec; seqNo:1612980250794; depth 0.00 2021-02-10T18:04:10Z- waiting for 1612980253.40, time is 1612980250.40 2021-02-10T18:04:10Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980250.81 epoch sec; seqNo:1304; 4061651.44 north; 594241.82 east 2021-02-10T18:04:10Z- waiting for 1612980253.40, time is 1612980250.40 2021-02-10T18:04:10Z- sync is 0.41, coherence is 2.00 2021-02-10T18:04:11Z- AHRS_M2 msg: 1612980251.19 epoch sec; seqNo:1298 2021-02-10T18:04:11Z- AHRS_M2 msg: 0.53 phi; 0.08 theta; -0.20 psi 2021-02-10T18:04:11Z- waiting for 1612980253.40, time is 1612980250.40 2021-02-10T18:04:11Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:11Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1612980251192; depth 0.00 2021-02-10T18:04:11Z- waiting for 1612980253.40, time is 1612980250.40 2021-02-10T18:04:11Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:11Z- handleDvl() - RDI_Pathfinder msg: 1612980251.21 epoch sec; seqNo:529 2021-02-10T18:04:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.61 , 50.68 , 47.36 , 44.26 2021-02-10T18:04:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.01 , 0.02 2021-02-10T18:04:11Z- waiting for 1612980253.40, time is 1612980251.21 2021-02-10T18:04:11Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980251.22 epoch sec; seqNo:1305; 4061651.81 north; 594241.82 east 2021-02-10T18:04:11Z- waiting for 1612980253.40, time is 1612980251.21 2021-02-10T18:04:11Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:11Z- AHRS_M2 msg: 1612980251.59 epoch sec; seqNo:1299 2021-02-10T18:04:11Z- AHRS_M2 msg: 0.53 phi; 0.08 theta; -0.20 psi 2021-02-10T18:04:11Z- waiting for 1612980253.40, time is 1612980251.21 2021-02-10T18:04:11Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:11Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1612980251596; depth 0.00 2021-02-10T18:04:11Z- waiting for 1612980253.40, time is 1612980251.21 2021-02-10T18:04:11Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980251.61 epoch sec; seqNo:1306; 4061652.19 north; 594241.82 east 2021-02-10T18:04:11Z- waiting for 1612980253.40, time is 1612980251.21 2021-02-10T18:04:11Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:11Z- AHRS_M2 msg: 1612980252.00 epoch sec; seqNo:1300 2021-02-10T18:04:12Z- AHRS_M2 msg: 0.53 phi; 0.08 theta; -0.20 psi 2021-02-10T18:04:12Z- waiting for 1612980253.40, time is 1612980251.21 2021-02-10T18:04:12Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:12Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1612980252005; depth 0.00 2021-02-10T18:04:12Z- waiting for 1612980253.40, time is 1612980251.21 2021-02-10T18:04:12Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980252.01 epoch sec; seqNo:1307; 4061652.57 north; 594241.81 east 2021-02-10T18:04:12Z- waiting for 1612980253.40, time is 1612980251.21 2021-02-10T18:04:12Z- sync is 0.80, coherence is 2.00 2021-02-10T18:04:12Z- AHRS_M2 msg: 1612980252.40 epoch sec; seqNo:1301 2021-02-10T18:04:12Z- AHRS_M2 msg: 0.53 phi; 0.08 theta; -0.20 psi 2021-02-10T18:04:12Z- waiting for 1612980253.40, time is 1612980251.21 2021-02-10T18:04:12Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:12Z- handleDepth()-Depth_Keller msg: 50.19 epoch sec; seqNo:1612980252413; depth 0.00 2021-02-10T18:04:12Z- waiting for 1612980253.40, time is 1612980251.21 2021-02-10T18:04:12Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:12Z- handleDvl() - RDI_Pathfinder msg: 1612980252.42 epoch sec; seqNo:530 2021-02-10T18:04:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.61 , 50.24 , 47.14 , 44.04 2021-02-10T18:04:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.01 , 0.00 2021-02-10T18:04:12Z- waiting for 1612980253.40, time is 1612980252.42 2021-02-10T18:04:12Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980252.43 epoch sec; seqNo:1308; 4061652.57 north; 594241.81 east 2021-02-10T18:04:12Z- waiting for 1612980253.40, time is 1612980252.42 2021-02-10T18:04:12Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:12Z- AHRS_M2 msg: 1612980252.81 epoch sec; seqNo:1302 2021-02-10T18:04:12Z- AHRS_M2 msg: 0.53 phi; 0.08 theta; -0.20 psi 2021-02-10T18:04:12Z- waiting for 1612980253.40, time is 1612980252.42 2021-02-10T18:04:12Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:12Z- handleDepth()-Depth_Keller msg: 50.17 epoch sec; seqNo:1612980252810; depth 0.00 2021-02-10T18:04:12Z- waiting for 1612980253.40, time is 1612980252.42 2021-02-10T18:04:12Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980252.83 epoch sec; seqNo:1309; 4061652.95 north; 594241.81 east 2021-02-10T18:04:12Z- waiting for 1612980253.40, time is 1612980252.42 2021-02-10T18:04:12Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:13Z- AHRS_M2 msg: 1612980253.21 epoch sec; seqNo:1303 2021-02-10T18:04:13Z- AHRS_M2 msg: 0.53 phi; 0.08 theta; -0.19 psi 2021-02-10T18:04:13Z- waiting for 1612980253.40, time is 1612980252.42 2021-02-10T18:04:13Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:13Z- handleDepth()-Depth_Keller msg: 50.13 epoch sec; seqNo:1612980253213; depth 0.00 2021-02-10T18:04:13Z- waiting for 1612980253.40, time is 1612980252.42 2021-02-10T18:04:13Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:13Z- handleDvl() - RDI_Pathfinder msg: 1612980253.24 epoch sec; seqNo:531 2021-02-10T18:04:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.83 , 50.46 , 47.14 , 44.04 2021-02-10T18:04:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.00 , -0.01 2021-02-10T18:04:13Z- waiting for 1612980253.40, time is 1612980253.24 2021-02-10T18:04:13Z- sync is 0.03, coherence is 2.00 2021-02-10T18:04:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980253.25 epoch sec; seqNo:1310; 4061653.34 north; 594243.02 east 2021-02-10T18:04:13Z- waiting for 1612980253.40, time is 1612980253.24 2021-02-10T18:04:13Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:13Z- AHRS_M2 msg: 1612980253.62 epoch sec; seqNo:1304 2021-02-10T18:04:13Z- AHRS_M2 msg: 0.53 phi; 0.08 theta; -0.19 psi 2021-02-10T18:04:13Z- waiting for 1612980253.40, time is 1612980253.24 2021-02-10T18:04:13Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:13Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1612980253627; depth 0.00 2021-02-10T18:04:13Z- waiting for 1612980253.40, time is 1612980253.24 2021-02-10T18:04:13Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980253.64 epoch sec; seqNo:1311; 4061653.72 north; 594243.02 east 2021-02-10T18:04:13Z- waiting for 1612980253.40, time is 1612980253.24 2021-02-10T18:04:13Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:14Z- AHRS_M2 msg: 1612980254.02 epoch sec; seqNo:1305 2021-02-10T18:04:14Z- AHRS_M2 msg: 0.53 phi; 0.08 theta; -0.19 psi 2021-02-10T18:04:14Z- waiting for 1612980253.40, time is 1612980253.24 2021-02-10T18:04:14Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:14Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1612980254027; depth 0.00 2021-02-10T18:04:14Z- waiting for 1612980253.40, time is 1612980253.24 2021-02-10T18:04:14Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980254.04 epoch sec; seqNo:1312; 4061654.10 north; 594243.02 east 2021-02-10T18:04:14Z- waiting for 1612980253.40, time is 1612980253.24 2021-02-10T18:04:14Z- sync is 0.80, coherence is 2.00 2021-02-10T18:04:14Z- AHRS_M2 msg: 1612980254.42 epoch sec; seqNo:1306 2021-02-10T18:04:14Z- AHRS_M2 msg: 0.53 phi; 0.08 theta; -0.18 psi 2021-02-10T18:04:14Z- waiting for 1612980253.40, time is 1612980253.24 2021-02-10T18:04:14Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:14Z- handleDepth()-Depth_Keller msg: 50.08 epoch sec; seqNo:1612980254428; depth 0.00 2021-02-10T18:04:14Z- waiting for 1612980253.40, time is 1612980253.24 2021-02-10T18:04:14Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:14Z- handleDvl() - RDI_Pathfinder msg: 1612980254.44 epoch sec; seqNo:532 2021-02-10T18:04:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.83 , 50.24 , 47.58 , 44.04 2021-02-10T18:04:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.00 , -0.03 2021-02-10T18:04:14Z- waiting for 1612980253.40, time is 1612980254.44 2021-02-10T18:04:14Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:14Z- LcmTrn::updateTrn() >>>> pose time 1612980254.42, meas time 1612980254.44 <<<< 2021-02-10T18:04:14Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980254.44 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:04:14Z- TerrainNav::motionUpdate() - currEstimate = (4061654, 594243.02, 50.08) 2021-02-10T18:04:14Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:04:14Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:04:14Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:04:14Z- TNavBF::mmse selected from filter -1 2021-02-10T18:04:14Z- variances([0], [2], and psi_berg) = 797.354952 833.097288 0.000000 2021-02-10T18:04:14Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:04:14Z- LcmTrn::cycle() - MLE : 4061624.60 594292.52 50.08 2021-02-10T18:04:14Z- LcmTrn::cycle() - MMSE : 4061654.10 594243.02 50.08 2021-02-10T18:04:14Z- LcmTrn::cycle() - COVAR: 797.35 833.10 46.36 0.00 2021-02-10T18:04:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980254.47 epoch sec; seqNo:1313; 4061654.10 north; 594243.02 east 2021-02-10T18:04:14Z- waiting for 1612980257.44, time is 1612980254.44 2021-02-10T18:04:14Z- sync is 0.03, coherence is 2.00 2021-02-10T18:04:14Z- AHRS_M2 msg: 1612980254.83 epoch sec; seqNo:1307 2021-02-10T18:04:14Z- AHRS_M2 msg: 0.54 phi; 0.08 theta; -0.18 psi 2021-02-10T18:04:14Z- waiting for 1612980257.44, time is 1612980254.44 2021-02-10T18:04:14Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:14Z- handleDepth()-Depth_Keller msg: 50.07 epoch sec; seqNo:1612980254829; depth 0.00 2021-02-10T18:04:14Z- waiting for 1612980257.44, time is 1612980254.44 2021-02-10T18:04:14Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980254.84 epoch sec; seqNo:1314; 4061654.48 north; 594243.01 east 2021-02-10T18:04:14Z- waiting for 1612980257.44, time is 1612980254.44 2021-02-10T18:04:14Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:15Z- AHRS_M2 msg: 1612980255.23 epoch sec; seqNo:1308 2021-02-10T18:04:15Z- AHRS_M2 msg: 0.54 phi; 0.08 theta; -0.17 psi 2021-02-10T18:04:15Z- waiting for 1612980257.44, time is 1612980254.44 2021-02-10T18:04:15Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:15Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1612980255237; depth 0.00 2021-02-10T18:04:15Z- waiting for 1612980257.44, time is 1612980254.44 2021-02-10T18:04:15Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:15Z- handleDvl() - RDI_Pathfinder msg: 1612980255.25 epoch sec; seqNo:533 2021-02-10T18:04:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.83 , 49.80 , 47.36 , 43.82 2021-02-10T18:04:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.01 , -0.03 2021-02-10T18:04:15Z- waiting for 1612980257.44, time is 1612980255.25 2021-02-10T18:04:15Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980255.26 epoch sec; seqNo:1315; 4061654.86 north; 594243.01 east 2021-02-10T18:04:15Z- waiting for 1612980257.44, time is 1612980255.25 2021-02-10T18:04:15Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:15Z- AHRS_M2 msg: 1612980255.63 epoch sec; seqNo:1309 2021-02-10T18:04:15Z- AHRS_M2 msg: 0.54 phi; 0.08 theta; -0.17 psi 2021-02-10T18:04:15Z- waiting for 1612980257.44, time is 1612980255.25 2021-02-10T18:04:15Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:15Z- handleDepth()-Depth_Keller msg: 50.01 epoch sec; seqNo:1612980255636; depth 0.00 2021-02-10T18:04:15Z- waiting for 1612980257.44, time is 1612980255.25 2021-02-10T18:04:15Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980255.65 epoch sec; seqNo:1316; 4061655.25 north; 594244.22 east 2021-02-10T18:04:15Z- waiting for 1612980257.44, time is 1612980255.25 2021-02-10T18:04:15Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:16Z- AHRS_M2 msg: 1612980256.04 epoch sec; seqNo:1310 2021-02-10T18:04:16Z- AHRS_M2 msg: 0.54 phi; 0.08 theta; -0.16 psi 2021-02-10T18:04:16Z- waiting for 1612980257.44, time is 1612980255.25 2021-02-10T18:04:16Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:16Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1612980256045; depth 0.00 2021-02-10T18:04:16Z- waiting for 1612980257.44, time is 1612980255.25 2021-02-10T18:04:16Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980256.05 epoch sec; seqNo:1317; 4061655.63 north; 594244.22 east 2021-02-10T18:04:16Z- waiting for 1612980257.44, time is 1612980255.25 2021-02-10T18:04:16Z- sync is 0.80, coherence is 2.00 2021-02-10T18:04:16Z- AHRS_M2 msg: 1612980256.44 epoch sec; seqNo:1311 2021-02-10T18:04:16Z- AHRS_M2 msg: 0.55 phi; 0.08 theta; -0.16 psi 2021-02-10T18:04:16Z- waiting for 1612980257.44, time is 1612980255.25 2021-02-10T18:04:16Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:16Z- handleDepth()-Depth_Keller msg: 49.96 epoch sec; seqNo:1612980256444; depth 0.00 2021-02-10T18:04:16Z- waiting for 1612980257.44, time is 1612980255.25 2021-02-10T18:04:16Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:16Z- handleDvl() - RDI_Pathfinder msg: 1612980256.46 epoch sec; seqNo:534 2021-02-10T18:04:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.05 , 49.35 , 47.36 , 43.82 2021-02-10T18:04:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.01 , -0.03 2021-02-10T18:04:16Z- waiting for 1612980257.44, time is 1612980256.46 2021-02-10T18:04:16Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980256.47 epoch sec; seqNo:1318; 4061655.63 north; 594244.22 east 2021-02-10T18:04:16Z- waiting for 1612980257.44, time is 1612980256.46 2021-02-10T18:04:16Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:16Z- AHRS_M2 msg: 1612980256.84 epoch sec; seqNo:1312 2021-02-10T18:04:16Z- AHRS_M2 msg: 0.55 phi; 0.08 theta; -0.15 psi 2021-02-10T18:04:16Z- waiting for 1612980257.44, time is 1612980256.46 2021-02-10T18:04:16Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:16Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1612980256848; depth 0.00 2021-02-10T18:04:16Z- waiting for 1612980257.44, time is 1612980256.46 2021-02-10T18:04:16Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980256.86 epoch sec; seqNo:1319; 4061656.01 north; 594244.21 east 2021-02-10T18:04:16Z- waiting for 1612980257.44, time is 1612980256.46 2021-02-10T18:04:16Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:17Z- AHRS_M2 msg: 1612980257.25 epoch sec; seqNo:1313 2021-02-10T18:04:17Z- AHRS_M2 msg: 0.56 phi; 0.08 theta; -0.15 psi 2021-02-10T18:04:17Z- waiting for 1612980257.44, time is 1612980256.46 2021-02-10T18:04:17Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:17Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1612980257257; depth 0.00 2021-02-10T18:04:17Z- waiting for 1612980257.44, time is 1612980256.46 2021-02-10T18:04:17Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:17Z- handleDvl() - RDI_Pathfinder msg: 1612980257.27 epoch sec; seqNo:535 2021-02-10T18:04:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.49 , 48.69 , 47.36 , 43.60 2021-02-10T18:04:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.02 , -0.03 2021-02-10T18:04:17Z- waiting for 1612980257.44, time is 1612980257.27 2021-02-10T18:04:17Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980257.28 epoch sec; seqNo:1320; 4061656.39 north; 594244.21 east 2021-02-10T18:04:17Z- waiting for 1612980257.44, time is 1612980257.27 2021-02-10T18:04:17Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:17Z- AHRS_M2 msg: 1612980257.65 epoch sec; seqNo:1314 2021-02-10T18:04:17Z- AHRS_M2 msg: 0.56 phi; 0.08 theta; -0.14 psi 2021-02-10T18:04:17Z- waiting for 1612980257.44, time is 1612980257.27 2021-02-10T18:04:17Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:17Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1612980257658; depth 0.00 2021-02-10T18:04:17Z- waiting for 1612980257.44, time is 1612980257.27 2021-02-10T18:04:17Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980257.67 epoch sec; seqNo:1321; 4061656.77 north; 594244.21 east 2021-02-10T18:04:17Z- waiting for 1612980257.44, time is 1612980257.27 2021-02-10T18:04:17Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:18Z- AHRS_M2 msg: 1612980258.06 epoch sec; seqNo:1315 2021-02-10T18:04:18Z- AHRS_M2 msg: 0.57 phi; 0.08 theta; -0.12 psi 2021-02-10T18:04:18Z- waiting for 1612980257.44, time is 1612980257.27 2021-02-10T18:04:18Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:18Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1612980258060; depth 0.00 2021-02-10T18:04:18Z- waiting for 1612980257.44, time is 1612980257.27 2021-02-10T18:04:18Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980258.11 epoch sec; seqNo:1322; 4061657.15 north; 594244.20 east 2021-02-10T18:04:18Z- waiting for 1612980257.44, time is 1612980257.27 2021-02-10T18:04:18Z- sync is 0.84, coherence is 2.00 2021-02-10T18:04:18Z- AHRS_M2 msg: 1612980258.46 epoch sec; seqNo:1316 2021-02-10T18:04:18Z- AHRS_M2 msg: 0.58 phi; 0.08 theta; -0.11 psi 2021-02-10T18:04:18Z- waiting for 1612980257.44, time is 1612980257.27 2021-02-10T18:04:18Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:18Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1612980258469; depth 0.00 2021-02-10T18:04:18Z- waiting for 1612980257.44, time is 1612980257.27 2021-02-10T18:04:18Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:18Z- handleDvl() - RDI_Pathfinder msg: 1612980258.48 epoch sec; seqNo:536 2021-02-10T18:04:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.94 , 48.03 , 47.14 , 43.60 2021-02-10T18:04:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , -0.02 2021-02-10T18:04:18Z- waiting for 1612980257.44, time is 1612980258.48 2021-02-10T18:04:18Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:18Z- LcmTrn::updateTrn() >>>> pose time 1612980258.46, meas time 1612980258.48 <<<< 2021-02-10T18:04:18Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980258.48 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:04:18Z- TerrainNav::motionUpdate() - currEstimate = (4061657, 594244.20, 49.83) 2021-02-10T18:04:18Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:04:18Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:04:18Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:04:18Z- TNavBF::mmse selected from filter -1 2021-02-10T18:04:18Z- variances([0], [2], and psi_berg) = 797.162622 833.096897 0.000000 2021-02-10T18:04:18Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:04:18Z- LcmTrn::cycle() - MLE : 4061627.65 594293.70 49.83 2021-02-10T18:04:18Z- LcmTrn::cycle() - MMSE : 4061657.15 594244.20 49.83 2021-02-10T18:04:18Z- LcmTrn::cycle() - COVAR: 797.16 833.10 46.52 0.00 2021-02-10T18:04:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980258.49 epoch sec; seqNo:1323; 4061657.16 north; 594245.42 east 2021-02-10T18:04:18Z- waiting for 1612980261.48, time is 1612980258.48 2021-02-10T18:04:18Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:18Z- AHRS_M2 msg: 1612980258.86 epoch sec; seqNo:1317 2021-02-10T18:04:18Z- AHRS_M2 msg: 0.59 phi; 0.08 theta; -0.10 psi 2021-02-10T18:04:18Z- waiting for 1612980261.48, time is 1612980258.48 2021-02-10T18:04:18Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:18Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1612980258870; depth 0.00 2021-02-10T18:04:18Z- waiting for 1612980261.48, time is 1612980258.48 2021-02-10T18:04:18Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980258.88 epoch sec; seqNo:1324; 4061657.54 north; 594245.42 east 2021-02-10T18:04:18Z- waiting for 1612980261.48, time is 1612980258.48 2021-02-10T18:04:18Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:19Z- AHRS_M2 msg: 1612980259.27 epoch sec; seqNo:1318 2021-02-10T18:04:19Z- AHRS_M2 msg: 0.60 phi; 0.08 theta; -0.08 psi 2021-02-10T18:04:19Z- waiting for 1612980261.48, time is 1612980258.48 2021-02-10T18:04:19Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:19Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1612980259277; depth 0.00 2021-02-10T18:04:19Z- waiting for 1612980261.48, time is 1612980258.48 2021-02-10T18:04:19Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:19Z- handleDvl() - RDI_Pathfinder msg: 1612980259.29 epoch sec; seqNo:537 2021-02-10T18:04:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.60 , 46.92 , 46.92 , 43.60 2021-02-10T18:04:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , -0.01 2021-02-10T18:04:19Z- waiting for 1612980261.48, time is 1612980259.29 2021-02-10T18:04:19Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980259.31 epoch sec; seqNo:1325; 4061657.92 north; 594245.41 east 2021-02-10T18:04:19Z- waiting for 1612980261.48, time is 1612980259.29 2021-02-10T18:04:19Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:19Z- AHRS_M2 msg: 1612980259.67 epoch sec; seqNo:1319 2021-02-10T18:04:19Z- AHRS_M2 msg: 0.61 phi; 0.08 theta; -0.08 psi 2021-02-10T18:04:19Z- waiting for 1612980261.48, time is 1612980259.29 2021-02-10T18:04:19Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:19Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1612980259676; depth 0.00 2021-02-10T18:04:19Z- waiting for 1612980261.48, time is 1612980259.29 2021-02-10T18:04:19Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980259.69 epoch sec; seqNo:1326; 4061658.30 north; 594245.41 east 2021-02-10T18:04:19Z- waiting for 1612980261.48, time is 1612980259.29 2021-02-10T18:04:19Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:20Z- AHRS_M2 msg: 1612980260.08 epoch sec; seqNo:1320 2021-02-10T18:04:20Z- AHRS_M2 msg: 0.62 phi; 0.08 theta; -0.07 psi 2021-02-10T18:04:20Z- waiting for 1612980261.48, time is 1612980259.29 2021-02-10T18:04:20Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:20Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1612980260089; depth 0.00 2021-02-10T18:04:20Z- waiting for 1612980261.48, time is 1612980259.29 2021-02-10T18:04:20Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980260.11 epoch sec; seqNo:1327; 4061658.67 north; 594245.41 east 2021-02-10T18:04:20Z- waiting for 1612980261.48, time is 1612980259.29 2021-02-10T18:04:20Z- sync is 0.82, coherence is 2.00 2021-02-10T18:04:20Z- AHRS_M2 msg: 1612980260.48 epoch sec; seqNo:1321 2021-02-10T18:04:20Z- AHRS_M2 msg: 0.63 phi; 0.08 theta; -0.06 psi 2021-02-10T18:04:20Z- waiting for 1612980261.48, time is 1612980259.29 2021-02-10T18:04:20Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:20Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1612980260485; depth 0.00 2021-02-10T18:04:20Z- waiting for 1612980261.48, time is 1612980259.29 2021-02-10T18:04:20Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:20Z- handleDvl() - RDI_Pathfinder msg: 1612980260.50 epoch sec; seqNo:538 2021-02-10T18:04:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.13 , 46.37 , 46.99 , 43.72 2021-02-10T18:04:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.04 , -0.01 2021-02-10T18:04:20Z- waiting for 1612980261.48, time is 1612980260.50 2021-02-10T18:04:20Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980260.51 epoch sec; seqNo:1328; 4061658.67 north; 594245.41 east 2021-02-10T18:04:20Z- waiting for 1612980261.48, time is 1612980260.50 2021-02-10T18:04:20Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:20Z- AHRS_M2 msg: 1612980260.88 epoch sec; seqNo:1322 2021-02-10T18:04:20Z- AHRS_M2 msg: 0.64 phi; 0.08 theta; -0.06 psi 2021-02-10T18:04:20Z- waiting for 1612980261.48, time is 1612980260.50 2021-02-10T18:04:20Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:20Z- handleDepth()-Depth_Keller msg: 49.64 epoch sec; seqNo:1612980260888; depth 0.00 2021-02-10T18:04:20Z- waiting for 1612980261.48, time is 1612980260.50 2021-02-10T18:04:20Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980260.90 epoch sec; seqNo:1329; 4061659.07 north; 594246.62 east 2021-02-10T18:04:20Z- waiting for 1612980261.48, time is 1612980260.50 2021-02-10T18:04:20Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:21Z- AHRS_M2 msg: 1612980261.29 epoch sec; seqNo:1323 2021-02-10T18:04:21Z- AHRS_M2 msg: 0.65 phi; 0.07 theta; -0.05 psi 2021-02-10T18:04:21Z- waiting for 1612980261.48, time is 1612980260.50 2021-02-10T18:04:21Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:21Z- handleDepth()-Depth_Keller msg: 49.62 epoch sec; seqNo:1612980261292; depth 0.00 2021-02-10T18:04:21Z- waiting for 1612980261.48, time is 1612980260.50 2021-02-10T18:04:21Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:21Z- handleDvl() - RDI_Pathfinder msg: 1612980261.30 epoch sec; seqNo:539 2021-02-10T18:04:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.33 , 45.97 , 46.99 , 43.92 2021-02-10T18:04:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.03 , -0.01 2021-02-10T18:04:21Z- waiting for 1612980261.48, time is 1612980261.30 2021-02-10T18:04:21Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980261.31 epoch sec; seqNo:1330; 4061659.45 north; 594246.62 east 2021-02-10T18:04:21Z- waiting for 1612980261.48, time is 1612980261.30 2021-02-10T18:04:21Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:21Z- AHRS_M2 msg: 1612980261.70 epoch sec; seqNo:1324 2021-02-10T18:04:21Z- AHRS_M2 msg: 0.66 phi; 0.07 theta; -0.04 psi 2021-02-10T18:04:21Z- waiting for 1612980261.48, time is 1612980261.30 2021-02-10T18:04:21Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:21Z- handleDepth()-Depth_Keller msg: 49.59 epoch sec; seqNo:1612980261700; depth 0.00 2021-02-10T18:04:21Z- waiting for 1612980261.48, time is 1612980261.30 2021-02-10T18:04:21Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980261.71 epoch sec; seqNo:1331; 4061659.82 north; 594246.61 east 2021-02-10T18:04:21Z- waiting for 1612980261.48, time is 1612980261.30 2021-02-10T18:04:21Z- sync is 0.41, coherence is 2.00 2021-02-10T18:04:22Z- AHRS_M2 msg: 1612980262.12 epoch sec; seqNo:1325 2021-02-10T18:04:22Z- AHRS_M2 msg: 0.67 phi; 0.07 theta; -0.04 psi 2021-02-10T18:04:22Z- waiting for 1612980261.48, time is 1612980261.30 2021-02-10T18:04:22Z- sync is 0.82, coherence is 2.00 2021-02-10T18:04:22Z- handleDepth()-Depth_Keller msg: 49.56 epoch sec; seqNo:1612980262128; depth 0.00 2021-02-10T18:04:22Z- waiting for 1612980261.48, time is 1612980261.30 2021-02-10T18:04:22Z- sync is 0.82, coherence is 2.00 2021-02-10T18:04:22Z- handleDvl() - RDI_Pathfinder msg: 1612980262.14 epoch sec; seqNo:540 2021-02-10T18:04:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.74 , 45.56 , 46.78 , 43.92 2021-02-10T18:04:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.04 , -0.02 2021-02-10T18:04:22Z- waiting for 1612980261.48, time is 1612980262.14 2021-02-10T18:04:22Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:22Z- LcmTrn::updateTrn() >>>> pose time 1612980262.12, meas time 1612980262.14 <<<< 2021-02-10T18:04:22Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980262.14 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:04:22Z- TerrainNav::motionUpdate() - currEstimate = (4061660, 594246.61, 49.56) 2021-02-10T18:04:22Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:04:22Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:04:22Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:04:22Z- TNavBF::mmse selected from filter -1 2021-02-10T18:04:22Z- variances([0], [2], and psi_berg) = 796.961452 833.096490 0.000000 2021-02-10T18:04:22Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:04:22Z- LcmTrn::cycle() - MLE : 4061630.32 594296.11 49.56 2021-02-10T18:04:22Z- LcmTrn::cycle() - MMSE : 4061659.82 594246.61 49.56 2021-02-10T18:04:22Z- LcmTrn::cycle() - COVAR: 796.96 833.10 46.71 0.00 2021-02-10T18:04:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980262.15 epoch sec; seqNo:1332; 4061660.20 north; 594246.61 east 2021-02-10T18:04:22Z- waiting for 1612980265.14, time is 1612980262.14 2021-02-10T18:04:22Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:22Z- AHRS_M2 msg: 1612980262.50 epoch sec; seqNo:1326 2021-02-10T18:04:22Z- AHRS_M2 msg: 0.68 phi; 0.07 theta; -0.04 psi 2021-02-10T18:04:22Z- waiting for 1612980265.14, time is 1612980262.14 2021-02-10T18:04:22Z- sync is 0.36, coherence is 2.00 2021-02-10T18:04:22Z- handleDepth()-Depth_Keller msg: 49.55 epoch sec; seqNo:1612980262504; depth 0.00 2021-02-10T18:04:22Z- waiting for 1612980265.14, time is 1612980262.14 2021-02-10T18:04:22Z- sync is 0.36, coherence is 2.00 2021-02-10T18:04:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980262.52 epoch sec; seqNo:1333; 4061660.20 north; 594246.61 east 2021-02-10T18:04:22Z- waiting for 1612980265.14, time is 1612980262.14 2021-02-10T18:04:22Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:22Z- AHRS_M2 msg: 1612980262.90 epoch sec; seqNo:1327 2021-02-10T18:04:22Z- AHRS_M2 msg: 0.69 phi; 0.07 theta; -0.03 psi 2021-02-10T18:04:22Z- waiting for 1612980265.14, time is 1612980262.14 2021-02-10T18:04:22Z- sync is 0.77, coherence is 2.00 2021-02-10T18:04:22Z- handleDepth()-Depth_Keller msg: 49.53 epoch sec; seqNo:1612980262908; depth 0.00 2021-02-10T18:04:22Z- waiting for 1612980265.14, time is 1612980262.14 2021-02-10T18:04:22Z- sync is 0.77, coherence is 2.00 2021-02-10T18:04:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980262.92 epoch sec; seqNo:1334; 4061660.58 north; 594246.61 east 2021-02-10T18:04:22Z- waiting for 1612980265.14, time is 1612980262.14 2021-02-10T18:04:22Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:23Z- handleDepth()-Depth_Keller msg: 49.49 epoch sec; seqNo:1612980263329; depth 0.00 2021-02-10T18:04:23Z- waiting for 1612980265.14, time is 1612980262.14 2021-02-10T18:04:23Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980263.34 epoch sec; seqNo:1335; 4061660.97 north; 594247.82 east 2021-02-10T18:04:23Z- waiting for 1612980265.14, time is 1612980262.14 2021-02-10T18:04:23Z- sync is 1.20, coherence is 2.00 2021-02-10T18:04:23Z- AHRS_M2 msg: 1612980263.71 epoch sec; seqNo:1328 2021-02-10T18:04:23Z- AHRS_M2 msg: 0.71 phi; 0.07 theta; -0.03 psi 2021-02-10T18:04:23Z- waiting for 1612980265.14, time is 1612980262.14 2021-02-10T18:04:23Z- sync is 1.57, coherence is 2.00 2021-02-10T18:04:23Z- handleDepth()-Depth_Keller msg: 49.46 epoch sec; seqNo:1612980263717; depth 0.00 2021-02-10T18:04:23Z- waiting for 1612980265.14, time is 1612980262.14 2021-02-10T18:04:23Z- sync is 1.57, coherence is 2.00 2021-02-10T18:04:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980263.74 epoch sec; seqNo:1336; 4061661.35 north; 594247.82 east 2021-02-10T18:04:23Z- waiting for 1612980265.14, time is 1612980262.14 2021-02-10T18:04:23Z- sync is 1.60, coherence is 2.00 2021-02-10T18:04:24Z- AHRS_M2 msg: 1612980264.13 epoch sec; seqNo:1329 2021-02-10T18:04:24Z- AHRS_M2 msg: 0.73 phi; 0.06 theta; -0.03 psi 2021-02-10T18:04:24Z- waiting for 1612980265.14, time is 1612980262.14 2021-02-10T18:04:24Z- sync is 1.99, coherence is 2.00 2021-02-10T18:04:24Z- handleDepth()-Depth_Keller msg: 49.45 epoch sec; seqNo:1612980264134; depth 0.00 2021-02-10T18:04:24Z- waiting for 1612980265.14, time is 1612980262.14 2021-02-10T18:04:24Z- sync is 1.99, coherence is 2.00 2021-02-10T18:04:24Z- handleDvl() - RDI_Pathfinder msg: 1612980264.16 epoch sec; seqNo:541 2021-02-10T18:04:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.15 , 45.35 , 46.78 , 44.13 2021-02-10T18:04:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.05 , -0.02 2021-02-10T18:04:24Z- waiting for 1612980265.14, time is 1612980264.16 2021-02-10T18:04:24Z- sync is 0.03, coherence is 2.00 2021-02-10T18:04:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980264.17 epoch sec; seqNo:1337; 4061661.35 north; 594247.82 east 2021-02-10T18:04:24Z- waiting for 1612980265.14, time is 1612980264.16 2021-02-10T18:04:24Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:24Z- AHRS_M2 msg: 1612980264.52 epoch sec; seqNo:1330 2021-02-10T18:04:24Z- AHRS_M2 msg: 0.74 phi; 0.06 theta; -0.02 psi 2021-02-10T18:04:24Z- waiting for 1612980265.14, time is 1612980264.16 2021-02-10T18:04:24Z- sync is 0.36, coherence is 2.00 2021-02-10T18:04:24Z- handleDepth()-Depth_Keller msg: 49.43 epoch sec; seqNo:1612980264529; depth 0.00 2021-02-10T18:04:24Z- waiting for 1612980265.14, time is 1612980264.16 2021-02-10T18:04:24Z- sync is 0.36, coherence is 2.00 2021-02-10T18:04:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980264.54 epoch sec; seqNo:1338; 4061661.73 north; 594247.81 east 2021-02-10T18:04:24Z- waiting for 1612980265.14, time is 1612980264.16 2021-02-10T18:04:24Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:24Z- AHRS_M2 msg: 1612980264.92 epoch sec; seqNo:1331 2021-02-10T18:04:24Z- AHRS_M2 msg: 0.75 phi; 0.06 theta; -0.02 psi 2021-02-10T18:04:24Z- waiting for 1612980265.14, time is 1612980264.16 2021-02-10T18:04:24Z- sync is 0.76, coherence is 2.00 2021-02-10T18:04:24Z- handleDepth()-Depth_Keller msg: 49.42 epoch sec; seqNo:1612980264936; depth 0.00 2021-02-10T18:04:24Z- waiting for 1612980265.14, time is 1612980264.16 2021-02-10T18:04:24Z- sync is 0.76, coherence is 2.00 2021-02-10T18:04:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980264.94 epoch sec; seqNo:1339; 4061662.11 north; 594247.81 east 2021-02-10T18:04:24Z- waiting for 1612980265.14, time is 1612980264.16 2021-02-10T18:04:24Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:25Z- AHRS_M2 msg: 1612980265.33 epoch sec; seqNo:1332 2021-02-10T18:04:25Z- AHRS_M2 msg: 0.76 phi; 0.06 theta; -0.02 psi 2021-02-10T18:04:25Z- waiting for 1612980265.14, time is 1612980264.16 2021-02-10T18:04:25Z- sync is 1.17, coherence is 2.00 2021-02-10T18:04:25Z- handleDepth()-Depth_Keller msg: 49.40 epoch sec; seqNo:1612980265337; depth 0.00 2021-02-10T18:04:25Z- waiting for 1612980265.14, time is 1612980264.16 2021-02-10T18:04:25Z- sync is 1.17, coherence is 2.00 2021-02-10T18:04:25Z- handleDvl() - RDI_Pathfinder msg: 1612980265.36 epoch sec; seqNo:542 2021-02-10T18:04:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.15 , 45.15 , 46.58 , 44.33 2021-02-10T18:04:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.05 , -0.01 2021-02-10T18:04:25Z- waiting for 1612980265.14, time is 1612980265.36 2021-02-10T18:04:25Z- sync is 0.03, coherence is 2.00 2021-02-10T18:04:25Z- LcmTrn::updateTrn() >>>> pose time 1612980265.33, meas time 1612980265.36 <<<< 2021-02-10T18:04:25Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980265.36 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:04:25Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594247.81, 49.40) 2021-02-10T18:04:25Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:04:25Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:04:25Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:04:25Z- TNavBF::mmse selected from filter -1 2021-02-10T18:04:25Z- variances([0], [2], and psi_berg) = 796.791985 833.096149 0.000000 2021-02-10T18:04:25Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:04:25Z- LcmTrn::cycle() - MLE : 4061633.61 594201.31 49.40 2021-02-10T18:04:25Z- LcmTrn::cycle() - MMSE : 4061662.11 594247.81 49.40 2021-02-10T18:04:25Z- LcmTrn::cycle() - COVAR: 796.79 833.10 46.84 0.00 2021-02-10T18:04:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980265.37 epoch sec; seqNo:1340; 4061662.12 north; 594249.03 east 2021-02-10T18:04:25Z- waiting for 1612980268.36, time is 1612980265.36 2021-02-10T18:04:25Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:25Z- AHRS_M2 msg: 1612980265.73 epoch sec; seqNo:1333 2021-02-10T18:04:25Z- AHRS_M2 msg: 0.77 phi; 0.05 theta; -0.02 psi 2021-02-10T18:04:25Z- waiting for 1612980268.36, time is 1612980265.36 2021-02-10T18:04:25Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:25Z- handleDepth()-Depth_Keller msg: 49.39 epoch sec; seqNo:1612980265736; depth 0.00 2021-02-10T18:04:25Z- waiting for 1612980268.36, time is 1612980265.36 2021-02-10T18:04:25Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980265.75 epoch sec; seqNo:1341; 4061662.50 north; 594249.03 east 2021-02-10T18:04:25Z- waiting for 1612980268.36, time is 1612980265.36 2021-02-10T18:04:25Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:26Z- AHRS_M2 msg: 1612980266.14 epoch sec; seqNo:1334 2021-02-10T18:04:26Z- AHRS_M2 msg: 0.79 phi; 0.05 theta; -0.01 psi 2021-02-10T18:04:26Z- waiting for 1612980268.36, time is 1612980265.36 2021-02-10T18:04:26Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:26Z- handleDepth()-Depth_Keller msg: 49.36 epoch sec; seqNo:1612980266143; depth 0.00 2021-02-10T18:04:26Z- waiting for 1612980268.36, time is 1612980265.36 2021-02-10T18:04:26Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:26Z- handleDvl() - RDI_Pathfinder msg: 1612980266.15 epoch sec; seqNo:543 2021-02-10T18:04:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.35 , 45.15 , 46.17 , 44.54 2021-02-10T18:04:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.06 , 0.01 2021-02-10T18:04:26Z- waiting for 1612980268.36, time is 1612980266.15 2021-02-10T18:04:26Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980266.17 epoch sec; seqNo:1342; 4061662.88 north; 594249.02 east 2021-02-10T18:04:26Z- waiting for 1612980268.36, time is 1612980266.15 2021-02-10T18:04:26Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:26Z- AHRS_M2 msg: 1612980266.54 epoch sec; seqNo:1335 2021-02-10T18:04:26Z- AHRS_M2 msg: 0.80 phi; 0.05 theta; -0.01 psi 2021-02-10T18:04:26Z- waiting for 1612980268.36, time is 1612980266.15 2021-02-10T18:04:26Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:26Z- handleDepth()-Depth_Keller msg: 49.36 epoch sec; seqNo:1612980266546; depth 0.00 2021-02-10T18:04:26Z- waiting for 1612980268.36, time is 1612980266.15 2021-02-10T18:04:26Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980266.56 epoch sec; seqNo:1343; 4061663.26 north; 594249.02 east 2021-02-10T18:04:26Z- waiting for 1612980268.36, time is 1612980266.15 2021-02-10T18:04:26Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:26Z- AHRS_M2 msg: 1612980266.94 epoch sec; seqNo:1336 2021-02-10T18:04:26Z- AHRS_M2 msg: 0.81 phi; 0.04 theta; -0.01 psi 2021-02-10T18:04:26Z- waiting for 1612980268.36, time is 1612980266.15 2021-02-10T18:04:26Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:26Z- handleDepth()-Depth_Keller msg: 49.35 epoch sec; seqNo:1612980266953; depth 0.00 2021-02-10T18:04:26Z- waiting for 1612980268.36, time is 1612980266.15 2021-02-10T18:04:26Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980266.96 epoch sec; seqNo:1344; 4061663.26 north; 594249.02 east 2021-02-10T18:04:26Z- waiting for 1612980268.36, time is 1612980266.15 2021-02-10T18:04:26Z- sync is 0.81, coherence is 2.00 2021-02-10T18:04:27Z- AHRS_M2 msg: 1612980267.35 epoch sec; seqNo:1337 2021-02-10T18:04:27Z- AHRS_M2 msg: 0.83 phi; 0.04 theta; -0.00 psi 2021-02-10T18:04:27Z- waiting for 1612980268.36, time is 1612980266.15 2021-02-10T18:04:27Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:27Z- handleDepth()-Depth_Keller msg: 49.33 epoch sec; seqNo:1612980267353; depth 0.00 2021-02-10T18:04:27Z- waiting for 1612980268.36, time is 1612980266.15 2021-02-10T18:04:27Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:27Z- handleDvl() - RDI_Pathfinder msg: 1612980267.37 epoch sec; seqNo:544 2021-02-10T18:04:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.76 , 44.74 , 46.37 , 44.94 2021-02-10T18:04:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.05 , 0.03 2021-02-10T18:04:27Z- waiting for 1612980268.36, time is 1612980267.37 2021-02-10T18:04:27Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980267.38 epoch sec; seqNo:1345; 4061663.65 north; 594250.23 east 2021-02-10T18:04:27Z- waiting for 1612980268.36, time is 1612980267.37 2021-02-10T18:04:27Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:27Z- AHRS_M2 msg: 1612980267.75 epoch sec; seqNo:1338 2021-02-10T18:04:27Z- AHRS_M2 msg: 0.84 phi; 0.04 theta; 0.00 psi 2021-02-10T18:04:27Z- waiting for 1612980268.36, time is 1612980267.37 2021-02-10T18:04:27Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:27Z- handleDepth()-Depth_Keller msg: 49.32 epoch sec; seqNo:1612980267757; depth 0.00 2021-02-10T18:04:27Z- waiting for 1612980268.36, time is 1612980267.37 2021-02-10T18:04:27Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980267.77 epoch sec; seqNo:1346; 4061664.03 north; 594250.23 east 2021-02-10T18:04:27Z- waiting for 1612980268.36, time is 1612980267.37 2021-02-10T18:04:27Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:28Z- AHRS_M2 msg: 1612980268.16 epoch sec; seqNo:1339 2021-02-10T18:04:28Z- AHRS_M2 msg: 0.86 phi; 0.03 theta; 0.00 psi 2021-02-10T18:04:28Z- waiting for 1612980268.36, time is 1612980267.37 2021-02-10T18:04:28Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:28Z- handleDepth()-Depth_Keller msg: 49.32 epoch sec; seqNo:1612980268161; depth 0.00 2021-02-10T18:04:28Z- waiting for 1612980268.36, time is 1612980267.37 2021-02-10T18:04:28Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:28Z- handleDvl() - RDI_Pathfinder msg: 1612980268.18 epoch sec; seqNo:545 2021-02-10T18:04:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.03 , 44.71 , 45.81 , 45.15 2021-02-10T18:04:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.03 , 0.04 2021-02-10T18:04:28Z- waiting for 1612980268.36, time is 1612980268.18 2021-02-10T18:04:28Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980268.20 epoch sec; seqNo:1347; 4061664.03 north; 594250.23 east 2021-02-10T18:04:28Z- waiting for 1612980268.36, time is 1612980268.18 2021-02-10T18:04:28Z- sync is 0.03, coherence is 2.00 2021-02-10T18:04:28Z- AHRS_M2 msg: 1612980268.56 epoch sec; seqNo:1340 2021-02-10T18:04:28Z- AHRS_M2 msg: 0.87 phi; 0.03 theta; 0.01 psi 2021-02-10T18:04:28Z- waiting for 1612980268.36, time is 1612980268.18 2021-02-10T18:04:28Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:28Z- handleDepth()-Depth_Keller msg: 49.31 epoch sec; seqNo:1612980268564; depth 0.00 2021-02-10T18:04:28Z- waiting for 1612980268.36, time is 1612980268.18 2021-02-10T18:04:28Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980268.58 epoch sec; seqNo:1348; 4061664.41 north; 594250.22 east 2021-02-10T18:04:28Z- waiting for 1612980268.36, time is 1612980268.18 2021-02-10T18:04:28Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:28Z- AHRS_M2 msg: 1612980268.96 epoch sec; seqNo:1341 2021-02-10T18:04:28Z- AHRS_M2 msg: 0.88 phi; 0.03 theta; 0.01 psi 2021-02-10T18:04:28Z- waiting for 1612980268.36, time is 1612980268.18 2021-02-10T18:04:28Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:28Z- handleDepth()-Depth_Keller msg: 49.30 epoch sec; seqNo:1612980268969; depth 0.00 2021-02-10T18:04:28Z- waiting for 1612980268.36, time is 1612980268.18 2021-02-10T18:04:28Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980268.98 epoch sec; seqNo:1349; 4061664.41 north; 594250.22 east 2021-02-10T18:04:28Z- waiting for 1612980268.36, time is 1612980268.18 2021-02-10T18:04:28Z- sync is 0.80, coherence is 2.00 2021-02-10T18:04:29Z- AHRS_M2 msg: 1612980269.37 epoch sec; seqNo:1342 2021-02-10T18:04:29Z- AHRS_M2 msg: 0.90 phi; 0.02 theta; 0.01 psi 2021-02-10T18:04:29Z- waiting for 1612980268.36, time is 1612980268.18 2021-02-10T18:04:29Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:29Z- handleDepth()-Depth_Keller msg: 49.29 epoch sec; seqNo:1612980269374; depth 0.00 2021-02-10T18:04:29Z- waiting for 1612980268.36, time is 1612980268.18 2021-02-10T18:04:29Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:29Z- handleDvl() - RDI_Pathfinder msg: 1612980269.40 epoch sec; seqNo:546 2021-02-10T18:04:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.03 , 44.49 , 45.59 , 45.37 2021-02-10T18:04:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.01 , 0.05 2021-02-10T18:04:29Z- waiting for 1612980268.36, time is 1612980269.40 2021-02-10T18:04:29Z- sync is 0.03, coherence is 2.00 2021-02-10T18:04:29Z- LcmTrn::updateTrn() >>>> pose time 1612980269.37, meas time 1612980269.40 <<<< 2021-02-10T18:04:29Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980269.40 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:04:29Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594250.22, 49.29) 2021-02-10T18:04:29Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:04:29Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:04:29Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:04:29Z- TNavBF::mmse selected from filter -1 2021-02-10T18:04:29Z- variances([0], [2], and psi_berg) = 796.599995 833.095763 0.000000 2021-02-10T18:04:29Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:04:29Z- LcmTrn::cycle() - MLE : 4061635.91 594203.72 49.29 2021-02-10T18:04:29Z- LcmTrn::cycle() - MMSE : 4061664.41 594250.22 49.29 2021-02-10T18:04:29Z- LcmTrn::cycle() - COVAR: 796.60 833.10 47.01 0.00 2021-02-10T18:04:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980269.41 epoch sec; seqNo:1350; 4061664.80 north; 594251.44 east 2021-02-10T18:04:29Z- waiting for 1612980272.40, time is 1612980269.40 2021-02-10T18:04:29Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:29Z- AHRS_M2 msg: 1612980269.77 epoch sec; seqNo:1343 2021-02-10T18:04:29Z- AHRS_M2 msg: 0.91 phi; 0.02 theta; 0.01 psi 2021-02-10T18:04:29Z- waiting for 1612980272.40, time is 1612980269.40 2021-02-10T18:04:29Z- sync is 0.37, coherence is 2.00 2021-02-10T18:04:29Z- handleDepth()-Depth_Keller msg: 49.29 epoch sec; seqNo:1612980269779; depth 0.00 2021-02-10T18:04:29Z- waiting for 1612980272.40, time is 1612980269.40 2021-02-10T18:04:29Z- sync is 0.37, coherence is 2.00 2021-02-10T18:04:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980269.81 epoch sec; seqNo:1351; 4061665.18 north; 594251.44 east 2021-02-10T18:04:29Z- waiting for 1612980272.40, time is 1612980269.40 2021-02-10T18:04:29Z- sync is 0.41, coherence is 2.00 2021-02-10T18:04:30Z- AHRS_M2 msg: 1612980270.18 epoch sec; seqNo:1344 2021-02-10T18:04:30Z- AHRS_M2 msg: 0.92 phi; 0.02 theta; 0.01 psi 2021-02-10T18:04:30Z- waiting for 1612980272.40, time is 1612980269.40 2021-02-10T18:04:30Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:30Z- handleDepth()-Depth_Keller msg: 49.29 epoch sec; seqNo:1612980270184; depth 0.00 2021-02-10T18:04:30Z- waiting for 1612980272.40, time is 1612980269.40 2021-02-10T18:04:30Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:30Z- handleDvl() - RDI_Pathfinder msg: 1612980270.20 epoch sec; seqNo:547 2021-02-10T18:04:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.17 , 44.54 , 45.56 , 45.76 2021-02-10T18:04:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.00 , 0.04 2021-02-10T18:04:30Z- waiting for 1612980272.40, time is 1612980270.20 2021-02-10T18:04:30Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980270.23 epoch sec; seqNo:1352; 4061665.18 north; 594251.44 east 2021-02-10T18:04:30Z- waiting for 1612980272.40, time is 1612980270.20 2021-02-10T18:04:30Z- sync is 0.03, coherence is 2.00 2021-02-10T18:04:30Z- AHRS_M2 msg: 1612980270.58 epoch sec; seqNo:1345 2021-02-10T18:04:30Z- AHRS_M2 msg: 0.94 phi; 0.02 theta; 0.01 psi 2021-02-10T18:04:30Z- waiting for 1612980272.40, time is 1612980270.20 2021-02-10T18:04:30Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:30Z- handleDepth()-Depth_Keller msg: 49.28 epoch sec; seqNo:1612980270594; depth 0.00 2021-02-10T18:04:30Z- waiting for 1612980272.40, time is 1612980270.20 2021-02-10T18:04:30Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980270.61 epoch sec; seqNo:1353; 4061665.56 north; 594251.43 east 2021-02-10T18:04:30Z- waiting for 1612980272.40, time is 1612980270.20 2021-02-10T18:04:30Z- sync is 0.41, coherence is 2.00 2021-02-10T18:04:30Z- AHRS_M2 msg: 1612980270.98 epoch sec; seqNo:1346 2021-02-10T18:04:30Z- AHRS_M2 msg: 0.95 phi; 0.01 theta; 0.01 psi 2021-02-10T18:04:30Z- waiting for 1612980272.40, time is 1612980270.20 2021-02-10T18:04:30Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:31Z- handleDepth()-Depth_Keller msg: 49.28 epoch sec; seqNo:1612980270998; depth 0.00 2021-02-10T18:04:31Z- waiting for 1612980272.40, time is 1612980270.20 2021-02-10T18:04:31Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980271.01 epoch sec; seqNo:1354; 4061665.57 north; 594252.65 east 2021-02-10T18:04:31Z- waiting for 1612980272.40, time is 1612980270.20 2021-02-10T18:04:31Z- sync is 0.81, coherence is 2.00 2021-02-10T18:04:31Z- AHRS_M2 msg: 1612980271.39 epoch sec; seqNo:1347 2021-02-10T18:04:31Z- AHRS_M2 msg: 0.98 phi; 0.01 theta; 0.01 psi 2021-02-10T18:04:31Z- waiting for 1612980272.40, time is 1612980270.20 2021-02-10T18:04:31Z- sync is 1.20, coherence is 2.00 2021-02-10T18:04:31Z- handleDepth()-Depth_Keller msg: 49.27 epoch sec; seqNo:1612980271398; depth 0.00 2021-02-10T18:04:31Z- waiting for 1612980272.40, time is 1612980270.20 2021-02-10T18:04:31Z- sync is 1.20, coherence is 2.00 2021-02-10T18:04:31Z- handleDvl() - RDI_Pathfinder msg: 1612980271.42 epoch sec; seqNo:548 2021-02-10T18:04:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.03 , 44.71 , 45.15 , 45.81 2021-02-10T18:04:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.03 , 0.03 2021-02-10T18:04:31Z- waiting for 1612980272.40, time is 1612980271.42 2021-02-10T18:04:31Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980271.43 epoch sec; seqNo:1355; 4061665.95 north; 594252.65 east 2021-02-10T18:04:31Z- waiting for 1612980272.40, time is 1612980271.42 2021-02-10T18:04:31Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:31Z- AHRS_M2 msg: 1612980271.80 epoch sec; seqNo:1348 2021-02-10T18:04:31Z- AHRS_M2 msg: 0.99 phi; 0.01 theta; 0.01 psi 2021-02-10T18:04:31Z- waiting for 1612980272.40, time is 1612980271.42 2021-02-10T18:04:31Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:31Z- handleDepth()-Depth_Keller msg: 49.26 epoch sec; seqNo:1612980271801; depth 0.00 2021-02-10T18:04:31Z- waiting for 1612980272.40, time is 1612980271.42 2021-02-10T18:04:31Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980271.81 epoch sec; seqNo:1356; 4061665.95 north; 594252.65 east 2021-02-10T18:04:31Z- waiting for 1612980272.40, time is 1612980271.42 2021-02-10T18:04:31Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:32Z- AHRS_M2 msg: 1612980272.20 epoch sec; seqNo:1349 2021-02-10T18:04:32Z- AHRS_M2 msg: 1.01 phi; 0.00 theta; 0.01 psi 2021-02-10T18:04:32Z- waiting for 1612980272.40, time is 1612980271.42 2021-02-10T18:04:32Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:32Z- handleDepth()-Depth_Keller msg: 49.27 epoch sec; seqNo:1612980272206; depth 0.00 2021-02-10T18:04:32Z- waiting for 1612980272.40, time is 1612980271.42 2021-02-10T18:04:32Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:32Z- handleDvl() - RDI_Pathfinder msg: 1612980272.22 epoch sec; seqNo:549 2021-02-10T18:04:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.26 , 44.71 , 44.93 , 45.81 2021-02-10T18:04:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.03 , 0.00 2021-02-10T18:04:32Z- waiting for 1612980272.40, time is 1612980272.22 2021-02-10T18:04:32Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980272.23 epoch sec; seqNo:1357; 4061666.33 north; 594252.64 east 2021-02-10T18:04:32Z- waiting for 1612980272.40, time is 1612980272.22 2021-02-10T18:04:32Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:32Z- AHRS_M2 msg: 1612980272.60 epoch sec; seqNo:1350 2021-02-10T18:04:32Z- AHRS_M2 msg: 1.02 phi; 0.00 theta; 0.01 psi 2021-02-10T18:04:32Z- waiting for 1612980272.40, time is 1612980272.22 2021-02-10T18:04:32Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:32Z- handleDepth()-Depth_Keller msg: 49.26 epoch sec; seqNo:1612980272604; depth 0.00 2021-02-10T18:04:32Z- waiting for 1612980272.40, time is 1612980272.22 2021-02-10T18:04:32Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980272.62 epoch sec; seqNo:1358; 4061666.35 north; 594253.86 east 2021-02-10T18:04:32Z- waiting for 1612980272.40, time is 1612980272.22 2021-02-10T18:04:32Z- sync is 0.41, coherence is 2.00 2021-02-10T18:04:33Z- AHRS_M2 msg: 1612980273.00 epoch sec; seqNo:1351 2021-02-10T18:04:33Z- AHRS_M2 msg: 1.03 phi; -0.00 theta; 0.00 psi 2021-02-10T18:04:33Z- waiting for 1612980272.40, time is 1612980272.22 2021-02-10T18:04:33Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:33Z- handleDepth()-Depth_Keller msg: 49.26 epoch sec; seqNo:1612980273008; depth 0.00 2021-02-10T18:04:33Z- waiting for 1612980272.40, time is 1612980272.22 2021-02-10T18:04:33Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980273.02 epoch sec; seqNo:1359; 4061666.72 north; 594253.86 east 2021-02-10T18:04:33Z- waiting for 1612980272.40, time is 1612980272.22 2021-02-10T18:04:33Z- sync is 0.80, coherence is 2.00 2021-02-10T18:04:33Z- AHRS_M2 msg: 1612980273.41 epoch sec; seqNo:1352 2021-02-10T18:04:33Z- AHRS_M2 msg: 1.05 phi; -0.00 theta; -0.00 psi 2021-02-10T18:04:33Z- waiting for 1612980272.40, time is 1612980272.22 2021-02-10T18:04:33Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:33Z- handleDepth()-Depth_Keller msg: 49.26 epoch sec; seqNo:1612980273412; depth 0.00 2021-02-10T18:04:33Z- waiting for 1612980272.40, time is 1612980272.22 2021-02-10T18:04:33Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:33Z- handleDvl() - RDI_Pathfinder msg: 1612980273.42 epoch sec; seqNo:550 2021-02-10T18:04:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.03 , 44.93 , 44.71 , 46.03 2021-02-10T18:04:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.03 , -0.02 2021-02-10T18:04:33Z- waiting for 1612980272.40, time is 1612980273.42 2021-02-10T18:04:33Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:33Z- LcmTrn::updateTrn() >>>> pose time 1612980273.41, meas time 1612980273.42 <<<< 2021-02-10T18:04:33Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980273.42 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:04:33Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594253.86, 49.26) 2021-02-10T18:04:33Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:04:33Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:04:33Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:04:33Z- TNavBF::mmse selected from filter -1 2021-02-10T18:04:33Z- variances([0], [2], and psi_berg) = 796.382652 833.095329 0.000000 2021-02-10T18:04:33Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:04:33Z- LcmTrn::cycle() - MLE : 4061638.22 594303.36 49.26 2021-02-10T18:04:33Z- LcmTrn::cycle() - MMSE : 4061666.72 594253.86 49.26 2021-02-10T18:04:33Z- LcmTrn::cycle() - COVAR: 796.38 833.10 47.23 0.00 2021-02-10T18:04:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980273.43 epoch sec; seqNo:1360; 4061666.72 north; 594253.86 east 2021-02-10T18:04:33Z- waiting for 1612980276.42, time is 1612980273.42 2021-02-10T18:04:33Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:33Z- AHRS_M2 msg: 1612980273.81 epoch sec; seqNo:1353 2021-02-10T18:04:33Z- AHRS_M2 msg: 1.06 phi; -0.01 theta; -0.01 psi 2021-02-10T18:04:33Z- waiting for 1612980276.42, time is 1612980273.42 2021-02-10T18:04:33Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:33Z- handleDepth()-Depth_Keller msg: 49.25 epoch sec; seqNo:1612980273817; depth 0.00 2021-02-10T18:04:33Z- waiting for 1612980276.42, time is 1612980273.42 2021-02-10T18:04:33Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980273.83 epoch sec; seqNo:1361; 4061667.10 north; 594253.86 east 2021-02-10T18:04:33Z- waiting for 1612980276.42, time is 1612980273.42 2021-02-10T18:04:33Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:34Z- AHRS_M2 msg: 1612980274.22 epoch sec; seqNo:1354 2021-02-10T18:04:34Z- AHRS_M2 msg: 1.07 phi; -0.01 theta; -0.01 psi 2021-02-10T18:04:34Z- waiting for 1612980276.42, time is 1612980273.42 2021-02-10T18:04:34Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:34Z- handleDepth()-Depth_Keller msg: 49.24 epoch sec; seqNo:1612980274227; depth 0.00 2021-02-10T18:04:34Z- waiting for 1612980276.42, time is 1612980273.42 2021-02-10T18:04:34Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:34Z- handleDvl() - RDI_Pathfinder msg: 1612980274.24 epoch sec; seqNo:551 2021-02-10T18:04:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.37 , 45.15 , 44.26 , 46.26 2021-02-10T18:04:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.03 , -0.04 2021-02-10T18:04:34Z- waiting for 1612980276.42, time is 1612980274.24 2021-02-10T18:04:34Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980274.25 epoch sec; seqNo:1362; 4061667.12 north; 594255.08 east 2021-02-10T18:04:34Z- waiting for 1612980276.42, time is 1612980274.24 2021-02-10T18:04:34Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:34Z- AHRS_M2 msg: 1612980274.62 epoch sec; seqNo:1355 2021-02-10T18:04:34Z- AHRS_M2 msg: 1.08 phi; -0.01 theta; -0.02 psi 2021-02-10T18:04:34Z- waiting for 1612980276.42, time is 1612980274.24 2021-02-10T18:04:34Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:34Z- handleDepth()-Depth_Keller msg: 49.23 epoch sec; seqNo:1612980274629; depth 0.00 2021-02-10T18:04:34Z- waiting for 1612980276.42, time is 1612980274.24 2021-02-10T18:04:34Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980274.65 epoch sec; seqNo:1363; 4061667.50 north; 594255.07 east 2021-02-10T18:04:34Z- waiting for 1612980276.42, time is 1612980274.24 2021-02-10T18:04:34Z- sync is 0.41, coherence is 2.00 2021-02-10T18:04:35Z- AHRS_M2 msg: 1612980275.03 epoch sec; seqNo:1356 2021-02-10T18:04:35Z- AHRS_M2 msg: 1.09 phi; -0.01 theta; -0.03 psi 2021-02-10T18:04:35Z- waiting for 1612980276.42, time is 1612980274.24 2021-02-10T18:04:35Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:35Z- handleDepth()-Depth_Keller msg: 49.23 epoch sec; seqNo:1612980275034; depth 0.00 2021-02-10T18:04:35Z- waiting for 1612980276.42, time is 1612980274.24 2021-02-10T18:04:35Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980275.05 epoch sec; seqNo:1364; 4061667.50 north; 594255.07 east 2021-02-10T18:04:35Z- waiting for 1612980276.42, time is 1612980274.24 2021-02-10T18:04:35Z- sync is 0.81, coherence is 2.00 2021-02-10T18:04:35Z- AHRS_M2 msg: 1612980275.43 epoch sec; seqNo:1357 2021-02-10T18:04:35Z- AHRS_M2 msg: 1.10 phi; -0.02 theta; -0.03 psi 2021-02-10T18:04:35Z- waiting for 1612980276.42, time is 1612980274.24 2021-02-10T18:04:35Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:35Z- handleDepth()-Depth_Keller msg: 49.23 epoch sec; seqNo:1612980275433; depth 0.00 2021-02-10T18:04:35Z- waiting for 1612980276.42, time is 1612980274.24 2021-02-10T18:04:35Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:35Z- handleDvl() - RDI_Pathfinder msg: 1612980275.44 epoch sec; seqNo:552 2021-02-10T18:04:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.15 , 45.35 , 43.92 , 46.37 2021-02-10T18:04:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , -0.05 2021-02-10T18:04:35Z- waiting for 1612980276.42, time is 1612980275.44 2021-02-10T18:04:35Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980275.45 epoch sec; seqNo:1365; 4061667.89 north; 594256.29 east 2021-02-10T18:04:35Z- waiting for 1612980276.42, time is 1612980275.44 2021-02-10T18:04:35Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:35Z- AHRS_M2 msg: 1612980275.83 epoch sec; seqNo:1358 2021-02-10T18:04:35Z- AHRS_M2 msg: 1.11 phi; -0.02 theta; -0.03 psi 2021-02-10T18:04:35Z- waiting for 1612980276.42, time is 1612980275.44 2021-02-10T18:04:35Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:35Z- handleDepth()-Depth_Keller msg: 49.22 epoch sec; seqNo:1612980275837; depth 0.00 2021-02-10T18:04:35Z- waiting for 1612980276.42, time is 1612980275.44 2021-02-10T18:04:35Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980275.85 epoch sec; seqNo:1366; 4061667.89 north; 594256.29 east 2021-02-10T18:04:35Z- waiting for 1612980276.42, time is 1612980275.44 2021-02-10T18:04:35Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:36Z- AHRS_M2 msg: 1612980276.24 epoch sec; seqNo:1359 2021-02-10T18:04:36Z- AHRS_M2 msg: 1.12 phi; -0.02 theta; -0.04 psi 2021-02-10T18:04:36Z- waiting for 1612980276.42, time is 1612980275.44 2021-02-10T18:04:36Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:36Z- handleDepth()-Depth_Keller msg: 49.23 epoch sec; seqNo:1612980276241; depth 0.00 2021-02-10T18:04:36Z- waiting for 1612980276.42, time is 1612980275.44 2021-02-10T18:04:36Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:36Z- handleDvl() - RDI_Pathfinder msg: 1612980276.26 epoch sec; seqNo:553 2021-02-10T18:04:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.94 , 45.76 , 43.51 , 46.37 2021-02-10T18:04:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.01 , -0.05 2021-02-10T18:04:36Z- waiting for 1612980276.42, time is 1612980276.26 2021-02-10T18:04:36Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980276.27 epoch sec; seqNo:1367; 4061668.27 north; 594256.28 east 2021-02-10T18:04:36Z- waiting for 1612980276.42, time is 1612980276.26 2021-02-10T18:04:36Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:36Z- AHRS_M2 msg: 1612980276.64 epoch sec; seqNo:1360 2021-02-10T18:04:36Z- AHRS_M2 msg: 1.13 phi; -0.02 theta; -0.04 psi 2021-02-10T18:04:36Z- waiting for 1612980276.42, time is 1612980276.26 2021-02-10T18:04:36Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:36Z- handleDepth()-Depth_Keller msg: 49.23 epoch sec; seqNo:1612980276649; depth 0.00 2021-02-10T18:04:36Z- waiting for 1612980276.42, time is 1612980276.26 2021-02-10T18:04:36Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980276.66 epoch sec; seqNo:1368; 4061668.27 north; 594256.28 east 2021-02-10T18:04:36Z- waiting for 1612980276.42, time is 1612980276.26 2021-02-10T18:04:36Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:37Z- AHRS_M2 msg: 1612980277.04 epoch sec; seqNo:1361 2021-02-10T18:04:37Z- AHRS_M2 msg: 1.14 phi; -0.02 theta; -0.05 psi 2021-02-10T18:04:37Z- waiting for 1612980276.42, time is 1612980276.26 2021-02-10T18:04:37Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:37Z- handleDepth()-Depth_Keller msg: 49.22 epoch sec; seqNo:1612980277048; depth 0.00 2021-02-10T18:04:37Z- waiting for 1612980276.42, time is 1612980276.26 2021-02-10T18:04:37Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980277.06 epoch sec; seqNo:1369; 4061668.28 north; 594257.51 east 2021-02-10T18:04:37Z- waiting for 1612980276.42, time is 1612980276.26 2021-02-10T18:04:37Z- sync is 0.80, coherence is 2.00 2021-02-10T18:04:37Z- AHRS_M2 msg: 1612980277.45 epoch sec; seqNo:1362 2021-02-10T18:04:37Z- AHRS_M2 msg: 1.15 phi; -0.03 theta; -0.05 psi 2021-02-10T18:04:37Z- waiting for 1612980276.42, time is 1612980276.26 2021-02-10T18:04:37Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:37Z- handleDepth()-Depth_Keller msg: 49.23 epoch sec; seqNo:1612980277454; depth 0.00 2021-02-10T18:04:37Z- waiting for 1612980276.42, time is 1612980276.26 2021-02-10T18:04:37Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:37Z- handleDvl() - RDI_Pathfinder msg: 1612980277.46 epoch sec; seqNo:554 2021-02-10T18:04:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.74 , 46.17 , 43.31 , 46.58 2021-02-10T18:04:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , -0.05 2021-02-10T18:04:37Z- waiting for 1612980276.42, time is 1612980277.46 2021-02-10T18:04:37Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:37Z- LcmTrn::updateTrn() >>>> pose time 1612980277.45, meas time 1612980277.46 <<<< 2021-02-10T18:04:37Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980277.46 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:04:37Z- TerrainNav::motionUpdate() - currEstimate = (4061668, 594257.51, 49.23) 2021-02-10T18:04:37Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:04:37Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:04:37Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:04:37Z- TNavBF::mmse selected from filter -1 2021-02-10T18:04:37Z- variances([0], [2], and psi_berg) = 796.175206 833.094917 0.000000 2021-02-10T18:04:37Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:04:37Z- LcmTrn::cycle() - MLE : 4061639.78 594307.01 49.23 2021-02-10T18:04:37Z- LcmTrn::cycle() - MMSE : 4061668.28 594257.51 49.23 2021-02-10T18:04:37Z- LcmTrn::cycle() - COVAR: 796.18 833.09 47.43 0.00 2021-02-10T18:04:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980277.47 epoch sec; seqNo:1370; 4061668.66 north; 594257.50 east 2021-02-10T18:04:37Z- waiting for 1612980280.46, time is 1612980277.46 2021-02-10T18:04:37Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:37Z- AHRS_M2 msg: 1612980277.85 epoch sec; seqNo:1363 2021-02-10T18:04:37Z- AHRS_M2 msg: 1.16 phi; -0.03 theta; -0.05 psi 2021-02-10T18:04:37Z- waiting for 1612980280.46, time is 1612980277.46 2021-02-10T18:04:37Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:37Z- handleDepth()-Depth_Keller msg: 49.23 epoch sec; seqNo:1612980277856; depth 0.00 2021-02-10T18:04:37Z- waiting for 1612980280.46, time is 1612980277.46 2021-02-10T18:04:37Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980277.87 epoch sec; seqNo:1371; 4061668.66 north; 594257.50 east 2021-02-10T18:04:37Z- waiting for 1612980280.46, time is 1612980277.46 2021-02-10T18:04:37Z- sync is 0.41, coherence is 2.00 2021-02-10T18:04:38Z- handleDepth()-Depth_Keller msg: 49.23 epoch sec; seqNo:1612980278277; depth 0.00 2021-02-10T18:04:38Z- waiting for 1612980280.46, time is 1612980277.46 2021-02-10T18:04:38Z- sync is 0.41, coherence is 2.00 2021-02-10T18:04:38Z- handleDvl() - RDI_Pathfinder msg: 1612980278.29 epoch sec; seqNo:555 2021-02-10T18:04:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.54 , 46.17 , 43.31 , 46.58 2021-02-10T18:04:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , -0.03 2021-02-10T18:04:38Z- waiting for 1612980280.46, time is 1612980278.29 2021-02-10T18:04:38Z- sync is 0.42, coherence is 2.00 2021-02-10T18:04:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980278.30 epoch sec; seqNo:1372; 4061669.05 north; 594258.72 east 2021-02-10T18:04:38Z- waiting for 1612980280.46, time is 1612980278.29 2021-02-10T18:04:38Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:38Z- AHRS_M2 msg: 1612980278.66 epoch sec; seqNo:1364 2021-02-10T18:04:38Z- AHRS_M2 msg: 1.18 phi; -0.03 theta; -0.05 psi 2021-02-10T18:04:38Z- waiting for 1612980280.46, time is 1612980278.29 2021-02-10T18:04:38Z- sync is 0.37, coherence is 2.00 2021-02-10T18:04:38Z- handleDepth()-Depth_Keller msg: 49.23 epoch sec; seqNo:1612980278665; depth 0.00 2021-02-10T18:04:38Z- waiting for 1612980280.46, time is 1612980278.29 2021-02-10T18:04:38Z- sync is 0.37, coherence is 2.00 2021-02-10T18:04:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980278.68 epoch sec; seqNo:1373; 4061669.05 north; 594258.72 east 2021-02-10T18:04:38Z- waiting for 1612980280.46, time is 1612980278.29 2021-02-10T18:04:38Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:39Z- AHRS_M2 msg: 1612980279.06 epoch sec; seqNo:1365 2021-02-10T18:04:39Z- AHRS_M2 msg: 1.19 phi; -0.03 theta; -0.05 psi 2021-02-10T18:04:39Z- waiting for 1612980280.46, time is 1612980278.29 2021-02-10T18:04:39Z- sync is 0.77, coherence is 2.00 2021-02-10T18:04:39Z- handleDepth()-Depth_Keller msg: 49.24 epoch sec; seqNo:1612980279071; depth 0.00 2021-02-10T18:04:39Z- waiting for 1612980280.46, time is 1612980278.29 2021-02-10T18:04:39Z- sync is 0.77, coherence is 2.00 2021-02-10T18:04:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980279.08 epoch sec; seqNo:1374; 4061669.05 north; 594258.72 east 2021-02-10T18:04:39Z- waiting for 1612980280.46, time is 1612980278.29 2021-02-10T18:04:39Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:39Z- AHRS_M2 msg: 1612980279.47 epoch sec; seqNo:1366 2021-02-10T18:04:39Z- AHRS_M2 msg: 1.19 phi; -0.03 theta; -0.06 psi 2021-02-10T18:04:39Z- waiting for 1612980280.46, time is 1612980278.29 2021-02-10T18:04:39Z- sync is 1.18, coherence is 2.00 2021-02-10T18:04:39Z- handleDepth()-Depth_Keller msg: 49.25 epoch sec; seqNo:1612980279472; depth 0.00 2021-02-10T18:04:39Z- waiting for 1612980280.46, time is 1612980278.29 2021-02-10T18:04:39Z- sync is 1.18, coherence is 2.00 2021-02-10T18:04:39Z- handleDvl() - RDI_Pathfinder msg: 1612980279.48 epoch sec; seqNo:556 2021-02-10T18:04:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.13 , 46.17 , 43.11 , 46.58 2021-02-10T18:04:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.03 , -0.01 2021-02-10T18:04:39Z- waiting for 1612980280.46, time is 1612980279.48 2021-02-10T18:04:39Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980279.49 epoch sec; seqNo:1375; 4061669.43 north; 594258.71 east 2021-02-10T18:04:39Z- waiting for 1612980280.46, time is 1612980279.48 2021-02-10T18:04:39Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:39Z- AHRS_M2 msg: 1612980279.88 epoch sec; seqNo:1367 2021-02-10T18:04:39Z- AHRS_M2 msg: 1.20 phi; -0.03 theta; -0.06 psi 2021-02-10T18:04:39Z- waiting for 1612980280.46, time is 1612980279.48 2021-02-10T18:04:39Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:39Z- handleDepth()-Depth_Keller msg: 49.28 epoch sec; seqNo:1612980279880; depth 0.00 2021-02-10T18:04:39Z- waiting for 1612980280.46, time is 1612980279.48 2021-02-10T18:04:39Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980279.89 epoch sec; seqNo:1376; 4061669.44 north; 594259.93 east 2021-02-10T18:04:39Z- waiting for 1612980280.46, time is 1612980279.48 2021-02-10T18:04:39Z- sync is 0.41, coherence is 2.00 2021-02-10T18:04:40Z- AHRS_M2 msg: 1612980280.28 epoch sec; seqNo:1368 2021-02-10T18:04:40Z- AHRS_M2 msg: 1.21 phi; -0.04 theta; -0.06 psi 2021-02-10T18:04:40Z- waiting for 1612980280.46, time is 1612980279.48 2021-02-10T18:04:40Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:40Z- handleDepth()-Depth_Keller msg: 49.28 epoch sec; seqNo:1612980280280; depth 0.00 2021-02-10T18:04:40Z- waiting for 1612980280.46, time is 1612980279.48 2021-02-10T18:04:40Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:40Z- handleDvl() - RDI_Pathfinder msg: 1612980280.30 epoch sec; seqNo:557 2021-02-10T18:04:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.92 , 46.17 , 43.11 , 46.78 2021-02-10T18:04:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.02 , 0.02 2021-02-10T18:04:40Z- waiting for 1612980280.46, time is 1612980280.30 2021-02-10T18:04:40Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980280.31 epoch sec; seqNo:1377; 4061669.82 north; 594259.93 east 2021-02-10T18:04:40Z- waiting for 1612980280.46, time is 1612980280.30 2021-02-10T18:04:40Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:40Z- AHRS_M2 msg: 1612980280.68 epoch sec; seqNo:1369 2021-02-10T18:04:40Z- AHRS_M2 msg: 1.21 phi; -0.04 theta; -0.06 psi 2021-02-10T18:04:40Z- waiting for 1612980280.46, time is 1612980280.30 2021-02-10T18:04:40Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:40Z- handleDepth()-Depth_Keller msg: 49.29 epoch sec; seqNo:1612980280693; depth 0.00 2021-02-10T18:04:40Z- waiting for 1612980280.46, time is 1612980280.30 2021-02-10T18:04:40Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980280.70 epoch sec; seqNo:1378; 4061669.82 north; 594259.93 east 2021-02-10T18:04:40Z- waiting for 1612980280.46, time is 1612980280.30 2021-02-10T18:04:40Z- sync is 0.41, coherence is 2.00 2021-02-10T18:04:41Z- AHRS_M2 msg: 1612980281.09 epoch sec; seqNo:1370 2021-02-10T18:04:41Z- AHRS_M2 msg: 1.22 phi; -0.04 theta; -0.07 psi 2021-02-10T18:04:41Z- waiting for 1612980280.46, time is 1612980280.30 2021-02-10T18:04:41Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:41Z- handleDepth()-Depth_Keller msg: 49.31 epoch sec; seqNo:1612980281101; depth 0.00 2021-02-10T18:04:41Z- waiting for 1612980280.46, time is 1612980280.30 2021-02-10T18:04:41Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980281.12 epoch sec; seqNo:1379; 4061669.82 north; 594259.93 east 2021-02-10T18:04:41Z- waiting for 1612980280.46, time is 1612980280.30 2021-02-10T18:04:41Z- sync is 0.82, coherence is 2.00 2021-02-10T18:04:41Z- AHRS_M2 msg: 1612980281.49 epoch sec; seqNo:1371 2021-02-10T18:04:41Z- AHRS_M2 msg: 1.23 phi; -0.04 theta; -0.07 psi 2021-02-10T18:04:41Z- waiting for 1612980280.46, time is 1612980280.30 2021-02-10T18:04:41Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:41Z- handleDepth()-Depth_Keller msg: 49.33 epoch sec; seqNo:1612980281502; depth 0.00 2021-02-10T18:04:41Z- waiting for 1612980280.46, time is 1612980280.30 2021-02-10T18:04:41Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:41Z- handleDvl() - RDI_Pathfinder msg: 1612980281.51 epoch sec; seqNo:558 2021-02-10T18:04:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.92 , 46.58 , 42.90 , 46.99 2021-02-10T18:04:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.03 , 0.03 2021-02-10T18:04:41Z- waiting for 1612980280.46, time is 1612980281.51 2021-02-10T18:04:41Z- sync is 0.03, coherence is 2.00 2021-02-10T18:04:41Z- LcmTrn::updateTrn() >>>> pose time 1612980281.49, meas time 1612980281.51 <<<< 2021-02-10T18:04:41Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980281.51 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:04:41Z- TerrainNav::motionUpdate() - currEstimate = (4061670, 594259.93, 49.33) 2021-02-10T18:04:41Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:04:41Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:04:41Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:04:41Z- TNavBF::mmse selected from filter -1 2021-02-10T18:04:41Z- variances([0], [2], and psi_berg) = 795.999344 833.094569 0.000000 2021-02-10T18:04:41Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:04:41Z- LcmTrn::cycle() - MLE : 4061641.32 594309.43 49.33 2021-02-10T18:04:41Z- LcmTrn::cycle() - MMSE : 4061669.82 594259.93 49.33 2021-02-10T18:04:41Z- LcmTrn::cycle() - COVAR: 796.00 833.09 47.58 0.00 2021-02-10T18:04:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980281.52 epoch sec; seqNo:1380; 4061670.21 north; 594261.15 east 2021-02-10T18:04:41Z- waiting for 1612980284.51, time is 1612980281.51 2021-02-10T18:04:41Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:41Z- AHRS_M2 msg: 1612980281.89 epoch sec; seqNo:1372 2021-02-10T18:04:41Z- AHRS_M2 msg: 1.23 phi; -0.04 theta; -0.08 psi 2021-02-10T18:04:41Z- waiting for 1612980284.51, time is 1612980281.51 2021-02-10T18:04:41Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:41Z- handleDepth()-Depth_Keller msg: 49.35 epoch sec; seqNo:1612980281896; depth 0.00 2021-02-10T18:04:41Z- waiting for 1612980284.51, time is 1612980281.51 2021-02-10T18:04:41Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980281.91 epoch sec; seqNo:1381; 4061670.21 north; 594261.15 east 2021-02-10T18:04:41Z- waiting for 1612980284.51, time is 1612980281.51 2021-02-10T18:04:41Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:42Z- AHRS_M2 msg: 1612980282.30 epoch sec; seqNo:1373 2021-02-10T18:04:42Z- AHRS_M2 msg: 1.24 phi; -0.04 theta; -0.08 psi 2021-02-10T18:04:42Z- waiting for 1612980284.51, time is 1612980281.51 2021-02-10T18:04:42Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:42Z- handleDepth()-Depth_Keller msg: 49.36 epoch sec; seqNo:1612980282300; depth 0.00 2021-02-10T18:04:42Z- waiting for 1612980284.51, time is 1612980281.51 2021-02-10T18:04:42Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:42Z- handleDvl() - RDI_Pathfinder msg: 1612980282.31 epoch sec; seqNo:559 2021-02-10T18:04:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.72 , 46.58 , 42.90 , 46.99 2021-02-10T18:04:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.04 2021-02-10T18:04:42Z- waiting for 1612980284.51, time is 1612980282.31 2021-02-10T18:04:42Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980282.32 epoch sec; seqNo:1382; 4061670.21 north; 594261.15 east 2021-02-10T18:04:42Z- waiting for 1612980284.51, time is 1612980282.31 2021-02-10T18:04:42Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:42Z- AHRS_M2 msg: 1612980282.70 epoch sec; seqNo:1374 2021-02-10T18:04:42Z- AHRS_M2 msg: 1.25 phi; -0.04 theta; -0.08 psi 2021-02-10T18:04:42Z- waiting for 1612980284.51, time is 1612980282.31 2021-02-10T18:04:42Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:42Z- handleDepth()-Depth_Keller msg: 49.37 epoch sec; seqNo:1612980282706; depth 0.00 2021-02-10T18:04:42Z- waiting for 1612980284.51, time is 1612980282.31 2021-02-10T18:04:42Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980282.72 epoch sec; seqNo:1383; 4061670.59 north; 594261.14 east 2021-02-10T18:04:42Z- waiting for 1612980284.51, time is 1612980282.31 2021-02-10T18:04:42Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:43Z- AHRS_M2 msg: 1612980283.14 epoch sec; seqNo:1375 2021-02-10T18:04:43Z- AHRS_M2 msg: 1.26 phi; -0.04 theta; -0.08 psi 2021-02-10T18:04:43Z- waiting for 1612980284.51, time is 1612980282.31 2021-02-10T18:04:43Z- sync is 0.83, coherence is 2.00 2021-02-10T18:04:43Z- handleDepth()-Depth_Keller msg: 49.39 epoch sec; seqNo:1612980283147; depth 0.00 2021-02-10T18:04:43Z- waiting for 1612980284.51, time is 1612980282.31 2021-02-10T18:04:43Z- sync is 0.83, coherence is 2.00 2021-02-10T18:04:43Z- handleDvl() - RDI_Pathfinder msg: 1612980283.16 epoch sec; seqNo:560 2021-02-10T18:04:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.51 , 46.78 , 42.70 , 46.99 2021-02-10T18:04:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.00 , 0.04 2021-02-10T18:04:43Z- waiting for 1612980284.51, time is 1612980283.16 2021-02-10T18:04:43Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980283.17 epoch sec; seqNo:1384; 4061670.61 north; 594262.36 east 2021-02-10T18:04:43Z- waiting for 1612980284.51, time is 1612980283.16 2021-02-10T18:04:43Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:43Z- AHRS_M2 msg: 1612980283.51 epoch sec; seqNo:1376 2021-02-10T18:04:43Z- AHRS_M2 msg: 1.26 phi; -0.04 theta; -0.08 psi 2021-02-10T18:04:43Z- waiting for 1612980284.51, time is 1612980283.16 2021-02-10T18:04:43Z- sync is 0.35, coherence is 2.00 2021-02-10T18:04:43Z- handleDepth()-Depth_Keller msg: 49.42 epoch sec; seqNo:1612980283517; depth 0.00 2021-02-10T18:04:43Z- waiting for 1612980284.51, time is 1612980283.16 2021-02-10T18:04:43Z- sync is 0.35, coherence is 2.00 2021-02-10T18:04:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980283.53 epoch sec; seqNo:1385; 4061670.61 north; 594262.36 east 2021-02-10T18:04:43Z- waiting for 1612980284.51, time is 1612980283.16 2021-02-10T18:04:43Z- sync is 0.37, coherence is 2.00 2021-02-10T18:04:43Z- AHRS_M2 msg: 1612980283.91 epoch sec; seqNo:1377 2021-02-10T18:04:43Z- AHRS_M2 msg: 1.27 phi; -0.04 theta; -0.08 psi 2021-02-10T18:04:43Z- waiting for 1612980284.51, time is 1612980283.16 2021-02-10T18:04:43Z- sync is 0.75, coherence is 2.00 2021-02-10T18:04:43Z- handleDepth()-Depth_Keller msg: 49.45 epoch sec; seqNo:1612980283916; depth 0.00 2021-02-10T18:04:43Z- waiting for 1612980284.51, time is 1612980283.16 2021-02-10T18:04:43Z- sync is 0.75, coherence is 2.00 2021-02-10T18:04:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980283.93 epoch sec; seqNo:1386; 4061670.61 north; 594262.36 east 2021-02-10T18:04:43Z- waiting for 1612980284.51, time is 1612980283.16 2021-02-10T18:04:43Z- sync is 0.77, coherence is 2.00 2021-02-10T18:04:44Z- AHRS_M2 msg: 1612980284.32 epoch sec; seqNo:1378 2021-02-10T18:04:44Z- AHRS_M2 msg: 1.28 phi; -0.04 theta; -0.08 psi 2021-02-10T18:04:44Z- waiting for 1612980284.51, time is 1612980283.16 2021-02-10T18:04:44Z- sync is 1.16, coherence is 2.00 2021-02-10T18:04:44Z- handleDepth()-Depth_Keller msg: 49.47 epoch sec; seqNo:1612980284325; depth 0.00 2021-02-10T18:04:44Z- waiting for 1612980284.51, time is 1612980283.16 2021-02-10T18:04:44Z- sync is 1.16, coherence is 2.00 2021-02-10T18:04:44Z- handleDvl() - RDI_Pathfinder msg: 1612980284.34 epoch sec; seqNo:561 2021-02-10T18:04:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.72 , 46.78 , 42.70 , 46.99 2021-02-10T18:04:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.00 , 0.04 2021-02-10T18:04:44Z- waiting for 1612980284.51, time is 1612980284.34 2021-02-10T18:04:44Z- sync is 0.03, coherence is 2.00 2021-02-10T18:04:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980284.35 epoch sec; seqNo:1387; 4061671.00 north; 594263.58 east 2021-02-10T18:04:44Z- waiting for 1612980284.51, time is 1612980284.34 2021-02-10T18:04:44Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:44Z- AHRS_M2 msg: 1612980284.72 epoch sec; seqNo:1379 2021-02-10T18:04:44Z- AHRS_M2 msg: 1.29 phi; -0.04 theta; -0.08 psi 2021-02-10T18:04:44Z- waiting for 1612980284.51, time is 1612980284.34 2021-02-10T18:04:44Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:44Z- handleDepth()-Depth_Keller msg: 49.48 epoch sec; seqNo:1612980284724; depth 0.00 2021-02-10T18:04:44Z- waiting for 1612980284.51, time is 1612980284.34 2021-02-10T18:04:44Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980284.73 epoch sec; seqNo:1388; 4061671.00 north; 594263.58 east 2021-02-10T18:04:44Z- waiting for 1612980284.51, time is 1612980284.34 2021-02-10T18:04:44Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:45Z- AHRS_M2 msg: 1612980285.13 epoch sec; seqNo:1380 2021-02-10T18:04:45Z- AHRS_M2 msg: 1.30 phi; -0.04 theta; -0.08 psi 2021-02-10T18:04:45Z- waiting for 1612980284.51, time is 1612980284.34 2021-02-10T18:04:45Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:45Z- handleDepth()-Depth_Keller msg: 49.50 epoch sec; seqNo:1612980285138; depth 0.00 2021-02-10T18:04:45Z- waiting for 1612980284.51, time is 1612980284.34 2021-02-10T18:04:45Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:45Z- handleDvl() - RDI_Pathfinder msg: 1612980285.15 epoch sec; seqNo:562 2021-02-10T18:04:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.51 , 46.78 , 42.49 , 46.78 2021-02-10T18:04:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.00 , 0.02 2021-02-10T18:04:45Z- waiting for 1612980284.51, time is 1612980285.15 2021-02-10T18:04:45Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:45Z- LcmTrn::updateTrn() >>>> pose time 1612980285.13, meas time 1612980285.15 <<<< 2021-02-10T18:04:45Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980285.15 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:04:45Z- TerrainNav::motionUpdate() - currEstimate = (4061671, 594263.58, 49.50) 2021-02-10T18:04:45Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:04:45Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:04:45Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:04:45Z- TNavBF::mmse selected from filter -1 2021-02-10T18:04:45Z- variances([0], [2], and psi_berg) = 795.796949 833.094170 0.000000 2021-02-10T18:04:45Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:04:45Z- LcmTrn::cycle() - MLE : 4061642.50 594313.08 49.50 2021-02-10T18:04:45Z- LcmTrn::cycle() - MMSE : 4061671.00 594263.58 49.50 2021-02-10T18:04:45Z- LcmTrn::cycle() - COVAR: 795.80 833.09 47.77 0.00 2021-02-10T18:04:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980285.16 epoch sec; seqNo:1389; 4061671.00 north; 594263.58 east 2021-02-10T18:04:45Z- waiting for 1612980288.15, time is 1612980285.15 2021-02-10T18:04:45Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:45Z- AHRS_M2 msg: 1612980285.53 epoch sec; seqNo:1381 2021-02-10T18:04:45Z- AHRS_M2 msg: 1.31 phi; -0.04 theta; -0.08 psi 2021-02-10T18:04:45Z- waiting for 1612980288.15, time is 1612980285.15 2021-02-10T18:04:45Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:45Z- handleDepth()-Depth_Keller msg: 49.55 epoch sec; seqNo:1612980285532; depth 0.00 2021-02-10T18:04:45Z- waiting for 1612980288.15, time is 1612980285.15 2021-02-10T18:04:45Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980285.55 epoch sec; seqNo:1390; 4061671.39 north; 594264.79 east 2021-02-10T18:04:45Z- waiting for 1612980288.15, time is 1612980285.15 2021-02-10T18:04:45Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:45Z- AHRS_M2 msg: 1612980285.93 epoch sec; seqNo:1382 2021-02-10T18:04:45Z- AHRS_M2 msg: 1.31 phi; -0.04 theta; -0.08 psi 2021-02-10T18:04:45Z- waiting for 1612980288.15, time is 1612980285.15 2021-02-10T18:04:45Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:45Z- handleDepth()-Depth_Keller msg: 49.56 epoch sec; seqNo:1612980285936; depth 0.00 2021-02-10T18:04:45Z- waiting for 1612980288.15, time is 1612980285.15 2021-02-10T18:04:45Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980285.94 epoch sec; seqNo:1391; 4061671.39 north; 594264.79 east 2021-02-10T18:04:45Z- waiting for 1612980288.15, time is 1612980285.15 2021-02-10T18:04:45Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:46Z- AHRS_M2 msg: 1612980286.34 epoch sec; seqNo:1383 2021-02-10T18:04:46Z- AHRS_M2 msg: 1.32 phi; -0.04 theta; -0.08 psi 2021-02-10T18:04:46Z- waiting for 1612980288.15, time is 1612980285.15 2021-02-10T18:04:46Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:46Z- handleDepth()-Depth_Keller msg: 49.59 epoch sec; seqNo:1612980286340; depth 0.00 2021-02-10T18:04:46Z- waiting for 1612980288.15, time is 1612980285.15 2021-02-10T18:04:46Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:46Z- handleDvl() - RDI_Pathfinder msg: 1612980286.35 epoch sec; seqNo:563 2021-02-10T18:04:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.51 , 46.58 , 42.29 , 46.58 2021-02-10T18:04:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.00 , 0.00 2021-02-10T18:04:46Z- waiting for 1612980288.15, time is 1612980286.35 2021-02-10T18:04:46Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980286.36 epoch sec; seqNo:1392; 4061671.39 north; 594264.79 east 2021-02-10T18:04:46Z- waiting for 1612980288.15, time is 1612980286.35 2021-02-10T18:04:46Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:46Z- AHRS_M2 msg: 1612980286.74 epoch sec; seqNo:1384 2021-02-10T18:04:46Z- AHRS_M2 msg: 1.33 phi; -0.04 theta; -0.08 psi 2021-02-10T18:04:46Z- waiting for 1612980288.15, time is 1612980286.35 2021-02-10T18:04:46Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:46Z- handleDepth()-Depth_Keller msg: 49.62 epoch sec; seqNo:1612980286746; depth 0.00 2021-02-10T18:04:46Z- waiting for 1612980288.15, time is 1612980286.35 2021-02-10T18:04:46Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980286.76 epoch sec; seqNo:1393; 4061671.39 north; 594264.79 east 2021-02-10T18:04:46Z- waiting for 1612980288.15, time is 1612980286.35 2021-02-10T18:04:46Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:47Z- AHRS_M2 msg: 1612980287.14 epoch sec; seqNo:1385 2021-02-10T18:04:47Z- AHRS_M2 msg: 1.34 phi; -0.05 theta; -0.08 psi 2021-02-10T18:04:47Z- waiting for 1612980288.15, time is 1612980286.35 2021-02-10T18:04:47Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:47Z- handleDepth()-Depth_Keller msg: 49.63 epoch sec; seqNo:1612980287148; depth 0.00 2021-02-10T18:04:47Z- waiting for 1612980288.15, time is 1612980286.35 2021-02-10T18:04:47Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:47Z- handleDvl() - RDI_Pathfinder msg: 1612980287.17 epoch sec; seqNo:564 2021-02-10T18:04:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.51 , 46.58 , 42.29 , 46.58 2021-02-10T18:04:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.00 , -0.01 2021-02-10T18:04:47Z- waiting for 1612980288.15, time is 1612980287.17 2021-02-10T18:04:47Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980287.18 epoch sec; seqNo:1394; 4061671.78 north; 594266.01 east 2021-02-10T18:04:47Z- waiting for 1612980288.15, time is 1612980287.17 2021-02-10T18:04:47Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:47Z- AHRS_M2 msg: 1612980287.55 epoch sec; seqNo:1386 2021-02-10T18:04:47Z- AHRS_M2 msg: 1.35 phi; -0.05 theta; -0.08 psi 2021-02-10T18:04:47Z- waiting for 1612980288.15, time is 1612980287.17 2021-02-10T18:04:47Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:47Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1612980287552; depth 0.00 2021-02-10T18:04:47Z- waiting for 1612980288.15, time is 1612980287.17 2021-02-10T18:04:47Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980287.56 epoch sec; seqNo:1395; 4061671.78 north; 594266.01 east 2021-02-10T18:04:47Z- waiting for 1612980288.15, time is 1612980287.17 2021-02-10T18:04:47Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:47Z- AHRS_M2 msg: 1612980287.95 epoch sec; seqNo:1387 2021-02-10T18:04:47Z- AHRS_M2 msg: 1.36 phi; -0.05 theta; -0.08 psi 2021-02-10T18:04:47Z- waiting for 1612980288.15, time is 1612980287.17 2021-02-10T18:04:47Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:47Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1612980287956; depth 0.00 2021-02-10T18:04:47Z- waiting for 1612980288.15, time is 1612980287.17 2021-02-10T18:04:47Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980287.97 epoch sec; seqNo:1396; 4061671.78 north; 594266.01 east 2021-02-10T18:04:47Z- waiting for 1612980288.15, time is 1612980287.17 2021-02-10T18:04:47Z- sync is 0.80, coherence is 2.00 2021-02-10T18:04:48Z- AHRS_M2 msg: 1612980288.36 epoch sec; seqNo:1388 2021-02-10T18:04:48Z- AHRS_M2 msg: 1.37 phi; -0.05 theta; -0.09 psi 2021-02-10T18:04:48Z- waiting for 1612980288.15, time is 1612980287.17 2021-02-10T18:04:48Z- sync is 1.20, coherence is 2.00 2021-02-10T18:04:48Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1612980288367; depth 0.00 2021-02-10T18:04:48Z- waiting for 1612980288.15, time is 1612980287.17 2021-02-10T18:04:48Z- sync is 1.20, coherence is 2.00 2021-02-10T18:04:48Z- handleDvl() - RDI_Pathfinder msg: 1612980288.38 epoch sec; seqNo:565 2021-02-10T18:04:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.31 , 46.78 , 42.28 , 46.57 2021-02-10T18:04:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , -0.03 2021-02-10T18:04:48Z- waiting for 1612980288.15, time is 1612980288.38 2021-02-10T18:04:48Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:48Z- LcmTrn::updateTrn() >>>> pose time 1612980288.36, meas time 1612980288.38 <<<< 2021-02-10T18:04:48Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980288.38 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:04:48Z- TerrainNav::motionUpdate() - currEstimate = (4061672, 594266.01, 49.69) 2021-02-10T18:04:48Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:04:48Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:04:48Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:04:48Z- TNavBF::mmse selected from filter -1 2021-02-10T18:04:48Z- variances([0], [2], and psi_berg) = 795.632401 833.093847 0.000000 2021-02-10T18:04:48Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:04:48Z- LcmTrn::cycle() - MLE : 4061643.28 594315.51 49.69 2021-02-10T18:04:48Z- LcmTrn::cycle() - MMSE : 4061671.78 594266.01 49.69 2021-02-10T18:04:48Z- LcmTrn::cycle() - COVAR: 795.63 833.09 47.90 0.00 2021-02-10T18:04:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980288.39 epoch sec; seqNo:1397; 4061671.80 north; 594267.23 east 2021-02-10T18:04:48Z- waiting for 1612980291.38, time is 1612980288.38 2021-02-10T18:04:48Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:48Z- AHRS_M2 msg: 1612980288.76 epoch sec; seqNo:1389 2021-02-10T18:04:48Z- AHRS_M2 msg: 1.38 phi; -0.05 theta; -0.10 psi 2021-02-10T18:04:48Z- waiting for 1612980291.38, time is 1612980288.38 2021-02-10T18:04:48Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:48Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1612980288776; depth 0.00 2021-02-10T18:04:48Z- waiting for 1612980291.38, time is 1612980288.38 2021-02-10T18:04:48Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980288.79 epoch sec; seqNo:1398; 4061671.80 north; 594267.23 east 2021-02-10T18:04:48Z- waiting for 1612980291.38, time is 1612980288.38 2021-02-10T18:04:48Z- sync is 0.41, coherence is 2.00 2021-02-10T18:04:49Z- AHRS_M2 msg: 1612980289.16 epoch sec; seqNo:1390 2021-02-10T18:04:49Z- AHRS_M2 msg: 1.39 phi; -0.05 theta; -0.10 psi 2021-02-10T18:04:49Z- waiting for 1612980291.38, time is 1612980288.38 2021-02-10T18:04:49Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:49Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1612980289168; depth 0.00 2021-02-10T18:04:49Z- waiting for 1612980291.38, time is 1612980288.38 2021-02-10T18:04:49Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:49Z- handleDvl() - RDI_Pathfinder msg: 1612980289.18 epoch sec; seqNo:566 2021-02-10T18:04:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.10 , 46.98 , 42.08 , 46.57 2021-02-10T18:04:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.02 , -0.02 2021-02-10T18:04:49Z- waiting for 1612980291.38, time is 1612980289.18 2021-02-10T18:04:49Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980289.20 epoch sec; seqNo:1399; 4061672.18 north; 594267.23 east 2021-02-10T18:04:49Z- waiting for 1612980291.38, time is 1612980289.18 2021-02-10T18:04:49Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:49Z- AHRS_M2 msg: 1612980289.57 epoch sec; seqNo:1391 2021-02-10T18:04:49Z- AHRS_M2 msg: 1.39 phi; -0.05 theta; -0.10 psi 2021-02-10T18:04:49Z- waiting for 1612980291.38, time is 1612980289.18 2021-02-10T18:04:49Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:49Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1612980289572; depth 0.00 2021-02-10T18:04:49Z- waiting for 1612980291.38, time is 1612980289.18 2021-02-10T18:04:49Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980289.58 epoch sec; seqNo:1400; 4061672.19 north; 594268.45 east 2021-02-10T18:04:49Z- waiting for 1612980291.38, time is 1612980289.18 2021-02-10T18:04:49Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:49Z- AHRS_M2 msg: 1612980289.97 epoch sec; seqNo:1392 2021-02-10T18:04:49Z- AHRS_M2 msg: 1.40 phi; -0.05 theta; -0.11 psi 2021-02-10T18:04:49Z- waiting for 1612980291.38, time is 1612980289.18 2021-02-10T18:04:49Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:49Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1612980289976; depth 0.00 2021-02-10T18:04:49Z- waiting for 1612980291.38, time is 1612980289.18 2021-02-10T18:04:49Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980289.98 epoch sec; seqNo:1401; 4061672.19 north; 594268.45 east 2021-02-10T18:04:49Z- waiting for 1612980291.38, time is 1612980289.18 2021-02-10T18:04:49Z- sync is 0.80, coherence is 2.00 2021-02-10T18:04:50Z- AHRS_M2 msg: 1612980290.38 epoch sec; seqNo:1393 2021-02-10T18:04:50Z- AHRS_M2 msg: 1.40 phi; -0.05 theta; -0.12 psi 2021-02-10T18:04:50Z- waiting for 1612980291.38, time is 1612980289.18 2021-02-10T18:04:50Z- sync is 1.20, coherence is 2.00 2021-02-10T18:04:50Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1612980290385; depth 0.00 2021-02-10T18:04:50Z- waiting for 1612980291.38, time is 1612980289.18 2021-02-10T18:04:50Z- sync is 1.20, coherence is 2.00 2021-02-10T18:04:50Z- handleDvl() - RDI_Pathfinder msg: 1612980290.40 epoch sec; seqNo:567 2021-02-10T18:04:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.70 , 47.40 , 42.08 , 46.17 2021-02-10T18:04:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.03 , -0.02 2021-02-10T18:04:50Z- waiting for 1612980291.38, time is 1612980290.40 2021-02-10T18:04:50Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980290.42 epoch sec; seqNo:1402; 4061672.19 north; 594268.45 east 2021-02-10T18:04:50Z- waiting for 1612980291.38, time is 1612980290.40 2021-02-10T18:04:50Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:50Z- AHRS_M2 msg: 1612980290.78 epoch sec; seqNo:1394 2021-02-10T18:04:50Z- AHRS_M2 msg: 1.40 phi; -0.05 theta; -0.13 psi 2021-02-10T18:04:50Z- waiting for 1612980291.38, time is 1612980290.40 2021-02-10T18:04:50Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:50Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1612980290789; depth 0.00 2021-02-10T18:04:50Z- waiting for 1612980291.38, time is 1612980290.40 2021-02-10T18:04:50Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980290.80 epoch sec; seqNo:1403; 4061672.20 north; 594269.67 east 2021-02-10T18:04:50Z- waiting for 1612980291.38, time is 1612980290.40 2021-02-10T18:04:50Z- sync is 0.41, coherence is 2.00 2021-02-10T18:04:51Z- AHRS_M2 msg: 1612980291.18 epoch sec; seqNo:1395 2021-02-10T18:04:51Z- AHRS_M2 msg: 1.40 phi; -0.05 theta; -0.14 psi 2021-02-10T18:04:51Z- waiting for 1612980291.38, time is 1612980290.40 2021-02-10T18:04:51Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:51Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1612980291190; depth 0.00 2021-02-10T18:04:51Z- waiting for 1612980291.38, time is 1612980290.40 2021-02-10T18:04:51Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:51Z- handleDvl() - RDI_Pathfinder msg: 1612980291.20 epoch sec; seqNo:568 2021-02-10T18:04:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.08 , 48.01 , 41.88 , 46.37 2021-02-10T18:04:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.03 , -0.01 2021-02-10T18:04:51Z- waiting for 1612980291.38, time is 1612980291.20 2021-02-10T18:04:51Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980291.21 epoch sec; seqNo:1404; 4061672.20 north; 594269.67 east 2021-02-10T18:04:51Z- waiting for 1612980291.38, time is 1612980291.20 2021-02-10T18:04:51Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:51Z- AHRS_M2 msg: 1612980291.59 epoch sec; seqNo:1396 2021-02-10T18:04:51Z- AHRS_M2 msg: 1.40 phi; -0.05 theta; -0.14 psi 2021-02-10T18:04:51Z- waiting for 1612980291.38, time is 1612980291.20 2021-02-10T18:04:51Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:51Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1612980291597; depth 0.00 2021-02-10T18:04:51Z- waiting for 1612980291.38, time is 1612980291.20 2021-02-10T18:04:51Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980291.61 epoch sec; seqNo:1405; 4061672.20 north; 594269.67 east 2021-02-10T18:04:51Z- waiting for 1612980291.38, time is 1612980291.20 2021-02-10T18:04:51Z- sync is 0.41, coherence is 2.00 2021-02-10T18:04:51Z- AHRS_M2 msg: 1612980291.99 epoch sec; seqNo:1397 2021-02-10T18:04:51Z- AHRS_M2 msg: 1.41 phi; -0.05 theta; -0.15 psi 2021-02-10T18:04:51Z- waiting for 1612980291.38, time is 1612980291.20 2021-02-10T18:04:51Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:52Z- handleDepth()-Depth_Keller msg: 49.88 epoch sec; seqNo:1612980292001; depth 0.00 2021-02-10T18:04:52Z- waiting for 1612980291.38, time is 1612980291.20 2021-02-10T18:04:52Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980292.01 epoch sec; seqNo:1406; 4061672.59 north; 594270.88 east 2021-02-10T18:04:52Z- waiting for 1612980291.38, time is 1612980291.20 2021-02-10T18:04:52Z- sync is 0.81, coherence is 2.00 2021-02-10T18:04:52Z- AHRS_M2 msg: 1612980292.40 epoch sec; seqNo:1398 2021-02-10T18:04:52Z- AHRS_M2 msg: 1.41 phi; -0.05 theta; -0.15 psi 2021-02-10T18:04:52Z- waiting for 1612980291.38, time is 1612980291.20 2021-02-10T18:04:52Z- sync is 1.20, coherence is 2.00 2021-02-10T18:04:52Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1612980292409; depth 0.00 2021-02-10T18:04:52Z- waiting for 1612980291.38, time is 1612980291.20 2021-02-10T18:04:52Z- sync is 1.20, coherence is 2.00 2021-02-10T18:04:52Z- handleDvl() - RDI_Pathfinder msg: 1612980292.42 epoch sec; seqNo:569 2021-02-10T18:04:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.67 , 48.62 , 42.08 , 46.37 2021-02-10T18:04:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.04 , -0.02 2021-02-10T18:04:52Z- waiting for 1612980291.38, time is 1612980292.42 2021-02-10T18:04:52Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:52Z- LcmTrn::updateTrn() >>>> pose time 1612980292.40, meas time 1612980292.42 <<<< 2021-02-10T18:04:52Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980292.42 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:04:52Z- TerrainNav::motionUpdate() - currEstimate = (4061673, 594270.88, 49.89) 2021-02-10T18:04:52Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:04:52Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:04:52Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:04:52Z- TNavBF::mmse selected from filter -1 2021-02-10T18:04:52Z- variances([0], [2], and psi_berg) = 795.404410 833.093402 0.000000 2021-02-10T18:04:52Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:04:52Z- LcmTrn::cycle() - MLE : 4061644.09 594320.38 49.89 2021-02-10T18:04:52Z- LcmTrn::cycle() - MMSE : 4061672.59 594270.88 49.89 2021-02-10T18:04:52Z- LcmTrn::cycle() - COVAR: 795.40 833.09 48.15 0.00 2021-02-10T18:04:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980292.44 epoch sec; seqNo:1407; 4061672.59 north; 594270.88 east 2021-02-10T18:04:52Z- waiting for 1612980295.42, time is 1612980292.42 2021-02-10T18:04:52Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:52Z- AHRS_M2 msg: 1612980292.80 epoch sec; seqNo:1399 2021-02-10T18:04:52Z- AHRS_M2 msg: 1.41 phi; -0.05 theta; -0.15 psi 2021-02-10T18:04:52Z- waiting for 1612980295.42, time is 1612980292.42 2021-02-10T18:04:52Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:52Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1612980292807; depth 0.00 2021-02-10T18:04:52Z- waiting for 1612980295.42, time is 1612980292.42 2021-02-10T18:04:52Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980292.82 epoch sec; seqNo:1408; 4061672.59 north; 594270.88 east 2021-02-10T18:04:52Z- waiting for 1612980295.42, time is 1612980292.42 2021-02-10T18:04:52Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:53Z- AHRS_M2 msg: 1612980293.20 epoch sec; seqNo:1400 2021-02-10T18:04:53Z- AHRS_M2 msg: 1.41 phi; -0.04 theta; -0.15 psi 2021-02-10T18:04:53Z- waiting for 1612980295.42, time is 1612980292.42 2021-02-10T18:04:53Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:53Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1612980293213; depth 0.00 2021-02-10T18:04:53Z- waiting for 1612980295.42, time is 1612980292.42 2021-02-10T18:04:53Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:53Z- handleDvl() - RDI_Pathfinder msg: 1612980293.23 epoch sec; seqNo:570 2021-02-10T18:04:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.47 , 48.82 , 42.08 , 46.37 2021-02-10T18:04:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.03 , -0.02 2021-02-10T18:04:53Z- waiting for 1612980295.42, time is 1612980293.23 2021-02-10T18:04:53Z- sync is 0.03, coherence is 2.00 2021-02-10T18:04:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980293.24 epoch sec; seqNo:1409; 4061672.61 north; 594272.10 east 2021-02-10T18:04:53Z- waiting for 1612980295.42, time is 1612980293.23 2021-02-10T18:04:53Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:53Z- AHRS_M2 msg: 1612980293.61 epoch sec; seqNo:1401 2021-02-10T18:04:53Z- AHRS_M2 msg: 1.42 phi; -0.04 theta; -0.15 psi 2021-02-10T18:04:53Z- waiting for 1612980295.42, time is 1612980293.23 2021-02-10T18:04:53Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:53Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1612980293613; depth 0.00 2021-02-10T18:04:53Z- waiting for 1612980295.42, time is 1612980293.23 2021-02-10T18:04:53Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980293.62 epoch sec; seqNo:1410; 4061672.61 north; 594272.10 east 2021-02-10T18:04:53Z- waiting for 1612980295.42, time is 1612980293.23 2021-02-10T18:04:53Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:54Z- AHRS_M2 msg: 1612980294.01 epoch sec; seqNo:1402 2021-02-10T18:04:54Z- AHRS_M2 msg: 1.42 phi; -0.04 theta; -0.15 psi 2021-02-10T18:04:54Z- waiting for 1612980295.42, time is 1612980293.23 2021-02-10T18:04:54Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:54Z- handleDepth()-Depth_Keller msg: 49.96 epoch sec; seqNo:1612980294017; depth 0.00 2021-02-10T18:04:54Z- waiting for 1612980295.42, time is 1612980293.23 2021-02-10T18:04:54Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980294.03 epoch sec; seqNo:1411; 4061672.61 north; 594272.10 east 2021-02-10T18:04:54Z- waiting for 1612980295.42, time is 1612980293.23 2021-02-10T18:04:54Z- sync is 0.80, coherence is 2.00 2021-02-10T18:04:54Z- AHRS_M2 msg: 1612980294.41 epoch sec; seqNo:1403 2021-02-10T18:04:54Z- AHRS_M2 msg: 1.42 phi; -0.04 theta; -0.16 psi 2021-02-10T18:04:54Z- waiting for 1612980295.42, time is 1612980293.23 2021-02-10T18:04:54Z- sync is 1.18, coherence is 2.00 2021-02-10T18:04:54Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1612980294421; depth 0.00 2021-02-10T18:04:54Z- waiting for 1612980295.42, time is 1612980293.23 2021-02-10T18:04:54Z- sync is 1.18, coherence is 2.00 2021-02-10T18:04:54Z- handleDvl() - RDI_Pathfinder msg: 1612980294.44 epoch sec; seqNo:571 2021-02-10T18:04:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.47 , 48.82 , 41.88 , 46.37 2021-02-10T18:04:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.03 , -0.03 2021-02-10T18:04:54Z- waiting for 1612980295.42, time is 1612980294.44 2021-02-10T18:04:54Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980294.45 epoch sec; seqNo:1412; 4061672.61 north; 594272.10 east 2021-02-10T18:04:54Z- waiting for 1612980295.42, time is 1612980294.44 2021-02-10T18:04:54Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:54Z- AHRS_M2 msg: 1612980294.82 epoch sec; seqNo:1404 2021-02-10T18:04:54Z- AHRS_M2 msg: 1.43 phi; -0.04 theta; -0.16 psi 2021-02-10T18:04:54Z- waiting for 1612980295.42, time is 1612980294.44 2021-02-10T18:04:54Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:54Z- handleDepth()-Depth_Keller msg: 50.00 epoch sec; seqNo:1612980294829; depth 0.00 2021-02-10T18:04:54Z- waiting for 1612980295.42, time is 1612980294.44 2021-02-10T18:04:54Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980294.84 epoch sec; seqNo:1413; 4061672.62 north; 594273.32 east 2021-02-10T18:04:54Z- waiting for 1612980295.42, time is 1612980294.44 2021-02-10T18:04:54Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:55Z- AHRS_M2 msg: 1612980295.22 epoch sec; seqNo:1405 2021-02-10T18:04:55Z- AHRS_M2 msg: 1.43 phi; -0.04 theta; -0.15 psi 2021-02-10T18:04:55Z- waiting for 1612980295.42, time is 1612980294.44 2021-02-10T18:04:55Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:55Z- handleDepth()-Depth_Keller msg: 50.01 epoch sec; seqNo:1612980295234; depth 0.00 2021-02-10T18:04:55Z- waiting for 1612980295.42, time is 1612980294.44 2021-02-10T18:04:55Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:55Z- handleDvl() - RDI_Pathfinder msg: 1612980295.25 epoch sec; seqNo:572 2021-02-10T18:04:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.47 , 48.62 , 41.67 , 45.96 2021-02-10T18:04:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.02 , -0.03 2021-02-10T18:04:55Z- waiting for 1612980295.42, time is 1612980295.25 2021-02-10T18:04:55Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980295.26 epoch sec; seqNo:1414; 4061673.00 north; 594273.32 east 2021-02-10T18:04:55Z- waiting for 1612980295.42, time is 1612980295.25 2021-02-10T18:04:55Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:55Z- AHRS_M2 msg: 1612980295.63 epoch sec; seqNo:1406 2021-02-10T18:04:55Z- AHRS_M2 msg: 1.43 phi; -0.04 theta; -0.15 psi 2021-02-10T18:04:55Z- waiting for 1612980295.42, time is 1612980295.25 2021-02-10T18:04:55Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:55Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1612980295637; depth 0.00 2021-02-10T18:04:55Z- waiting for 1612980295.42, time is 1612980295.25 2021-02-10T18:04:55Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980295.65 epoch sec; seqNo:1415; 4061673.00 north; 594273.32 east 2021-02-10T18:04:55Z- waiting for 1612980295.42, time is 1612980295.25 2021-02-10T18:04:55Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:56Z- AHRS_M2 msg: 1612980296.03 epoch sec; seqNo:1407 2021-02-10T18:04:56Z- AHRS_M2 msg: 1.43 phi; -0.04 theta; -0.15 psi 2021-02-10T18:04:56Z- waiting for 1612980295.42, time is 1612980295.25 2021-02-10T18:04:56Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:56Z- handleDepth()-Depth_Keller msg: 50.05 epoch sec; seqNo:1612980296036; depth 0.00 2021-02-10T18:04:56Z- waiting for 1612980295.42, time is 1612980295.25 2021-02-10T18:04:56Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980296.06 epoch sec; seqNo:1416; 4061673.01 north; 594274.54 east 2021-02-10T18:04:56Z- waiting for 1612980295.42, time is 1612980295.25 2021-02-10T18:04:56Z- sync is 0.81, coherence is 2.00 2021-02-10T18:04:56Z- AHRS_M2 msg: 1612980296.44 epoch sec; seqNo:1408 2021-02-10T18:04:56Z- AHRS_M2 msg: 1.44 phi; -0.04 theta; -0.15 psi 2021-02-10T18:04:56Z- waiting for 1612980295.42, time is 1612980295.25 2021-02-10T18:04:56Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:56Z- handleDepth()-Depth_Keller msg: 50.07 epoch sec; seqNo:1612980296445; depth 0.00 2021-02-10T18:04:56Z- waiting for 1612980295.42, time is 1612980295.25 2021-02-10T18:04:56Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:56Z- handleDvl() - RDI_Pathfinder msg: 1612980296.46 epoch sec; seqNo:573 2021-02-10T18:04:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.47 , 48.62 , 41.68 , 45.97 2021-02-10T18:04:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.01 , -0.03 2021-02-10T18:04:56Z- waiting for 1612980295.42, time is 1612980296.46 2021-02-10T18:04:56Z- sync is 0.03, coherence is 2.00 2021-02-10T18:04:56Z- LcmTrn::updateTrn() >>>> pose time 1612980296.44, meas time 1612980296.46 <<<< 2021-02-10T18:04:56Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980296.46 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:04:56Z- TerrainNav::motionUpdate() - currEstimate = (4061673, 594274.54, 50.07) 2021-02-10T18:04:56Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:04:56Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:04:56Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:04:56Z- TNavBF::mmse selected from filter -1 2021-02-10T18:04:56Z- variances([0], [2], and psi_berg) = 795.208555 833.093021 0.000000 2021-02-10T18:04:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:04:56Z- LcmTrn::cycle() - MLE : 4061644.51 594324.04 50.07 2021-02-10T18:04:56Z- LcmTrn::cycle() - MMSE : 4061673.01 594274.54 50.07 2021-02-10T18:04:56Z- LcmTrn::cycle() - COVAR: 795.21 833.09 48.34 0.00 2021-02-10T18:04:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980296.49 epoch sec; seqNo:1417; 4061673.01 north; 594274.54 east 2021-02-10T18:04:56Z- waiting for 1612980299.46, time is 1612980296.46 2021-02-10T18:04:56Z- sync is 0.03, coherence is 2.00 2021-02-10T18:04:56Z- AHRS_M2 msg: 1612980296.84 epoch sec; seqNo:1409 2021-02-10T18:04:56Z- AHRS_M2 msg: 1.44 phi; -0.04 theta; -0.15 psi 2021-02-10T18:04:56Z- waiting for 1612980299.46, time is 1612980296.46 2021-02-10T18:04:56Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:56Z- handleDepth()-Depth_Keller msg: 50.09 epoch sec; seqNo:1612980296845; depth 0.00 2021-02-10T18:04:56Z- waiting for 1612980299.46, time is 1612980296.46 2021-02-10T18:04:56Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980296.86 epoch sec; seqNo:1418; 4061673.01 north; 594274.54 east 2021-02-10T18:04:56Z- waiting for 1612980299.46, time is 1612980296.46 2021-02-10T18:04:56Z- sync is 0.39, coherence is 2.00 2021-02-10T18:04:57Z- AHRS_M2 msg: 1612980297.24 epoch sec; seqNo:1410 2021-02-10T18:04:57Z- AHRS_M2 msg: 1.44 phi; -0.04 theta; -0.15 psi 2021-02-10T18:04:57Z- waiting for 1612980299.46, time is 1612980296.46 2021-02-10T18:04:57Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:57Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1612980297248; depth 0.00 2021-02-10T18:04:57Z- waiting for 1612980299.46, time is 1612980296.46 2021-02-10T18:04:57Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:57Z- handleDvl() - RDI_Pathfinder msg: 1612980297.27 epoch sec; seqNo:574 2021-02-10T18:04:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.27 , 48.42 , 41.47 , 45.97 2021-02-10T18:04:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.01 , -0.02 2021-02-10T18:04:57Z- waiting for 1612980299.46, time is 1612980297.27 2021-02-10T18:04:57Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980297.28 epoch sec; seqNo:1419; 4061673.03 north; 594275.76 east 2021-02-10T18:04:57Z- waiting for 1612980299.46, time is 1612980297.27 2021-02-10T18:04:57Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:57Z- AHRS_M2 msg: 1612980297.65 epoch sec; seqNo:1411 2021-02-10T18:04:57Z- AHRS_M2 msg: 1.45 phi; -0.04 theta; -0.15 psi 2021-02-10T18:04:57Z- waiting for 1612980299.46, time is 1612980297.27 2021-02-10T18:04:57Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:57Z- handleDepth()-Depth_Keller msg: 50.15 epoch sec; seqNo:1612980297655; depth 0.00 2021-02-10T18:04:57Z- waiting for 1612980299.46, time is 1612980297.27 2021-02-10T18:04:57Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980297.67 epoch sec; seqNo:1420; 4061673.03 north; 594275.76 east 2021-02-10T18:04:57Z- waiting for 1612980299.46, time is 1612980297.27 2021-02-10T18:04:57Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:58Z- AHRS_M2 msg: 1612980298.05 epoch sec; seqNo:1412 2021-02-10T18:04:58Z- AHRS_M2 msg: 1.45 phi; -0.04 theta; -0.15 psi 2021-02-10T18:04:58Z- waiting for 1612980299.46, time is 1612980297.27 2021-02-10T18:04:58Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:58Z- handleDepth()-Depth_Keller msg: 50.15 epoch sec; seqNo:1612980298056; depth 0.00 2021-02-10T18:04:58Z- waiting for 1612980299.46, time is 1612980297.27 2021-02-10T18:04:58Z- sync is 0.79, coherence is 2.00 2021-02-10T18:04:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980298.06 epoch sec; seqNo:1421; 4061673.03 north; 594275.76 east 2021-02-10T18:04:58Z- waiting for 1612980299.46, time is 1612980297.27 2021-02-10T18:04:58Z- sync is 0.80, coherence is 2.00 2021-02-10T18:04:58Z- AHRS_M2 msg: 1612980298.45 epoch sec; seqNo:1413 2021-02-10T18:04:58Z- AHRS_M2 msg: 1.45 phi; -0.04 theta; -0.15 psi 2021-02-10T18:04:58Z- waiting for 1612980299.46, time is 1612980297.27 2021-02-10T18:04:58Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:58Z- handleDepth()-Depth_Keller msg: 50.18 epoch sec; seqNo:1612980298469; depth 0.00 2021-02-10T18:04:58Z- waiting for 1612980299.46, time is 1612980297.27 2021-02-10T18:04:58Z- sync is 1.19, coherence is 2.00 2021-02-10T18:04:58Z- handleDvl() - RDI_Pathfinder msg: 1612980298.48 epoch sec; seqNo:575 2021-02-10T18:04:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.27 , 48.21 , 41.47 , 45.97 2021-02-10T18:04:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.00 , -0.02 2021-02-10T18:04:58Z- waiting for 1612980299.46, time is 1612980298.48 2021-02-10T18:04:58Z- sync is 0.03, coherence is 2.00 2021-02-10T18:04:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980298.49 epoch sec; seqNo:1422; 4061673.03 north; 594275.76 east 2021-02-10T18:04:58Z- waiting for 1612980299.46, time is 1612980298.48 2021-02-10T18:04:58Z- sync is 0.01, coherence is 2.00 2021-02-10T18:04:58Z- AHRS_M2 msg: 1612980298.86 epoch sec; seqNo:1414 2021-02-10T18:04:58Z- AHRS_M2 msg: 1.45 phi; -0.04 theta; -0.15 psi 2021-02-10T18:04:58Z- waiting for 1612980299.46, time is 1612980298.48 2021-02-10T18:04:58Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:58Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1612980298864; depth 0.00 2021-02-10T18:04:58Z- waiting for 1612980299.46, time is 1612980298.48 2021-02-10T18:04:58Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980298.88 epoch sec; seqNo:1423; 4061673.42 north; 594276.98 east 2021-02-10T18:04:58Z- waiting for 1612980299.46, time is 1612980298.48 2021-02-10T18:04:58Z- sync is 0.40, coherence is 2.00 2021-02-10T18:04:59Z- AHRS_M2 msg: 1612980299.26 epoch sec; seqNo:1415 2021-02-10T18:04:59Z- AHRS_M2 msg: 1.46 phi; -0.04 theta; -0.15 psi 2021-02-10T18:04:59Z- waiting for 1612980299.46, time is 1612980298.48 2021-02-10T18:04:59Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:59Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1612980299273; depth 0.00 2021-02-10T18:04:59Z- waiting for 1612980299.46, time is 1612980298.48 2021-02-10T18:04:59Z- sync is 0.78, coherence is 2.00 2021-02-10T18:04:59Z- handleDvl() - RDI_Pathfinder msg: 1612980299.29 epoch sec; seqNo:576 2021-02-10T18:04:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.06 , 48.01 , 41.06 , 45.97 2021-02-10T18:04:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.00 , -0.01 2021-02-10T18:04:59Z- waiting for 1612980299.46, time is 1612980299.29 2021-02-10T18:04:59Z- sync is 0.02, coherence is 2.00 2021-02-10T18:04:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980299.31 epoch sec; seqNo:1424; 4061673.42 north; 594276.98 east 2021-02-10T18:04:59Z- waiting for 1612980299.46, time is 1612980299.29 2021-02-10T18:04:59Z- sync is 0.03, coherence is 2.00 2021-02-10T18:04:59Z- AHRS_M2 msg: 1612980299.67 epoch sec; seqNo:1416 2021-02-10T18:04:59Z- AHRS_M2 msg: 1.46 phi; -0.03 theta; -0.15 psi 2021-02-10T18:04:59Z- waiting for 1612980299.46, time is 1612980299.29 2021-02-10T18:04:59Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:59Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1612980299677; depth 0.00 2021-02-10T18:04:59Z- waiting for 1612980299.46, time is 1612980299.29 2021-02-10T18:04:59Z- sync is 0.38, coherence is 2.00 2021-02-10T18:04:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980299.69 epoch sec; seqNo:1425; 4061673.42 north; 594276.98 east 2021-02-10T18:04:59Z- waiting for 1612980299.46, time is 1612980299.29 2021-02-10T18:04:59Z- sync is 0.40, coherence is 2.00 2021-02-10T18:05:00Z- AHRS_M2 msg: 1612980300.08 epoch sec; seqNo:1417 2021-02-10T18:05:00Z- AHRS_M2 msg: 1.46 phi; -0.03 theta; -0.15 psi 2021-02-10T18:05:00Z- waiting for 1612980299.46, time is 1612980299.29 2021-02-10T18:05:00Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:00Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1612980300082; depth 0.00 2021-02-10T18:05:00Z- waiting for 1612980299.46, time is 1612980299.29 2021-02-10T18:05:00Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980300.11 epoch sec; seqNo:1426; 4061673.43 north; 594278.20 east 2021-02-10T18:05:00Z- waiting for 1612980299.46, time is 1612980299.29 2021-02-10T18:05:00Z- sync is 0.82, coherence is 2.00 2021-02-10T18:05:00Z- AHRS_M2 msg: 1612980300.48 epoch sec; seqNo:1418 2021-02-10T18:05:00Z- AHRS_M2 msg: 1.46 phi; -0.03 theta; -0.15 psi 2021-02-10T18:05:00Z- waiting for 1612980299.46, time is 1612980299.29 2021-02-10T18:05:00Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:00Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1612980300480; depth 0.00 2021-02-10T18:05:00Z- waiting for 1612980299.46, time is 1612980299.29 2021-02-10T18:05:00Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:00Z- handleDvl() - RDI_Pathfinder msg: 1612980300.50 epoch sec; seqNo:577 2021-02-10T18:05:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.86 , 47.80 , 40.86 , 45.35 2021-02-10T18:05:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , 0.00 2021-02-10T18:05:00Z- waiting for 1612980299.46, time is 1612980300.50 2021-02-10T18:05:00Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:00Z- LcmTrn::updateTrn() >>>> pose time 1612980300.48, meas time 1612980300.50 <<<< 2021-02-10T18:05:00Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980300.50 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:05:00Z- TerrainNav::motionUpdate() - currEstimate = (4061673, 594278.20, 50.30) 2021-02-10T18:05:00Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:05:00Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:05:00Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:05:00Z- TNavBF::mmse selected from filter -1 2021-02-10T18:05:00Z- variances([0], [2], and psi_berg) = 795.013500 833.092643 0.000000 2021-02-10T18:05:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:05:00Z- LcmTrn::cycle() - MLE : 4061644.93 594327.70 50.30 2021-02-10T18:05:00Z- LcmTrn::cycle() - MMSE : 4061673.43 594278.20 50.30 2021-02-10T18:05:00Z- LcmTrn::cycle() - COVAR: 795.01 833.09 48.53 0.00 2021-02-10T18:05:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980300.51 epoch sec; seqNo:1427; 4061673.43 north; 594278.20 east 2021-02-10T18:05:00Z- waiting for 1612980303.50, time is 1612980300.50 2021-02-10T18:05:00Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:00Z- AHRS_M2 msg: 1612980300.88 epoch sec; seqNo:1419 2021-02-10T18:05:00Z- AHRS_M2 msg: 1.47 phi; -0.03 theta; -0.15 psi 2021-02-10T18:05:00Z- waiting for 1612980303.50, time is 1612980300.50 2021-02-10T18:05:00Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:00Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1612980300884; depth 0.00 2021-02-10T18:05:00Z- waiting for 1612980303.50, time is 1612980300.50 2021-02-10T18:05:00Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980300.89 epoch sec; seqNo:1428; 4061673.43 north; 594278.20 east 2021-02-10T18:05:00Z- waiting for 1612980303.50, time is 1612980300.50 2021-02-10T18:05:00Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:01Z- AHRS_M2 msg: 1612980301.28 epoch sec; seqNo:1420 2021-02-10T18:05:01Z- AHRS_M2 msg: 1.47 phi; -0.03 theta; -0.15 psi 2021-02-10T18:05:01Z- waiting for 1612980303.50, time is 1612980300.50 2021-02-10T18:05:01Z- sync is 0.78, coherence is 2.00 2021-02-10T18:05:01Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1612980301290; depth 0.00 2021-02-10T18:05:01Z- waiting for 1612980303.50, time is 1612980300.50 2021-02-10T18:05:01Z- sync is 0.78, coherence is 2.00 2021-02-10T18:05:01Z- handleDvl() - RDI_Pathfinder msg: 1612980301.31 epoch sec; seqNo:578 2021-02-10T18:05:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.65 , 47.60 , 40.65 , 45.56 2021-02-10T18:05:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.00 , 0.00 2021-02-10T18:05:01Z- waiting for 1612980303.50, time is 1612980301.31 2021-02-10T18:05:01Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980301.32 epoch sec; seqNo:1429; 4061673.45 north; 594279.42 east 2021-02-10T18:05:01Z- waiting for 1612980303.50, time is 1612980301.31 2021-02-10T18:05:01Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:01Z- AHRS_M2 msg: 1612980301.69 epoch sec; seqNo:1421 2021-02-10T18:05:01Z- AHRS_M2 msg: 1.47 phi; -0.03 theta; -0.15 psi 2021-02-10T18:05:01Z- waiting for 1612980303.50, time is 1612980301.31 2021-02-10T18:05:01Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:01Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1612980301692; depth 0.00 2021-02-10T18:05:01Z- waiting for 1612980303.50, time is 1612980301.31 2021-02-10T18:05:01Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980301.71 epoch sec; seqNo:1430; 4061673.45 north; 594279.42 east 2021-02-10T18:05:01Z- waiting for 1612980303.50, time is 1612980301.31 2021-02-10T18:05:01Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:02Z- AHRS_M2 msg: 1612980302.11 epoch sec; seqNo:1422 2021-02-10T18:05:02Z- AHRS_M2 msg: 1.47 phi; -0.03 theta; -0.16 psi 2021-02-10T18:05:02Z- waiting for 1612980303.50, time is 1612980301.31 2021-02-10T18:05:02Z- sync is 0.81, coherence is 2.00 2021-02-10T18:05:02Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1612980302130; depth 0.00 2021-02-10T18:05:02Z- waiting for 1612980303.50, time is 1612980301.31 2021-02-10T18:05:02Z- sync is 0.81, coherence is 2.00 2021-02-10T18:05:02Z- handleDvl() - RDI_Pathfinder msg: 1612980302.14 epoch sec; seqNo:579 2021-02-10T18:05:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.24 , 48.00 , 40.85 , 45.35 2021-02-10T18:05:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.02 , 0.00 2021-02-10T18:05:02Z- waiting for 1612980303.50, time is 1612980302.14 2021-02-10T18:05:02Z- sync is 0.03, coherence is 2.00 2021-02-10T18:05:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980302.15 epoch sec; seqNo:1431; 4061673.45 north; 594279.42 east 2021-02-10T18:05:02Z- waiting for 1612980303.50, time is 1612980302.14 2021-02-10T18:05:02Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:02Z- AHRS_M2 msg: 1612980302.50 epoch sec; seqNo:1423 2021-02-10T18:05:02Z- AHRS_M2 msg: 1.47 phi; -0.02 theta; -0.16 psi 2021-02-10T18:05:02Z- waiting for 1612980303.50, time is 1612980302.14 2021-02-10T18:05:02Z- sync is 0.36, coherence is 2.00 2021-02-10T18:05:02Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1612980302501; depth 0.00 2021-02-10T18:05:02Z- waiting for 1612980303.50, time is 1612980302.14 2021-02-10T18:05:02Z- sync is 0.36, coherence is 2.00 2021-02-10T18:05:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980302.52 epoch sec; seqNo:1432; 4061673.46 north; 594280.64 east 2021-02-10T18:05:02Z- waiting for 1612980303.50, time is 1612980302.14 2021-02-10T18:05:02Z- sync is 0.37, coherence is 2.00 2021-02-10T18:05:02Z- AHRS_M2 msg: 1612980302.90 epoch sec; seqNo:1424 2021-02-10T18:05:02Z- AHRS_M2 msg: 1.47 phi; -0.02 theta; -0.16 psi 2021-02-10T18:05:02Z- waiting for 1612980303.50, time is 1612980302.14 2021-02-10T18:05:02Z- sync is 0.76, coherence is 2.00 2021-02-10T18:05:02Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1612980302909; depth 0.00 2021-02-10T18:05:02Z- waiting for 1612980303.50, time is 1612980302.14 2021-02-10T18:05:02Z- sync is 0.76, coherence is 2.00 2021-02-10T18:05:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980302.92 epoch sec; seqNo:1433; 4061673.84 north; 594280.63 east 2021-02-10T18:05:02Z- waiting for 1612980303.50, time is 1612980302.14 2021-02-10T18:05:02Z- sync is 0.78, coherence is 2.00 2021-02-10T18:05:03Z- AHRS_M2 msg: 1612980303.30 epoch sec; seqNo:1425 2021-02-10T18:05:03Z- AHRS_M2 msg: 1.47 phi; -0.02 theta; -0.16 psi 2021-02-10T18:05:03Z- waiting for 1612980303.50, time is 1612980302.14 2021-02-10T18:05:03Z- sync is 1.16, coherence is 2.00 2021-02-10T18:05:03Z- handleDepth()-Depth_Keller msg: 50.45 epoch sec; seqNo:1612980303317; depth 0.00 2021-02-10T18:05:03Z- waiting for 1612980303.50, time is 1612980302.14 2021-02-10T18:05:03Z- sync is 1.16, coherence is 2.00 2021-02-10T18:05:03Z- handleDvl() - RDI_Pathfinder msg: 1612980303.34 epoch sec; seqNo:580 2021-02-10T18:05:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.04 , 47.80 , 40.65 , 44.94 2021-02-10T18:05:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.01 , -0.01 2021-02-10T18:05:03Z- waiting for 1612980303.50, time is 1612980303.34 2021-02-10T18:05:03Z- sync is 0.04, coherence is 2.00 2021-02-10T18:05:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980303.35 epoch sec; seqNo:1434; 4061673.84 north; 594280.63 east 2021-02-10T18:05:03Z- waiting for 1612980303.50, time is 1612980303.34 2021-02-10T18:05:03Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:03Z- AHRS_M2 msg: 1612980303.71 epoch sec; seqNo:1426 2021-02-10T18:05:03Z- AHRS_M2 msg: 1.47 phi; -0.02 theta; -0.17 psi 2021-02-10T18:05:03Z- waiting for 1612980303.50, time is 1612980303.34 2021-02-10T18:05:03Z- sync is 0.37, coherence is 2.00 2021-02-10T18:05:03Z- handleDepth()-Depth_Keller msg: 50.47 epoch sec; seqNo:1612980303713; depth 0.00 2021-02-10T18:05:03Z- waiting for 1612980303.50, time is 1612980303.34 2021-02-10T18:05:03Z- sync is 0.37, coherence is 2.00 2021-02-10T18:05:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980303.72 epoch sec; seqNo:1435; 4061673.85 north; 594281.85 east 2021-02-10T18:05:03Z- waiting for 1612980303.50, time is 1612980303.34 2021-02-10T18:05:03Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:04Z- AHRS_M2 msg: 1612980304.13 epoch sec; seqNo:1427 2021-02-10T18:05:04Z- AHRS_M2 msg: 1.47 phi; -0.02 theta; -0.17 psi 2021-02-10T18:05:04Z- waiting for 1612980303.50, time is 1612980303.34 2021-02-10T18:05:04Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:04Z- handleDepth()-Depth_Keller msg: 50.48 epoch sec; seqNo:1612980304132; depth 0.00 2021-02-10T18:05:04Z- waiting for 1612980303.50, time is 1612980303.34 2021-02-10T18:05:04Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:04Z- handleDvl() - RDI_Pathfinder msg: 1612980304.15 epoch sec; seqNo:581 2021-02-10T18:05:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.83 , 48.62 , 40.85 , 44.94 2021-02-10T18:05:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.02 , -0.02 2021-02-10T18:05:04Z- waiting for 1612980303.50, time is 1612980304.15 2021-02-10T18:05:04Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:04Z- LcmTrn::updateTrn() >>>> pose time 1612980304.13, meas time 1612980304.15 <<<< 2021-02-10T18:05:04Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980304.15 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:05:04Z- TerrainNav::motionUpdate() - currEstimate = (4061674, 594281.85, 50.48) 2021-02-10T18:05:04Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:05:04Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:05:04Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:05:04Z- TNavBF::mmse selected from filter -1 2021-02-10T18:05:04Z- variances([0], [2], and psi_berg) = 794.819236 833.092269 0.000000 2021-02-10T18:05:04Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:05:04Z- LcmTrn::cycle() - MLE : 4061645.35 594331.35 50.48 2021-02-10T18:05:04Z- LcmTrn::cycle() - MMSE : 4061673.85 594281.85 50.48 2021-02-10T18:05:04Z- LcmTrn::cycle() - COVAR: 794.82 833.09 48.72 0.00 2021-02-10T18:05:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980304.16 epoch sec; seqNo:1436; 4061673.85 north; 594281.85 east 2021-02-10T18:05:04Z- waiting for 1612980307.15, time is 1612980304.15 2021-02-10T18:05:04Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:04Z- AHRS_M2 msg: 1612980304.52 epoch sec; seqNo:1428 2021-02-10T18:05:04Z- AHRS_M2 msg: 1.47 phi; -0.01 theta; -0.17 psi 2021-02-10T18:05:04Z- waiting for 1612980307.15, time is 1612980304.15 2021-02-10T18:05:04Z- sync is 0.37, coherence is 2.00 2021-02-10T18:05:04Z- handleDepth()-Depth_Keller msg: 50.51 epoch sec; seqNo:1612980304520; depth 0.00 2021-02-10T18:05:04Z- waiting for 1612980307.15, time is 1612980304.15 2021-02-10T18:05:04Z- sync is 0.37, coherence is 2.00 2021-02-10T18:05:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980304.53 epoch sec; seqNo:1437; 4061673.85 north; 594281.85 east 2021-02-10T18:05:04Z- waiting for 1612980307.15, time is 1612980304.15 2021-02-10T18:05:04Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:04Z- AHRS_M2 msg: 1612980304.92 epoch sec; seqNo:1429 2021-02-10T18:05:04Z- AHRS_M2 msg: 1.47 phi; -0.01 theta; -0.17 psi 2021-02-10T18:05:04Z- waiting for 1612980307.15, time is 1612980304.15 2021-02-10T18:05:04Z- sync is 0.77, coherence is 2.00 2021-02-10T18:05:04Z- handleDepth()-Depth_Keller msg: 50.53 epoch sec; seqNo:1612980304924; depth 0.00 2021-02-10T18:05:04Z- waiting for 1612980307.15, time is 1612980304.15 2021-02-10T18:05:04Z- sync is 0.77, coherence is 2.00 2021-02-10T18:05:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980304.93 epoch sec; seqNo:1438; 4061673.85 north; 594281.85 east 2021-02-10T18:05:04Z- waiting for 1612980307.15, time is 1612980304.15 2021-02-10T18:05:04Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:05Z- AHRS_M2 msg: 1612980305.34 epoch sec; seqNo:1430 2021-02-10T18:05:05Z- AHRS_M2 msg: 1.47 phi; -0.01 theta; -0.17 psi 2021-02-10T18:05:05Z- waiting for 1612980307.15, time is 1612980304.15 2021-02-10T18:05:05Z- sync is 1.20, coherence is 2.00 2021-02-10T18:05:05Z- handleDepth()-Depth_Keller msg: 50.54 epoch sec; seqNo:1612980305348; depth 0.00 2021-02-10T18:05:05Z- waiting for 1612980307.15, time is 1612980304.15 2021-02-10T18:05:05Z- sync is 1.20, coherence is 2.00 2021-02-10T18:05:05Z- handleDvl() - RDI_Pathfinder msg: 1612980305.36 epoch sec; seqNo:582 2021-02-10T18:05:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.42 , 48.62 , 40.24 , 44.53 2021-02-10T18:05:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.02 , -0.03 2021-02-10T18:05:05Z- waiting for 1612980307.15, time is 1612980305.36 2021-02-10T18:05:05Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980305.38 epoch sec; seqNo:1439; 4061673.87 north; 594283.07 east 2021-02-10T18:05:05Z- waiting for 1612980307.15, time is 1612980305.36 2021-02-10T18:05:05Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:05Z- AHRS_M2 msg: 1612980305.74 epoch sec; seqNo:1431 2021-02-10T18:05:05Z- AHRS_M2 msg: 1.47 phi; -0.01 theta; -0.17 psi 2021-02-10T18:05:05Z- waiting for 1612980307.15, time is 1612980305.36 2021-02-10T18:05:05Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:05Z- handleDepth()-Depth_Keller msg: 50.56 epoch sec; seqNo:1612980305749; depth 0.00 2021-02-10T18:05:05Z- waiting for 1612980307.15, time is 1612980305.36 2021-02-10T18:05:05Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980305.76 epoch sec; seqNo:1440; 4061673.87 north; 594283.07 east 2021-02-10T18:05:05Z- waiting for 1612980307.15, time is 1612980305.36 2021-02-10T18:05:05Z- sync is 0.40, coherence is 2.00 2021-02-10T18:05:06Z- AHRS_M2 msg: 1612980306.14 epoch sec; seqNo:1432 2021-02-10T18:05:06Z- AHRS_M2 msg: 1.47 phi; -0.00 theta; -0.17 psi 2021-02-10T18:05:06Z- waiting for 1612980307.15, time is 1612980305.36 2021-02-10T18:05:06Z- sync is 0.78, coherence is 2.00 2021-02-10T18:05:06Z- handleDepth()-Depth_Keller msg: 50.58 epoch sec; seqNo:1612980306144; depth 0.00 2021-02-10T18:05:06Z- waiting for 1612980307.15, time is 1612980305.36 2021-02-10T18:05:06Z- sync is 0.78, coherence is 2.00 2021-02-10T18:05:06Z- handleDvl() - RDI_Pathfinder msg: 1612980306.16 epoch sec; seqNo:583 2021-02-10T18:05:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.42 , 48.62 , 40.45 , 44.74 2021-02-10T18:05:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.03 , -0.03 2021-02-10T18:05:06Z- waiting for 1612980307.15, time is 1612980306.16 2021-02-10T18:05:06Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980306.17 epoch sec; seqNo:1441; 4061673.87 north; 594283.07 east 2021-02-10T18:05:06Z- waiting for 1612980307.15, time is 1612980306.16 2021-02-10T18:05:06Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:06Z- AHRS_M2 msg: 1612980306.55 epoch sec; seqNo:1433 2021-02-10T18:05:06Z- AHRS_M2 msg: 1.47 phi; -0.00 theta; -0.17 psi 2021-02-10T18:05:06Z- waiting for 1612980307.15, time is 1612980306.16 2021-02-10T18:05:06Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:06Z- handleDepth()-Depth_Keller msg: 50.59 epoch sec; seqNo:1612980306549; depth 0.00 2021-02-10T18:05:06Z- waiting for 1612980307.15, time is 1612980306.16 2021-02-10T18:05:06Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980306.56 epoch sec; seqNo:1442; 4061673.88 north; 594284.29 east 2021-02-10T18:05:06Z- waiting for 1612980307.15, time is 1612980306.16 2021-02-10T18:05:06Z- sync is 0.40, coherence is 2.00 2021-02-10T18:05:06Z- AHRS_M2 msg: 1612980306.95 epoch sec; seqNo:1434 2021-02-10T18:05:06Z- AHRS_M2 msg: 1.47 phi; 0.00 theta; -0.17 psi 2021-02-10T18:05:06Z- waiting for 1612980307.15, time is 1612980306.16 2021-02-10T18:05:06Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:06Z- handleDepth()-Depth_Keller msg: 50.59 epoch sec; seqNo:1612980306954; depth 0.00 2021-02-10T18:05:06Z- waiting for 1612980307.15, time is 1612980306.16 2021-02-10T18:05:06Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980306.96 epoch sec; seqNo:1443; 4061673.88 north; 594284.29 east 2021-02-10T18:05:06Z- waiting for 1612980307.15, time is 1612980306.16 2021-02-10T18:05:06Z- sync is 0.80, coherence is 2.00 2021-02-10T18:05:07Z- AHRS_M2 msg: 1612980307.35 epoch sec; seqNo:1435 2021-02-10T18:05:07Z- AHRS_M2 msg: 1.47 phi; 0.00 theta; -0.17 psi 2021-02-10T18:05:07Z- waiting for 1612980307.15, time is 1612980306.16 2021-02-10T18:05:07Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:07Z- handleDepth()-Depth_Keller msg: 50.61 epoch sec; seqNo:1612980307357; depth 0.00 2021-02-10T18:05:07Z- waiting for 1612980307.15, time is 1612980306.16 2021-02-10T18:05:07Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:07Z- handleDvl() - RDI_Pathfinder msg: 1612980307.38 epoch sec; seqNo:584 2021-02-10T18:05:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.02 , 48.21 , 40.24 , 44.33 2021-02-10T18:05:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.02 , -0.03 2021-02-10T18:05:07Z- waiting for 1612980307.15, time is 1612980307.38 2021-02-10T18:05:07Z- sync is 0.03, coherence is 2.00 2021-02-10T18:05:07Z- LcmTrn::updateTrn() >>>> pose time 1612980307.35, meas time 1612980307.38 <<<< 2021-02-10T18:05:07Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980307.38 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:05:07Z- TerrainNav::motionUpdate() - currEstimate = (4061674, 594284.29, 50.61) 2021-02-10T18:05:07Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:05:07Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:05:07Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:05:07Z- TNavBF::mmse selected from filter -1 2021-02-10T18:05:07Z- variances([0], [2], and psi_berg) = 794.661683 833.091967 0.000000 2021-02-10T18:05:07Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:05:07Z- LcmTrn::cycle() - MLE : 4061645.38 594333.79 50.61 2021-02-10T18:05:07Z- LcmTrn::cycle() - MMSE : 4061673.88 594284.29 50.61 2021-02-10T18:05:07Z- LcmTrn::cycle() - COVAR: 794.66 833.09 48.84 0.00 2021-02-10T18:05:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980307.39 epoch sec; seqNo:1444; 4061673.88 north; 594284.29 east 2021-02-10T18:05:07Z- waiting for 1612980310.38, time is 1612980307.38 2021-02-10T18:05:07Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:07Z- AHRS_M2 msg: 1612980307.76 epoch sec; seqNo:1436 2021-02-10T18:05:07Z- AHRS_M2 msg: 1.47 phi; 0.01 theta; -0.17 psi 2021-02-10T18:05:07Z- waiting for 1612980310.38, time is 1612980307.38 2021-02-10T18:05:07Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:07Z- handleDepth()-Depth_Keller msg: 50.64 epoch sec; seqNo:1612980307765; depth 0.00 2021-02-10T18:05:07Z- waiting for 1612980310.38, time is 1612980307.38 2021-02-10T18:05:07Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980307.78 epoch sec; seqNo:1445; 4061673.89 north; 594285.51 east 2021-02-10T18:05:07Z- waiting for 1612980310.38, time is 1612980307.38 2021-02-10T18:05:07Z- sync is 0.40, coherence is 2.00 2021-02-10T18:05:08Z- AHRS_M2 msg: 1612980308.16 epoch sec; seqNo:1437 2021-02-10T18:05:08Z- AHRS_M2 msg: 1.47 phi; 0.01 theta; -0.17 psi 2021-02-10T18:05:08Z- waiting for 1612980310.38, time is 1612980307.38 2021-02-10T18:05:08Z- sync is 0.78, coherence is 2.00 2021-02-10T18:05:08Z- handleDepth()-Depth_Keller msg: 50.64 epoch sec; seqNo:1612980308169; depth 0.00 2021-02-10T18:05:08Z- waiting for 1612980310.38, time is 1612980307.38 2021-02-10T18:05:08Z- sync is 0.78, coherence is 2.00 2021-02-10T18:05:08Z- handleDvl() - RDI_Pathfinder msg: 1612980308.18 epoch sec; seqNo:585 2021-02-10T18:05:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.02 , 48.41 , 40.24 , 44.12 2021-02-10T18:05:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.03 , -0.03 2021-02-10T18:05:08Z- waiting for 1612980310.38, time is 1612980308.18 2021-02-10T18:05:08Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980308.19 epoch sec; seqNo:1446; 4061674.27 north; 594285.51 east 2021-02-10T18:05:08Z- waiting for 1612980310.38, time is 1612980308.18 2021-02-10T18:05:08Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:08Z- AHRS_M2 msg: 1612980308.56 epoch sec; seqNo:1438 2021-02-10T18:05:08Z- AHRS_M2 msg: 1.47 phi; 0.01 theta; -0.17 psi 2021-02-10T18:05:08Z- waiting for 1612980310.38, time is 1612980308.18 2021-02-10T18:05:08Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:08Z- handleDepth()-Depth_Keller msg: 50.65 epoch sec; seqNo:1612980308571; depth 0.00 2021-02-10T18:05:08Z- waiting for 1612980310.38, time is 1612980308.18 2021-02-10T18:05:08Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980308.58 epoch sec; seqNo:1447; 4061674.27 north; 594285.51 east 2021-02-10T18:05:08Z- waiting for 1612980310.38, time is 1612980308.18 2021-02-10T18:05:08Z- sync is 0.40, coherence is 2.00 2021-02-10T18:05:08Z- AHRS_M2 msg: 1612980308.97 epoch sec; seqNo:1439 2021-02-10T18:05:08Z- AHRS_M2 msg: 1.47 phi; 0.01 theta; -0.17 psi 2021-02-10T18:05:08Z- waiting for 1612980310.38, time is 1612980308.18 2021-02-10T18:05:08Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:08Z- handleDepth()-Depth_Keller msg: 50.65 epoch sec; seqNo:1612980308977; depth 0.00 2021-02-10T18:05:08Z- waiting for 1612980310.38, time is 1612980308.18 2021-02-10T18:05:08Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980308.98 epoch sec; seqNo:1448; 4061674.28 north; 594286.73 east 2021-02-10T18:05:08Z- waiting for 1612980310.38, time is 1612980308.18 2021-02-10T18:05:08Z- sync is 0.80, coherence is 2.00 2021-02-10T18:05:09Z- AHRS_M2 msg: 1612980309.37 epoch sec; seqNo:1440 2021-02-10T18:05:09Z- AHRS_M2 msg: 1.47 phi; 0.02 theta; -0.17 psi 2021-02-10T18:05:09Z- waiting for 1612980310.38, time is 1612980308.18 2021-02-10T18:05:09Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:09Z- handleDepth()-Depth_Keller msg: 50.67 epoch sec; seqNo:1612980309385; depth 0.00 2021-02-10T18:05:09Z- waiting for 1612980310.38, time is 1612980308.18 2021-02-10T18:05:09Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:09Z- handleDvl() - RDI_Pathfinder msg: 1612980309.40 epoch sec; seqNo:586 2021-02-10T18:05:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.81 , 48.62 , 40.04 , 44.12 2021-02-10T18:05:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.04 , -0.02 2021-02-10T18:05:09Z- waiting for 1612980310.38, time is 1612980309.40 2021-02-10T18:05:09Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980309.41 epoch sec; seqNo:1449; 4061674.28 north; 594286.73 east 2021-02-10T18:05:09Z- waiting for 1612980310.38, time is 1612980309.40 2021-02-10T18:05:09Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:09Z- AHRS_M2 msg: 1612980309.78 epoch sec; seqNo:1441 2021-02-10T18:05:09Z- AHRS_M2 msg: 1.47 phi; 0.02 theta; -0.17 psi 2021-02-10T18:05:09Z- waiting for 1612980310.38, time is 1612980309.40 2021-02-10T18:05:09Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:09Z- handleDepth()-Depth_Keller msg: 50.67 epoch sec; seqNo:1612980309785; depth 0.00 2021-02-10T18:05:09Z- waiting for 1612980310.38, time is 1612980309.40 2021-02-10T18:05:09Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980309.80 epoch sec; seqNo:1450; 4061674.28 north; 594286.73 east 2021-02-10T18:05:09Z- waiting for 1612980310.38, time is 1612980309.40 2021-02-10T18:05:09Z- sync is 0.40, coherence is 2.00 2021-02-10T18:05:10Z- AHRS_M2 msg: 1612980310.18 epoch sec; seqNo:1442 2021-02-10T18:05:10Z- AHRS_M2 msg: 1.47 phi; 0.02 theta; -0.17 psi 2021-02-10T18:05:10Z- waiting for 1612980310.38, time is 1612980309.40 2021-02-10T18:05:10Z- sync is 0.78, coherence is 2.00 2021-02-10T18:05:10Z- handleDepth()-Depth_Keller msg: 50.68 epoch sec; seqNo:1612980310184; depth 0.00 2021-02-10T18:05:10Z- waiting for 1612980310.38, time is 1612980309.40 2021-02-10T18:05:10Z- sync is 0.78, coherence is 2.00 2021-02-10T18:05:10Z- handleDvl() - RDI_Pathfinder msg: 1612980310.20 epoch sec; seqNo:587 2021-02-10T18:05:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.20 , 48.21 , 40.24 , 44.12 2021-02-10T18:05:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.04 , -0.02 2021-02-10T18:05:10Z- waiting for 1612980310.38, time is 1612980310.20 2021-02-10T18:05:10Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980310.21 epoch sec; seqNo:1451; 4061674.30 north; 594287.95 east 2021-02-10T18:05:10Z- waiting for 1612980310.38, time is 1612980310.20 2021-02-10T18:05:10Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:10Z- AHRS_M2 msg: 1612980310.58 epoch sec; seqNo:1443 2021-02-10T18:05:10Z- AHRS_M2 msg: 1.47 phi; 0.02 theta; -0.17 psi 2021-02-10T18:05:10Z- waiting for 1612980310.38, time is 1612980310.20 2021-02-10T18:05:10Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:10Z- handleDepth()-Depth_Keller msg: 50.67 epoch sec; seqNo:1612980310593; depth 0.00 2021-02-10T18:05:10Z- waiting for 1612980310.38, time is 1612980310.20 2021-02-10T18:05:10Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980310.60 epoch sec; seqNo:1452; 4061674.30 north; 594287.95 east 2021-02-10T18:05:10Z- waiting for 1612980310.38, time is 1612980310.20 2021-02-10T18:05:10Z- sync is 0.40, coherence is 2.00 2021-02-10T18:05:10Z- AHRS_M2 msg: 1612980310.99 epoch sec; seqNo:1444 2021-02-10T18:05:10Z- AHRS_M2 msg: 1.47 phi; 0.02 theta; -0.17 psi 2021-02-10T18:05:10Z- waiting for 1612980310.38, time is 1612980310.20 2021-02-10T18:05:10Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:10Z- handleDepth()-Depth_Keller msg: 50.67 epoch sec; seqNo:1612980310992; depth 0.00 2021-02-10T18:05:10Z- waiting for 1612980310.38, time is 1612980310.20 2021-02-10T18:05:10Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980311.00 epoch sec; seqNo:1453; 4061674.30 north; 594287.95 east 2021-02-10T18:05:11Z- waiting for 1612980310.38, time is 1612980310.20 2021-02-10T18:05:11Z- sync is 0.80, coherence is 2.00 2021-02-10T18:05:11Z- AHRS_M2 msg: 1612980311.39 epoch sec; seqNo:1445 2021-02-10T18:05:11Z- AHRS_M2 msg: 1.47 phi; 0.02 theta; -0.17 psi 2021-02-10T18:05:11Z- waiting for 1612980310.38, time is 1612980310.20 2021-02-10T18:05:11Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:11Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1612980311398; depth 0.00 2021-02-10T18:05:11Z- waiting for 1612980310.38, time is 1612980310.20 2021-02-10T18:05:11Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:11Z- handleDvl() - RDI_Pathfinder msg: 1612980311.41 epoch sec; seqNo:588 2021-02-10T18:05:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.20 , 48.21 , 40.24 , 43.92 2021-02-10T18:05:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.03 , -0.02 2021-02-10T18:05:11Z- waiting for 1612980310.38, time is 1612980311.41 2021-02-10T18:05:11Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:11Z- LcmTrn::updateTrn() >>>> pose time 1612980311.39, meas time 1612980311.41 <<<< 2021-02-10T18:05:11Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980311.41 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:05:11Z- TerrainNav::motionUpdate() - currEstimate = (4061674, 594287.95, 50.66) 2021-02-10T18:05:11Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:05:11Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:05:11Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:05:11Z- TNavBF::mmse selected from filter -1 2021-02-10T18:05:11Z- variances([0], [2], and psi_berg) = 794.468832 833.091598 0.000000 2021-02-10T18:05:11Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:05:11Z- LcmTrn::cycle() - MLE : 4061645.80 594337.45 50.66 2021-02-10T18:05:11Z- LcmTrn::cycle() - MMSE : 4061674.30 594287.95 50.66 2021-02-10T18:05:11Z- LcmTrn::cycle() - COVAR: 794.47 833.09 49.03 0.00 2021-02-10T18:05:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980311.42 epoch sec; seqNo:1454; 4061674.30 north; 594287.95 east 2021-02-10T18:05:11Z- waiting for 1612980314.41, time is 1612980311.41 2021-02-10T18:05:11Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:11Z- AHRS_M2 msg: 1612980311.80 epoch sec; seqNo:1446 2021-02-10T18:05:11Z- AHRS_M2 msg: 1.47 phi; 0.02 theta; -0.17 psi 2021-02-10T18:05:11Z- waiting for 1612980314.41, time is 1612980311.41 2021-02-10T18:05:11Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:11Z- handleDepth()-Depth_Keller msg: 50.67 epoch sec; seqNo:1612980311814; depth 0.00 2021-02-10T18:05:11Z- waiting for 1612980314.41, time is 1612980311.41 2021-02-10T18:05:11Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980311.82 epoch sec; seqNo:1455; 4061674.31 north; 594289.17 east 2021-02-10T18:05:11Z- waiting for 1612980314.41, time is 1612980311.41 2021-02-10T18:05:11Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:12Z- AHRS_M2 msg: 1612980312.20 epoch sec; seqNo:1447 2021-02-10T18:05:12Z- AHRS_M2 msg: 1.47 phi; 0.02 theta; -0.17 psi 2021-02-10T18:05:12Z- waiting for 1612980314.41, time is 1612980311.41 2021-02-10T18:05:12Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:12Z- handleDepth()-Depth_Keller msg: 50.68 epoch sec; seqNo:1612980312205; depth 0.00 2021-02-10T18:05:12Z- waiting for 1612980314.41, time is 1612980311.41 2021-02-10T18:05:12Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:12Z- handleDvl() - RDI_Pathfinder msg: 1612980312.22 epoch sec; seqNo:589 2021-02-10T18:05:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.99 , 47.60 , 40.04 , 43.51 2021-02-10T18:05:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.04 , -0.03 2021-02-10T18:05:12Z- waiting for 1612980314.41, time is 1612980312.22 2021-02-10T18:05:12Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980312.24 epoch sec; seqNo:1456; 4061674.31 north; 594289.17 east 2021-02-10T18:05:12Z- waiting for 1612980314.41, time is 1612980312.22 2021-02-10T18:05:12Z- sync is 0.03, coherence is 2.00 2021-02-10T18:05:12Z- AHRS_M2 msg: 1612980312.60 epoch sec; seqNo:1448 2021-02-10T18:05:12Z- AHRS_M2 msg: 1.47 phi; 0.03 theta; -0.17 psi 2021-02-10T18:05:12Z- waiting for 1612980314.41, time is 1612980312.22 2021-02-10T18:05:12Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:12Z- handleDepth()-Depth_Keller msg: 50.68 epoch sec; seqNo:1612980312616; depth 0.00 2021-02-10T18:05:12Z- waiting for 1612980314.41, time is 1612980312.22 2021-02-10T18:05:12Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980312.63 epoch sec; seqNo:1457; 4061674.31 north; 594289.17 east 2021-02-10T18:05:12Z- waiting for 1612980314.41, time is 1612980312.22 2021-02-10T18:05:12Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:13Z- AHRS_M2 msg: 1612980313.01 epoch sec; seqNo:1449 2021-02-10T18:05:13Z- AHRS_M2 msg: 1.47 phi; 0.03 theta; -0.17 psi 2021-02-10T18:05:13Z- waiting for 1612980314.41, time is 1612980312.22 2021-02-10T18:05:13Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:13Z- handleDepth()-Depth_Keller msg: 50.69 epoch sec; seqNo:1612980313014; depth 0.00 2021-02-10T18:05:13Z- waiting for 1612980314.41, time is 1612980312.22 2021-02-10T18:05:13Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980313.02 epoch sec; seqNo:1458; 4061674.33 north; 594290.39 east 2021-02-10T18:05:13Z- waiting for 1612980314.41, time is 1612980312.22 2021-02-10T18:05:13Z- sync is 0.81, coherence is 2.00 2021-02-10T18:05:13Z- AHRS_M2 msg: 1612980313.41 epoch sec; seqNo:1450 2021-02-10T18:05:13Z- AHRS_M2 msg: 1.47 phi; 0.03 theta; -0.17 psi 2021-02-10T18:05:13Z- waiting for 1612980314.41, time is 1612980312.22 2021-02-10T18:05:13Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:13Z- handleDepth()-Depth_Keller msg: 50.67 epoch sec; seqNo:1612980313421; depth 0.00 2021-02-10T18:05:13Z- waiting for 1612980314.41, time is 1612980312.22 2021-02-10T18:05:13Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:13Z- handleDvl() - RDI_Pathfinder msg: 1612980313.44 epoch sec; seqNo:590 2021-02-10T18:05:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.79 , 47.39 , 39.83 , 43.71 2021-02-10T18:05:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.02 , -0.03 2021-02-10T18:05:13Z- waiting for 1612980314.41, time is 1612980313.44 2021-02-10T18:05:13Z- sync is 0.03, coherence is 2.00 2021-02-10T18:05:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980313.45 epoch sec; seqNo:1459; 4061674.33 north; 594290.39 east 2021-02-10T18:05:13Z- waiting for 1612980314.41, time is 1612980313.44 2021-02-10T18:05:13Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:13Z- AHRS_M2 msg: 1612980313.82 epoch sec; seqNo:1451 2021-02-10T18:05:13Z- AHRS_M2 msg: 1.47 phi; 0.03 theta; -0.17 psi 2021-02-10T18:05:13Z- waiting for 1612980314.41, time is 1612980313.44 2021-02-10T18:05:13Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:13Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1612980313820; depth 0.00 2021-02-10T18:05:13Z- waiting for 1612980314.41, time is 1612980313.44 2021-02-10T18:05:13Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980313.83 epoch sec; seqNo:1460; 4061674.70 north; 594290.39 east 2021-02-10T18:05:13Z- waiting for 1612980314.41, time is 1612980313.44 2021-02-10T18:05:13Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:14Z- AHRS_M2 msg: 1612980314.22 epoch sec; seqNo:1452 2021-02-10T18:05:14Z- AHRS_M2 msg: 1.47 phi; 0.03 theta; -0.17 psi 2021-02-10T18:05:14Z- waiting for 1612980314.41, time is 1612980313.44 2021-02-10T18:05:14Z- sync is 0.78, coherence is 2.00 2021-02-10T18:05:14Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1612980314224; depth 0.00 2021-02-10T18:05:14Z- waiting for 1612980314.41, time is 1612980313.44 2021-02-10T18:05:14Z- sync is 0.78, coherence is 2.00 2021-02-10T18:05:14Z- handleDvl() - RDI_Pathfinder msg: 1612980314.23 epoch sec; seqNo:591 2021-02-10T18:05:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.38 , 46.98 , 38.81 , 43.71 2021-02-10T18:05:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.02 , -0.04 2021-02-10T18:05:14Z- waiting for 1612980314.41, time is 1612980314.23 2021-02-10T18:05:14Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980314.24 epoch sec; seqNo:1461; 4061674.72 north; 594291.61 east 2021-02-10T18:05:14Z- waiting for 1612980314.41, time is 1612980314.23 2021-02-10T18:05:14Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:14Z- AHRS_M2 msg: 1612980314.62 epoch sec; seqNo:1453 2021-02-10T18:05:14Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.17 psi 2021-02-10T18:05:14Z- waiting for 1612980314.41, time is 1612980314.23 2021-02-10T18:05:14Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:14Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1612980314633; depth 0.00 2021-02-10T18:05:14Z- waiting for 1612980314.41, time is 1612980314.23 2021-02-10T18:05:14Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980314.64 epoch sec; seqNo:1462; 4061674.72 north; 594291.61 east 2021-02-10T18:05:14Z- waiting for 1612980314.41, time is 1612980314.23 2021-02-10T18:05:14Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:15Z- AHRS_M2 msg: 1612980315.03 epoch sec; seqNo:1454 2021-02-10T18:05:15Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.17 psi 2021-02-10T18:05:15Z- waiting for 1612980314.41, time is 1612980314.23 2021-02-10T18:05:15Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:15Z- handleDepth()-Depth_Keller msg: 50.65 epoch sec; seqNo:1612980315032; depth 0.00 2021-02-10T18:05:15Z- waiting for 1612980314.41, time is 1612980314.23 2021-02-10T18:05:15Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980315.06 epoch sec; seqNo:1463; 4061674.72 north; 594291.61 east 2021-02-10T18:05:15Z- waiting for 1612980314.41, time is 1612980314.23 2021-02-10T18:05:15Z- sync is 0.82, coherence is 2.00 2021-02-10T18:05:15Z- AHRS_M2 msg: 1612980315.43 epoch sec; seqNo:1455 2021-02-10T18:05:15Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.17 psi 2021-02-10T18:05:15Z- waiting for 1612980314.41, time is 1612980314.23 2021-02-10T18:05:15Z- sync is 1.20, coherence is 2.00 2021-02-10T18:05:15Z- handleDepth()-Depth_Keller msg: 50.65 epoch sec; seqNo:1612980315441; depth 0.00 2021-02-10T18:05:15Z- waiting for 1612980314.41, time is 1612980314.23 2021-02-10T18:05:15Z- sync is 1.20, coherence is 2.00 2021-02-10T18:05:15Z- handleDvl() - RDI_Pathfinder msg: 1612980315.45 epoch sec; seqNo:592 2021-02-10T18:05:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.76 , 47.37 , 38.95 , 43.26 2021-02-10T18:05:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.00 , -0.04 2021-02-10T18:05:15Z- waiting for 1612980314.41, time is 1612980315.45 2021-02-10T18:05:15Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:15Z- LcmTrn::updateTrn() >>>> pose time 1612980315.43, meas time 1612980315.45 <<<< 2021-02-10T18:05:15Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980315.45 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:05:15Z- TerrainNav::motionUpdate() - currEstimate = (4061675, 594291.61, 50.65) 2021-02-10T18:05:15Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:05:15Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:05:15Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:05:15Z- TNavBF::mmse selected from filter -1 2021-02-10T18:05:15Z- variances([0], [2], and psi_berg) = 794.276748 833.091232 0.000000 2021-02-10T18:05:15Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:05:15Z- LcmTrn::cycle() - MLE : 4061646.22 594341.11 50.65 2021-02-10T18:05:15Z- LcmTrn::cycle() - MMSE : 4061674.72 594291.61 50.65 2021-02-10T18:05:15Z- LcmTrn::cycle() - COVAR: 794.28 833.09 49.21 0.00 2021-02-10T18:05:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980315.48 epoch sec; seqNo:1464; 4061674.73 north; 594292.83 east 2021-02-10T18:05:15Z- waiting for 1612980318.45, time is 1612980315.45 2021-02-10T18:05:15Z- sync is 0.03, coherence is 2.00 2021-02-10T18:05:15Z- AHRS_M2 msg: 1612980315.84 epoch sec; seqNo:1456 2021-02-10T18:05:15Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.17 psi 2021-02-10T18:05:15Z- waiting for 1612980318.45, time is 1612980315.45 2021-02-10T18:05:15Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:15Z- handleDepth()-Depth_Keller msg: 50.64 epoch sec; seqNo:1612980315840; depth 0.00 2021-02-10T18:05:15Z- waiting for 1612980318.45, time is 1612980315.45 2021-02-10T18:05:15Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980315.85 epoch sec; seqNo:1465; 4061674.73 north; 594292.83 east 2021-02-10T18:05:15Z- waiting for 1612980318.45, time is 1612980315.45 2021-02-10T18:05:15Z- sync is 0.40, coherence is 2.00 2021-02-10T18:05:16Z- AHRS_M2 msg: 1612980316.24 epoch sec; seqNo:1457 2021-02-10T18:05:16Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.17 psi 2021-02-10T18:05:16Z- waiting for 1612980318.45, time is 1612980315.45 2021-02-10T18:05:16Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:16Z- handleDepth()-Depth_Keller msg: 50.64 epoch sec; seqNo:1612980316246; depth 0.00 2021-02-10T18:05:16Z- waiting for 1612980318.45, time is 1612980315.45 2021-02-10T18:05:16Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:16Z- handleDvl() - RDI_Pathfinder msg: 1612980316.26 epoch sec; seqNo:593 2021-02-10T18:05:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.76 , 47.19 , 39.51 , 43.07 2021-02-10T18:05:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.01 , -0.04 2021-02-10T18:05:16Z- waiting for 1612980318.45, time is 1612980316.26 2021-02-10T18:05:16Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980316.27 epoch sec; seqNo:1466; 4061674.73 north; 594292.83 east 2021-02-10T18:05:16Z- waiting for 1612980318.45, time is 1612980316.26 2021-02-10T18:05:16Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:16Z- AHRS_M2 msg: 1612980316.64 epoch sec; seqNo:1458 2021-02-10T18:05:16Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.17 psi 2021-02-10T18:05:16Z- waiting for 1612980318.45, time is 1612980316.26 2021-02-10T18:05:16Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:16Z- handleDepth()-Depth_Keller msg: 50.62 epoch sec; seqNo:1612980316648; depth 0.00 2021-02-10T18:05:16Z- waiting for 1612980318.45, time is 1612980316.26 2021-02-10T18:05:16Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980316.67 epoch sec; seqNo:1467; 4061674.74 north; 594294.05 east 2021-02-10T18:05:16Z- waiting for 1612980318.45, time is 1612980316.26 2021-02-10T18:05:16Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:17Z- AHRS_M2 msg: 1612980317.05 epoch sec; seqNo:1459 2021-02-10T18:05:17Z- AHRS_M2 msg: 1.48 phi; 0.05 theta; -0.17 psi 2021-02-10T18:05:17Z- waiting for 1612980318.45, time is 1612980316.26 2021-02-10T18:05:17Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:17Z- handleDepth()-Depth_Keller msg: 50.61 epoch sec; seqNo:1612980317053; depth 0.00 2021-02-10T18:05:17Z- waiting for 1612980318.45, time is 1612980316.26 2021-02-10T18:05:17Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980317.06 epoch sec; seqNo:1468; 4061674.74 north; 594294.05 east 2021-02-10T18:05:17Z- waiting for 1612980318.45, time is 1612980316.26 2021-02-10T18:05:17Z- sync is 0.81, coherence is 2.00 2021-02-10T18:05:17Z- AHRS_M2 msg: 1612980317.45 epoch sec; seqNo:1460 2021-02-10T18:05:17Z- AHRS_M2 msg: 1.48 phi; 0.05 theta; -0.17 psi 2021-02-10T18:05:17Z- waiting for 1612980318.45, time is 1612980316.26 2021-02-10T18:05:17Z- sync is 1.20, coherence is 2.00 2021-02-10T18:05:17Z- handleDepth()-Depth_Keller msg: 50.60 epoch sec; seqNo:1612980317461; depth 0.00 2021-02-10T18:05:17Z- waiting for 1612980318.45, time is 1612980316.26 2021-02-10T18:05:17Z- sync is 1.20, coherence is 2.00 2021-02-10T18:05:17Z- handleDvl() - RDI_Pathfinder msg: 1612980317.48 epoch sec; seqNo:594 2021-02-10T18:05:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.14 , 47.19 , 40.45 , 43.07 2021-02-10T18:05:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.00 , -0.03 2021-02-10T18:05:17Z- waiting for 1612980318.45, time is 1612980317.48 2021-02-10T18:05:17Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980317.49 epoch sec; seqNo:1469; 4061674.74 north; 594294.05 east 2021-02-10T18:05:17Z- waiting for 1612980318.45, time is 1612980317.48 2021-02-10T18:05:17Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:17Z- AHRS_M2 msg: 1612980317.86 epoch sec; seqNo:1461 2021-02-10T18:05:17Z- AHRS_M2 msg: 1.48 phi; 0.05 theta; -0.17 psi 2021-02-10T18:05:17Z- waiting for 1612980318.45, time is 1612980317.48 2021-02-10T18:05:17Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:17Z- handleDepth()-Depth_Keller msg: 50.58 epoch sec; seqNo:1612980317860; depth 0.00 2021-02-10T18:05:17Z- waiting for 1612980318.45, time is 1612980317.48 2021-02-10T18:05:17Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980317.88 epoch sec; seqNo:1470; 4061674.74 north; 594294.05 east 2021-02-10T18:05:17Z- waiting for 1612980318.45, time is 1612980317.48 2021-02-10T18:05:17Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:18Z- AHRS_M2 msg: 1612980318.26 epoch sec; seqNo:1462 2021-02-10T18:05:18Z- AHRS_M2 msg: 1.48 phi; 0.05 theta; -0.17 psi 2021-02-10T18:05:18Z- waiting for 1612980318.45, time is 1612980317.48 2021-02-10T18:05:18Z- sync is 0.78, coherence is 2.00 2021-02-10T18:05:18Z- handleDepth()-Depth_Keller msg: 50.57 epoch sec; seqNo:1612980318264; depth 0.00 2021-02-10T18:05:18Z- waiting for 1612980318.45, time is 1612980317.48 2021-02-10T18:05:18Z- sync is 0.78, coherence is 2.00 2021-02-10T18:05:18Z- handleDvl() - RDI_Pathfinder msg: 1612980318.28 epoch sec; seqNo:595 2021-02-10T18:05:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.39 , 47.19 , 40.63 , 42.69 2021-02-10T18:05:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.00 , -0.02 2021-02-10T18:05:18Z- waiting for 1612980318.45, time is 1612980318.28 2021-02-10T18:05:18Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980318.29 epoch sec; seqNo:1471; 4061675.14 north; 594295.26 east 2021-02-10T18:05:18Z- waiting for 1612980318.45, time is 1612980318.28 2021-02-10T18:05:18Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:18Z- AHRS_M2 msg: 1612980318.67 epoch sec; seqNo:1463 2021-02-10T18:05:18Z- AHRS_M2 msg: 1.48 phi; 0.05 theta; -0.17 psi 2021-02-10T18:05:18Z- waiting for 1612980318.45, time is 1612980318.28 2021-02-10T18:05:18Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:18Z- handleDepth()-Depth_Keller msg: 50.57 epoch sec; seqNo:1612980318670; depth 0.00 2021-02-10T18:05:18Z- waiting for 1612980318.45, time is 1612980318.28 2021-02-10T18:05:18Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980318.68 epoch sec; seqNo:1472; 4061675.14 north; 594295.26 east 2021-02-10T18:05:18Z- waiting for 1612980318.45, time is 1612980318.28 2021-02-10T18:05:18Z- sync is 0.40, coherence is 2.00 2021-02-10T18:05:19Z- AHRS_M2 msg: 1612980319.07 epoch sec; seqNo:1464 2021-02-10T18:05:19Z- AHRS_M2 msg: 1.48 phi; 0.05 theta; -0.17 psi 2021-02-10T18:05:19Z- waiting for 1612980318.45, time is 1612980318.28 2021-02-10T18:05:19Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:19Z- handleDepth()-Depth_Keller msg: 50.54 epoch sec; seqNo:1612980319091; depth 0.00 2021-02-10T18:05:19Z- waiting for 1612980318.45, time is 1612980318.28 2021-02-10T18:05:19Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:19Z- handleDvl() - RDI_Pathfinder msg: 1612980319.12 epoch sec; seqNo:596 2021-02-10T18:05:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.83 , 47.00 , 41.19 , 42.88 2021-02-10T18:05:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.01 , -0.01 2021-02-10T18:05:19Z- waiting for 1612980318.45, time is 1612980319.12 2021-02-10T18:05:19Z- sync is 0.05, coherence is 2.00 2021-02-10T18:05:19Z- LcmTrn::updateTrn() >>>> pose time 1612980319.07, meas time 1612980319.12 <<<< 2021-02-10T18:05:19Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980319.12 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:05:19Z- TerrainNav::motionUpdate() - currEstimate = (4061675, 594295.26, 50.54) 2021-02-10T18:05:19Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:05:19Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:05:19Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:05:19Z- TNavBF::mmse selected from filter -1 2021-02-10T18:05:19Z- variances([0], [2], and psi_berg) = 794.085423 833.090869 0.000000 2021-02-10T18:05:19Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:05:19Z- LcmTrn::cycle() - MLE : 4061646.64 594344.76 50.54 2021-02-10T18:05:19Z- LcmTrn::cycle() - MMSE : 4061675.14 594295.26 50.54 2021-02-10T18:05:19Z- LcmTrn::cycle() - COVAR: 794.09 833.09 49.40 0.00 2021-02-10T18:05:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980319.13 epoch sec; seqNo:1473; 4061675.14 north; 594295.26 east 2021-02-10T18:05:19Z- waiting for 1612980322.12, time is 1612980319.12 2021-02-10T18:05:19Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:19Z- AHRS_M2 msg: 1612980319.47 epoch sec; seqNo:1465 2021-02-10T18:05:19Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.17 psi 2021-02-10T18:05:19Z- waiting for 1612980322.12, time is 1612980319.12 2021-02-10T18:05:19Z- sync is 0.35, coherence is 2.00 2021-02-10T18:05:19Z- handleDepth()-Depth_Keller msg: 50.53 epoch sec; seqNo:1612980319476; depth 0.00 2021-02-10T18:05:19Z- waiting for 1612980322.12, time is 1612980319.12 2021-02-10T18:05:19Z- sync is 0.35, coherence is 2.00 2021-02-10T18:05:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980319.49 epoch sec; seqNo:1474; 4061675.15 north; 594296.48 east 2021-02-10T18:05:19Z- waiting for 1612980322.12, time is 1612980319.12 2021-02-10T18:05:19Z- sync is 0.37, coherence is 2.00 2021-02-10T18:05:19Z- AHRS_M2 msg: 1612980319.88 epoch sec; seqNo:1466 2021-02-10T18:05:19Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.17 psi 2021-02-10T18:05:19Z- waiting for 1612980322.12, time is 1612980319.12 2021-02-10T18:05:19Z- sync is 0.76, coherence is 2.00 2021-02-10T18:05:19Z- handleDepth()-Depth_Keller msg: 50.53 epoch sec; seqNo:1612980319880; depth 0.00 2021-02-10T18:05:19Z- waiting for 1612980322.12, time is 1612980319.12 2021-02-10T18:05:19Z- sync is 0.76, coherence is 2.00 2021-02-10T18:05:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980319.89 epoch sec; seqNo:1475; 4061675.15 north; 594296.48 east 2021-02-10T18:05:19Z- waiting for 1612980322.12, time is 1612980319.12 2021-02-10T18:05:19Z- sync is 0.77, coherence is 2.00 2021-02-10T18:05:20Z- AHRS_M2 msg: 1612980320.28 epoch sec; seqNo:1467 2021-02-10T18:05:20Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.16 psi 2021-02-10T18:05:20Z- waiting for 1612980322.12, time is 1612980319.12 2021-02-10T18:05:20Z- sync is 1.16, coherence is 2.00 2021-02-10T18:05:20Z- handleDepth()-Depth_Keller msg: 50.51 epoch sec; seqNo:1612980320285; depth 0.00 2021-02-10T18:05:20Z- waiting for 1612980322.12, time is 1612980319.12 2021-02-10T18:05:20Z- sync is 1.16, coherence is 2.00 2021-02-10T18:05:20Z- handleDvl() - RDI_Pathfinder msg: 1612980320.30 epoch sec; seqNo:597 2021-02-10T18:05:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.64 , 46.62 , 41.19 , 42.88 2021-02-10T18:05:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.01 , 0.00 2021-02-10T18:05:20Z- waiting for 1612980322.12, time is 1612980320.30 2021-02-10T18:05:20Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980320.31 epoch sec; seqNo:1476; 4061675.15 north; 594296.48 east 2021-02-10T18:05:20Z- waiting for 1612980322.12, time is 1612980320.30 2021-02-10T18:05:20Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:20Z- AHRS_M2 msg: 1612980320.68 epoch sec; seqNo:1468 2021-02-10T18:05:20Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.16 psi 2021-02-10T18:05:20Z- waiting for 1612980322.12, time is 1612980320.30 2021-02-10T18:05:20Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:20Z- handleDepth()-Depth_Keller msg: 50.51 epoch sec; seqNo:1612980320698; depth 0.00 2021-02-10T18:05:20Z- waiting for 1612980322.12, time is 1612980320.30 2021-02-10T18:05:20Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980320.71 epoch sec; seqNo:1477; 4061675.16 north; 594297.71 east 2021-02-10T18:05:20Z- waiting for 1612980322.12, time is 1612980320.30 2021-02-10T18:05:20Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:21Z- AHRS_M2 msg: 1612980321.11 epoch sec; seqNo:1469 2021-02-10T18:05:21Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.16 psi 2021-02-10T18:05:21Z- waiting for 1612980322.12, time is 1612980320.30 2021-02-10T18:05:21Z- sync is 0.81, coherence is 2.00 2021-02-10T18:05:21Z- handleDepth()-Depth_Keller msg: 50.48 epoch sec; seqNo:1612980321114; depth 0.00 2021-02-10T18:05:21Z- waiting for 1612980322.12, time is 1612980320.30 2021-02-10T18:05:21Z- sync is 0.81, coherence is 2.00 2021-02-10T18:05:21Z- handleDvl() - RDI_Pathfinder msg: 1612980321.14 epoch sec; seqNo:598 2021-02-10T18:05:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.83 , 46.81 , 41.19 , 42.69 2021-02-10T18:05:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.00 , 0.01 2021-02-10T18:05:21Z- waiting for 1612980322.12, time is 1612980321.14 2021-02-10T18:05:21Z- sync is 0.03, coherence is 2.00 2021-02-10T18:05:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980321.15 epoch sec; seqNo:1478; 4061675.16 north; 594297.71 east 2021-02-10T18:05:21Z- waiting for 1612980322.12, time is 1612980321.14 2021-02-10T18:05:21Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:21Z- AHRS_M2 msg: 1612980321.49 epoch sec; seqNo:1470 2021-02-10T18:05:21Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.16 psi 2021-02-10T18:05:21Z- waiting for 1612980322.12, time is 1612980321.14 2021-02-10T18:05:21Z- sync is 0.36, coherence is 2.00 2021-02-10T18:05:21Z- handleDepth()-Depth_Keller msg: 50.46 epoch sec; seqNo:1612980321501; depth 0.00 2021-02-10T18:05:21Z- waiting for 1612980322.12, time is 1612980321.14 2021-02-10T18:05:21Z- sync is 0.36, coherence is 2.00 2021-02-10T18:05:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980321.51 epoch sec; seqNo:1479; 4061675.16 north; 594297.71 east 2021-02-10T18:05:21Z- waiting for 1612980322.12, time is 1612980321.14 2021-02-10T18:05:21Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:21Z- AHRS_M2 msg: 1612980321.89 epoch sec; seqNo:1471 2021-02-10T18:05:21Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.16 psi 2021-02-10T18:05:21Z- waiting for 1612980322.12, time is 1612980321.14 2021-02-10T18:05:21Z- sync is 0.76, coherence is 2.00 2021-02-10T18:05:21Z- handleDepth()-Depth_Keller msg: 50.45 epoch sec; seqNo:1612980321902; depth 0.00 2021-02-10T18:05:21Z- waiting for 1612980322.12, time is 1612980321.14 2021-02-10T18:05:21Z- sync is 0.76, coherence is 2.00 2021-02-10T18:05:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980321.92 epoch sec; seqNo:1480; 4061675.16 north; 594297.71 east 2021-02-10T18:05:21Z- waiting for 1612980322.12, time is 1612980321.14 2021-02-10T18:05:21Z- sync is 0.78, coherence is 2.00 2021-02-10T18:05:22Z- AHRS_M2 msg: 1612980322.30 epoch sec; seqNo:1472 2021-02-10T18:05:22Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.16 psi 2021-02-10T18:05:22Z- waiting for 1612980322.12, time is 1612980321.14 2021-02-10T18:05:22Z- sync is 1.16, coherence is 2.00 2021-02-10T18:05:22Z- handleDepth()-Depth_Keller msg: 50.43 epoch sec; seqNo:1612980322309; depth 0.00 2021-02-10T18:05:22Z- waiting for 1612980322.12, time is 1612980321.14 2021-02-10T18:05:22Z- sync is 1.16, coherence is 2.00 2021-02-10T18:05:22Z- handleDvl() - RDI_Pathfinder msg: 1612980322.33 epoch sec; seqNo:599 2021-02-10T18:05:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.20 , 46.81 , 41.01 , 42.69 2021-02-10T18:05:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , 0.00 2021-02-10T18:05:22Z- waiting for 1612980322.12, time is 1612980322.33 2021-02-10T18:05:22Z- sync is 0.03, coherence is 2.00 2021-02-10T18:05:22Z- LcmTrn::updateTrn() >>>> pose time 1612980322.30, meas time 1612980322.33 <<<< 2021-02-10T18:05:22Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980322.33 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:05:22Z- TerrainNav::motionUpdate() - currEstimate = (4061675, 594297.71, 50.43) 2021-02-10T18:05:22Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:05:22Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:05:22Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:05:22Z- TNavBF::mmse selected from filter -1 2021-02-10T18:05:22Z- variances([0], [2], and psi_berg) = 793.930238 833.090576 0.000000 2021-02-10T18:05:22Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:05:22Z- LcmTrn::cycle() - MLE : 4061647.66 594251.21 50.43 2021-02-10T18:05:22Z- LcmTrn::cycle() - MMSE : 4061675.16 594297.71 50.43 2021-02-10T18:05:22Z- LcmTrn::cycle() - COVAR: 793.93 833.09 49.53 0.00 2021-02-10T18:05:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980322.34 epoch sec; seqNo:1481; 4061675.18 north; 594298.93 east 2021-02-10T18:05:22Z- waiting for 1612980325.33, time is 1612980322.33 2021-02-10T18:05:22Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:22Z- AHRS_M2 msg: 1612980322.71 epoch sec; seqNo:1473 2021-02-10T18:05:22Z- AHRS_M2 msg: 1.49 phi; 0.07 theta; -0.16 psi 2021-02-10T18:05:22Z- waiting for 1612980325.33, time is 1612980322.33 2021-02-10T18:05:22Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:22Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1612980322717; depth 0.00 2021-02-10T18:05:22Z- waiting for 1612980325.33, time is 1612980322.33 2021-02-10T18:05:22Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980322.73 epoch sec; seqNo:1482; 4061675.18 north; 594298.93 east 2021-02-10T18:05:22Z- waiting for 1612980325.33, time is 1612980322.33 2021-02-10T18:05:22Z- sync is 0.40, coherence is 2.00 2021-02-10T18:05:23Z- AHRS_M2 msg: 1612980323.12 epoch sec; seqNo:1474 2021-02-10T18:05:23Z- AHRS_M2 msg: 1.49 phi; 0.07 theta; -0.16 psi 2021-02-10T18:05:23Z- waiting for 1612980325.33, time is 1612980322.33 2021-02-10T18:05:23Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:23Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1612980323122; depth 0.00 2021-02-10T18:05:23Z- waiting for 1612980325.33, time is 1612980322.33 2021-02-10T18:05:23Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:23Z- handleDvl() - RDI_Pathfinder msg: 1612980323.16 epoch sec; seqNo:600 2021-02-10T18:05:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.39 , 47.00 , 41.01 , 42.51 2021-02-10T18:05:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.02 , 0.00 2021-02-10T18:05:23Z- waiting for 1612980325.33, time is 1612980323.16 2021-02-10T18:05:23Z- sync is 0.05, coherence is 2.00 2021-02-10T18:05:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980323.17 epoch sec; seqNo:1483; 4061675.18 north; 594298.93 east 2021-02-10T18:05:23Z- waiting for 1612980325.33, time is 1612980323.16 2021-02-10T18:05:23Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:23Z- AHRS_M2 msg: 1612980323.52 epoch sec; seqNo:1475 2021-02-10T18:05:23Z- AHRS_M2 msg: 1.49 phi; 0.08 theta; -0.16 psi 2021-02-10T18:05:23Z- waiting for 1612980325.33, time is 1612980323.16 2021-02-10T18:05:23Z- sync is 0.36, coherence is 2.00 2021-02-10T18:05:23Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1612980323526; depth 0.00 2021-02-10T18:05:23Z- waiting for 1612980325.33, time is 1612980323.16 2021-02-10T18:05:23Z- sync is 0.36, coherence is 2.00 2021-02-10T18:05:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980323.54 epoch sec; seqNo:1484; 4061675.57 north; 594300.14 east 2021-02-10T18:05:23Z- waiting for 1612980325.33, time is 1612980323.16 2021-02-10T18:05:23Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:23Z- AHRS_M2 msg: 1612980323.92 epoch sec; seqNo:1476 2021-02-10T18:05:23Z- AHRS_M2 msg: 1.49 phi; 0.08 theta; -0.16 psi 2021-02-10T18:05:23Z- waiting for 1612980325.33, time is 1612980323.16 2021-02-10T18:05:23Z- sync is 0.75, coherence is 2.00 2021-02-10T18:05:23Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1612980323920; depth 0.00 2021-02-10T18:05:23Z- waiting for 1612980325.33, time is 1612980323.16 2021-02-10T18:05:23Z- sync is 0.75, coherence is 2.00 2021-02-10T18:05:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980323.94 epoch sec; seqNo:1485; 4061675.57 north; 594300.14 east 2021-02-10T18:05:23Z- waiting for 1612980325.33, time is 1612980323.16 2021-02-10T18:05:23Z- sync is 0.77, coherence is 2.00 2021-02-10T18:05:24Z- AHRS_M2 msg: 1612980324.32 epoch sec; seqNo:1477 2021-02-10T18:05:24Z- AHRS_M2 msg: 1.49 phi; 0.08 theta; -0.16 psi 2021-02-10T18:05:24Z- waiting for 1612980325.33, time is 1612980323.16 2021-02-10T18:05:24Z- sync is 1.16, coherence is 2.00 2021-02-10T18:05:24Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1612980324324; depth 0.00 2021-02-10T18:05:24Z- waiting for 1612980325.33, time is 1612980323.16 2021-02-10T18:05:24Z- sync is 1.16, coherence is 2.00 2021-02-10T18:05:24Z- handleDvl() - RDI_Pathfinder msg: 1612980324.34 epoch sec; seqNo:601 2021-02-10T18:05:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.76 , 46.81 , 41.01 , 42.51 2021-02-10T18:05:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.02 , -0.00 2021-02-10T18:05:24Z- waiting for 1612980325.33, time is 1612980324.34 2021-02-10T18:05:24Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980324.36 epoch sec; seqNo:1486; 4061675.57 north; 594300.14 east 2021-02-10T18:05:24Z- waiting for 1612980325.33, time is 1612980324.34 2021-02-10T18:05:24Z- sync is 0.03, coherence is 2.00 2021-02-10T18:05:24Z- AHRS_M2 msg: 1612980324.73 epoch sec; seqNo:1478 2021-02-10T18:05:24Z- AHRS_M2 msg: 1.49 phi; 0.08 theta; -0.16 psi 2021-02-10T18:05:24Z- waiting for 1612980325.33, time is 1612980324.34 2021-02-10T18:05:24Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:24Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1612980324730; depth 0.00 2021-02-10T18:05:24Z- waiting for 1612980325.33, time is 1612980324.34 2021-02-10T18:05:24Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980324.74 epoch sec; seqNo:1487; 4061675.58 north; 594301.36 east 2021-02-10T18:05:24Z- waiting for 1612980325.33, time is 1612980324.34 2021-02-10T18:05:24Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:25Z- AHRS_M2 msg: 1612980325.13 epoch sec; seqNo:1479 2021-02-10T18:05:25Z- AHRS_M2 msg: 1.50 phi; 0.08 theta; -0.15 psi 2021-02-10T18:05:25Z- waiting for 1612980325.33, time is 1612980324.34 2021-02-10T18:05:25Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:25Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1612980325133; depth 0.00 2021-02-10T18:05:25Z- waiting for 1612980325.33, time is 1612980324.34 2021-02-10T18:05:25Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:25Z- handleDvl() - RDI_Pathfinder msg: 1612980325.14 epoch sec; seqNo:602 2021-02-10T18:05:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.76 , 46.81 , 41.57 , 42.51 2021-02-10T18:05:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.02 , -0.01 2021-02-10T18:05:25Z- waiting for 1612980325.33, time is 1612980325.14 2021-02-10T18:05:25Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980325.15 epoch sec; seqNo:1488; 4061675.58 north; 594301.36 east 2021-02-10T18:05:25Z- waiting for 1612980325.33, time is 1612980325.14 2021-02-10T18:05:25Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:25Z- AHRS_M2 msg: 1612980325.53 epoch sec; seqNo:1480 2021-02-10T18:05:25Z- AHRS_M2 msg: 1.50 phi; 0.08 theta; -0.15 psi 2021-02-10T18:05:25Z- waiting for 1612980325.33, time is 1612980325.14 2021-02-10T18:05:25Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:25Z- handleDepth()-Depth_Keller msg: 50.26 epoch sec; seqNo:1612980325536; depth 0.00 2021-02-10T18:05:25Z- waiting for 1612980325.33, time is 1612980325.14 2021-02-10T18:05:25Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980325.55 epoch sec; seqNo:1489; 4061675.58 north; 594301.36 east 2021-02-10T18:05:25Z- waiting for 1612980325.33, time is 1612980325.14 2021-02-10T18:05:25Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:25Z- AHRS_M2 msg: 1612980325.94 epoch sec; seqNo:1481 2021-02-10T18:05:25Z- AHRS_M2 msg: 1.50 phi; 0.08 theta; -0.16 psi 2021-02-10T18:05:25Z- waiting for 1612980325.33, time is 1612980325.14 2021-02-10T18:05:25Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:25Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1612980325945; depth 0.00 2021-02-10T18:05:25Z- waiting for 1612980325.33, time is 1612980325.14 2021-02-10T18:05:25Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980325.95 epoch sec; seqNo:1490; 4061675.60 north; 594302.58 east 2021-02-10T18:05:25Z- waiting for 1612980325.33, time is 1612980325.14 2021-02-10T18:05:25Z- sync is 0.81, coherence is 2.00 2021-02-10T18:05:26Z- AHRS_M2 msg: 1612980326.34 epoch sec; seqNo:1482 2021-02-10T18:05:26Z- AHRS_M2 msg: 1.50 phi; 0.08 theta; -0.16 psi 2021-02-10T18:05:26Z- waiting for 1612980325.33, time is 1612980325.14 2021-02-10T18:05:26Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:26Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1612980326349; depth 0.00 2021-02-10T18:05:26Z- waiting for 1612980325.33, time is 1612980325.14 2021-02-10T18:05:26Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:26Z- handleDvl() - RDI_Pathfinder msg: 1612980326.36 epoch sec; seqNo:603 2021-02-10T18:05:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.14 , 46.81 , 41.57 , 42.13 2021-02-10T18:05:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.02 , -0.01 2021-02-10T18:05:26Z- waiting for 1612980325.33, time is 1612980326.36 2021-02-10T18:05:26Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:26Z- LcmTrn::updateTrn() >>>> pose time 1612980326.34, meas time 1612980326.36 <<<< 2021-02-10T18:05:26Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980326.36 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:05:26Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594302.58, 50.21) 2021-02-10T18:05:26Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:05:26Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:05:26Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:05:26Z- TNavBF::mmse selected from filter -1 2021-02-10T18:05:26Z- variances([0], [2], and psi_berg) = 793.711132 833.090164 0.000000 2021-02-10T18:05:26Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:05:26Z- LcmTrn::cycle() - MLE : 4061648.10 594256.08 50.21 2021-02-10T18:05:26Z- LcmTrn::cycle() - MMSE : 4061675.60 594302.58 50.21 2021-02-10T18:05:26Z- LcmTrn::cycle() - COVAR: 793.71 833.09 49.78 0.00 2021-02-10T18:05:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980326.37 epoch sec; seqNo:1491; 4061675.60 north; 594302.58 east 2021-02-10T18:05:26Z- waiting for 1612980329.36, time is 1612980326.36 2021-02-10T18:05:26Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:26Z- AHRS_M2 msg: 1612980326.74 epoch sec; seqNo:1483 2021-02-10T18:05:26Z- AHRS_M2 msg: 1.50 phi; 0.08 theta; -0.16 psi 2021-02-10T18:05:26Z- waiting for 1612980329.36, time is 1612980326.36 2021-02-10T18:05:26Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:26Z- handleDepth()-Depth_Keller msg: 50.16 epoch sec; seqNo:1612980326750; depth 0.00 2021-02-10T18:05:26Z- waiting for 1612980329.36, time is 1612980326.36 2021-02-10T18:05:26Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980326.76 epoch sec; seqNo:1492; 4061675.60 north; 594302.58 east 2021-02-10T18:05:26Z- waiting for 1612980329.36, time is 1612980326.36 2021-02-10T18:05:26Z- sync is 0.40, coherence is 2.00 2021-02-10T18:05:27Z- AHRS_M2 msg: 1612980327.15 epoch sec; seqNo:1484 2021-02-10T18:05:27Z- AHRS_M2 msg: 1.51 phi; 0.08 theta; -0.16 psi 2021-02-10T18:05:27Z- waiting for 1612980329.36, time is 1612980326.36 2021-02-10T18:05:27Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:27Z- handleDepth()-Depth_Keller msg: 50.14 epoch sec; seqNo:1612980327152; depth 0.00 2021-02-10T18:05:27Z- waiting for 1612980329.36, time is 1612980326.36 2021-02-10T18:05:27Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:27Z- handleDvl() - RDI_Pathfinder msg: 1612980327.17 epoch sec; seqNo:604 2021-02-10T18:05:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.33 , 47.00 , 41.38 , 42.32 2021-02-10T18:05:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.01 , -0.01 2021-02-10T18:05:27Z- waiting for 1612980329.36, time is 1612980327.17 2021-02-10T18:05:27Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980327.18 epoch sec; seqNo:1493; 4061675.61 north; 594303.80 east 2021-02-10T18:05:27Z- waiting for 1612980329.36, time is 1612980327.17 2021-02-10T18:05:27Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:27Z- AHRS_M2 msg: 1612980327.55 epoch sec; seqNo:1485 2021-02-10T18:05:27Z- AHRS_M2 msg: 1.51 phi; 0.08 theta; -0.16 psi 2021-02-10T18:05:27Z- waiting for 1612980329.36, time is 1612980327.17 2021-02-10T18:05:27Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:27Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1612980327556; depth 0.00 2021-02-10T18:05:27Z- waiting for 1612980329.36, time is 1612980327.17 2021-02-10T18:05:27Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980327.57 epoch sec; seqNo:1494; 4061675.61 north; 594303.80 east 2021-02-10T18:05:27Z- waiting for 1612980329.36, time is 1612980327.17 2021-02-10T18:05:27Z- sync is 0.40, coherence is 2.00 2021-02-10T18:05:27Z- AHRS_M2 msg: 1612980327.96 epoch sec; seqNo:1486 2021-02-10T18:05:27Z- AHRS_M2 msg: 1.51 phi; 0.08 theta; -0.16 psi 2021-02-10T18:05:27Z- waiting for 1612980329.36, time is 1612980327.17 2021-02-10T18:05:27Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:27Z- handleDepth()-Depth_Keller msg: 50.08 epoch sec; seqNo:1612980327961; depth 0.00 2021-02-10T18:05:27Z- waiting for 1612980329.36, time is 1612980327.17 2021-02-10T18:05:27Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980327.98 epoch sec; seqNo:1495; 4061675.61 north; 594303.80 east 2021-02-10T18:05:27Z- waiting for 1612980329.36, time is 1612980327.17 2021-02-10T18:05:27Z- sync is 0.81, coherence is 2.00 2021-02-10T18:05:28Z- AHRS_M2 msg: 1612980328.36 epoch sec; seqNo:1487 2021-02-10T18:05:28Z- AHRS_M2 msg: 1.51 phi; 0.08 theta; -0.16 psi 2021-02-10T18:05:28Z- waiting for 1612980329.36, time is 1612980327.17 2021-02-10T18:05:28Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:28Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1612980328373; depth 0.00 2021-02-10T18:05:28Z- waiting for 1612980329.36, time is 1612980327.17 2021-02-10T18:05:28Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:28Z- handleDvl() - RDI_Pathfinder msg: 1612980328.38 epoch sec; seqNo:605 2021-02-10T18:05:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.33 , 46.81 , 41.38 , 42.13 2021-02-10T18:05:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.03 , -0.01 2021-02-10T18:05:28Z- waiting for 1612980329.36, time is 1612980328.38 2021-02-10T18:05:28Z- sync is 0.03, coherence is 2.00 2021-02-10T18:05:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980328.39 epoch sec; seqNo:1496; 4061675.61 north; 594303.80 east 2021-02-10T18:05:28Z- waiting for 1612980329.36, time is 1612980328.38 2021-02-10T18:05:28Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:28Z- AHRS_M2 msg: 1612980328.76 epoch sec; seqNo:1488 2021-02-10T18:05:28Z- AHRS_M2 msg: 1.51 phi; 0.08 theta; -0.16 psi 2021-02-10T18:05:28Z- waiting for 1612980329.36, time is 1612980328.38 2021-02-10T18:05:28Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:28Z- handleDepth()-Depth_Keller msg: 50.02 epoch sec; seqNo:1612980328769; depth 0.00 2021-02-10T18:05:28Z- waiting for 1612980329.36, time is 1612980328.38 2021-02-10T18:05:28Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980328.79 epoch sec; seqNo:1497; 4061675.62 north; 594305.02 east 2021-02-10T18:05:28Z- waiting for 1612980329.36, time is 1612980328.38 2021-02-10T18:05:28Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:29Z- AHRS_M2 msg: 1612980329.17 epoch sec; seqNo:1489 2021-02-10T18:05:29Z- AHRS_M2 msg: 1.51 phi; 0.09 theta; -0.16 psi 2021-02-10T18:05:29Z- waiting for 1612980329.36, time is 1612980328.38 2021-02-10T18:05:29Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:29Z- handleDepth()-Depth_Keller msg: 49.97 epoch sec; seqNo:1612980329177; depth 0.00 2021-02-10T18:05:29Z- waiting for 1612980329.36, time is 1612980328.38 2021-02-10T18:05:29Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:29Z- handleDvl() - RDI_Pathfinder msg: 1612980329.19 epoch sec; seqNo:606 2021-02-10T18:05:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.89 , 45.13 , 41.19 , 42.13 2021-02-10T18:05:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.05 , -0.01 2021-02-10T18:05:29Z- waiting for 1612980329.36, time is 1612980329.19 2021-02-10T18:05:29Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980329.21 epoch sec; seqNo:1498; 4061675.62 north; 594305.02 east 2021-02-10T18:05:29Z- waiting for 1612980329.36, time is 1612980329.19 2021-02-10T18:05:29Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:29Z- AHRS_M2 msg: 1612980329.57 epoch sec; seqNo:1490 2021-02-10T18:05:29Z- AHRS_M2 msg: 1.51 phi; 0.09 theta; -0.16 psi 2021-02-10T18:05:29Z- waiting for 1612980329.36, time is 1612980329.19 2021-02-10T18:05:29Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:29Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1612980329576; depth 0.00 2021-02-10T18:05:29Z- waiting for 1612980329.36, time is 1612980329.19 2021-02-10T18:05:29Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980329.59 epoch sec; seqNo:1499; 4061675.62 north; 594305.02 east 2021-02-10T18:05:29Z- waiting for 1612980329.36, time is 1612980329.19 2021-02-10T18:05:29Z- sync is 0.40, coherence is 2.00 2021-02-10T18:05:29Z- AHRS_M2 msg: 1612980329.97 epoch sec; seqNo:1491 2021-02-10T18:05:29Z- AHRS_M2 msg: 1.52 phi; 0.09 theta; -0.16 psi 2021-02-10T18:05:29Z- waiting for 1612980329.36, time is 1612980329.19 2021-02-10T18:05:29Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:29Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1612980329981; depth 0.00 2021-02-10T18:05:29Z- waiting for 1612980329.36, time is 1612980329.19 2021-02-10T18:05:29Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980330.00 epoch sec; seqNo:1500; 4061675.64 north; 594306.24 east 2021-02-10T18:05:30Z- waiting for 1612980329.36, time is 1612980329.19 2021-02-10T18:05:30Z- sync is 0.81, coherence is 2.00 2021-02-10T18:05:30Z- AHRS_M2 msg: 1612980330.38 epoch sec; seqNo:1492 2021-02-10T18:05:30Z- AHRS_M2 msg: 1.52 phi; 0.09 theta; -0.16 psi 2021-02-10T18:05:30Z- waiting for 1612980329.36, time is 1612980329.19 2021-02-10T18:05:30Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:30Z- handleDepth()-Depth_Keller msg: 49.88 epoch sec; seqNo:1612980330384; depth 0.00 2021-02-10T18:05:30Z- waiting for 1612980329.36, time is 1612980329.19 2021-02-10T18:05:30Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:30Z- handleDvl() - RDI_Pathfinder msg: 1612980330.40 epoch sec; seqNo:607 2021-02-10T18:05:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.26 , 44.38 , 41.19 , 42.13 2021-02-10T18:05:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.05 , -0.00 2021-02-10T18:05:30Z- waiting for 1612980329.36, time is 1612980330.40 2021-02-10T18:05:30Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:30Z- LcmTrn::updateTrn() >>>> pose time 1612980330.38, meas time 1612980330.40 <<<< 2021-02-10T18:05:30Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980330.40 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:05:30Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594306.24, 49.88) 2021-02-10T18:05:30Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:05:30Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:05:30Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:05:30Z- TNavBF::mmse selected from filter -1 2021-02-10T18:05:30Z- variances([0], [2], and psi_berg) = 793.522517 833.089811 0.000000 2021-02-10T18:05:30Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:05:30Z- LcmTrn::cycle() - MLE : 4061648.14 594259.74 49.88 2021-02-10T18:05:30Z- LcmTrn::cycle() - MMSE : 4061675.64 594306.24 49.88 2021-02-10T18:05:30Z- LcmTrn::cycle() - COVAR: 793.52 833.09 49.96 0.00 2021-02-10T18:05:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980330.42 epoch sec; seqNo:1501; 4061675.64 north; 594306.24 east 2021-02-10T18:05:30Z- waiting for 1612980333.40, time is 1612980330.40 2021-02-10T18:05:30Z- sync is 0.03, coherence is 2.00 2021-02-10T18:05:30Z- AHRS_M2 msg: 1612980330.79 epoch sec; seqNo:1493 2021-02-10T18:05:30Z- AHRS_M2 msg: 1.52 phi; 0.08 theta; -0.16 psi 2021-02-10T18:05:30Z- waiting for 1612980333.40, time is 1612980330.40 2021-02-10T18:05:30Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:30Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1612980330795; depth 0.00 2021-02-10T18:05:30Z- waiting for 1612980333.40, time is 1612980330.40 2021-02-10T18:05:30Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980330.81 epoch sec; seqNo:1502; 4061675.64 north; 594306.24 east 2021-02-10T18:05:30Z- waiting for 1612980333.40, time is 1612980330.40 2021-02-10T18:05:30Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:31Z- AHRS_M2 msg: 1612980331.19 epoch sec; seqNo:1494 2021-02-10T18:05:31Z- AHRS_M2 msg: 1.52 phi; 0.08 theta; -0.16 psi 2021-02-10T18:05:31Z- waiting for 1612980333.40, time is 1612980330.40 2021-02-10T18:05:31Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:31Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1612980331193; depth 0.00 2021-02-10T18:05:31Z- waiting for 1612980333.40, time is 1612980330.40 2021-02-10T18:05:31Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:31Z- handleDvl() - RDI_Pathfinder msg: 1612980331.20 epoch sec; seqNo:608 2021-02-10T18:05:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.45 , 44.19 , 41.01 , 42.13 2021-02-10T18:05:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.05 , -0.00 2021-02-10T18:05:31Z- waiting for 1612980333.40, time is 1612980331.20 2021-02-10T18:05:31Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980331.21 epoch sec; seqNo:1503; 4061675.65 north; 594307.46 east 2021-02-10T18:05:31Z- waiting for 1612980333.40, time is 1612980331.20 2021-02-10T18:05:31Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:31Z- AHRS_M2 msg: 1612980331.59 epoch sec; seqNo:1495 2021-02-10T18:05:31Z- AHRS_M2 msg: 1.52 phi; 0.08 theta; -0.16 psi 2021-02-10T18:05:31Z- waiting for 1612980333.40, time is 1612980331.20 2021-02-10T18:05:31Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:31Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1612980331596; depth 0.00 2021-02-10T18:05:31Z- waiting for 1612980333.40, time is 1612980331.20 2021-02-10T18:05:31Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980331.61 epoch sec; seqNo:1504; 4061675.65 north; 594307.46 east 2021-02-10T18:05:31Z- waiting for 1612980333.40, time is 1612980331.20 2021-02-10T18:05:31Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:32Z- AHRS_M2 msg: 1612980332.00 epoch sec; seqNo:1496 2021-02-10T18:05:32Z- AHRS_M2 msg: 1.52 phi; 0.08 theta; -0.16 psi 2021-02-10T18:05:32Z- waiting for 1612980333.40, time is 1612980331.20 2021-02-10T18:05:32Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:32Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1612980332000; depth 0.00 2021-02-10T18:05:32Z- waiting for 1612980333.40, time is 1612980331.20 2021-02-10T18:05:32Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980332.01 epoch sec; seqNo:1505; 4061675.65 north; 594307.46 east 2021-02-10T18:05:32Z- waiting for 1612980333.40, time is 1612980331.20 2021-02-10T18:05:32Z- sync is 0.80, coherence is 2.00 2021-02-10T18:05:32Z- AHRS_M2 msg: 1612980332.40 epoch sec; seqNo:1497 2021-02-10T18:05:32Z- AHRS_M2 msg: 1.53 phi; 0.08 theta; -0.16 psi 2021-02-10T18:05:32Z- waiting for 1612980333.40, time is 1612980331.20 2021-02-10T18:05:32Z- sync is 1.20, coherence is 2.00 2021-02-10T18:05:32Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1612980332409; depth 0.00 2021-02-10T18:05:32Z- waiting for 1612980333.40, time is 1612980331.20 2021-02-10T18:05:32Z- sync is 1.20, coherence is 2.00 2021-02-10T18:05:32Z- handleDvl() - RDI_Pathfinder msg: 1612980332.42 epoch sec; seqNo:609 2021-02-10T18:05:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.26 , 44.38 , 40.63 , 42.32 2021-02-10T18:05:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.04 , 0.00 2021-02-10T18:05:32Z- waiting for 1612980333.40, time is 1612980332.42 2021-02-10T18:05:32Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980332.45 epoch sec; seqNo:1506; 4061675.66 north; 594308.68 east 2021-02-10T18:05:32Z- waiting for 1612980333.40, time is 1612980332.42 2021-02-10T18:05:32Z- sync is 0.03, coherence is 2.00 2021-02-10T18:05:32Z- AHRS_M2 msg: 1612980332.81 epoch sec; seqNo:1498 2021-02-10T18:05:32Z- AHRS_M2 msg: 1.53 phi; 0.08 theta; -0.16 psi 2021-02-10T18:05:32Z- waiting for 1612980333.40, time is 1612980332.42 2021-02-10T18:05:32Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:32Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1612980332816; depth 0.00 2021-02-10T18:05:32Z- waiting for 1612980333.40, time is 1612980332.42 2021-02-10T18:05:32Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980332.83 epoch sec; seqNo:1507; 4061675.66 north; 594308.68 east 2021-02-10T18:05:32Z- waiting for 1612980333.40, time is 1612980332.42 2021-02-10T18:05:32Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:33Z- AHRS_M2 msg: 1612980333.21 epoch sec; seqNo:1499 2021-02-10T18:05:33Z- AHRS_M2 msg: 1.53 phi; 0.08 theta; -0.16 psi 2021-02-10T18:05:33Z- waiting for 1612980333.40, time is 1612980332.42 2021-02-10T18:05:33Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:33Z- handleDepth()-Depth_Keller msg: 49.62 epoch sec; seqNo:1612980333217; depth 0.00 2021-02-10T18:05:33Z- waiting for 1612980333.40, time is 1612980332.42 2021-02-10T18:05:33Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:33Z- handleDvl() - RDI_Pathfinder msg: 1612980333.23 epoch sec; seqNo:610 2021-02-10T18:05:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.26 , 44.94 , 40.45 , 42.51 2021-02-10T18:05:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.03 , -0.00 2021-02-10T18:05:33Z- waiting for 1612980333.40, time is 1612980333.23 2021-02-10T18:05:33Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980333.25 epoch sec; seqNo:1508; 4061675.66 north; 594308.68 east 2021-02-10T18:05:33Z- waiting for 1612980333.40, time is 1612980333.23 2021-02-10T18:05:33Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:33Z- AHRS_M2 msg: 1612980333.61 epoch sec; seqNo:1500 2021-02-10T18:05:33Z- AHRS_M2 msg: 1.53 phi; 0.08 theta; -0.16 psi 2021-02-10T18:05:33Z- waiting for 1612980333.40, time is 1612980333.23 2021-02-10T18:05:33Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:33Z- handleDepth()-Depth_Keller msg: 49.58 epoch sec; seqNo:1612980333621; depth 0.00 2021-02-10T18:05:33Z- waiting for 1612980333.40, time is 1612980333.23 2021-02-10T18:05:33Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980333.63 epoch sec; seqNo:1509; 4061675.66 north; 594308.68 east 2021-02-10T18:05:33Z- waiting for 1612980333.40, time is 1612980333.23 2021-02-10T18:05:33Z- sync is 0.40, coherence is 2.00 2021-02-10T18:05:34Z- AHRS_M2 msg: 1612980334.02 epoch sec; seqNo:1501 2021-02-10T18:05:34Z- AHRS_M2 msg: 1.53 phi; 0.08 theta; -0.16 psi 2021-02-10T18:05:34Z- waiting for 1612980333.40, time is 1612980333.23 2021-02-10T18:05:34Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:34Z- handleDepth()-Depth_Keller msg: 49.57 epoch sec; seqNo:1612980334021; depth 0.00 2021-02-10T18:05:34Z- waiting for 1612980333.40, time is 1612980333.23 2021-02-10T18:05:34Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980334.03 epoch sec; seqNo:1510; 4061675.68 north; 594309.90 east 2021-02-10T18:05:34Z- waiting for 1612980333.40, time is 1612980333.23 2021-02-10T18:05:34Z- sync is 0.80, coherence is 2.00 2021-02-10T18:05:34Z- AHRS_M2 msg: 1612980334.42 epoch sec; seqNo:1502 2021-02-10T18:05:34Z- AHRS_M2 msg: 1.54 phi; 0.07 theta; -0.16 psi 2021-02-10T18:05:34Z- waiting for 1612980333.40, time is 1612980333.23 2021-02-10T18:05:34Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:34Z- handleDepth()-Depth_Keller msg: 49.52 epoch sec; seqNo:1612980334424; depth 0.00 2021-02-10T18:05:34Z- waiting for 1612980333.40, time is 1612980333.23 2021-02-10T18:05:34Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:34Z- handleDvl() - RDI_Pathfinder msg: 1612980334.45 epoch sec; seqNo:611 2021-02-10T18:05:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.89 , 46.62 , 40.07 , 42.51 2021-02-10T18:05:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.01 , 0.00 2021-02-10T18:05:34Z- waiting for 1612980333.40, time is 1612980334.45 2021-02-10T18:05:34Z- sync is 0.03, coherence is 2.00 2021-02-10T18:05:34Z- LcmTrn::updateTrn() >>>> pose time 1612980334.42, meas time 1612980334.45 <<<< 2021-02-10T18:05:34Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980334.45 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:05:34Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594309.90, 49.52) 2021-02-10T18:05:34Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:05:34Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:05:34Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:05:34Z- TNavBF::mmse selected from filter -1 2021-02-10T18:05:34Z- variances([0], [2], and psi_berg) = 793.334626 833.089460 0.000000 2021-02-10T18:05:34Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:05:34Z- LcmTrn::cycle() - MLE : 4061648.18 594263.40 49.52 2021-02-10T18:05:34Z- LcmTrn::cycle() - MMSE : 4061675.68 594309.90 49.52 2021-02-10T18:05:34Z- LcmTrn::cycle() - COVAR: 793.33 833.09 50.15 0.00 2021-02-10T18:05:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980334.46 epoch sec; seqNo:1511; 4061675.68 north; 594309.90 east 2021-02-10T18:05:34Z- waiting for 1612980337.45, time is 1612980334.45 2021-02-10T18:05:34Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:34Z- AHRS_M2 msg: 1612980334.83 epoch sec; seqNo:1503 2021-02-10T18:05:34Z- AHRS_M2 msg: 1.54 phi; 0.07 theta; -0.16 psi 2021-02-10T18:05:34Z- waiting for 1612980337.45, time is 1612980334.45 2021-02-10T18:05:34Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:34Z- handleDepth()-Depth_Keller msg: 49.48 epoch sec; seqNo:1612980334830; depth 0.00 2021-02-10T18:05:34Z- waiting for 1612980337.45, time is 1612980334.45 2021-02-10T18:05:34Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980334.84 epoch sec; seqNo:1512; 4061675.68 north; 594309.90 east 2021-02-10T18:05:34Z- waiting for 1612980337.45, time is 1612980334.45 2021-02-10T18:05:34Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:35Z- AHRS_M2 msg: 1612980335.23 epoch sec; seqNo:1504 2021-02-10T18:05:35Z- AHRS_M2 msg: 1.54 phi; 0.07 theta; -0.16 psi 2021-02-10T18:05:35Z- waiting for 1612980337.45, time is 1612980334.45 2021-02-10T18:05:35Z- sync is 0.78, coherence is 2.00 2021-02-10T18:05:35Z- handleDepth()-Depth_Keller msg: 49.46 epoch sec; seqNo:1612980335232; depth 0.00 2021-02-10T18:05:35Z- waiting for 1612980337.45, time is 1612980334.45 2021-02-10T18:05:35Z- sync is 0.78, coherence is 2.00 2021-02-10T18:05:35Z- handleDvl() - RDI_Pathfinder msg: 1612980335.24 epoch sec; seqNo:612 2021-02-10T18:05:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.70 , 47.56 , 40.07 , 42.69 2021-02-10T18:05:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.00 , 0.00 2021-02-10T18:05:35Z- waiting for 1612980337.45, time is 1612980335.24 2021-02-10T18:05:35Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980335.25 epoch sec; seqNo:1513; 4061675.69 north; 594311.12 east 2021-02-10T18:05:35Z- waiting for 1612980337.45, time is 1612980335.24 2021-02-10T18:05:35Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:35Z- AHRS_M2 msg: 1612980335.63 epoch sec; seqNo:1505 2021-02-10T18:05:35Z- AHRS_M2 msg: 1.54 phi; 0.07 theta; -0.16 psi 2021-02-10T18:05:35Z- waiting for 1612980337.45, time is 1612980335.24 2021-02-10T18:05:35Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:35Z- handleDepth()-Depth_Keller msg: 49.41 epoch sec; seqNo:1612980335638; depth 0.00 2021-02-10T18:05:35Z- waiting for 1612980337.45, time is 1612980335.24 2021-02-10T18:05:35Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980335.65 epoch sec; seqNo:1514; 4061675.69 north; 594311.12 east 2021-02-10T18:05:35Z- waiting for 1612980337.45, time is 1612980335.24 2021-02-10T18:05:35Z- sync is 0.40, coherence is 2.00 2021-02-10T18:05:36Z- AHRS_M2 msg: 1612980336.04 epoch sec; seqNo:1506 2021-02-10T18:05:36Z- AHRS_M2 msg: 1.54 phi; 0.06 theta; -0.16 psi 2021-02-10T18:05:36Z- waiting for 1612980337.45, time is 1612980335.24 2021-02-10T18:05:36Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:36Z- handleDepth()-Depth_Keller msg: 49.37 epoch sec; seqNo:1612980336045; depth 0.00 2021-02-10T18:05:36Z- waiting for 1612980337.45, time is 1612980335.24 2021-02-10T18:05:36Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980336.07 epoch sec; seqNo:1515; 4061675.69 north; 594311.12 east 2021-02-10T18:05:36Z- waiting for 1612980337.45, time is 1612980335.24 2021-02-10T18:05:36Z- sync is 0.82, coherence is 2.00 2021-02-10T18:05:36Z- AHRS_M2 msg: 1612980336.44 epoch sec; seqNo:1507 2021-02-10T18:05:36Z- AHRS_M2 msg: 1.54 phi; 0.06 theta; -0.16 psi 2021-02-10T18:05:36Z- waiting for 1612980337.45, time is 1612980335.24 2021-02-10T18:05:36Z- sync is 1.20, coherence is 2.00 2021-02-10T18:05:36Z- handleDepth()-Depth_Keller msg: 49.35 epoch sec; seqNo:1612980336447; depth 0.00 2021-02-10T18:05:36Z- waiting for 1612980337.45, time is 1612980335.24 2021-02-10T18:05:36Z- sync is 1.20, coherence is 2.00 2021-02-10T18:05:36Z- handleDvl() - RDI_Pathfinder msg: 1612980336.46 epoch sec; seqNo:613 2021-02-10T18:05:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.33 , 47.56 , 39.88 , 42.69 2021-02-10T18:05:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.00 , -0.00 2021-02-10T18:05:36Z- waiting for 1612980337.45, time is 1612980336.46 2021-02-10T18:05:36Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980336.49 epoch sec; seqNo:1516; 4061675.70 north; 594312.34 east 2021-02-10T18:05:36Z- waiting for 1612980337.45, time is 1612980336.46 2021-02-10T18:05:36Z- sync is 0.03, coherence is 2.00 2021-02-10T18:05:36Z- AHRS_M2 msg: 1612980336.84 epoch sec; seqNo:1508 2021-02-10T18:05:36Z- AHRS_M2 msg: 1.55 phi; 0.06 theta; -0.16 psi 2021-02-10T18:05:36Z- waiting for 1612980337.45, time is 1612980336.46 2021-02-10T18:05:36Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:36Z- handleDepth()-Depth_Keller msg: 49.33 epoch sec; seqNo:1612980336848; depth 0.00 2021-02-10T18:05:36Z- waiting for 1612980337.45, time is 1612980336.46 2021-02-10T18:05:36Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980336.86 epoch sec; seqNo:1517; 4061675.70 north; 594312.34 east 2021-02-10T18:05:36Z- waiting for 1612980337.45, time is 1612980336.46 2021-02-10T18:05:36Z- sync is 0.40, coherence is 2.00 2021-02-10T18:05:37Z- AHRS_M2 msg: 1612980337.25 epoch sec; seqNo:1509 2021-02-10T18:05:37Z- AHRS_M2 msg: 1.55 phi; 0.05 theta; -0.16 psi 2021-02-10T18:05:37Z- waiting for 1612980337.45, time is 1612980336.46 2021-02-10T18:05:37Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:37Z- handleDepth()-Depth_Keller msg: 49.31 epoch sec; seqNo:1612980337254; depth 0.00 2021-02-10T18:05:37Z- waiting for 1612980337.45, time is 1612980336.46 2021-02-10T18:05:37Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:37Z- handleDvl() - RDI_Pathfinder msg: 1612980337.27 epoch sec; seqNo:614 2021-02-10T18:05:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.70 , 47.75 , 39.70 , 42.88 2021-02-10T18:05:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.01 , 0.00 2021-02-10T18:05:37Z- waiting for 1612980337.45, time is 1612980337.27 2021-02-10T18:05:37Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980337.28 epoch sec; seqNo:1518; 4061675.70 north; 594312.34 east 2021-02-10T18:05:37Z- waiting for 1612980337.45, time is 1612980337.27 2021-02-10T18:05:37Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:37Z- AHRS_M2 msg: 1612980337.65 epoch sec; seqNo:1510 2021-02-10T18:05:37Z- AHRS_M2 msg: 1.55 phi; 0.05 theta; -0.16 psi 2021-02-10T18:05:37Z- waiting for 1612980337.45, time is 1612980337.27 2021-02-10T18:05:37Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:37Z- handleDepth()-Depth_Keller msg: 49.26 epoch sec; seqNo:1612980337656; depth 0.00 2021-02-10T18:05:37Z- waiting for 1612980337.45, time is 1612980337.27 2021-02-10T18:05:37Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980337.68 epoch sec; seqNo:1519; 4061675.72 north; 594313.57 east 2021-02-10T18:05:37Z- waiting for 1612980337.45, time is 1612980337.27 2021-02-10T18:05:37Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:38Z- AHRS_M2 msg: 1612980338.06 epoch sec; seqNo:1511 2021-02-10T18:05:38Z- AHRS_M2 msg: 1.55 phi; 0.05 theta; -0.16 psi 2021-02-10T18:05:38Z- waiting for 1612980337.45, time is 1612980337.27 2021-02-10T18:05:38Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:38Z- handleDepth()-Depth_Keller msg: 49.23 epoch sec; seqNo:1612980338063; depth 0.00 2021-02-10T18:05:38Z- waiting for 1612980337.45, time is 1612980337.27 2021-02-10T18:05:38Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980338.08 epoch sec; seqNo:1520; 4061675.72 north; 594313.57 east 2021-02-10T18:05:38Z- waiting for 1612980337.45, time is 1612980337.27 2021-02-10T18:05:38Z- sync is 0.81, coherence is 2.00 2021-02-10T18:05:38Z- AHRS_M2 msg: 1612980338.46 epoch sec; seqNo:1512 2021-02-10T18:05:38Z- AHRS_M2 msg: 1.55 phi; 0.05 theta; -0.16 psi 2021-02-10T18:05:38Z- waiting for 1612980337.45, time is 1612980337.27 2021-02-10T18:05:38Z- sync is 1.20, coherence is 2.00 2021-02-10T18:05:38Z- handleDepth()-Depth_Keller msg: 49.23 epoch sec; seqNo:1612980338470; depth 0.00 2021-02-10T18:05:38Z- waiting for 1612980337.45, time is 1612980337.27 2021-02-10T18:05:38Z- sync is 1.20, coherence is 2.00 2021-02-10T18:05:38Z- handleDvl() - RDI_Pathfinder msg: 1612980338.48 epoch sec; seqNo:615 2021-02-10T18:05:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.95 , 47.56 , 39.70 , 43.07 2021-02-10T18:05:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.00 , 0.01 2021-02-10T18:05:38Z- waiting for 1612980337.45, time is 1612980338.48 2021-02-10T18:05:38Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:38Z- LcmTrn::updateTrn() >>>> pose time 1612980338.46, meas time 1612980338.48 <<<< 2021-02-10T18:05:38Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980338.48 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:05:38Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594313.57, 49.23) 2021-02-10T18:05:38Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:05:38Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:05:38Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:05:38Z- TNavBF::mmse selected from filter -1 2021-02-10T18:05:38Z- variances([0], [2], and psi_berg) = 793.147451 833.089112 0.000000 2021-02-10T18:05:38Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:05:38Z- LcmTrn::cycle() - MLE : 4061648.22 594267.07 49.23 2021-02-10T18:05:38Z- LcmTrn::cycle() - MMSE : 4061675.72 594313.57 49.23 2021-02-10T18:05:38Z- LcmTrn::cycle() - COVAR: 793.15 833.09 50.34 0.00 2021-02-10T18:05:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980338.50 epoch sec; seqNo:1521; 4061675.72 north; 594313.57 east 2021-02-10T18:05:38Z- waiting for 1612980341.48, time is 1612980338.48 2021-02-10T18:05:38Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:38Z- AHRS_M2 msg: 1612980338.86 epoch sec; seqNo:1513 2021-02-10T18:05:38Z- AHRS_M2 msg: 1.55 phi; 0.04 theta; -0.16 psi 2021-02-10T18:05:38Z- waiting for 1612980341.48, time is 1612980338.48 2021-02-10T18:05:38Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:38Z- handleDepth()-Depth_Keller msg: 49.21 epoch sec; seqNo:1612980338870; depth 0.00 2021-02-10T18:05:38Z- waiting for 1612980341.48, time is 1612980338.48 2021-02-10T18:05:38Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980338.88 epoch sec; seqNo:1522; 4061676.10 north; 594313.56 east 2021-02-10T18:05:38Z- waiting for 1612980341.48, time is 1612980338.48 2021-02-10T18:05:38Z- sync is 0.40, coherence is 2.00 2021-02-10T18:05:39Z- AHRS_M2 msg: 1612980339.27 epoch sec; seqNo:1514 2021-02-10T18:05:39Z- AHRS_M2 msg: 1.55 phi; 0.04 theta; -0.17 psi 2021-02-10T18:05:39Z- waiting for 1612980341.48, time is 1612980338.48 2021-02-10T18:05:39Z- sync is 0.78, coherence is 2.00 2021-02-10T18:05:39Z- handleDepth()-Depth_Keller msg: 49.18 epoch sec; seqNo:1612980339279; depth 0.00 2021-02-10T18:05:39Z- waiting for 1612980341.48, time is 1612980338.48 2021-02-10T18:05:39Z- sync is 0.78, coherence is 2.00 2021-02-10T18:05:39Z- handleDvl() - RDI_Pathfinder msg: 1612980339.29 epoch sec; seqNo:616 2021-02-10T18:05:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.51 , 47.94 , 39.32 , 43.26 2021-02-10T18:05:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.00 , 0.00 2021-02-10T18:05:39Z- waiting for 1612980341.48, time is 1612980339.29 2021-02-10T18:05:39Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980339.32 epoch sec; seqNo:1523; 4061676.11 north; 594314.78 east 2021-02-10T18:05:39Z- waiting for 1612980341.48, time is 1612980339.29 2021-02-10T18:05:39Z- sync is 0.03, coherence is 2.00 2021-02-10T18:05:39Z- AHRS_M2 msg: 1612980339.68 epoch sec; seqNo:1515 2021-02-10T18:05:39Z- AHRS_M2 msg: 1.55 phi; 0.04 theta; -0.17 psi 2021-02-10T18:05:39Z- waiting for 1612980341.48, time is 1612980339.29 2021-02-10T18:05:39Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:39Z- handleDepth()-Depth_Keller msg: 49.16 epoch sec; seqNo:1612980339689; depth 0.00 2021-02-10T18:05:39Z- waiting for 1612980341.48, time is 1612980339.29 2021-02-10T18:05:39Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980339.70 epoch sec; seqNo:1524; 4061676.11 north; 594314.78 east 2021-02-10T18:05:39Z- waiting for 1612980341.48, time is 1612980339.29 2021-02-10T18:05:39Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:40Z- AHRS_M2 msg: 1612980340.10 epoch sec; seqNo:1516 2021-02-10T18:05:40Z- AHRS_M2 msg: 1.55 phi; 0.03 theta; -0.17 psi 2021-02-10T18:05:40Z- waiting for 1612980341.48, time is 1612980339.29 2021-02-10T18:05:40Z- sync is 0.81, coherence is 2.00 2021-02-10T18:05:40Z- handleDepth()-Depth_Keller msg: 49.14 epoch sec; seqNo:1612980340112; depth 0.00 2021-02-10T18:05:40Z- waiting for 1612980341.48, time is 1612980339.29 2021-02-10T18:05:40Z- sync is 0.81, coherence is 2.00 2021-02-10T18:05:40Z- handleDvl() - RDI_Pathfinder msg: 1612980340.12 epoch sec; seqNo:617 2021-02-10T18:05:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.51 , 47.56 , 38.76 , 43.26 2021-02-10T18:05:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.01 , 0.01 2021-02-10T18:05:40Z- waiting for 1612980341.48, time is 1612980340.12 2021-02-10T18:05:40Z- sync is 0.03, coherence is 2.00 2021-02-10T18:05:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980340.14 epoch sec; seqNo:1525; 4061676.11 north; 594314.78 east 2021-02-10T18:05:40Z- waiting for 1612980341.48, time is 1612980340.12 2021-02-10T18:05:40Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:40Z- AHRS_M2 msg: 1612980340.48 epoch sec; seqNo:1517 2021-02-10T18:05:40Z- AHRS_M2 msg: 1.55 phi; 0.03 theta; -0.17 psi 2021-02-10T18:05:40Z- waiting for 1612980341.48, time is 1612980340.12 2021-02-10T18:05:40Z- sync is 0.36, coherence is 2.00 2021-02-10T18:05:40Z- handleDepth()-Depth_Keller msg: 49.14 epoch sec; seqNo:1612980340484; depth 0.00 2021-02-10T18:05:40Z- waiting for 1612980341.48, time is 1612980340.12 2021-02-10T18:05:40Z- sync is 0.36, coherence is 2.00 2021-02-10T18:05:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980340.51 epoch sec; seqNo:1526; 4061676.12 north; 594316.00 east 2021-02-10T18:05:40Z- waiting for 1612980341.48, time is 1612980340.12 2021-02-10T18:05:40Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:40Z- AHRS_M2 msg: 1612980340.88 epoch sec; seqNo:1518 2021-02-10T18:05:40Z- AHRS_M2 msg: 1.55 phi; 0.03 theta; -0.17 psi 2021-02-10T18:05:40Z- waiting for 1612980341.48, time is 1612980340.12 2021-02-10T18:05:40Z- sync is 0.76, coherence is 2.00 2021-02-10T18:05:40Z- handleDepth()-Depth_Keller msg: 49.11 epoch sec; seqNo:1612980340888; depth 0.00 2021-02-10T18:05:40Z- waiting for 1612980341.48, time is 1612980340.12 2021-02-10T18:05:40Z- sync is 0.76, coherence is 2.00 2021-02-10T18:05:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980340.90 epoch sec; seqNo:1527; 4061676.12 north; 594316.00 east 2021-02-10T18:05:40Z- waiting for 1612980341.48, time is 1612980340.12 2021-02-10T18:05:40Z- sync is 0.77, coherence is 2.00 2021-02-10T18:05:41Z- AHRS_M2 msg: 1612980341.29 epoch sec; seqNo:1519 2021-02-10T18:05:41Z- AHRS_M2 msg: 1.55 phi; 0.03 theta; -0.18 psi 2021-02-10T18:05:41Z- waiting for 1612980341.48, time is 1612980340.12 2021-02-10T18:05:41Z- sync is 1.16, coherence is 2.00 2021-02-10T18:05:41Z- handleDepth()-Depth_Keller msg: 49.10 epoch sec; seqNo:1612980341292; depth 0.00 2021-02-10T18:05:41Z- waiting for 1612980341.48, time is 1612980340.12 2021-02-10T18:05:41Z- sync is 1.16, coherence is 2.00 2021-02-10T18:05:41Z- handleDvl() - RDI_Pathfinder msg: 1612980341.30 epoch sec; seqNo:618 2021-02-10T18:05:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.89 , 47.56 , 38.57 , 43.63 2021-02-10T18:05:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.03 , 0.02 2021-02-10T18:05:41Z- waiting for 1612980341.48, time is 1612980341.30 2021-02-10T18:05:41Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980341.31 epoch sec; seqNo:1528; 4061676.12 north; 594316.00 east 2021-02-10T18:05:41Z- waiting for 1612980341.48, time is 1612980341.30 2021-02-10T18:05:41Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:41Z- AHRS_M2 msg: 1612980341.69 epoch sec; seqNo:1520 2021-02-10T18:05:41Z- AHRS_M2 msg: 1.55 phi; 0.02 theta; -0.18 psi 2021-02-10T18:05:41Z- waiting for 1612980341.48, time is 1612980341.30 2021-02-10T18:05:41Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:41Z- handleDepth()-Depth_Keller msg: 49.08 epoch sec; seqNo:1612980341697; depth 0.00 2021-02-10T18:05:41Z- waiting for 1612980341.48, time is 1612980341.30 2021-02-10T18:05:41Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980341.71 epoch sec; seqNo:1529; 4061675.76 north; 594317.23 east 2021-02-10T18:05:41Z- waiting for 1612980341.48, time is 1612980341.30 2021-02-10T18:05:41Z- sync is 0.40, coherence is 2.00 2021-02-10T18:05:42Z- AHRS_M2 msg: 1612980342.12 epoch sec; seqNo:1521 2021-02-10T18:05:42Z- AHRS_M2 msg: 1.55 phi; 0.02 theta; -0.18 psi 2021-02-10T18:05:42Z- waiting for 1612980341.48, time is 1612980341.30 2021-02-10T18:05:42Z- sync is 0.81, coherence is 2.00 2021-02-10T18:05:42Z- handleDepth()-Depth_Keller msg: 49.08 epoch sec; seqNo:1612980342119; depth 0.00 2021-02-10T18:05:42Z- waiting for 1612980341.48, time is 1612980341.30 2021-02-10T18:05:42Z- sync is 0.81, coherence is 2.00 2021-02-10T18:05:42Z- handleDvl() - RDI_Pathfinder msg: 1612980342.13 epoch sec; seqNo:619 2021-02-10T18:05:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.89 , 46.44 , 38.57 , 43.82 2021-02-10T18:05:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.05 , 0.02 2021-02-10T18:05:42Z- waiting for 1612980341.48, time is 1612980342.13 2021-02-10T18:05:42Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:42Z- LcmTrn::updateTrn() >>>> pose time 1612980342.12, meas time 1612980342.13 <<<< 2021-02-10T18:05:42Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980342.13 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:05:42Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594317.23, 49.08) 2021-02-10T18:05:42Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:05:42Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:05:42Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:05:42Z- TNavBF::mmse selected from filter -1 2021-02-10T18:05:42Z- variances([0], [2], and psi_berg) = 792.960987 833.088767 0.000000 2021-02-10T18:05:42Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:05:42Z- LcmTrn::cycle() - MLE : 4061648.26 594270.73 49.08 2021-02-10T18:05:42Z- LcmTrn::cycle() - MMSE : 4061675.76 594317.23 49.08 2021-02-10T18:05:42Z- LcmTrn::cycle() - COVAR: 792.96 833.09 50.52 0.00 2021-02-10T18:05:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980342.14 epoch sec; seqNo:1530; 4061675.76 north; 594317.23 east 2021-02-10T18:05:42Z- waiting for 1612980345.13, time is 1612980342.13 2021-02-10T18:05:42Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:42Z- AHRS_M2 msg: 1612980342.50 epoch sec; seqNo:1522 2021-02-10T18:05:42Z- AHRS_M2 msg: 1.55 phi; 0.02 theta; -0.18 psi 2021-02-10T18:05:42Z- waiting for 1612980345.13, time is 1612980342.13 2021-02-10T18:05:42Z- sync is 0.37, coherence is 2.00 2021-02-10T18:05:42Z- handleDepth()-Depth_Keller msg: 49.06 epoch sec; seqNo:1612980342508; depth 0.00 2021-02-10T18:05:42Z- waiting for 1612980345.13, time is 1612980342.13 2021-02-10T18:05:42Z- sync is 0.37, coherence is 2.00 2021-02-10T18:05:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980342.52 epoch sec; seqNo:1531; 4061675.76 north; 594317.23 east 2021-02-10T18:05:42Z- waiting for 1612980345.13, time is 1612980342.13 2021-02-10T18:05:42Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:42Z- AHRS_M2 msg: 1612980342.90 epoch sec; seqNo:1523 2021-02-10T18:05:42Z- AHRS_M2 msg: 1.55 phi; 0.02 theta; -0.18 psi 2021-02-10T18:05:42Z- waiting for 1612980345.13, time is 1612980342.13 2021-02-10T18:05:42Z- sync is 0.77, coherence is 2.00 2021-02-10T18:05:42Z- handleDepth()-Depth_Keller msg: 49.04 epoch sec; seqNo:1612980342913; depth 0.00 2021-02-10T18:05:42Z- waiting for 1612980345.13, time is 1612980342.13 2021-02-10T18:05:42Z- sync is 0.77, coherence is 2.00 2021-02-10T18:05:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980342.92 epoch sec; seqNo:1532; 4061675.77 north; 594318.45 east 2021-02-10T18:05:42Z- waiting for 1612980345.13, time is 1612980342.13 2021-02-10T18:05:42Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:43Z- AHRS_M2 msg: 1612980343.31 epoch sec; seqNo:1524 2021-02-10T18:05:43Z- AHRS_M2 msg: 1.55 phi; 0.02 theta; -0.19 psi 2021-02-10T18:05:43Z- waiting for 1612980345.13, time is 1612980342.13 2021-02-10T18:05:43Z- sync is 1.18, coherence is 2.00 2021-02-10T18:05:43Z- handleDepth()-Depth_Keller msg: 49.03 epoch sec; seqNo:1612980343314; depth 0.00 2021-02-10T18:05:43Z- waiting for 1612980345.13, time is 1612980342.13 2021-02-10T18:05:43Z- sync is 1.18, coherence is 2.00 2021-02-10T18:05:43Z- handleDvl() - RDI_Pathfinder msg: 1612980343.33 epoch sec; seqNo:620 2021-02-10T18:05:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.89 , 46.62 , 38.20 , 44.19 2021-02-10T18:05:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.05 , 0.03 2021-02-10T18:05:43Z- waiting for 1612980345.13, time is 1612980343.33 2021-02-10T18:05:43Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980343.34 epoch sec; seqNo:1533; 4061675.77 north; 594318.45 east 2021-02-10T18:05:43Z- waiting for 1612980345.13, time is 1612980343.33 2021-02-10T18:05:43Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:43Z- AHRS_M2 msg: 1612980343.71 epoch sec; seqNo:1525 2021-02-10T18:05:43Z- AHRS_M2 msg: 1.55 phi; 0.01 theta; -0.19 psi 2021-02-10T18:05:43Z- waiting for 1612980345.13, time is 1612980343.33 2021-02-10T18:05:43Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:43Z- handleDepth()-Depth_Keller msg: 49.03 epoch sec; seqNo:1612980343717; depth 0.00 2021-02-10T18:05:43Z- waiting for 1612980345.13, time is 1612980343.33 2021-02-10T18:05:43Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980343.73 epoch sec; seqNo:1534; 4061675.77 north; 594318.45 east 2021-02-10T18:05:43Z- waiting for 1612980345.13, time is 1612980343.33 2021-02-10T18:05:43Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:44Z- AHRS_M2 msg: 1612980344.12 epoch sec; seqNo:1526 2021-02-10T18:05:44Z- AHRS_M2 msg: 1.55 phi; 0.01 theta; -0.19 psi 2021-02-10T18:05:44Z- waiting for 1612980345.13, time is 1612980343.33 2021-02-10T18:05:44Z- sync is 0.80, coherence is 2.00 2021-02-10T18:05:44Z- handleDepth()-Depth_Keller msg: 49.03 epoch sec; seqNo:1612980344125; depth 0.00 2021-02-10T18:05:44Z- waiting for 1612980345.13, time is 1612980343.33 2021-02-10T18:05:44Z- sync is 0.80, coherence is 2.00 2021-02-10T18:05:44Z- handleDvl() - RDI_Pathfinder msg: 1612980344.14 epoch sec; seqNo:621 2021-02-10T18:05:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.89 , 46.62 , 38.01 , 44.19 2021-02-10T18:05:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.05 , 0.02 2021-02-10T18:05:44Z- waiting for 1612980345.13, time is 1612980344.14 2021-02-10T18:05:44Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980344.16 epoch sec; seqNo:1535; 4061675.77 north; 594318.45 east 2021-02-10T18:05:44Z- waiting for 1612980345.13, time is 1612980344.14 2021-02-10T18:05:44Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:44Z- AHRS_M2 msg: 1612980344.52 epoch sec; seqNo:1527 2021-02-10T18:05:44Z- AHRS_M2 msg: 1.54 phi; 0.01 theta; -0.19 psi 2021-02-10T18:05:44Z- waiting for 1612980345.13, time is 1612980344.14 2021-02-10T18:05:44Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:44Z- handleDepth()-Depth_Keller msg: 49.01 epoch sec; seqNo:1612980344526; depth 0.00 2021-02-10T18:05:44Z- waiting for 1612980345.13, time is 1612980344.14 2021-02-10T18:05:44Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980344.54 epoch sec; seqNo:1536; 4061675.78 north; 594319.67 east 2021-02-10T18:05:44Z- waiting for 1612980345.13, time is 1612980344.14 2021-02-10T18:05:44Z- sync is 0.40, coherence is 2.00 2021-02-10T18:05:44Z- AHRS_M2 msg: 1612980344.92 epoch sec; seqNo:1528 2021-02-10T18:05:44Z- AHRS_M2 msg: 1.54 phi; 0.01 theta; -0.18 psi 2021-02-10T18:05:44Z- waiting for 1612980345.13, time is 1612980344.14 2021-02-10T18:05:44Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:44Z- handleDepth()-Depth_Keller msg: 49.01 epoch sec; seqNo:1612980344937; depth 0.00 2021-02-10T18:05:44Z- waiting for 1612980345.13, time is 1612980344.14 2021-02-10T18:05:44Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980344.95 epoch sec; seqNo:1537; 4061675.78 north; 594319.67 east 2021-02-10T18:05:44Z- waiting for 1612980345.13, time is 1612980344.14 2021-02-10T18:05:44Z- sync is 0.81, coherence is 2.00 2021-02-10T18:05:45Z- AHRS_M2 msg: 1612980345.33 epoch sec; seqNo:1529 2021-02-10T18:05:45Z- AHRS_M2 msg: 1.54 phi; 0.01 theta; -0.18 psi 2021-02-10T18:05:45Z- waiting for 1612980345.13, time is 1612980344.14 2021-02-10T18:05:45Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:45Z- handleDepth()-Depth_Keller msg: 49.00 epoch sec; seqNo:1612980345332; depth 0.00 2021-02-10T18:05:45Z- waiting for 1612980345.13, time is 1612980344.14 2021-02-10T18:05:45Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:45Z- handleDvl() - RDI_Pathfinder msg: 1612980345.34 epoch sec; seqNo:622 2021-02-10T18:05:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.89 , 48.12 , 37.64 , 44.19 2021-02-10T18:05:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.06 , 0.02 2021-02-10T18:05:45Z- waiting for 1612980345.13, time is 1612980345.34 2021-02-10T18:05:45Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:45Z- LcmTrn::updateTrn() >>>> pose time 1612980345.33, meas time 1612980345.34 <<<< 2021-02-10T18:05:45Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980345.34 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:05:45Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594319.67, 49.00) 2021-02-10T18:05:45Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:05:45Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:05:45Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:05:45Z- TNavBF::mmse selected from filter -1 2021-02-10T18:05:45Z- variances([0], [2], and psi_berg) = 792.809316 833.088488 0.000000 2021-02-10T18:05:45Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:05:45Z- LcmTrn::cycle() - MLE : 4061648.28 594274.17 49.00 2021-02-10T18:05:45Z- LcmTrn::cycle() - MMSE : 4061675.78 594319.67 49.00 2021-02-10T18:05:45Z- LcmTrn::cycle() - COVAR: 792.81 833.09 50.65 0.00 2021-02-10T18:05:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980345.36 epoch sec; seqNo:1538; 4061675.78 north; 594319.67 east 2021-02-10T18:05:45Z- waiting for 1612980348.34, time is 1612980345.34 2021-02-10T18:05:45Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:45Z- AHRS_M2 msg: 1612980345.73 epoch sec; seqNo:1530 2021-02-10T18:05:45Z- AHRS_M2 msg: 1.54 phi; 0.01 theta; -0.18 psi 2021-02-10T18:05:45Z- waiting for 1612980348.34, time is 1612980345.34 2021-02-10T18:05:45Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:45Z- handleDepth()-Depth_Keller msg: 48.99 epoch sec; seqNo:1612980345737; depth 0.00 2021-02-10T18:05:45Z- waiting for 1612980348.34, time is 1612980345.34 2021-02-10T18:05:45Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980345.75 epoch sec; seqNo:1539; 4061675.80 north; 594320.89 east 2021-02-10T18:05:45Z- waiting for 1612980348.34, time is 1612980345.34 2021-02-10T18:05:45Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:46Z- AHRS_M2 msg: 1612980346.13 epoch sec; seqNo:1531 2021-02-10T18:05:46Z- AHRS_M2 msg: 1.54 phi; 0.00 theta; -0.18 psi 2021-02-10T18:05:46Z- waiting for 1612980348.34, time is 1612980345.34 2021-02-10T18:05:46Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:46Z- handleDepth()-Depth_Keller msg: 48.98 epoch sec; seqNo:1612980346142; depth 0.00 2021-02-10T18:05:46Z- waiting for 1612980348.34, time is 1612980345.34 2021-02-10T18:05:46Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:46Z- handleDvl() - RDI_Pathfinder msg: 1612980346.15 epoch sec; seqNo:623 2021-02-10T18:05:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.89 , 48.12 , 37.26 , 44.00 2021-02-10T18:05:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.06 , 0.01 2021-02-10T18:05:46Z- waiting for 1612980348.34, time is 1612980346.15 2021-02-10T18:05:46Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980346.16 epoch sec; seqNo:1540; 4061675.80 north; 594320.89 east 2021-02-10T18:05:46Z- waiting for 1612980348.34, time is 1612980346.15 2021-02-10T18:05:46Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:46Z- AHRS_M2 msg: 1612980346.54 epoch sec; seqNo:1532 2021-02-10T18:05:46Z- AHRS_M2 msg: 1.54 phi; 0.00 theta; -0.18 psi 2021-02-10T18:05:46Z- waiting for 1612980348.34, time is 1612980346.15 2021-02-10T18:05:46Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:46Z- handleDepth()-Depth_Keller msg: 48.98 epoch sec; seqNo:1612980346549; depth 0.00 2021-02-10T18:05:46Z- waiting for 1612980348.34, time is 1612980346.15 2021-02-10T18:05:46Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980346.57 epoch sec; seqNo:1541; 4061675.80 north; 594320.89 east 2021-02-10T18:05:46Z- waiting for 1612980348.34, time is 1612980346.15 2021-02-10T18:05:46Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:46Z- AHRS_M2 msg: 1612980346.94 epoch sec; seqNo:1533 2021-02-10T18:05:46Z- AHRS_M2 msg: 1.54 phi; 0.00 theta; -0.18 psi 2021-02-10T18:05:46Z- waiting for 1612980348.34, time is 1612980346.15 2021-02-10T18:05:46Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:46Z- handleDepth()-Depth_Keller msg: 48.97 epoch sec; seqNo:1612980346953; depth 0.00 2021-02-10T18:05:46Z- waiting for 1612980348.34, time is 1612980346.15 2021-02-10T18:05:46Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980346.96 epoch sec; seqNo:1542; 4061675.81 north; 594322.11 east 2021-02-10T18:05:46Z- waiting for 1612980348.34, time is 1612980346.15 2021-02-10T18:05:46Z- sync is 0.81, coherence is 2.00 2021-02-10T18:05:47Z- AHRS_M2 msg: 1612980347.35 epoch sec; seqNo:1534 2021-02-10T18:05:47Z- AHRS_M2 msg: 1.54 phi; -0.00 theta; -0.18 psi 2021-02-10T18:05:47Z- waiting for 1612980348.34, time is 1612980346.15 2021-02-10T18:05:47Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:47Z- handleDepth()-Depth_Keller msg: 48.98 epoch sec; seqNo:1612980347352; depth 0.00 2021-02-10T18:05:47Z- waiting for 1612980348.34, time is 1612980346.15 2021-02-10T18:05:47Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:47Z- handleDvl() - RDI_Pathfinder msg: 1612980347.36 epoch sec; seqNo:624 2021-02-10T18:05:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.08 , 48.12 , 37.08 , 44.38 2021-02-10T18:05:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.04 , -0.00 2021-02-10T18:05:47Z- waiting for 1612980348.34, time is 1612980347.36 2021-02-10T18:05:47Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980347.37 epoch sec; seqNo:1543; 4061675.81 north; 594322.11 east 2021-02-10T18:05:47Z- waiting for 1612980348.34, time is 1612980347.36 2021-02-10T18:05:47Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:47Z- AHRS_M2 msg: 1612980347.75 epoch sec; seqNo:1535 2021-02-10T18:05:47Z- AHRS_M2 msg: 1.54 phi; -0.00 theta; -0.19 psi 2021-02-10T18:05:47Z- waiting for 1612980348.34, time is 1612980347.36 2021-02-10T18:05:47Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:47Z- handleDepth()-Depth_Keller msg: 48.96 epoch sec; seqNo:1612980347758; depth 0.00 2021-02-10T18:05:47Z- waiting for 1612980348.34, time is 1612980347.36 2021-02-10T18:05:47Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980347.77 epoch sec; seqNo:1544; 4061675.81 north; 594322.11 east 2021-02-10T18:05:47Z- waiting for 1612980348.34, time is 1612980347.36 2021-02-10T18:05:47Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:48Z- AHRS_M2 msg: 1612980348.18 epoch sec; seqNo:1536 2021-02-10T18:05:48Z- AHRS_M2 msg: 1.54 phi; -0.00 theta; -0.18 psi 2021-02-10T18:05:48Z- waiting for 1612980348.34, time is 1612980347.36 2021-02-10T18:05:48Z- sync is 0.81, coherence is 2.00 2021-02-10T18:05:48Z- handleDepth()-Depth_Keller msg: 48.96 epoch sec; seqNo:1612980348191; depth 0.00 2021-02-10T18:05:48Z- waiting for 1612980348.34, time is 1612980347.36 2021-02-10T18:05:48Z- sync is 0.81, coherence is 2.00 2021-02-10T18:05:48Z- handleDvl() - RDI_Pathfinder msg: 1612980348.20 epoch sec; seqNo:625 2021-02-10T18:05:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.89 , 48.69 , 36.70 , 44.38 2021-02-10T18:05:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.05 , -0.01 2021-02-10T18:05:48Z- waiting for 1612980348.34, time is 1612980348.20 2021-02-10T18:05:48Z- sync is 0.03, coherence is 2.00 2021-02-10T18:05:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980348.21 epoch sec; seqNo:1545; 4061675.82 north; 594323.33 east 2021-02-10T18:05:48Z- waiting for 1612980348.34, time is 1612980348.20 2021-02-10T18:05:48Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:48Z- AHRS_M2 msg: 1612980348.56 epoch sec; seqNo:1537 2021-02-10T18:05:48Z- AHRS_M2 msg: 1.54 phi; -0.01 theta; -0.19 psi 2021-02-10T18:05:48Z- waiting for 1612980348.34, time is 1612980348.20 2021-02-10T18:05:48Z- sync is 0.36, coherence is 2.00 2021-02-10T18:05:48Z- handleDepth()-Depth_Keller msg: 48.95 epoch sec; seqNo:1612980348565; depth 0.00 2021-02-10T18:05:48Z- waiting for 1612980348.34, time is 1612980348.20 2021-02-10T18:05:48Z- sync is 0.36, coherence is 2.00 2021-02-10T18:05:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980348.58 epoch sec; seqNo:1546; 4061675.82 north; 594323.33 east 2021-02-10T18:05:48Z- waiting for 1612980348.34, time is 1612980348.20 2021-02-10T18:05:48Z- sync is 0.37, coherence is 2.00 2021-02-10T18:05:48Z- AHRS_M2 msg: 1612980348.96 epoch sec; seqNo:1538 2021-02-10T18:05:48Z- AHRS_M2 msg: 1.54 phi; -0.01 theta; -0.19 psi 2021-02-10T18:05:48Z- waiting for 1612980348.34, time is 1612980348.20 2021-02-10T18:05:48Z- sync is 0.76, coherence is 2.00 2021-02-10T18:05:48Z- handleDepth()-Depth_Keller msg: 48.94 epoch sec; seqNo:1612980348968; depth 0.00 2021-02-10T18:05:48Z- waiting for 1612980348.34, time is 1612980348.20 2021-02-10T18:05:48Z- sync is 0.76, coherence is 2.00 2021-02-10T18:05:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980348.99 epoch sec; seqNo:1547; 4061675.82 north; 594323.33 east 2021-02-10T18:05:48Z- waiting for 1612980348.34, time is 1612980348.20 2021-02-10T18:05:48Z- sync is 0.78, coherence is 2.00 2021-02-10T18:05:49Z- AHRS_M2 msg: 1612980349.37 epoch sec; seqNo:1539 2021-02-10T18:05:49Z- AHRS_M2 msg: 1.54 phi; -0.01 theta; -0.19 psi 2021-02-10T18:05:49Z- waiting for 1612980348.34, time is 1612980348.20 2021-02-10T18:05:49Z- sync is 1.16, coherence is 2.00 2021-02-10T18:05:49Z- handleDepth()-Depth_Keller msg: 48.94 epoch sec; seqNo:1612980349372; depth 0.00 2021-02-10T18:05:49Z- waiting for 1612980348.34, time is 1612980348.20 2021-02-10T18:05:49Z- sync is 1.16, coherence is 2.00 2021-02-10T18:05:49Z- handleDvl() - RDI_Pathfinder msg: 1612980349.38 epoch sec; seqNo:626 2021-02-10T18:05:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.70 , 48.31 , 36.33 , 44.38 2021-02-10T18:05:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.03 , -0.02 2021-02-10T18:05:49Z- waiting for 1612980348.34, time is 1612980349.38 2021-02-10T18:05:49Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:49Z- LcmTrn::updateTrn() >>>> pose time 1612980349.37, meas time 1612980349.38 <<<< 2021-02-10T18:05:49Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980349.38 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:05:49Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594323.33, 48.94) 2021-02-10T18:05:49Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:05:49Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:05:49Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:05:49Z- TNavBF::mmse selected from filter -1 2021-02-10T18:05:49Z- variances([0], [2], and psi_berg) = 792.624121 833.088148 0.000000 2021-02-10T18:05:49Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:05:49Z- LcmTrn::cycle() - MLE : 4061648.32 594277.83 48.94 2021-02-10T18:05:49Z- LcmTrn::cycle() - MMSE : 4061675.82 594323.33 48.94 2021-02-10T18:05:49Z- LcmTrn::cycle() - COVAR: 792.62 833.09 50.83 0.00 2021-02-10T18:05:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980349.41 epoch sec; seqNo:1548; 4061675.84 north; 594324.55 east 2021-02-10T18:05:49Z- waiting for 1612980352.38, time is 1612980349.38 2021-02-10T18:05:49Z- sync is 0.03, coherence is 2.00 2021-02-10T18:05:49Z- AHRS_M2 msg: 1612980349.77 epoch sec; seqNo:1540 2021-02-10T18:05:49Z- AHRS_M2 msg: 1.54 phi; -0.01 theta; -0.19 psi 2021-02-10T18:05:49Z- waiting for 1612980352.38, time is 1612980349.38 2021-02-10T18:05:49Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:49Z- handleDepth()-Depth_Keller msg: 48.93 epoch sec; seqNo:1612980349779; depth 0.00 2021-02-10T18:05:49Z- waiting for 1612980352.38, time is 1612980349.38 2021-02-10T18:05:49Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980349.79 epoch sec; seqNo:1549; 4061675.84 north; 594324.55 east 2021-02-10T18:05:49Z- waiting for 1612980352.38, time is 1612980349.38 2021-02-10T18:05:49Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:50Z- AHRS_M2 msg: 1612980350.18 epoch sec; seqNo:1541 2021-02-10T18:05:50Z- AHRS_M2 msg: 1.54 phi; -0.01 theta; -0.19 psi 2021-02-10T18:05:50Z- waiting for 1612980352.38, time is 1612980349.38 2021-02-10T18:05:50Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:50Z- handleDepth()-Depth_Keller msg: 48.93 epoch sec; seqNo:1612980350182; depth 0.00 2021-02-10T18:05:50Z- waiting for 1612980352.38, time is 1612980349.38 2021-02-10T18:05:50Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:50Z- handleDvl() - RDI_Pathfinder msg: 1612980350.19 epoch sec; seqNo:627 2021-02-10T18:05:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.51 , 47.94 , 36.33 , 44.38 2021-02-10T18:05:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.02 , -0.03 2021-02-10T18:05:50Z- waiting for 1612980352.38, time is 1612980350.19 2021-02-10T18:05:50Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980350.20 epoch sec; seqNo:1550; 4061675.84 north; 594324.55 east 2021-02-10T18:05:50Z- waiting for 1612980352.38, time is 1612980350.19 2021-02-10T18:05:50Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:50Z- AHRS_M2 msg: 1612980350.59 epoch sec; seqNo:1542 2021-02-10T18:05:50Z- AHRS_M2 msg: 1.54 phi; -0.01 theta; -0.19 psi 2021-02-10T18:05:50Z- waiting for 1612980352.38, time is 1612980350.19 2021-02-10T18:05:50Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:50Z- handleDepth()-Depth_Keller msg: 48.93 epoch sec; seqNo:1612980350591; depth 0.00 2021-02-10T18:05:50Z- waiting for 1612980352.38, time is 1612980350.19 2021-02-10T18:05:50Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980350.61 epoch sec; seqNo:1551; 4061675.85 north; 594325.77 east 2021-02-10T18:05:50Z- waiting for 1612980352.38, time is 1612980350.19 2021-02-10T18:05:50Z- sync is 0.42, coherence is 2.00 2021-02-10T18:05:50Z- AHRS_M2 msg: 1612980350.98 epoch sec; seqNo:1543 2021-02-10T18:05:50Z- AHRS_M2 msg: 1.54 phi; -0.01 theta; -0.19 psi 2021-02-10T18:05:50Z- waiting for 1612980352.38, time is 1612980350.19 2021-02-10T18:05:50Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:50Z- handleDepth()-Depth_Keller msg: 48.91 epoch sec; seqNo:1612980350988; depth 0.00 2021-02-10T18:05:50Z- waiting for 1612980352.38, time is 1612980350.19 2021-02-10T18:05:50Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980351.00 epoch sec; seqNo:1552; 4061675.85 north; 594325.77 east 2021-02-10T18:05:51Z- waiting for 1612980352.38, time is 1612980350.19 2021-02-10T18:05:51Z- sync is 0.80, coherence is 2.00 2021-02-10T18:05:51Z- AHRS_M2 msg: 1612980351.39 epoch sec; seqNo:1544 2021-02-10T18:05:51Z- AHRS_M2 msg: 1.54 phi; -0.02 theta; -0.19 psi 2021-02-10T18:05:51Z- waiting for 1612980352.38, time is 1612980350.19 2021-02-10T18:05:51Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:51Z- handleDepth()-Depth_Keller msg: 48.92 epoch sec; seqNo:1612980351392; depth 0.00 2021-02-10T18:05:51Z- waiting for 1612980352.38, time is 1612980350.19 2021-02-10T18:05:51Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:51Z- handleDvl() - RDI_Pathfinder msg: 1612980351.40 epoch sec; seqNo:628 2021-02-10T18:05:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.33 , 47.75 , 36.14 , 44.38 2021-02-10T18:05:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , -0.03 2021-02-10T18:05:51Z- waiting for 1612980352.38, time is 1612980351.40 2021-02-10T18:05:51Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980351.41 epoch sec; seqNo:1553; 4061675.85 north; 594325.77 east 2021-02-10T18:05:51Z- waiting for 1612980352.38, time is 1612980351.40 2021-02-10T18:05:51Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:51Z- AHRS_M2 msg: 1612980351.79 epoch sec; seqNo:1545 2021-02-10T18:05:51Z- AHRS_M2 msg: 1.54 phi; -0.02 theta; -0.19 psi 2021-02-10T18:05:51Z- waiting for 1612980352.38, time is 1612980351.40 2021-02-10T18:05:51Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:51Z- handleDepth()-Depth_Keller msg: 48.91 epoch sec; seqNo:1612980351805; depth 0.00 2021-02-10T18:05:51Z- waiting for 1612980352.38, time is 1612980351.40 2021-02-10T18:05:51Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980351.82 epoch sec; seqNo:1554; 4061675.86 north; 594326.99 east 2021-02-10T18:05:51Z- waiting for 1612980352.38, time is 1612980351.40 2021-02-10T18:05:51Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:52Z- AHRS_M2 msg: 1612980352.19 epoch sec; seqNo:1546 2021-02-10T18:05:52Z- AHRS_M2 msg: 1.53 phi; -0.02 theta; -0.19 psi 2021-02-10T18:05:52Z- waiting for 1612980352.38, time is 1612980351.40 2021-02-10T18:05:52Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:52Z- handleDepth()-Depth_Keller msg: 48.91 epoch sec; seqNo:1612980352199; depth 0.00 2021-02-10T18:05:52Z- waiting for 1612980352.38, time is 1612980351.40 2021-02-10T18:05:52Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:52Z- handleDvl() - RDI_Pathfinder msg: 1612980352.21 epoch sec; seqNo:629 2021-02-10T18:05:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.14 , 47.56 , 35.57 , 44.56 2021-02-10T18:05:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.01 , -0.01 2021-02-10T18:05:52Z- waiting for 1612980352.38, time is 1612980352.21 2021-02-10T18:05:52Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980352.23 epoch sec; seqNo:1555; 4061675.86 north; 594326.99 east 2021-02-10T18:05:52Z- waiting for 1612980352.38, time is 1612980352.21 2021-02-10T18:05:52Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:52Z- AHRS_M2 msg: 1612980352.60 epoch sec; seqNo:1547 2021-02-10T18:05:52Z- AHRS_M2 msg: 1.53 phi; -0.03 theta; -0.19 psi 2021-02-10T18:05:52Z- waiting for 1612980352.38, time is 1612980352.21 2021-02-10T18:05:52Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:52Z- handleDepth()-Depth_Keller msg: 48.91 epoch sec; seqNo:1612980352609; depth 0.00 2021-02-10T18:05:52Z- waiting for 1612980352.38, time is 1612980352.21 2021-02-10T18:05:52Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980352.62 epoch sec; seqNo:1556; 4061675.86 north; 594326.99 east 2021-02-10T18:05:52Z- waiting for 1612980352.38, time is 1612980352.21 2021-02-10T18:05:52Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:53Z- AHRS_M2 msg: 1612980353.00 epoch sec; seqNo:1548 2021-02-10T18:05:53Z- AHRS_M2 msg: 1.53 phi; -0.03 theta; -0.19 psi 2021-02-10T18:05:53Z- waiting for 1612980352.38, time is 1612980352.21 2021-02-10T18:05:53Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:53Z- handleDepth()-Depth_Keller msg: 48.91 epoch sec; seqNo:1612980353008; depth 0.00 2021-02-10T18:05:53Z- waiting for 1612980352.38, time is 1612980352.21 2021-02-10T18:05:53Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980353.03 epoch sec; seqNo:1557; 4061675.86 north; 594326.99 east 2021-02-10T18:05:53Z- waiting for 1612980352.38, time is 1612980352.21 2021-02-10T18:05:53Z- sync is 0.82, coherence is 2.00 2021-02-10T18:05:53Z- AHRS_M2 msg: 1612980353.41 epoch sec; seqNo:1549 2021-02-10T18:05:53Z- AHRS_M2 msg: 1.53 phi; -0.03 theta; -0.19 psi 2021-02-10T18:05:53Z- waiting for 1612980352.38, time is 1612980352.21 2021-02-10T18:05:53Z- sync is 1.20, coherence is 2.00 2021-02-10T18:05:53Z- handleDepth()-Depth_Keller msg: 48.91 epoch sec; seqNo:1612980353412; depth 0.00 2021-02-10T18:05:53Z- waiting for 1612980352.38, time is 1612980352.21 2021-02-10T18:05:53Z- sync is 1.20, coherence is 2.00 2021-02-10T18:05:53Z- handleDvl() - RDI_Pathfinder msg: 1612980353.42 epoch sec; seqNo:630 2021-02-10T18:05:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.14 , 47.74 , 35.01 , 44.56 2021-02-10T18:05:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.01 , -0.00 2021-02-10T18:05:53Z- waiting for 1612980352.38, time is 1612980353.42 2021-02-10T18:05:53Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:53Z- LcmTrn::updateTrn() >>>> pose time 1612980353.41, meas time 1612980353.42 <<<< 2021-02-10T18:05:53Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980353.42 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:05:53Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594326.99, 48.91) 2021-02-10T18:05:53Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:05:53Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:05:53Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:05:53Z- TNavBF::mmse selected from filter -1 2021-02-10T18:05:53Z- variances([0], [2], and psi_berg) = 792.439615 833.087810 0.000000 2021-02-10T18:05:53Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:05:53Z- LcmTrn::cycle() - MLE : 4061648.36 594281.49 48.91 2021-02-10T18:05:53Z- LcmTrn::cycle() - MMSE : 4061675.86 594326.99 48.91 2021-02-10T18:05:53Z- LcmTrn::cycle() - COVAR: 792.44 833.09 51.02 0.00 2021-02-10T18:05:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980353.45 epoch sec; seqNo:1558; 4061675.88 north; 594328.21 east 2021-02-10T18:05:53Z- waiting for 1612980356.42, time is 1612980353.42 2021-02-10T18:05:53Z- sync is 0.03, coherence is 2.00 2021-02-10T18:05:53Z- AHRS_M2 msg: 1612980353.81 epoch sec; seqNo:1550 2021-02-10T18:05:53Z- AHRS_M2 msg: 1.53 phi; -0.04 theta; -0.19 psi 2021-02-10T18:05:53Z- waiting for 1612980356.42, time is 1612980353.42 2021-02-10T18:05:53Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:53Z- handleDepth()-Depth_Keller msg: 48.92 epoch sec; seqNo:1612980353821; depth 0.00 2021-02-10T18:05:53Z- waiting for 1612980356.42, time is 1612980353.42 2021-02-10T18:05:53Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980353.83 epoch sec; seqNo:1559; 4061675.88 north; 594328.21 east 2021-02-10T18:05:53Z- waiting for 1612980356.42, time is 1612980353.42 2021-02-10T18:05:53Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:54Z- AHRS_M2 msg: 1612980354.21 epoch sec; seqNo:1551 2021-02-10T18:05:54Z- AHRS_M2 msg: 1.53 phi; -0.04 theta; -0.19 psi 2021-02-10T18:05:54Z- waiting for 1612980356.42, time is 1612980353.42 2021-02-10T18:05:54Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:54Z- handleDepth()-Depth_Keller msg: 48.91 epoch sec; seqNo:1612980354223; depth 0.00 2021-02-10T18:05:54Z- waiting for 1612980356.42, time is 1612980353.42 2021-02-10T18:05:54Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:54Z- handleDvl() - RDI_Pathfinder msg: 1612980354.23 epoch sec; seqNo:631 2021-02-10T18:05:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.95 , 47.75 , 34.83 , 44.94 2021-02-10T18:05:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.02 , 0.01 2021-02-10T18:05:54Z- waiting for 1612980356.42, time is 1612980354.23 2021-02-10T18:05:54Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980354.24 epoch sec; seqNo:1560; 4061675.88 north; 594328.21 east 2021-02-10T18:05:54Z- waiting for 1612980356.42, time is 1612980354.23 2021-02-10T18:05:54Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:54Z- AHRS_M2 msg: 1612980354.62 epoch sec; seqNo:1552 2021-02-10T18:05:54Z- AHRS_M2 msg: 1.53 phi; -0.04 theta; -0.19 psi 2021-02-10T18:05:54Z- waiting for 1612980356.42, time is 1612980354.23 2021-02-10T18:05:54Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:54Z- handleDepth()-Depth_Keller msg: 48.94 epoch sec; seqNo:1612980354629; depth 0.00 2021-02-10T18:05:54Z- waiting for 1612980356.42, time is 1612980354.23 2021-02-10T18:05:54Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980354.65 epoch sec; seqNo:1561; 4061675.89 north; 594329.43 east 2021-02-10T18:05:54Z- waiting for 1612980356.42, time is 1612980354.23 2021-02-10T18:05:54Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:55Z- AHRS_M2 msg: 1612980355.03 epoch sec; seqNo:1553 2021-02-10T18:05:55Z- AHRS_M2 msg: 1.53 phi; -0.05 theta; -0.19 psi 2021-02-10T18:05:55Z- waiting for 1612980356.42, time is 1612980354.23 2021-02-10T18:05:55Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:55Z- handleDepth()-Depth_Keller msg: 48.94 epoch sec; seqNo:1612980355033; depth 0.00 2021-02-10T18:05:55Z- waiting for 1612980356.42, time is 1612980354.23 2021-02-10T18:05:55Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980355.04 epoch sec; seqNo:1562; 4061675.89 north; 594329.43 east 2021-02-10T18:05:55Z- waiting for 1612980356.42, time is 1612980354.23 2021-02-10T18:05:55Z- sync is 0.81, coherence is 2.00 2021-02-10T18:05:55Z- AHRS_M2 msg: 1612980355.43 epoch sec; seqNo:1554 2021-02-10T18:05:55Z- AHRS_M2 msg: 1.53 phi; -0.05 theta; -0.19 psi 2021-02-10T18:05:55Z- waiting for 1612980356.42, time is 1612980354.23 2021-02-10T18:05:55Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:55Z- handleDepth()-Depth_Keller msg: 48.95 epoch sec; seqNo:1612980355433; depth 0.00 2021-02-10T18:05:55Z- waiting for 1612980356.42, time is 1612980354.23 2021-02-10T18:05:55Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:55Z- handleDvl() - RDI_Pathfinder msg: 1612980355.44 epoch sec; seqNo:632 2021-02-10T18:05:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.76 , 47.37 , 34.45 , 45.50 2021-02-10T18:05:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.02 , 0.03 2021-02-10T18:05:55Z- waiting for 1612980356.42, time is 1612980355.44 2021-02-10T18:05:55Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980355.45 epoch sec; seqNo:1563; 4061675.89 north; 594329.43 east 2021-02-10T18:05:55Z- waiting for 1612980356.42, time is 1612980355.44 2021-02-10T18:05:55Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:55Z- AHRS_M2 msg: 1612980355.83 epoch sec; seqNo:1555 2021-02-10T18:05:55Z- AHRS_M2 msg: 1.52 phi; -0.05 theta; -0.19 psi 2021-02-10T18:05:55Z- waiting for 1612980356.42, time is 1612980355.44 2021-02-10T18:05:55Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:55Z- handleDepth()-Depth_Keller msg: 48.97 epoch sec; seqNo:1612980355836; depth 0.00 2021-02-10T18:05:55Z- waiting for 1612980356.42, time is 1612980355.44 2021-02-10T18:05:55Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980355.86 epoch sec; seqNo:1564; 4061675.91 north; 594330.65 east 2021-02-10T18:05:55Z- waiting for 1612980356.42, time is 1612980355.44 2021-02-10T18:05:55Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:56Z- AHRS_M2 msg: 1612980356.24 epoch sec; seqNo:1556 2021-02-10T18:05:56Z- AHRS_M2 msg: 1.52 phi; -0.05 theta; -0.19 psi 2021-02-10T18:05:56Z- waiting for 1612980356.42, time is 1612980355.44 2021-02-10T18:05:56Z- sync is 0.80, coherence is 2.00 2021-02-10T18:05:56Z- handleDepth()-Depth_Keller msg: 48.98 epoch sec; seqNo:1612980356244; depth 0.00 2021-02-10T18:05:56Z- waiting for 1612980356.42, time is 1612980355.44 2021-02-10T18:05:56Z- sync is 0.80, coherence is 2.00 2021-02-10T18:05:56Z- handleDvl() - RDI_Pathfinder msg: 1612980356.26 epoch sec; seqNo:633 2021-02-10T18:05:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.76 , 47.19 , 34.08 , 45.31 2021-02-10T18:05:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.04 , 0.04 2021-02-10T18:05:56Z- waiting for 1612980356.42, time is 1612980356.26 2021-02-10T18:05:56Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980356.28 epoch sec; seqNo:1565; 4061675.91 north; 594330.65 east 2021-02-10T18:05:56Z- waiting for 1612980356.42, time is 1612980356.26 2021-02-10T18:05:56Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:56Z- AHRS_M2 msg: 1612980356.64 epoch sec; seqNo:1557 2021-02-10T18:05:56Z- AHRS_M2 msg: 1.52 phi; -0.06 theta; -0.19 psi 2021-02-10T18:05:56Z- waiting for 1612980356.42, time is 1612980356.26 2021-02-10T18:05:56Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:56Z- handleDepth()-Depth_Keller msg: 49.01 epoch sec; seqNo:1612980356649; depth 0.00 2021-02-10T18:05:56Z- waiting for 1612980356.42, time is 1612980356.26 2021-02-10T18:05:56Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980356.66 epoch sec; seqNo:1566; 4061675.91 north; 594330.65 east 2021-02-10T18:05:56Z- waiting for 1612980356.42, time is 1612980356.26 2021-02-10T18:05:56Z- sync is 0.40, coherence is 2.00 2021-02-10T18:05:57Z- AHRS_M2 msg: 1612980357.05 epoch sec; seqNo:1558 2021-02-10T18:05:57Z- AHRS_M2 msg: 1.52 phi; -0.06 theta; -0.19 psi 2021-02-10T18:05:57Z- waiting for 1612980356.42, time is 1612980356.26 2021-02-10T18:05:57Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:57Z- handleDepth()-Depth_Keller msg: 49.02 epoch sec; seqNo:1612980357059; depth 0.00 2021-02-10T18:05:57Z- waiting for 1612980356.42, time is 1612980356.26 2021-02-10T18:05:57Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980357.07 epoch sec; seqNo:1567; 4061675.91 north; 594330.65 east 2021-02-10T18:05:57Z- waiting for 1612980356.42, time is 1612980356.26 2021-02-10T18:05:57Z- sync is 0.81, coherence is 2.00 2021-02-10T18:05:57Z- AHRS_M2 msg: 1612980357.45 epoch sec; seqNo:1559 2021-02-10T18:05:57Z- AHRS_M2 msg: 1.52 phi; -0.06 theta; -0.19 psi 2021-02-10T18:05:57Z- waiting for 1612980356.42, time is 1612980356.26 2021-02-10T18:05:57Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:57Z- handleDepth()-Depth_Keller msg: 49.04 epoch sec; seqNo:1612980357453; depth 0.00 2021-02-10T18:05:57Z- waiting for 1612980356.42, time is 1612980356.26 2021-02-10T18:05:57Z- sync is 1.19, coherence is 2.00 2021-02-10T18:05:57Z- handleDvl() - RDI_Pathfinder msg: 1612980357.47 epoch sec; seqNo:634 2021-02-10T18:05:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.58 , 47.19 , 33.89 , 45.69 2021-02-10T18:05:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.03 , 0.04 2021-02-10T18:05:57Z- waiting for 1612980356.42, time is 1612980357.47 2021-02-10T18:05:57Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:57Z- LcmTrn::updateTrn() >>>> pose time 1612980357.45, meas time 1612980357.47 <<<< 2021-02-10T18:05:57Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980357.47 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:05:57Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594330.65, 49.04) 2021-02-10T18:05:57Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:05:57Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:05:57Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:05:57Z- TNavBF::mmse selected from filter -1 2021-02-10T18:05:57Z- variances([0], [2], and psi_berg) = 792.255792 833.087475 0.000000 2021-02-10T18:05:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:05:57Z- LcmTrn::cycle() - MLE : 4061648.41 594285.15 49.04 2021-02-10T18:05:57Z- LcmTrn::cycle() - MMSE : 4061675.91 594330.65 49.04 2021-02-10T18:05:57Z- LcmTrn::cycle() - COVAR: 792.26 833.09 51.21 0.00 2021-02-10T18:05:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980357.48 epoch sec; seqNo:1568; 4061675.92 north; 594331.87 east 2021-02-10T18:05:57Z- waiting for 1612980360.47, time is 1612980357.47 2021-02-10T18:05:57Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:57Z- AHRS_M2 msg: 1612980357.85 epoch sec; seqNo:1560 2021-02-10T18:05:57Z- AHRS_M2 msg: 1.52 phi; -0.07 theta; -0.19 psi 2021-02-10T18:05:57Z- waiting for 1612980360.47, time is 1612980357.47 2021-02-10T18:05:57Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:57Z- handleDepth()-Depth_Keller msg: 49.04 epoch sec; seqNo:1612980357861; depth 0.00 2021-02-10T18:05:57Z- waiting for 1612980360.47, time is 1612980357.47 2021-02-10T18:05:57Z- sync is 0.38, coherence is 2.00 2021-02-10T18:05:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980357.87 epoch sec; seqNo:1569; 4061675.92 north; 594331.87 east 2021-02-10T18:05:57Z- waiting for 1612980360.47, time is 1612980357.47 2021-02-10T18:05:57Z- sync is 0.40, coherence is 2.00 2021-02-10T18:05:58Z- AHRS_M2 msg: 1612980358.26 epoch sec; seqNo:1561 2021-02-10T18:05:58Z- AHRS_M2 msg: 1.52 phi; -0.07 theta; -0.19 psi 2021-02-10T18:05:58Z- waiting for 1612980360.47, time is 1612980357.47 2021-02-10T18:05:58Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:58Z- handleDepth()-Depth_Keller msg: 49.07 epoch sec; seqNo:1612980358260; depth 0.00 2021-02-10T18:05:58Z- waiting for 1612980360.47, time is 1612980357.47 2021-02-10T18:05:58Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:58Z- handleDvl() - RDI_Pathfinder msg: 1612980358.27 epoch sec; seqNo:635 2021-02-10T18:05:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.39 , 46.81 , 33.33 , 45.69 2021-02-10T18:05:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.03 , 0.04 2021-02-10T18:05:58Z- waiting for 1612980360.47, time is 1612980358.27 2021-02-10T18:05:58Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980358.28 epoch sec; seqNo:1570; 4061675.92 north; 594331.87 east 2021-02-10T18:05:58Z- waiting for 1612980360.47, time is 1612980358.27 2021-02-10T18:05:58Z- sync is 0.01, coherence is 2.00 2021-02-10T18:05:58Z- AHRS_M2 msg: 1612980358.66 epoch sec; seqNo:1562 2021-02-10T18:05:58Z- AHRS_M2 msg: 1.52 phi; -0.07 theta; -0.19 psi 2021-02-10T18:05:58Z- waiting for 1612980360.47, time is 1612980358.27 2021-02-10T18:05:58Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:58Z- handleDepth()-Depth_Keller msg: 49.10 epoch sec; seqNo:1612980358673; depth 0.00 2021-02-10T18:05:58Z- waiting for 1612980360.47, time is 1612980358.27 2021-02-10T18:05:58Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980358.68 epoch sec; seqNo:1571; 4061675.93 north; 594333.09 east 2021-02-10T18:05:58Z- waiting for 1612980360.47, time is 1612980358.27 2021-02-10T18:05:58Z- sync is 0.41, coherence is 2.00 2021-02-10T18:05:59Z- AHRS_M2 msg: 1612980359.07 epoch sec; seqNo:1563 2021-02-10T18:05:59Z- AHRS_M2 msg: 1.52 phi; -0.07 theta; -0.19 psi 2021-02-10T18:05:59Z- waiting for 1612980360.47, time is 1612980358.27 2021-02-10T18:05:59Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:59Z- handleDepth()-Depth_Keller msg: 49.12 epoch sec; seqNo:1612980359090; depth 0.00 2021-02-10T18:05:59Z- waiting for 1612980360.47, time is 1612980358.27 2021-02-10T18:05:59Z- sync is 0.79, coherence is 2.00 2021-02-10T18:05:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980359.11 epoch sec; seqNo:1572; 4061675.93 north; 594333.09 east 2021-02-10T18:05:59Z- waiting for 1612980360.47, time is 1612980358.27 2021-02-10T18:05:59Z- sync is 0.84, coherence is 2.00 2021-02-10T18:05:59Z- AHRS_M2 msg: 1612980359.47 epoch sec; seqNo:1564 2021-02-10T18:05:59Z- AHRS_M2 msg: 1.52 phi; -0.07 theta; -0.19 psi 2021-02-10T18:05:59Z- waiting for 1612980360.47, time is 1612980358.27 2021-02-10T18:05:59Z- sync is 1.20, coherence is 2.00 2021-02-10T18:05:59Z- handleDepth()-Depth_Keller msg: 49.13 epoch sec; seqNo:1612980359473; depth 0.00 2021-02-10T18:05:59Z- waiting for 1612980360.47, time is 1612980358.27 2021-02-10T18:05:59Z- sync is 1.20, coherence is 2.00 2021-02-10T18:05:59Z- handleDvl() - RDI_Pathfinder msg: 1612980359.48 epoch sec; seqNo:636 2021-02-10T18:05:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.01 , 46.43 , 32.95 , 45.69 2021-02-10T18:05:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.03 , 0.04 2021-02-10T18:05:59Z- waiting for 1612980360.47, time is 1612980359.48 2021-02-10T18:05:59Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980359.51 epoch sec; seqNo:1573; 4061675.93 north; 594333.09 east 2021-02-10T18:05:59Z- waiting for 1612980360.47, time is 1612980359.48 2021-02-10T18:05:59Z- sync is 0.02, coherence is 2.00 2021-02-10T18:05:59Z- AHRS_M2 msg: 1612980359.87 epoch sec; seqNo:1565 2021-02-10T18:05:59Z- AHRS_M2 msg: 1.52 phi; -0.08 theta; -0.19 psi 2021-02-10T18:05:59Z- waiting for 1612980360.47, time is 1612980359.48 2021-02-10T18:05:59Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:59Z- handleDepth()-Depth_Keller msg: 49.16 epoch sec; seqNo:1612980359876; depth 0.00 2021-02-10T18:05:59Z- waiting for 1612980360.47, time is 1612980359.48 2021-02-10T18:05:59Z- sync is 0.39, coherence is 2.00 2021-02-10T18:05:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980359.89 epoch sec; seqNo:1574; 4061675.95 north; 594334.31 east 2021-02-10T18:05:59Z- waiting for 1612980360.47, time is 1612980359.48 2021-02-10T18:05:59Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:00Z- AHRS_M2 msg: 1612980360.28 epoch sec; seqNo:1566 2021-02-10T18:06:00Z- AHRS_M2 msg: 1.52 phi; -0.08 theta; -0.19 psi 2021-02-10T18:06:00Z- waiting for 1612980360.47, time is 1612980359.48 2021-02-10T18:06:00Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:00Z- handleDepth()-Depth_Keller msg: 49.17 epoch sec; seqNo:1612980360290; depth 0.00 2021-02-10T18:06:00Z- waiting for 1612980360.47, time is 1612980359.48 2021-02-10T18:06:00Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:00Z- handleDvl() - RDI_Pathfinder msg: 1612980360.30 epoch sec; seqNo:637 2021-02-10T18:06:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.83 , 46.44 , 32.58 , 45.88 2021-02-10T18:06:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.03 , 0.04 2021-02-10T18:06:00Z- waiting for 1612980360.47, time is 1612980360.30 2021-02-10T18:06:00Z- sync is 0.03, coherence is 2.00 2021-02-10T18:06:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980360.31 epoch sec; seqNo:1575; 4061675.95 north; 594334.31 east 2021-02-10T18:06:00Z- waiting for 1612980360.47, time is 1612980360.30 2021-02-10T18:06:00Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:00Z- AHRS_M2 msg: 1612980360.68 epoch sec; seqNo:1567 2021-02-10T18:06:00Z- AHRS_M2 msg: 1.52 phi; -0.08 theta; -0.19 psi 2021-02-10T18:06:00Z- waiting for 1612980360.47, time is 1612980360.30 2021-02-10T18:06:00Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:00Z- handleDepth()-Depth_Keller msg: 49.18 epoch sec; seqNo:1612980360689; depth 0.00 2021-02-10T18:06:00Z- waiting for 1612980360.47, time is 1612980360.30 2021-02-10T18:06:00Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980360.70 epoch sec; seqNo:1576; 4061675.95 north; 594334.31 east 2021-02-10T18:06:00Z- waiting for 1612980360.47, time is 1612980360.30 2021-02-10T18:06:00Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:01Z- AHRS_M2 msg: 1612980361.11 epoch sec; seqNo:1568 2021-02-10T18:06:01Z- AHRS_M2 msg: 1.51 phi; -0.08 theta; -0.19 psi 2021-02-10T18:06:01Z- waiting for 1612980360.47, time is 1612980360.30 2021-02-10T18:06:01Z- sync is 0.81, coherence is 2.00 2021-02-10T18:06:01Z- handleDepth()-Depth_Keller msg: 49.22 epoch sec; seqNo:1612980361115; depth 0.00 2021-02-10T18:06:01Z- waiting for 1612980360.47, time is 1612980360.30 2021-02-10T18:06:01Z- sync is 0.81, coherence is 2.00 2021-02-10T18:06:01Z- handleDvl() - RDI_Pathfinder msg: 1612980361.13 epoch sec; seqNo:638 2021-02-10T18:06:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.83 , 47.00 , 32.21 , 45.88 2021-02-10T18:06:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.02 , 0.03 2021-02-10T18:06:01Z- waiting for 1612980360.47, time is 1612980361.13 2021-02-10T18:06:01Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:01Z- LcmTrn::updateTrn() >>>> pose time 1612980361.11, meas time 1612980361.13 <<<< 2021-02-10T18:06:01Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980361.13 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:06:01Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594334.31, 49.22) 2021-02-10T18:06:01Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:06:01Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:06:01Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:06:01Z- TNavBF::mmse selected from filter -1 2021-02-10T18:06:01Z- variances([0], [2], and psi_berg) = 792.072645 833.087142 0.000000 2021-02-10T18:06:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:06:01Z- LcmTrn::cycle() - MLE : 4061648.45 594288.81 49.22 2021-02-10T18:06:01Z- LcmTrn::cycle() - MMSE : 4061675.95 594334.31 49.22 2021-02-10T18:06:01Z- LcmTrn::cycle() - COVAR: 792.07 833.09 51.39 0.00 2021-02-10T18:06:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980361.14 epoch sec; seqNo:1577; 4061676.34 north; 594335.53 east 2021-02-10T18:06:01Z- waiting for 1612980364.13, time is 1612980361.13 2021-02-10T18:06:01Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:01Z- AHRS_M2 msg: 1612980361.49 epoch sec; seqNo:1569 2021-02-10T18:06:01Z- AHRS_M2 msg: 1.51 phi; -0.08 theta; -0.19 psi 2021-02-10T18:06:01Z- waiting for 1612980364.13, time is 1612980361.13 2021-02-10T18:06:01Z- sync is 0.36, coherence is 2.00 2021-02-10T18:06:01Z- handleDepth()-Depth_Keller msg: 49.24 epoch sec; seqNo:1612980361497; depth 0.00 2021-02-10T18:06:01Z- waiting for 1612980364.13, time is 1612980361.13 2021-02-10T18:06:01Z- sync is 0.36, coherence is 2.00 2021-02-10T18:06:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980361.51 epoch sec; seqNo:1578; 4061676.34 north; 594335.53 east 2021-02-10T18:06:01Z- waiting for 1612980364.13, time is 1612980361.13 2021-02-10T18:06:01Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:01Z- AHRS_M2 msg: 1612980361.89 epoch sec; seqNo:1570 2021-02-10T18:06:01Z- AHRS_M2 msg: 1.51 phi; -0.09 theta; -0.19 psi 2021-02-10T18:06:01Z- waiting for 1612980364.13, time is 1612980361.13 2021-02-10T18:06:01Z- sync is 0.76, coherence is 2.00 2021-02-10T18:06:01Z- handleDepth()-Depth_Keller msg: 49.27 epoch sec; seqNo:1612980361896; depth 0.00 2021-02-10T18:06:01Z- waiting for 1612980364.13, time is 1612980361.13 2021-02-10T18:06:01Z- sync is 0.76, coherence is 2.00 2021-02-10T18:06:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980361.90 epoch sec; seqNo:1579; 4061676.34 north; 594335.53 east 2021-02-10T18:06:01Z- waiting for 1612980364.13, time is 1612980361.13 2021-02-10T18:06:01Z- sync is 0.77, coherence is 2.00 2021-02-10T18:06:02Z- AHRS_M2 msg: 1612980362.30 epoch sec; seqNo:1571 2021-02-10T18:06:02Z- AHRS_M2 msg: 1.51 phi; -0.09 theta; -0.19 psi 2021-02-10T18:06:02Z- waiting for 1612980364.13, time is 1612980361.13 2021-02-10T18:06:02Z- sync is 1.16, coherence is 2.00 2021-02-10T18:06:02Z- handleDepth()-Depth_Keller msg: 49.29 epoch sec; seqNo:1612980362301; depth 0.00 2021-02-10T18:06:02Z- waiting for 1612980364.13, time is 1612980361.13 2021-02-10T18:06:02Z- sync is 1.16, coherence is 2.00 2021-02-10T18:06:02Z- handleDvl() - RDI_Pathfinder msg: 1612980362.31 epoch sec; seqNo:639 2021-02-10T18:06:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.64 , 46.62 , 31.64 , 46.06 2021-02-10T18:06:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.03 , 0.02 2021-02-10T18:06:02Z- waiting for 1612980364.13, time is 1612980362.31 2021-02-10T18:06:02Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980362.32 epoch sec; seqNo:1580; 4061676.34 north; 594335.53 east 2021-02-10T18:06:02Z- waiting for 1612980364.13, time is 1612980362.31 2021-02-10T18:06:02Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:02Z- AHRS_M2 msg: 1612980362.70 epoch sec; seqNo:1572 2021-02-10T18:06:02Z- AHRS_M2 msg: 1.51 phi; -0.09 theta; -0.19 psi 2021-02-10T18:06:02Z- waiting for 1612980364.13, time is 1612980362.31 2021-02-10T18:06:02Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:02Z- handleDepth()-Depth_Keller msg: 49.31 epoch sec; seqNo:1612980362705; depth 0.00 2021-02-10T18:06:02Z- waiting for 1612980364.13, time is 1612980362.31 2021-02-10T18:06:02Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980362.72 epoch sec; seqNo:1581; 4061676.35 north; 594336.75 east 2021-02-10T18:06:02Z- waiting for 1612980364.13, time is 1612980362.31 2021-02-10T18:06:02Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:03Z- AHRS_M2 msg: 1612980363.12 epoch sec; seqNo:1573 2021-02-10T18:06:03Z- AHRS_M2 msg: 1.51 phi; -0.09 theta; -0.19 psi 2021-02-10T18:06:03Z- waiting for 1612980364.13, time is 1612980362.31 2021-02-10T18:06:03Z- sync is 0.81, coherence is 2.00 2021-02-10T18:06:03Z- handleDepth()-Depth_Keller msg: 49.32 epoch sec; seqNo:1612980363123; depth 0.00 2021-02-10T18:06:03Z- waiting for 1612980364.13, time is 1612980362.31 2021-02-10T18:06:03Z- sync is 0.81, coherence is 2.00 2021-02-10T18:06:03Z- handleDvl() - RDI_Pathfinder msg: 1612980363.13 epoch sec; seqNo:640 2021-02-10T18:06:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.45 , 46.43 , 31.27 , 45.69 2021-02-10T18:06:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.03 , 0.00 2021-02-10T18:06:03Z- waiting for 1612980364.13, time is 1612980363.13 2021-02-10T18:06:03Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980363.14 epoch sec; seqNo:1582; 4061676.35 north; 594336.75 east 2021-02-10T18:06:03Z- waiting for 1612980364.13, time is 1612980363.13 2021-02-10T18:06:03Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:03Z- AHRS_M2 msg: 1612980363.51 epoch sec; seqNo:1574 2021-02-10T18:06:03Z- AHRS_M2 msg: 1.51 phi; -0.09 theta; -0.19 psi 2021-02-10T18:06:03Z- waiting for 1612980364.13, time is 1612980363.13 2021-02-10T18:06:03Z- sync is 0.37, coherence is 2.00 2021-02-10T18:06:03Z- handleDepth()-Depth_Keller msg: 49.34 epoch sec; seqNo:1612980363512; depth 0.00 2021-02-10T18:06:03Z- waiting for 1612980364.13, time is 1612980363.13 2021-02-10T18:06:03Z- sync is 0.37, coherence is 2.00 2021-02-10T18:06:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980363.52 epoch sec; seqNo:1583; 4061676.35 north; 594336.75 east 2021-02-10T18:06:03Z- waiting for 1612980364.13, time is 1612980363.13 2021-02-10T18:06:03Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:03Z- AHRS_M2 msg: 1612980363.91 epoch sec; seqNo:1575 2021-02-10T18:06:03Z- AHRS_M2 msg: 1.51 phi; -0.10 theta; -0.19 psi 2021-02-10T18:06:03Z- waiting for 1612980364.13, time is 1612980363.13 2021-02-10T18:06:03Z- sync is 0.78, coherence is 2.00 2021-02-10T18:06:03Z- handleDepth()-Depth_Keller msg: 49.37 epoch sec; seqNo:1612980363921; depth 0.00 2021-02-10T18:06:03Z- waiting for 1612980364.13, time is 1612980363.13 2021-02-10T18:06:03Z- sync is 0.78, coherence is 2.00 2021-02-10T18:06:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980363.93 epoch sec; seqNo:1584; 4061676.36 north; 594337.97 east 2021-02-10T18:06:03Z- waiting for 1612980364.13, time is 1612980363.13 2021-02-10T18:06:03Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:04Z- AHRS_M2 msg: 1612980364.32 epoch sec; seqNo:1576 2021-02-10T18:06:04Z- AHRS_M2 msg: 1.51 phi; -0.10 theta; -0.19 psi 2021-02-10T18:06:04Z- waiting for 1612980364.13, time is 1612980363.13 2021-02-10T18:06:04Z- sync is 1.18, coherence is 2.00 2021-02-10T18:06:04Z- handleDepth()-Depth_Keller msg: 49.39 epoch sec; seqNo:1612980364323; depth 0.00 2021-02-10T18:06:04Z- waiting for 1612980364.13, time is 1612980363.13 2021-02-10T18:06:04Z- sync is 1.18, coherence is 2.00 2021-02-10T18:06:04Z- handleDvl() - RDI_Pathfinder msg: 1612980364.33 epoch sec; seqNo:641 2021-02-10T18:06:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.89 , 45.69 , 30.89 , 45.50 2021-02-10T18:06:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.04 , 0.00 2021-02-10T18:06:04Z- waiting for 1612980364.13, time is 1612980364.33 2021-02-10T18:06:04Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:04Z- LcmTrn::updateTrn() >>>> pose time 1612980364.32, meas time 1612980364.33 <<<< 2021-02-10T18:06:04Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980364.33 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:06:04Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594337.97, 49.39) 2021-02-10T18:06:04Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:06:04Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:06:04Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:06:04Z- TNavBF::mmse selected from filter -1 2021-02-10T18:06:04Z- variances([0], [2], and psi_berg) = 791.889681 833.086811 0.000000 2021-02-10T18:06:04Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:06:04Z- LcmTrn::cycle() - MLE : 4061648.86 594292.47 49.39 2021-02-10T18:06:04Z- LcmTrn::cycle() - MMSE : 4061676.36 594337.97 49.39 2021-02-10T18:06:04Z- LcmTrn::cycle() - COVAR: 791.89 833.09 51.58 0.00 2021-02-10T18:06:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980364.35 epoch sec; seqNo:1585; 4061676.36 north; 594337.97 east 2021-02-10T18:06:04Z- waiting for 1612980367.33, time is 1612980364.33 2021-02-10T18:06:04Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:04Z- AHRS_M2 msg: 1612980364.72 epoch sec; seqNo:1577 2021-02-10T18:06:04Z- AHRS_M2 msg: 1.51 phi; -0.10 theta; -0.19 psi 2021-02-10T18:06:04Z- waiting for 1612980367.33, time is 1612980364.33 2021-02-10T18:06:04Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:04Z- handleDepth()-Depth_Keller msg: 49.42 epoch sec; seqNo:1612980364729; depth 0.00 2021-02-10T18:06:04Z- waiting for 1612980367.33, time is 1612980364.33 2021-02-10T18:06:04Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980364.75 epoch sec; seqNo:1586; 4061676.36 north; 594337.97 east 2021-02-10T18:06:04Z- waiting for 1612980367.33, time is 1612980364.33 2021-02-10T18:06:04Z- sync is 0.41, coherence is 2.00 2021-02-10T18:06:05Z- AHRS_M2 msg: 1612980365.12 epoch sec; seqNo:1578 2021-02-10T18:06:05Z- AHRS_M2 msg: 1.51 phi; -0.10 theta; -0.19 psi 2021-02-10T18:06:05Z- waiting for 1612980367.33, time is 1612980364.33 2021-02-10T18:06:05Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:05Z- handleDepth()-Depth_Keller msg: 49.43 epoch sec; seqNo:1612980365128; depth 0.00 2021-02-10T18:06:05Z- waiting for 1612980367.33, time is 1612980364.33 2021-02-10T18:06:05Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:05Z- handleDvl() - RDI_Pathfinder msg: 1612980365.14 epoch sec; seqNo:642 2021-02-10T18:06:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.70 , 45.50 , 30.33 , 45.31 2021-02-10T18:06:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.02 , -0.01 2021-02-10T18:06:05Z- waiting for 1612980367.33, time is 1612980365.14 2021-02-10T18:06:05Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980365.16 epoch sec; seqNo:1587; 4061676.38 north; 594339.19 east 2021-02-10T18:06:05Z- waiting for 1612980367.33, time is 1612980365.14 2021-02-10T18:06:05Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:05Z- AHRS_M2 msg: 1612980365.53 epoch sec; seqNo:1579 2021-02-10T18:06:05Z- AHRS_M2 msg: 1.51 phi; -0.10 theta; -0.19 psi 2021-02-10T18:06:05Z- waiting for 1612980367.33, time is 1612980365.14 2021-02-10T18:06:05Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:05Z- handleDepth()-Depth_Keller msg: 49.45 epoch sec; seqNo:1612980365532; depth 0.00 2021-02-10T18:06:05Z- waiting for 1612980367.33, time is 1612980365.14 2021-02-10T18:06:05Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980365.54 epoch sec; seqNo:1588; 4061676.38 north; 594339.19 east 2021-02-10T18:06:05Z- waiting for 1612980367.33, time is 1612980365.14 2021-02-10T18:06:05Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:05Z- AHRS_M2 msg: 1612980365.93 epoch sec; seqNo:1580 2021-02-10T18:06:05Z- AHRS_M2 msg: 1.51 phi; -0.10 theta; -0.19 psi 2021-02-10T18:06:05Z- waiting for 1612980367.33, time is 1612980365.14 2021-02-10T18:06:05Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:05Z- handleDepth()-Depth_Keller msg: 49.47 epoch sec; seqNo:1612980365945; depth 0.00 2021-02-10T18:06:05Z- waiting for 1612980367.33, time is 1612980365.14 2021-02-10T18:06:05Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980365.95 epoch sec; seqNo:1589; 4061676.38 north; 594339.19 east 2021-02-10T18:06:05Z- waiting for 1612980367.33, time is 1612980365.14 2021-02-10T18:06:05Z- sync is 0.81, coherence is 2.00 2021-02-10T18:06:06Z- AHRS_M2 msg: 1612980366.34 epoch sec; seqNo:1581 2021-02-10T18:06:06Z- AHRS_M2 msg: 1.51 phi; -0.10 theta; -0.19 psi 2021-02-10T18:06:06Z- waiting for 1612980367.33, time is 1612980365.14 2021-02-10T18:06:06Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:06Z- handleDepth()-Depth_Keller msg: 49.49 epoch sec; seqNo:1612980366345; depth 0.00 2021-02-10T18:06:06Z- waiting for 1612980367.33, time is 1612980365.14 2021-02-10T18:06:06Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:06Z- handleDvl() - RDI_Pathfinder msg: 1612980366.37 epoch sec; seqNo:643 2021-02-10T18:06:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.70 , 45.12 , 30.71 , 45.31 2021-02-10T18:06:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.03 , -0.01 2021-02-10T18:06:06Z- waiting for 1612980367.33, time is 1612980366.37 2021-02-10T18:06:06Z- sync is 0.03, coherence is 2.00 2021-02-10T18:06:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980366.38 epoch sec; seqNo:1590; 4061676.39 north; 594340.41 east 2021-02-10T18:06:06Z- waiting for 1612980367.33, time is 1612980366.37 2021-02-10T18:06:06Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:06Z- AHRS_M2 msg: 1612980366.74 epoch sec; seqNo:1582 2021-02-10T18:06:06Z- AHRS_M2 msg: 1.51 phi; -0.10 theta; -0.19 psi 2021-02-10T18:06:06Z- waiting for 1612980367.33, time is 1612980366.37 2021-02-10T18:06:06Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:06Z- handleDepth()-Depth_Keller msg: 49.53 epoch sec; seqNo:1612980366749; depth 0.00 2021-02-10T18:06:06Z- waiting for 1612980367.33, time is 1612980366.37 2021-02-10T18:06:06Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980366.76 epoch sec; seqNo:1591; 4061676.39 north; 594340.41 east 2021-02-10T18:06:06Z- waiting for 1612980367.33, time is 1612980366.37 2021-02-10T18:06:06Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:07Z- AHRS_M2 msg: 1612980367.14 epoch sec; seqNo:1583 2021-02-10T18:06:07Z- AHRS_M2 msg: 1.51 phi; -0.10 theta; -0.19 psi 2021-02-10T18:06:07Z- waiting for 1612980367.33, time is 1612980366.37 2021-02-10T18:06:07Z- sync is 0.78, coherence is 2.00 2021-02-10T18:06:07Z- handleDepth()-Depth_Keller msg: 49.55 epoch sec; seqNo:1612980367148; depth 0.00 2021-02-10T18:06:07Z- waiting for 1612980367.33, time is 1612980366.37 2021-02-10T18:06:07Z- sync is 0.78, coherence is 2.00 2021-02-10T18:06:07Z- handleDvl() - RDI_Pathfinder msg: 1612980367.16 epoch sec; seqNo:644 2021-02-10T18:06:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.51 , 45.31 , 30.52 , 44.75 2021-02-10T18:06:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.03 , -0.01 2021-02-10T18:06:07Z- waiting for 1612980367.33, time is 1612980367.16 2021-02-10T18:06:07Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980367.17 epoch sec; seqNo:1592; 4061676.39 north; 594340.41 east 2021-02-10T18:06:07Z- waiting for 1612980367.33, time is 1612980367.16 2021-02-10T18:06:07Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:07Z- AHRS_M2 msg: 1612980367.55 epoch sec; seqNo:1584 2021-02-10T18:06:07Z- AHRS_M2 msg: 1.51 phi; -0.10 theta; -0.19 psi 2021-02-10T18:06:07Z- waiting for 1612980367.33, time is 1612980367.16 2021-02-10T18:06:07Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:07Z- handleDepth()-Depth_Keller msg: 49.59 epoch sec; seqNo:1612980367554; depth 0.00 2021-02-10T18:06:07Z- waiting for 1612980367.33, time is 1612980367.16 2021-02-10T18:06:07Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980367.57 epoch sec; seqNo:1593; 4061676.40 north; 594341.63 east 2021-02-10T18:06:07Z- waiting for 1612980367.33, time is 1612980367.16 2021-02-10T18:06:07Z- sync is 0.41, coherence is 2.00 2021-02-10T18:06:07Z- AHRS_M2 msg: 1612980367.96 epoch sec; seqNo:1585 2021-02-10T18:06:07Z- AHRS_M2 msg: 1.50 phi; -0.10 theta; -0.19 psi 2021-02-10T18:06:07Z- waiting for 1612980367.33, time is 1612980367.16 2021-02-10T18:06:07Z- sync is 0.80, coherence is 2.00 2021-02-10T18:06:07Z- handleDepth()-Depth_Keller msg: 49.62 epoch sec; seqNo:1612980367963; depth 0.00 2021-02-10T18:06:07Z- waiting for 1612980367.33, time is 1612980367.16 2021-02-10T18:06:07Z- sync is 0.80, coherence is 2.00 2021-02-10T18:06:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980367.98 epoch sec; seqNo:1594; 4061676.40 north; 594341.63 east 2021-02-10T18:06:07Z- waiting for 1612980367.33, time is 1612980367.16 2021-02-10T18:06:07Z- sync is 0.82, coherence is 2.00 2021-02-10T18:06:08Z- AHRS_M2 msg: 1612980368.36 epoch sec; seqNo:1586 2021-02-10T18:06:08Z- AHRS_M2 msg: 1.50 phi; -0.10 theta; -0.19 psi 2021-02-10T18:06:08Z- waiting for 1612980367.33, time is 1612980367.16 2021-02-10T18:06:08Z- sync is 1.20, coherence is 2.00 2021-02-10T18:06:08Z- handleDepth()-Depth_Keller msg: 49.64 epoch sec; seqNo:1612980368360; depth 0.00 2021-02-10T18:06:08Z- waiting for 1612980367.33, time is 1612980367.16 2021-02-10T18:06:08Z- sync is 1.20, coherence is 2.00 2021-02-10T18:06:08Z- handleDvl() - RDI_Pathfinder msg: 1612980368.37 epoch sec; seqNo:645 2021-02-10T18:06:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.33 , 44.94 , 30.33 , 44.56 2021-02-10T18:06:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.02 , -0.00 2021-02-10T18:06:08Z- waiting for 1612980367.33, time is 1612980368.37 2021-02-10T18:06:08Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:08Z- LcmTrn::updateTrn() >>>> pose time 1612980368.36, meas time 1612980368.37 <<<< 2021-02-10T18:06:08Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980368.37 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:06:08Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594341.63, 49.64) 2021-02-10T18:06:08Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:06:08Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:06:08Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:06:08Z- TNavBF::mmse selected from filter -1 2021-02-10T18:06:08Z- variances([0], [2], and psi_berg) = 791.707868 833.086484 0.000000 2021-02-10T18:06:08Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:06:08Z- LcmTrn::cycle() - MLE : 4061648.90 594295.13 49.64 2021-02-10T18:06:08Z- LcmTrn::cycle() - MMSE : 4061676.40 594341.63 49.64 2021-02-10T18:06:08Z- LcmTrn::cycle() - COVAR: 791.71 833.09 51.77 0.00 2021-02-10T18:06:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980368.40 epoch sec; seqNo:1595; 4061676.40 north; 594341.63 east 2021-02-10T18:06:08Z- waiting for 1612980371.37, time is 1612980368.37 2021-02-10T18:06:08Z- sync is 0.03, coherence is 2.00 2021-02-10T18:06:08Z- AHRS_M2 msg: 1612980368.76 epoch sec; seqNo:1587 2021-02-10T18:06:08Z- AHRS_M2 msg: 1.50 phi; -0.10 theta; -0.19 psi 2021-02-10T18:06:08Z- waiting for 1612980371.37, time is 1612980368.37 2021-02-10T18:06:08Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:08Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1612980368764; depth 0.00 2021-02-10T18:06:08Z- waiting for 1612980371.37, time is 1612980368.37 2021-02-10T18:06:08Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980368.78 epoch sec; seqNo:1596; 4061676.40 north; 594341.63 east 2021-02-10T18:06:08Z- waiting for 1612980371.37, time is 1612980368.37 2021-02-10T18:06:08Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:09Z- AHRS_M2 msg: 1612980369.16 epoch sec; seqNo:1588 2021-02-10T18:06:09Z- AHRS_M2 msg: 1.50 phi; -0.10 theta; -0.19 psi 2021-02-10T18:06:09Z- waiting for 1612980371.37, time is 1612980368.37 2021-02-10T18:06:09Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:09Z- handleDepth()-Depth_Keller msg: 49.71 epoch sec; seqNo:1612980369170; depth 0.00 2021-02-10T18:06:09Z- waiting for 1612980371.37, time is 1612980368.37 2021-02-10T18:06:09Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:09Z- handleDvl() - RDI_Pathfinder msg: 1612980369.18 epoch sec; seqNo:646 2021-02-10T18:06:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.95 , 44.37 , 30.33 , 44.37 2021-02-10T18:06:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.03 , 0.00 2021-02-10T18:06:09Z- waiting for 1612980371.37, time is 1612980369.18 2021-02-10T18:06:09Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980369.19 epoch sec; seqNo:1597; 4061676.42 north; 594342.85 east 2021-02-10T18:06:09Z- waiting for 1612980371.37, time is 1612980369.18 2021-02-10T18:06:09Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:09Z- AHRS_M2 msg: 1612980369.57 epoch sec; seqNo:1589 2021-02-10T18:06:09Z- AHRS_M2 msg: 1.50 phi; -0.11 theta; -0.19 psi 2021-02-10T18:06:09Z- waiting for 1612980371.37, time is 1612980369.18 2021-02-10T18:06:09Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:09Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1612980369576; depth 0.00 2021-02-10T18:06:09Z- waiting for 1612980371.37, time is 1612980369.18 2021-02-10T18:06:09Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980369.60 epoch sec; seqNo:1598; 4061676.42 north; 594342.85 east 2021-02-10T18:06:09Z- waiting for 1612980371.37, time is 1612980369.18 2021-02-10T18:06:09Z- sync is 0.42, coherence is 2.00 2021-02-10T18:06:09Z- AHRS_M2 msg: 1612980369.97 epoch sec; seqNo:1590 2021-02-10T18:06:09Z- AHRS_M2 msg: 1.50 phi; -0.11 theta; -0.19 psi 2021-02-10T18:06:09Z- waiting for 1612980371.37, time is 1612980369.18 2021-02-10T18:06:09Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:09Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1612980369981; depth 0.00 2021-02-10T18:06:09Z- waiting for 1612980371.37, time is 1612980369.18 2021-02-10T18:06:09Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980369.99 epoch sec; seqNo:1599; 4061676.42 north; 594342.85 east 2021-02-10T18:06:09Z- waiting for 1612980371.37, time is 1612980369.18 2021-02-10T18:06:09Z- sync is 0.81, coherence is 2.00 2021-02-10T18:06:10Z- AHRS_M2 msg: 1612980370.38 epoch sec; seqNo:1591 2021-02-10T18:06:10Z- AHRS_M2 msg: 1.50 phi; -0.11 theta; -0.19 psi 2021-02-10T18:06:10Z- waiting for 1612980371.37, time is 1612980369.18 2021-02-10T18:06:10Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:10Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1612980370380; depth 0.00 2021-02-10T18:06:10Z- waiting for 1612980371.37, time is 1612980369.18 2021-02-10T18:06:10Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:10Z- handleDvl() - RDI_Pathfinder msg: 1612980370.39 epoch sec; seqNo:647 2021-02-10T18:06:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.68 , 43.74 , 30.30 , 44.60 2021-02-10T18:06:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.01 , 0.02 2021-02-10T18:06:10Z- waiting for 1612980371.37, time is 1612980370.39 2021-02-10T18:06:10Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980370.40 epoch sec; seqNo:1600; 4061676.43 north; 594344.07 east 2021-02-10T18:06:10Z- waiting for 1612980371.37, time is 1612980370.39 2021-02-10T18:06:10Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:10Z- AHRS_M2 msg: 1612980370.78 epoch sec; seqNo:1592 2021-02-10T18:06:10Z- AHRS_M2 msg: 1.49 phi; -0.11 theta; -0.19 psi 2021-02-10T18:06:10Z- waiting for 1612980371.37, time is 1612980370.39 2021-02-10T18:06:10Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:10Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1612980370797; depth 0.00 2021-02-10T18:06:10Z- waiting for 1612980371.37, time is 1612980370.39 2021-02-10T18:06:10Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980370.81 epoch sec; seqNo:1601; 4061676.43 north; 594344.07 east 2021-02-10T18:06:10Z- waiting for 1612980371.37, time is 1612980370.39 2021-02-10T18:06:10Z- sync is 0.42, coherence is 2.00 2021-02-10T18:06:11Z- AHRS_M2 msg: 1612980371.18 epoch sec; seqNo:1593 2021-02-10T18:06:11Z- AHRS_M2 msg: 1.49 phi; -0.10 theta; -0.19 psi 2021-02-10T18:06:11Z- waiting for 1612980371.37, time is 1612980370.39 2021-02-10T18:06:11Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:11Z- handleDepth()-Depth_Keller msg: 49.86 epoch sec; seqNo:1612980371188; depth 0.00 2021-02-10T18:06:11Z- waiting for 1612980371.37, time is 1612980370.39 2021-02-10T18:06:11Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:11Z- handleDvl() - RDI_Pathfinder msg: 1612980371.21 epoch sec; seqNo:648 2021-02-10T18:06:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.68 , 43.40 , 30.30 , 44.26 2021-02-10T18:06:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.02 , 0.03 2021-02-10T18:06:11Z- waiting for 1612980371.37, time is 1612980371.21 2021-02-10T18:06:11Z- sync is 0.03, coherence is 2.00 2021-02-10T18:06:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980371.22 epoch sec; seqNo:1602; 4061676.43 north; 594344.07 east 2021-02-10T18:06:11Z- waiting for 1612980371.37, time is 1612980371.21 2021-02-10T18:06:11Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:11Z- AHRS_M2 msg: 1612980371.59 epoch sec; seqNo:1594 2021-02-10T18:06:11Z- AHRS_M2 msg: 1.49 phi; -0.10 theta; -0.19 psi 2021-02-10T18:06:11Z- waiting for 1612980371.37, time is 1612980371.21 2021-02-10T18:06:11Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:11Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1612980371596; depth 0.00 2021-02-10T18:06:11Z- waiting for 1612980371.37, time is 1612980371.21 2021-02-10T18:06:11Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980371.61 epoch sec; seqNo:1603; 4061676.45 north; 594345.29 east 2021-02-10T18:06:11Z- waiting for 1612980371.37, time is 1612980371.21 2021-02-10T18:06:11Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:11Z- AHRS_M2 msg: 1612980371.99 epoch sec; seqNo:1595 2021-02-10T18:06:11Z- AHRS_M2 msg: 1.49 phi; -0.10 theta; -0.19 psi 2021-02-10T18:06:11Z- waiting for 1612980371.37, time is 1612980371.21 2021-02-10T18:06:11Z- sync is 0.78, coherence is 2.00 2021-02-10T18:06:12Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1612980372000; depth 0.00 2021-02-10T18:06:12Z- waiting for 1612980371.37, time is 1612980371.21 2021-02-10T18:06:12Z- sync is 0.78, coherence is 2.00 2021-02-10T18:06:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980372.01 epoch sec; seqNo:1604; 4061676.45 north; 594345.29 east 2021-02-10T18:06:12Z- waiting for 1612980371.37, time is 1612980371.21 2021-02-10T18:06:12Z- sync is 0.80, coherence is 2.00 2021-02-10T18:06:12Z- AHRS_M2 msg: 1612980372.39 epoch sec; seqNo:1596 2021-02-10T18:06:12Z- AHRS_M2 msg: 1.49 phi; -0.10 theta; -0.19 psi 2021-02-10T18:06:12Z- waiting for 1612980371.37, time is 1612980371.21 2021-02-10T18:06:12Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:12Z- handleDepth()-Depth_Keller msg: 49.98 epoch sec; seqNo:1612980372405; depth 0.00 2021-02-10T18:06:12Z- waiting for 1612980371.37, time is 1612980371.21 2021-02-10T18:06:12Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:12Z- handleDvl() - RDI_Pathfinder msg: 1612980372.42 epoch sec; seqNo:649 2021-02-10T18:06:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.68 , 43.06 , 29.96 , 43.91 2021-02-10T18:06:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.02 , 0.04 2021-02-10T18:06:12Z- waiting for 1612980371.37, time is 1612980372.42 2021-02-10T18:06:12Z- sync is 0.03, coherence is 2.00 2021-02-10T18:06:12Z- LcmTrn::updateTrn() >>>> pose time 1612980372.39, meas time 1612980372.42 <<<< 2021-02-10T18:06:12Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980372.42 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:06:12Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594345.29, 49.98) 2021-02-10T18:06:12Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:06:12Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:06:12Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:06:12Z- TNavBF::mmse selected from filter -1 2021-02-10T18:06:12Z- variances([0], [2], and psi_berg) = 791.526710 833.086158 0.000000 2021-02-10T18:06:12Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:06:12Z- LcmTrn::cycle() - MLE : 4061648.95 594298.79 49.98 2021-02-10T18:06:12Z- LcmTrn::cycle() - MMSE : 4061676.45 594345.29 49.98 2021-02-10T18:06:12Z- LcmTrn::cycle() - COVAR: 791.53 833.09 51.95 0.00 2021-02-10T18:06:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980372.44 epoch sec; seqNo:1605; 4061676.82 north; 594345.29 east 2021-02-10T18:06:12Z- waiting for 1612980375.42, time is 1612980372.42 2021-02-10T18:06:12Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:12Z- AHRS_M2 msg: 1612980372.80 epoch sec; seqNo:1597 2021-02-10T18:06:12Z- AHRS_M2 msg: 1.49 phi; -0.10 theta; -0.19 psi 2021-02-10T18:06:12Z- waiting for 1612980375.42, time is 1612980372.42 2021-02-10T18:06:12Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:12Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1612980372807; depth 0.00 2021-02-10T18:06:12Z- waiting for 1612980375.42, time is 1612980372.42 2021-02-10T18:06:12Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980372.82 epoch sec; seqNo:1606; 4061676.82 north; 594345.29 east 2021-02-10T18:06:12Z- waiting for 1612980375.42, time is 1612980372.42 2021-02-10T18:06:12Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:13Z- AHRS_M2 msg: 1612980373.24 epoch sec; seqNo:1598 2021-02-10T18:06:13Z- AHRS_M2 msg: 1.48 phi; -0.09 theta; -0.18 psi 2021-02-10T18:06:13Z- waiting for 1612980375.42, time is 1612980372.42 2021-02-10T18:06:13Z- sync is 0.81, coherence is 2.00 2021-02-10T18:06:13Z- handleDepth()-Depth_Keller msg: 50.05 epoch sec; seqNo:1612980373240; depth 0.00 2021-02-10T18:06:13Z- waiting for 1612980375.42, time is 1612980372.42 2021-02-10T18:06:13Z- sync is 0.81, coherence is 2.00 2021-02-10T18:06:13Z- handleDvl() - RDI_Pathfinder msg: 1612980373.25 epoch sec; seqNo:650 2021-02-10T18:06:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.51 , 42.04 , 30.30 , 44.08 2021-02-10T18:06:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.02 , 0.04 2021-02-10T18:06:13Z- waiting for 1612980375.42, time is 1612980373.25 2021-02-10T18:06:13Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980373.27 epoch sec; seqNo:1607; 4061676.84 north; 594346.51 east 2021-02-10T18:06:13Z- waiting for 1612980375.42, time is 1612980373.25 2021-02-10T18:06:13Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:13Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1612980373635; depth 0.00 2021-02-10T18:06:13Z- waiting for 1612980375.42, time is 1612980373.25 2021-02-10T18:06:13Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980373.65 epoch sec; seqNo:1608; 4061676.84 north; 594346.51 east 2021-02-10T18:06:13Z- waiting for 1612980375.42, time is 1612980373.25 2021-02-10T18:06:13Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:14Z- AHRS_M2 msg: 1612980374.02 epoch sec; seqNo:1599 2021-02-10T18:06:14Z- AHRS_M2 msg: 1.48 phi; -0.09 theta; -0.19 psi 2021-02-10T18:06:14Z- waiting for 1612980375.42, time is 1612980373.25 2021-02-10T18:06:14Z- sync is 0.76, coherence is 2.00 2021-02-10T18:06:14Z- handleDepth()-Depth_Keller msg: 50.14 epoch sec; seqNo:1612980374023; depth 0.00 2021-02-10T18:06:14Z- waiting for 1612980375.42, time is 1612980373.25 2021-02-10T18:06:14Z- sync is 0.76, coherence is 2.00 2021-02-10T18:06:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980374.03 epoch sec; seqNo:1609; 4061676.84 north; 594346.51 east 2021-02-10T18:06:14Z- waiting for 1612980375.42, time is 1612980373.25 2021-02-10T18:06:14Z- sync is 0.78, coherence is 2.00 2021-02-10T18:06:14Z- AHRS_M2 msg: 1612980374.42 epoch sec; seqNo:1600 2021-02-10T18:06:14Z- AHRS_M2 msg: 1.48 phi; -0.09 theta; -0.19 psi 2021-02-10T18:06:14Z- waiting for 1612980375.42, time is 1612980373.25 2021-02-10T18:06:14Z- sync is 1.17, coherence is 2.00 2021-02-10T18:06:14Z- handleDepth()-Depth_Keller msg: 50.17 epoch sec; seqNo:1612980374426; depth 0.00 2021-02-10T18:06:14Z- waiting for 1612980375.42, time is 1612980373.25 2021-02-10T18:06:14Z- sync is 1.17, coherence is 2.00 2021-02-10T18:06:14Z- handleDvl() - RDI_Pathfinder msg: 1612980374.44 epoch sec; seqNo:651 2021-02-10T18:06:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.34 , 42.38 , 30.13 , 43.40 2021-02-10T18:06:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.02 , 0.04 2021-02-10T18:06:14Z- waiting for 1612980375.42, time is 1612980374.44 2021-02-10T18:06:14Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980374.45 epoch sec; seqNo:1610; 4061676.85 north; 594347.73 east 2021-02-10T18:06:14Z- waiting for 1612980375.42, time is 1612980374.44 2021-02-10T18:06:14Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:14Z- AHRS_M2 msg: 1612980374.82 epoch sec; seqNo:1601 2021-02-10T18:06:14Z- AHRS_M2 msg: 1.48 phi; -0.09 theta; -0.19 psi 2021-02-10T18:06:14Z- waiting for 1612980375.42, time is 1612980374.44 2021-02-10T18:06:14Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:14Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1612980374825; depth 0.00 2021-02-10T18:06:14Z- waiting for 1612980375.42, time is 1612980374.44 2021-02-10T18:06:14Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980374.85 epoch sec; seqNo:1611; 4061676.85 north; 594347.73 east 2021-02-10T18:06:14Z- waiting for 1612980375.42, time is 1612980374.44 2021-02-10T18:06:14Z- sync is 0.41, coherence is 2.00 2021-02-10T18:06:15Z- AHRS_M2 msg: 1612980375.22 epoch sec; seqNo:1602 2021-02-10T18:06:15Z- AHRS_M2 msg: 1.48 phi; -0.09 theta; -0.19 psi 2021-02-10T18:06:15Z- waiting for 1612980375.42, time is 1612980374.44 2021-02-10T18:06:15Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:15Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1612980375229; depth 0.00 2021-02-10T18:06:15Z- waiting for 1612980375.42, time is 1612980374.44 2021-02-10T18:06:15Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:15Z- handleDvl() - RDI_Pathfinder msg: 1612980375.24 epoch sec; seqNo:652 2021-02-10T18:06:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.17 , 41.87 , 30.13 , 43.06 2021-02-10T18:06:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.01 , 0.03 2021-02-10T18:06:15Z- waiting for 1612980375.42, time is 1612980375.24 2021-02-10T18:06:15Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980375.26 epoch sec; seqNo:1612; 4061676.85 north; 594347.73 east 2021-02-10T18:06:15Z- waiting for 1612980375.42, time is 1612980375.24 2021-02-10T18:06:15Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:15Z- AHRS_M2 msg: 1612980375.63 epoch sec; seqNo:1603 2021-02-10T18:06:15Z- AHRS_M2 msg: 1.48 phi; -0.09 theta; -0.19 psi 2021-02-10T18:06:15Z- waiting for 1612980375.42, time is 1612980375.24 2021-02-10T18:06:15Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:15Z- handleDepth()-Depth_Keller msg: 50.26 epoch sec; seqNo:1612980375632; depth 0.00 2021-02-10T18:06:15Z- waiting for 1612980375.42, time is 1612980375.24 2021-02-10T18:06:15Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980375.64 epoch sec; seqNo:1613; 4061676.86 north; 594348.95 east 2021-02-10T18:06:15Z- waiting for 1612980375.42, time is 1612980375.24 2021-02-10T18:06:15Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:16Z- AHRS_M2 msg: 1612980376.03 epoch sec; seqNo:1604 2021-02-10T18:06:16Z- AHRS_M2 msg: 1.48 phi; -0.08 theta; -0.19 psi 2021-02-10T18:06:16Z- waiting for 1612980375.42, time is 1612980375.24 2021-02-10T18:06:16Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:16Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1612980376049; depth 0.00 2021-02-10T18:06:16Z- waiting for 1612980375.42, time is 1612980375.24 2021-02-10T18:06:16Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980376.07 epoch sec; seqNo:1614; 4061676.86 north; 594348.95 east 2021-02-10T18:06:16Z- waiting for 1612980375.42, time is 1612980375.24 2021-02-10T18:06:16Z- sync is 0.83, coherence is 2.00 2021-02-10T18:06:16Z- AHRS_M2 msg: 1612980376.44 epoch sec; seqNo:1605 2021-02-10T18:06:16Z- AHRS_M2 msg: 1.48 phi; -0.08 theta; -0.19 psi 2021-02-10T18:06:16Z- waiting for 1612980375.42, time is 1612980375.24 2021-02-10T18:06:16Z- sync is 1.20, coherence is 2.00 2021-02-10T18:06:16Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1612980376440; depth 0.00 2021-02-10T18:06:16Z- waiting for 1612980375.42, time is 1612980375.24 2021-02-10T18:06:16Z- sync is 1.20, coherence is 2.00 2021-02-10T18:06:16Z- handleDvl() - RDI_Pathfinder msg: 1612980376.46 epoch sec; seqNo:653 2021-02-10T18:06:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.66 , 40.85 , 30.13 , 42.55 2021-02-10T18:06:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.01 , 0.02 2021-02-10T18:06:16Z- waiting for 1612980375.42, time is 1612980376.46 2021-02-10T18:06:16Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:16Z- LcmTrn::updateTrn() >>>> pose time 1612980376.44, meas time 1612980376.46 <<<< 2021-02-10T18:06:16Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980376.46 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:06:16Z- TerrainNav::motionUpdate() - currEstimate = (4061677, 594348.95, 50.33) 2021-02-10T18:06:16Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:06:16Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:06:16Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:06:16Z- TNavBF::mmse selected from filter -1 2021-02-10T18:06:16Z- variances([0], [2], and psi_berg) = 791.345722 833.085835 0.000000 2021-02-10T18:06:16Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:06:16Z- LcmTrn::cycle() - MLE : 4061649.36 594302.45 50.33 2021-02-10T18:06:16Z- LcmTrn::cycle() - MMSE : 4061676.86 594348.95 50.33 2021-02-10T18:06:16Z- LcmTrn::cycle() - COVAR: 791.35 833.09 52.14 0.00 2021-02-10T18:06:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980376.47 epoch sec; seqNo:1615; 4061676.86 north; 594348.95 east 2021-02-10T18:06:16Z- waiting for 1612980379.46, time is 1612980376.46 2021-02-10T18:06:16Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:16Z- AHRS_M2 msg: 1612980376.84 epoch sec; seqNo:1606 2021-02-10T18:06:16Z- AHRS_M2 msg: 1.47 phi; -0.08 theta; -0.19 psi 2021-02-10T18:06:16Z- waiting for 1612980379.46, time is 1612980376.46 2021-02-10T18:06:16Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:16Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1612980376844; depth 0.00 2021-02-10T18:06:16Z- waiting for 1612980379.46, time is 1612980376.46 2021-02-10T18:06:16Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980376.86 epoch sec; seqNo:1616; 4061676.88 north; 594350.17 east 2021-02-10T18:06:16Z- waiting for 1612980379.46, time is 1612980376.46 2021-02-10T18:06:16Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:17Z- AHRS_M2 msg: 1612980377.24 epoch sec; seqNo:1607 2021-02-10T18:06:17Z- AHRS_M2 msg: 1.47 phi; -0.08 theta; -0.19 psi 2021-02-10T18:06:17Z- waiting for 1612980379.46, time is 1612980376.46 2021-02-10T18:06:17Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:17Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1612980377249; depth 0.00 2021-02-10T18:06:17Z- waiting for 1612980379.46, time is 1612980376.46 2021-02-10T18:06:17Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:17Z- handleDvl() - RDI_Pathfinder msg: 1612980377.26 epoch sec; seqNo:654 2021-02-10T18:06:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.49 , 40.51 , 30.30 , 42.72 2021-02-10T18:06:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.01 , 0.01 2021-02-10T18:06:17Z- waiting for 1612980379.46, time is 1612980377.26 2021-02-10T18:06:17Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980377.27 epoch sec; seqNo:1617; 4061676.88 north; 594350.17 east 2021-02-10T18:06:17Z- waiting for 1612980379.46, time is 1612980377.26 2021-02-10T18:06:17Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:17Z- AHRS_M2 msg: 1612980377.66 epoch sec; seqNo:1608 2021-02-10T18:06:17Z- AHRS_M2 msg: 1.47 phi; -0.08 theta; -0.19 psi 2021-02-10T18:06:17Z- waiting for 1612980379.46, time is 1612980377.26 2021-02-10T18:06:17Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:17Z- handleDepth()-Depth_Keller msg: 50.43 epoch sec; seqNo:1612980377668; depth 0.00 2021-02-10T18:06:17Z- waiting for 1612980379.46, time is 1612980377.26 2021-02-10T18:06:17Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980377.68 epoch sec; seqNo:1618; 4061677.26 north; 594350.16 east 2021-02-10T18:06:17Z- waiting for 1612980379.46, time is 1612980377.26 2021-02-10T18:06:17Z- sync is 0.42, coherence is 2.00 2021-02-10T18:06:18Z- AHRS_M2 msg: 1612980378.05 epoch sec; seqNo:1609 2021-02-10T18:06:18Z- AHRS_M2 msg: 1.47 phi; -0.07 theta; -0.19 psi 2021-02-10T18:06:18Z- waiting for 1612980379.46, time is 1612980377.26 2021-02-10T18:06:18Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:18Z- handleDepth()-Depth_Keller msg: 50.45 epoch sec; seqNo:1612980378064; depth 0.00 2021-02-10T18:06:18Z- waiting for 1612980379.46, time is 1612980377.26 2021-02-10T18:06:18Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:18Z- handleDvl() - RDI_Pathfinder msg: 1612980378.10 epoch sec; seqNo:655 2021-02-10T18:06:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.81 , 39.32 , 30.13 , 41.36 2021-02-10T18:06:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.01 , 0.00 2021-02-10T18:06:18Z- waiting for 1612980379.46, time is 1612980378.10 2021-02-10T18:06:18Z- sync is 0.05, coherence is 2.00 2021-02-10T18:06:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980378.11 epoch sec; seqNo:1619; 4061677.27 north; 594351.38 east 2021-02-10T18:06:18Z- waiting for 1612980379.46, time is 1612980378.10 2021-02-10T18:06:18Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:18Z- AHRS_M2 msg: 1612980378.46 epoch sec; seqNo:1610 2021-02-10T18:06:18Z- AHRS_M2 msg: 1.47 phi; -0.07 theta; -0.19 psi 2021-02-10T18:06:18Z- waiting for 1612980379.46, time is 1612980378.10 2021-02-10T18:06:18Z- sync is 0.36, coherence is 2.00 2021-02-10T18:06:18Z- handleDepth()-Depth_Keller msg: 50.50 epoch sec; seqNo:1612980378460; depth 0.00 2021-02-10T18:06:18Z- waiting for 1612980379.46, time is 1612980378.10 2021-02-10T18:06:18Z- sync is 0.36, coherence is 2.00 2021-02-10T18:06:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980378.47 epoch sec; seqNo:1620; 4061677.27 north; 594351.38 east 2021-02-10T18:06:18Z- waiting for 1612980379.46, time is 1612980378.10 2021-02-10T18:06:18Z- sync is 0.37, coherence is 2.00 2021-02-10T18:06:18Z- AHRS_M2 msg: 1612980378.86 epoch sec; seqNo:1611 2021-02-10T18:06:18Z- AHRS_M2 msg: 1.47 phi; -0.07 theta; -0.19 psi 2021-02-10T18:06:18Z- waiting for 1612980379.46, time is 1612980378.10 2021-02-10T18:06:18Z- sync is 0.76, coherence is 2.00 2021-02-10T18:06:18Z- handleDepth()-Depth_Keller msg: 50.51 epoch sec; seqNo:1612980378869; depth 0.00 2021-02-10T18:06:18Z- waiting for 1612980379.46, time is 1612980378.10 2021-02-10T18:06:18Z- sync is 0.76, coherence is 2.00 2021-02-10T18:06:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980378.88 epoch sec; seqNo:1621; 4061677.27 north; 594351.38 east 2021-02-10T18:06:18Z- waiting for 1612980379.46, time is 1612980378.10 2021-02-10T18:06:18Z- sync is 0.78, coherence is 2.00 2021-02-10T18:06:19Z- AHRS_M2 msg: 1612980379.26 epoch sec; seqNo:1612 2021-02-10T18:06:19Z- AHRS_M2 msg: 1.46 phi; -0.06 theta; -0.19 psi 2021-02-10T18:06:19Z- waiting for 1612980379.46, time is 1612980378.10 2021-02-10T18:06:19Z- sync is 1.16, coherence is 2.00 2021-02-10T18:06:19Z- handleDepth()-Depth_Keller msg: 50.53 epoch sec; seqNo:1612980379274; depth 0.00 2021-02-10T18:06:19Z- waiting for 1612980379.46, time is 1612980378.10 2021-02-10T18:06:19Z- sync is 1.16, coherence is 2.00 2021-02-10T18:06:19Z- handleDvl() - RDI_Pathfinder msg: 1612980379.29 epoch sec; seqNo:656 2021-02-10T18:06:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.47 , 38.64 , 30.13 , 41.36 2021-02-10T18:06:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.00 , -0.01 2021-02-10T18:06:19Z- waiting for 1612980379.46, time is 1612980379.29 2021-02-10T18:06:19Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980379.30 epoch sec; seqNo:1622; 4061677.27 north; 594351.38 east 2021-02-10T18:06:19Z- waiting for 1612980379.46, time is 1612980379.29 2021-02-10T18:06:19Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:19Z- AHRS_M2 msg: 1612980379.67 epoch sec; seqNo:1613 2021-02-10T18:06:19Z- AHRS_M2 msg: 1.46 phi; -0.06 theta; -0.19 psi 2021-02-10T18:06:19Z- waiting for 1612980379.46, time is 1612980379.29 2021-02-10T18:06:19Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:19Z- handleDepth()-Depth_Keller msg: 50.56 epoch sec; seqNo:1612980379673; depth 0.00 2021-02-10T18:06:19Z- waiting for 1612980379.46, time is 1612980379.29 2021-02-10T18:06:19Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980379.69 epoch sec; seqNo:1623; 4061677.28 north; 594352.60 east 2021-02-10T18:06:19Z- waiting for 1612980379.46, time is 1612980379.29 2021-02-10T18:06:19Z- sync is 0.41, coherence is 2.00 2021-02-10T18:06:20Z- AHRS_M2 msg: 1612980380.09 epoch sec; seqNo:1614 2021-02-10T18:06:20Z- AHRS_M2 msg: 1.46 phi; -0.05 theta; -0.19 psi 2021-02-10T18:06:20Z- waiting for 1612980379.46, time is 1612980379.29 2021-02-10T18:06:20Z- sync is 0.81, coherence is 2.00 2021-02-10T18:06:20Z- handleDepth()-Depth_Keller msg: 50.58 epoch sec; seqNo:1612980380096; depth 0.00 2021-02-10T18:06:20Z- waiting for 1612980379.46, time is 1612980379.29 2021-02-10T18:06:20Z- sync is 0.81, coherence is 2.00 2021-02-10T18:06:20Z- handleDvl() - RDI_Pathfinder msg: 1612980380.12 epoch sec; seqNo:657 2021-02-10T18:06:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.62 , 37.28 , 30.13 , 41.02 2021-02-10T18:06:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.01 , -0.01 2021-02-10T18:06:20Z- waiting for 1612980379.46, time is 1612980380.12 2021-02-10T18:06:20Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:20Z- LcmTrn::updateTrn() >>>> pose time 1612980380.09, meas time 1612980380.12 <<<< 2021-02-10T18:06:20Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980380.12 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:06:20Z- TerrainNav::motionUpdate() - currEstimate = (4061677, 594352.60, 50.58) 2021-02-10T18:06:20Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:06:20Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:06:20Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:06:20Z- TNavBF::mmse selected from filter -1 2021-02-10T18:06:20Z- variances([0], [2], and psi_berg) = 791.165380 833.085513 0.000000 2021-02-10T18:06:20Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:06:20Z- LcmTrn::cycle() - MLE : 4061649.78 594306.10 50.58 2021-02-10T18:06:20Z- LcmTrn::cycle() - MMSE : 4061677.28 594352.60 50.58 2021-02-10T18:06:20Z- LcmTrn::cycle() - COVAR: 791.17 833.09 52.33 0.00 2021-02-10T18:06:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980380.12 epoch sec; seqNo:1624; 4061677.28 north; 594352.60 east 2021-02-10T18:06:20Z- waiting for 1612980383.12, time is 1612980380.12 2021-02-10T18:06:20Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:20Z- AHRS_M2 msg: 1612980380.48 epoch sec; seqNo:1615 2021-02-10T18:06:20Z- AHRS_M2 msg: 1.46 phi; -0.05 theta; -0.18 psi 2021-02-10T18:06:20Z- waiting for 1612980383.12, time is 1612980380.12 2021-02-10T18:06:20Z- sync is 0.36, coherence is 2.00 2021-02-10T18:06:20Z- handleDepth()-Depth_Keller msg: 50.60 epoch sec; seqNo:1612980380480; depth 0.00 2021-02-10T18:06:20Z- waiting for 1612980383.12, time is 1612980380.12 2021-02-10T18:06:20Z- sync is 0.36, coherence is 2.00 2021-02-10T18:06:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980380.49 epoch sec; seqNo:1625; 4061677.28 north; 594352.60 east 2021-02-10T18:06:20Z- waiting for 1612980383.12, time is 1612980380.12 2021-02-10T18:06:20Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:20Z- AHRS_M2 msg: 1612980380.88 epoch sec; seqNo:1616 2021-02-10T18:06:20Z- AHRS_M2 msg: 1.46 phi; -0.04 theta; -0.18 psi 2021-02-10T18:06:20Z- waiting for 1612980383.12, time is 1612980380.12 2021-02-10T18:06:20Z- sync is 0.77, coherence is 2.00 2021-02-10T18:06:20Z- handleDepth()-Depth_Keller msg: 50.62 epoch sec; seqNo:1612980380889; depth 0.00 2021-02-10T18:06:20Z- waiting for 1612980383.12, time is 1612980380.12 2021-02-10T18:06:20Z- sync is 0.77, coherence is 2.00 2021-02-10T18:06:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980380.90 epoch sec; seqNo:1626; 4061677.30 north; 594353.82 east 2021-02-10T18:06:20Z- waiting for 1612980383.12, time is 1612980380.12 2021-02-10T18:06:20Z- sync is 0.78, coherence is 2.00 2021-02-10T18:06:21Z- AHRS_M2 msg: 1612980381.28 epoch sec; seqNo:1617 2021-02-10T18:06:21Z- AHRS_M2 msg: 1.46 phi; -0.04 theta; -0.18 psi 2021-02-10T18:06:21Z- waiting for 1612980383.12, time is 1612980380.12 2021-02-10T18:06:21Z- sync is 1.17, coherence is 2.00 2021-02-10T18:06:21Z- handleDepth()-Depth_Keller msg: 50.62 epoch sec; seqNo:1612980381288; depth 0.00 2021-02-10T18:06:21Z- waiting for 1612980383.12, time is 1612980380.12 2021-02-10T18:06:21Z- sync is 1.17, coherence is 2.00 2021-02-10T18:06:21Z- handleDvl() - RDI_Pathfinder msg: 1612980381.31 epoch sec; seqNo:658 2021-02-10T18:06:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.62 , 36.26 , 30.47 , 40.51 2021-02-10T18:06:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.01 , -0.01 2021-02-10T18:06:21Z- waiting for 1612980383.12, time is 1612980381.31 2021-02-10T18:06:21Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980381.32 epoch sec; seqNo:1627; 4061677.30 north; 594353.82 east 2021-02-10T18:06:21Z- waiting for 1612980383.12, time is 1612980381.31 2021-02-10T18:06:21Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:21Z- AHRS_M2 msg: 1612980381.69 epoch sec; seqNo:1618 2021-02-10T18:06:21Z- AHRS_M2 msg: 1.45 phi; -0.04 theta; -0.18 psi 2021-02-10T18:06:21Z- waiting for 1612980383.12, time is 1612980381.31 2021-02-10T18:06:21Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:21Z- handleDepth()-Depth_Keller msg: 50.64 epoch sec; seqNo:1612980381692; depth 0.00 2021-02-10T18:06:21Z- waiting for 1612980383.12, time is 1612980381.31 2021-02-10T18:06:21Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980381.70 epoch sec; seqNo:1628; 4061677.68 north; 594353.82 east 2021-02-10T18:06:21Z- waiting for 1612980383.12, time is 1612980381.31 2021-02-10T18:06:21Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:22Z- AHRS_M2 msg: 1612980382.09 epoch sec; seqNo:1619 2021-02-10T18:06:22Z- AHRS_M2 msg: 1.45 phi; -0.03 theta; -0.18 psi 2021-02-10T18:06:22Z- waiting for 1612980383.12, time is 1612980381.31 2021-02-10T18:06:22Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:22Z- handleDepth()-Depth_Keller msg: 50.64 epoch sec; seqNo:1612980382101; depth 0.00 2021-02-10T18:06:22Z- waiting for 1612980383.12, time is 1612980381.31 2021-02-10T18:06:22Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:22Z- handleDvl() - RDI_Pathfinder msg: 1612980382.11 epoch sec; seqNo:659 2021-02-10T18:06:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.95 , 36.00 , 30.49 , 39.98 2021-02-10T18:06:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.02 , -0.00 2021-02-10T18:06:22Z- waiting for 1612980383.12, time is 1612980382.11 2021-02-10T18:06:22Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980382.12 epoch sec; seqNo:1629; 4061677.69 north; 594355.04 east 2021-02-10T18:06:22Z- waiting for 1612980383.12, time is 1612980382.11 2021-02-10T18:06:22Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:22Z- AHRS_M2 msg: 1612980382.50 epoch sec; seqNo:1620 2021-02-10T18:06:22Z- AHRS_M2 msg: 1.45 phi; -0.03 theta; -0.18 psi 2021-02-10T18:06:22Z- waiting for 1612980383.12, time is 1612980382.11 2021-02-10T18:06:22Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:22Z- handleDepth()-Depth_Keller msg: 50.65 epoch sec; seqNo:1612980382509; depth 0.00 2021-02-10T18:06:22Z- waiting for 1612980383.12, time is 1612980382.11 2021-02-10T18:06:22Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980382.52 epoch sec; seqNo:1630; 4061677.69 north; 594355.04 east 2021-02-10T18:06:22Z- waiting for 1612980383.12, time is 1612980382.11 2021-02-10T18:06:22Z- sync is 0.41, coherence is 2.00 2021-02-10T18:06:22Z- AHRS_M2 msg: 1612980382.90 epoch sec; seqNo:1621 2021-02-10T18:06:22Z- AHRS_M2 msg: 1.45 phi; -0.02 theta; -0.18 psi 2021-02-10T18:06:22Z- waiting for 1612980383.12, time is 1612980382.11 2021-02-10T18:06:22Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:22Z- handleDepth()-Depth_Keller msg: 50.67 epoch sec; seqNo:1612980382904; depth 0.00 2021-02-10T18:06:22Z- waiting for 1612980383.12, time is 1612980382.11 2021-02-10T18:06:22Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980382.92 epoch sec; seqNo:1631; 4061677.69 north; 594355.04 east 2021-02-10T18:06:22Z- waiting for 1612980383.12, time is 1612980382.11 2021-02-10T18:06:22Z- sync is 0.81, coherence is 2.00 2021-02-10T18:06:23Z- AHRS_M2 msg: 1612980383.31 epoch sec; seqNo:1622 2021-02-10T18:06:23Z- AHRS_M2 msg: 1.45 phi; -0.02 theta; -0.18 psi 2021-02-10T18:06:23Z- waiting for 1612980383.12, time is 1612980382.11 2021-02-10T18:06:23Z- sync is 1.20, coherence is 2.00 2021-02-10T18:06:23Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1612980383313; depth 0.00 2021-02-10T18:06:23Z- waiting for 1612980383.12, time is 1612980382.11 2021-02-10T18:06:23Z- sync is 1.20, coherence is 2.00 2021-02-10T18:06:23Z- handleDvl() - RDI_Pathfinder msg: 1612980383.33 epoch sec; seqNo:660 2021-02-10T18:06:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.57 , 35.69 , 30.79 , 39.68 2021-02-10T18:06:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.03 , 0.01 2021-02-10T18:06:23Z- waiting for 1612980383.12, time is 1612980383.33 2021-02-10T18:06:23Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:23Z- LcmTrn::updateTrn() >>>> pose time 1612980383.31, meas time 1612980383.33 <<<< 2021-02-10T18:06:23Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980383.33 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:06:23Z- TerrainNav::motionUpdate() - currEstimate = (4061678, 594355.04, 50.66) 2021-02-10T18:06:23Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:06:23Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:06:23Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:06:23Z- TNavBF::mmse selected from filter -1 2021-02-10T18:06:23Z- variances([0], [2], and psi_berg) = 791.018175 833.085252 0.000000 2021-02-10T18:06:23Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:06:23Z- LcmTrn::cycle() - MLE : 4061650.19 594308.54 50.66 2021-02-10T18:06:23Z- LcmTrn::cycle() - MMSE : 4061677.69 594355.04 50.66 2021-02-10T18:06:23Z- LcmTrn::cycle() - COVAR: 791.02 833.09 52.45 0.00 2021-02-10T18:06:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980383.34 epoch sec; seqNo:1632; 4061677.69 north; 594355.04 east 2021-02-10T18:06:23Z- waiting for 1612980386.33, time is 1612980383.33 2021-02-10T18:06:23Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:23Z- AHRS_M2 msg: 1612980383.71 epoch sec; seqNo:1623 2021-02-10T18:06:23Z- AHRS_M2 msg: 1.45 phi; -0.01 theta; -0.18 psi 2021-02-10T18:06:23Z- waiting for 1612980386.33, time is 1612980383.33 2021-02-10T18:06:23Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:23Z- handleDepth()-Depth_Keller msg: 50.67 epoch sec; seqNo:1612980383712; depth 0.00 2021-02-10T18:06:23Z- waiting for 1612980386.33, time is 1612980383.33 2021-02-10T18:06:23Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980383.72 epoch sec; seqNo:1633; 4061677.70 north; 594356.26 east 2021-02-10T18:06:23Z- waiting for 1612980386.33, time is 1612980383.33 2021-02-10T18:06:23Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:24Z- AHRS_M2 msg: 1612980384.11 epoch sec; seqNo:1624 2021-02-10T18:06:24Z- AHRS_M2 msg: 1.44 phi; -0.01 theta; -0.18 psi 2021-02-10T18:06:24Z- waiting for 1612980386.33, time is 1612980383.33 2021-02-10T18:06:24Z- sync is 0.78, coherence is 2.00 2021-02-10T18:06:24Z- handleDepth()-Depth_Keller msg: 50.67 epoch sec; seqNo:1612980384117; depth 0.00 2021-02-10T18:06:24Z- waiting for 1612980386.33, time is 1612980383.33 2021-02-10T18:06:24Z- sync is 0.78, coherence is 2.00 2021-02-10T18:06:24Z- handleDvl() - RDI_Pathfinder msg: 1612980384.13 epoch sec; seqNo:661 2021-02-10T18:06:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.57 , 35.85 , 31.25 , 38.76 2021-02-10T18:06:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.05 , 0.02 2021-02-10T18:06:24Z- waiting for 1612980386.33, time is 1612980384.13 2021-02-10T18:06:24Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980384.14 epoch sec; seqNo:1634; 4061677.70 north; 594356.26 east 2021-02-10T18:06:24Z- waiting for 1612980386.33, time is 1612980384.13 2021-02-10T18:06:24Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:24Z- AHRS_M2 msg: 1612980384.52 epoch sec; seqNo:1625 2021-02-10T18:06:24Z- AHRS_M2 msg: 1.44 phi; -0.01 theta; -0.18 psi 2021-02-10T18:06:24Z- waiting for 1612980386.33, time is 1612980384.13 2021-02-10T18:06:24Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:24Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1612980384530; depth 0.00 2021-02-10T18:06:24Z- waiting for 1612980386.33, time is 1612980384.13 2021-02-10T18:06:24Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980384.54 epoch sec; seqNo:1635; 4061677.70 north; 594356.26 east 2021-02-10T18:06:24Z- waiting for 1612980386.33, time is 1612980384.13 2021-02-10T18:06:24Z- sync is 0.41, coherence is 2.00 2021-02-10T18:06:24Z- AHRS_M2 msg: 1612980384.92 epoch sec; seqNo:1626 2021-02-10T18:06:24Z- AHRS_M2 msg: 1.44 phi; -0.00 theta; -0.18 psi 2021-02-10T18:06:24Z- waiting for 1612980386.33, time is 1612980384.13 2021-02-10T18:06:24Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:24Z- handleDepth()-Depth_Keller msg: 50.68 epoch sec; seqNo:1612980384929; depth 0.00 2021-02-10T18:06:24Z- waiting for 1612980386.33, time is 1612980384.13 2021-02-10T18:06:24Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980384.94 epoch sec; seqNo:1636; 4061677.72 north; 594357.48 east 2021-02-10T18:06:24Z- waiting for 1612980386.33, time is 1612980384.13 2021-02-10T18:06:24Z- sync is 0.81, coherence is 2.00 2021-02-10T18:06:25Z- AHRS_M2 msg: 1612980385.32 epoch sec; seqNo:1627 2021-02-10T18:06:25Z- AHRS_M2 msg: 1.44 phi; 0.00 theta; -0.18 psi 2021-02-10T18:06:25Z- waiting for 1612980386.33, time is 1612980384.13 2021-02-10T18:06:25Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:25Z- handleDepth()-Depth_Keller msg: 50.67 epoch sec; seqNo:1612980385333; depth 0.00 2021-02-10T18:06:25Z- waiting for 1612980386.33, time is 1612980384.13 2021-02-10T18:06:25Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:25Z- handleDvl() - RDI_Pathfinder msg: 1612980385.35 epoch sec; seqNo:662 2021-02-10T18:06:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.73 , 35.39 , 31.40 , 38.14 2021-02-10T18:06:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.05 , 0.02 2021-02-10T18:06:25Z- waiting for 1612980386.33, time is 1612980385.35 2021-02-10T18:06:25Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980385.36 epoch sec; seqNo:1637; 4061677.72 north; 594357.48 east 2021-02-10T18:06:25Z- waiting for 1612980386.33, time is 1612980385.35 2021-02-10T18:06:25Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:25Z- AHRS_M2 msg: 1612980385.73 epoch sec; seqNo:1628 2021-02-10T18:06:25Z- AHRS_M2 msg: 1.44 phi; 0.00 theta; -0.17 psi 2021-02-10T18:06:25Z- waiting for 1612980386.33, time is 1612980385.35 2021-02-10T18:06:25Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:25Z- handleDepth()-Depth_Keller msg: 50.67 epoch sec; seqNo:1612980385741; depth 0.00 2021-02-10T18:06:25Z- waiting for 1612980386.33, time is 1612980385.35 2021-02-10T18:06:25Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980385.75 epoch sec; seqNo:1638; 4061677.72 north; 594357.48 east 2021-02-10T18:06:25Z- waiting for 1612980386.33, time is 1612980385.35 2021-02-10T18:06:25Z- sync is 0.41, coherence is 2.00 2021-02-10T18:06:26Z- AHRS_M2 msg: 1612980386.13 epoch sec; seqNo:1629 2021-02-10T18:06:26Z- AHRS_M2 msg: 1.44 phi; 0.01 theta; -0.17 psi 2021-02-10T18:06:26Z- waiting for 1612980386.33, time is 1612980385.35 2021-02-10T18:06:26Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:26Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1612980386136; depth 0.00 2021-02-10T18:06:26Z- waiting for 1612980386.33, time is 1612980385.35 2021-02-10T18:06:26Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:26Z- handleDvl() - RDI_Pathfinder msg: 1612980386.15 epoch sec; seqNo:663 2021-02-10T18:06:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.03 , 34.47 , 31.71 , 37.84 2021-02-10T18:06:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.05 , 0.03 2021-02-10T18:06:26Z- waiting for 1612980386.33, time is 1612980386.15 2021-02-10T18:06:26Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980386.16 epoch sec; seqNo:1639; 4061677.73 north; 594358.70 east 2021-02-10T18:06:26Z- waiting for 1612980386.33, time is 1612980386.15 2021-02-10T18:06:26Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:26Z- AHRS_M2 msg: 1612980386.54 epoch sec; seqNo:1630 2021-02-10T18:06:26Z- AHRS_M2 msg: 1.44 phi; 0.01 theta; -0.17 psi 2021-02-10T18:06:26Z- waiting for 1612980386.33, time is 1612980386.15 2021-02-10T18:06:26Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:26Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1612980386545; depth 0.00 2021-02-10T18:06:26Z- waiting for 1612980386.33, time is 1612980386.15 2021-02-10T18:06:26Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980386.56 epoch sec; seqNo:1640; 4061678.11 north; 594358.70 east 2021-02-10T18:06:26Z- waiting for 1612980386.33, time is 1612980386.15 2021-02-10T18:06:26Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:26Z- AHRS_M2 msg: 1612980386.94 epoch sec; seqNo:1631 2021-02-10T18:06:26Z- AHRS_M2 msg: 1.44 phi; 0.01 theta; -0.17 psi 2021-02-10T18:06:26Z- waiting for 1612980386.33, time is 1612980386.15 2021-02-10T18:06:26Z- sync is 0.78, coherence is 2.00 2021-02-10T18:06:26Z- handleDepth()-Depth_Keller msg: 50.64 epoch sec; seqNo:1612980386951; depth 0.00 2021-02-10T18:06:26Z- waiting for 1612980386.33, time is 1612980386.15 2021-02-10T18:06:26Z- sync is 0.78, coherence is 2.00 2021-02-10T18:06:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980386.96 epoch sec; seqNo:1641; 4061678.11 north; 594358.70 east 2021-02-10T18:06:26Z- waiting for 1612980386.33, time is 1612980386.15 2021-02-10T18:06:26Z- sync is 0.81, coherence is 2.00 2021-02-10T18:06:27Z- AHRS_M2 msg: 1612980387.34 epoch sec; seqNo:1632 2021-02-10T18:06:27Z- AHRS_M2 msg: 1.44 phi; 0.02 theta; -0.17 psi 2021-02-10T18:06:27Z- waiting for 1612980386.33, time is 1612980386.15 2021-02-10T18:06:27Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:27Z- handleDepth()-Depth_Keller msg: 50.64 epoch sec; seqNo:1612980387348; depth 0.00 2021-02-10T18:06:27Z- waiting for 1612980386.33, time is 1612980386.15 2021-02-10T18:06:27Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:27Z- handleDvl() - RDI_Pathfinder msg: 1612980387.37 epoch sec; seqNo:664 2021-02-10T18:06:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.03 , 34.47 , 32.17 , 36.15 2021-02-10T18:06:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.03 , 0.03 2021-02-10T18:06:27Z- waiting for 1612980386.33, time is 1612980387.37 2021-02-10T18:06:27Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:27Z- LcmTrn::updateTrn() >>>> pose time 1612980387.34, meas time 1612980387.37 <<<< 2021-02-10T18:06:27Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980387.37 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:06:27Z- TerrainNav::motionUpdate() - currEstimate = (4061678, 594358.70, 50.64) 2021-02-10T18:06:27Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:06:27Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:06:27Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:06:27Z- TNavBF::mmse selected from filter -1 2021-02-10T18:06:27Z- variances([0], [2], and psi_berg) = 790.838995 833.084935 0.000000 2021-02-10T18:06:27Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:06:27Z- LcmTrn::cycle() - MLE : 4061650.61 594312.20 50.64 2021-02-10T18:06:27Z- LcmTrn::cycle() - MMSE : 4061678.11 594358.70 50.64 2021-02-10T18:06:27Z- LcmTrn::cycle() - COVAR: 790.84 833.08 52.64 0.00 2021-02-10T18:06:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980387.38 epoch sec; seqNo:1642; 4061678.12 north; 594359.92 east 2021-02-10T18:06:27Z- waiting for 1612980390.37, time is 1612980387.37 2021-02-10T18:06:27Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:27Z- AHRS_M2 msg: 1612980387.75 epoch sec; seqNo:1633 2021-02-10T18:06:27Z- AHRS_M2 msg: 1.45 phi; 0.02 theta; -0.16 psi 2021-02-10T18:06:27Z- waiting for 1612980390.37, time is 1612980387.37 2021-02-10T18:06:27Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:27Z- handleDepth()-Depth_Keller msg: 50.64 epoch sec; seqNo:1612980387752; depth 0.00 2021-02-10T18:06:27Z- waiting for 1612980390.37, time is 1612980387.37 2021-02-10T18:06:27Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980387.76 epoch sec; seqNo:1643; 4061678.12 north; 594359.92 east 2021-02-10T18:06:27Z- waiting for 1612980390.37, time is 1612980387.37 2021-02-10T18:06:27Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:28Z- AHRS_M2 msg: 1612980388.15 epoch sec; seqNo:1634 2021-02-10T18:06:28Z- AHRS_M2 msg: 1.45 phi; 0.02 theta; -0.16 psi 2021-02-10T18:06:28Z- waiting for 1612980390.37, time is 1612980387.37 2021-02-10T18:06:28Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:28Z- handleDepth()-Depth_Keller msg: 50.61 epoch sec; seqNo:1612980388161; depth 0.00 2021-02-10T18:06:28Z- waiting for 1612980390.37, time is 1612980387.37 2021-02-10T18:06:28Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:28Z- handleDvl() - RDI_Pathfinder msg: 1612980388.17 epoch sec; seqNo:665 2021-02-10T18:06:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.03 , 34.93 , 32.32 , 34.93 2021-02-10T18:06:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.03 , 0.03 2021-02-10T18:06:28Z- waiting for 1612980390.37, time is 1612980388.17 2021-02-10T18:06:28Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980388.18 epoch sec; seqNo:1644; 4061678.12 north; 594359.92 east 2021-02-10T18:06:28Z- waiting for 1612980390.37, time is 1612980388.17 2021-02-10T18:06:28Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:28Z- AHRS_M2 msg: 1612980388.56 epoch sec; seqNo:1635 2021-02-10T18:06:28Z- AHRS_M2 msg: 1.45 phi; 0.03 theta; -0.16 psi 2021-02-10T18:06:28Z- waiting for 1612980390.37, time is 1612980388.17 2021-02-10T18:06:28Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:28Z- handleDepth()-Depth_Keller msg: 50.61 epoch sec; seqNo:1612980388562; depth 0.00 2021-02-10T18:06:28Z- waiting for 1612980390.37, time is 1612980388.17 2021-02-10T18:06:28Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980388.57 epoch sec; seqNo:1645; 4061678.12 north; 594359.92 east 2021-02-10T18:06:28Z- waiting for 1612980390.37, time is 1612980388.17 2021-02-10T18:06:28Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:28Z- AHRS_M2 msg: 1612980388.96 epoch sec; seqNo:1636 2021-02-10T18:06:28Z- AHRS_M2 msg: 1.45 phi; 0.03 theta; -0.16 psi 2021-02-10T18:06:28Z- waiting for 1612980390.37, time is 1612980388.17 2021-02-10T18:06:28Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:28Z- handleDepth()-Depth_Keller msg: 50.58 epoch sec; seqNo:1612980388964; depth 0.00 2021-02-10T18:06:28Z- waiting for 1612980390.37, time is 1612980388.17 2021-02-10T18:06:28Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980388.98 epoch sec; seqNo:1646; 4061678.14 north; 594361.14 east 2021-02-10T18:06:28Z- waiting for 1612980390.37, time is 1612980388.17 2021-02-10T18:06:28Z- sync is 0.81, coherence is 2.00 2021-02-10T18:06:29Z- AHRS_M2 msg: 1612980389.36 epoch sec; seqNo:1637 2021-02-10T18:06:29Z- AHRS_M2 msg: 1.45 phi; 0.03 theta; -0.16 psi 2021-02-10T18:06:29Z- waiting for 1612980390.37, time is 1612980388.17 2021-02-10T18:06:29Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:29Z- handleDepth()-Depth_Keller msg: 50.58 epoch sec; seqNo:1612980389368; depth 0.00 2021-02-10T18:06:29Z- waiting for 1612980390.37, time is 1612980388.17 2021-02-10T18:06:29Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:29Z- handleDvl() - RDI_Pathfinder msg: 1612980389.38 epoch sec; seqNo:666 2021-02-10T18:06:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.03 , 35.08 , 32.78 , 34.77 2021-02-10T18:06:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , 0.03 2021-02-10T18:06:29Z- waiting for 1612980390.37, time is 1612980389.38 2021-02-10T18:06:29Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980389.40 epoch sec; seqNo:1647; 4061678.14 north; 594361.14 east 2021-02-10T18:06:29Z- waiting for 1612980390.37, time is 1612980389.38 2021-02-10T18:06:29Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:29Z- AHRS_M2 msg: 1612980389.77 epoch sec; seqNo:1638 2021-02-10T18:06:29Z- AHRS_M2 msg: 1.45 phi; 0.03 theta; -0.16 psi 2021-02-10T18:06:29Z- waiting for 1612980390.37, time is 1612980389.38 2021-02-10T18:06:29Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:29Z- handleDepth()-Depth_Keller msg: 50.55 epoch sec; seqNo:1612980389774; depth 0.00 2021-02-10T18:06:29Z- waiting for 1612980390.37, time is 1612980389.38 2021-02-10T18:06:29Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980389.79 epoch sec; seqNo:1648; 4061678.14 north; 594361.14 east 2021-02-10T18:06:29Z- waiting for 1612980390.37, time is 1612980389.38 2021-02-10T18:06:29Z- sync is 0.41, coherence is 2.00 2021-02-10T18:06:30Z- AHRS_M2 msg: 1612980390.17 epoch sec; seqNo:1639 2021-02-10T18:06:30Z- AHRS_M2 msg: 1.45 phi; 0.03 theta; -0.16 psi 2021-02-10T18:06:30Z- waiting for 1612980390.37, time is 1612980389.38 2021-02-10T18:06:30Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:30Z- handleDepth()-Depth_Keller msg: 50.56 epoch sec; seqNo:1612980390178; depth 0.00 2021-02-10T18:06:30Z- waiting for 1612980390.37, time is 1612980389.38 2021-02-10T18:06:30Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:30Z- handleDvl() - RDI_Pathfinder msg: 1612980390.19 epoch sec; seqNo:667 2021-02-10T18:06:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.88 , 35.08 , 32.78 , 34.62 2021-02-10T18:06:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.01 , 0.02 2021-02-10T18:06:30Z- waiting for 1612980390.37, time is 1612980390.19 2021-02-10T18:06:30Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980390.20 epoch sec; seqNo:1649; 4061678.15 north; 594362.36 east 2021-02-10T18:06:30Z- waiting for 1612980390.37, time is 1612980390.19 2021-02-10T18:06:30Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:30Z- AHRS_M2 msg: 1612980390.58 epoch sec; seqNo:1640 2021-02-10T18:06:30Z- AHRS_M2 msg: 1.45 phi; 0.03 theta; -0.16 psi 2021-02-10T18:06:30Z- waiting for 1612980390.37, time is 1612980390.19 2021-02-10T18:06:30Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:30Z- handleDepth()-Depth_Keller msg: 50.53 epoch sec; seqNo:1612980390580; depth 0.00 2021-02-10T18:06:30Z- waiting for 1612980390.37, time is 1612980390.19 2021-02-10T18:06:30Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980390.60 epoch sec; seqNo:1650; 4061678.15 north; 594362.36 east 2021-02-10T18:06:30Z- waiting for 1612980390.37, time is 1612980390.19 2021-02-10T18:06:30Z- sync is 0.41, coherence is 2.00 2021-02-10T18:06:30Z- AHRS_M2 msg: 1612980390.98 epoch sec; seqNo:1641 2021-02-10T18:06:30Z- AHRS_M2 msg: 1.45 phi; 0.03 theta; -0.16 psi 2021-02-10T18:06:30Z- waiting for 1612980390.37, time is 1612980390.19 2021-02-10T18:06:30Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:30Z- handleDepth()-Depth_Keller msg: 50.50 epoch sec; seqNo:1612980390993; depth 0.00 2021-02-10T18:06:30Z- waiting for 1612980390.37, time is 1612980390.19 2021-02-10T18:06:30Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980391.00 epoch sec; seqNo:1651; 4061678.53 north; 594362.35 east 2021-02-10T18:06:31Z- waiting for 1612980390.37, time is 1612980390.19 2021-02-10T18:06:31Z- sync is 0.81, coherence is 2.00 2021-02-10T18:06:31Z- AHRS_M2 msg: 1612980391.39 epoch sec; seqNo:1642 2021-02-10T18:06:31Z- AHRS_M2 msg: 1.45 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:31Z- waiting for 1612980390.37, time is 1612980390.19 2021-02-10T18:06:31Z- sync is 1.20, coherence is 2.00 2021-02-10T18:06:31Z- handleDepth()-Depth_Keller msg: 50.49 epoch sec; seqNo:1612980391394; depth 0.00 2021-02-10T18:06:31Z- waiting for 1612980390.37, time is 1612980390.19 2021-02-10T18:06:31Z- sync is 1.20, coherence is 2.00 2021-02-10T18:06:31Z- handleDvl() - RDI_Pathfinder msg: 1612980391.40 epoch sec; seqNo:668 2021-02-10T18:06:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.88 , 35.23 , 32.63 , 34.62 2021-02-10T18:06:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.00 , 0.02 2021-02-10T18:06:31Z- waiting for 1612980390.37, time is 1612980391.40 2021-02-10T18:06:31Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:31Z- LcmTrn::updateTrn() >>>> pose time 1612980391.39, meas time 1612980391.40 <<<< 2021-02-10T18:06:31Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980391.40 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:06:31Z- TerrainNav::motionUpdate() - currEstimate = (4061679, 594362.35, 50.49) 2021-02-10T18:06:31Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:06:31Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:06:31Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:06:31Z- TNavBF::mmse selected from filter -1 2021-02-10T18:06:31Z- variances([0], [2], and psi_berg) = 790.660444 833.084620 0.000000 2021-02-10T18:06:31Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:06:31Z- LcmTrn::cycle() - MLE : 4061652.03 594314.85 50.49 2021-02-10T18:06:31Z- LcmTrn::cycle() - MMSE : 4061678.53 594362.35 50.49 2021-02-10T18:06:31Z- LcmTrn::cycle() - COVAR: 790.66 833.08 52.83 0.00 2021-02-10T18:06:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980391.42 epoch sec; seqNo:1652; 4061678.54 north; 594363.57 east 2021-02-10T18:06:31Z- waiting for 1612980394.40, time is 1612980391.40 2021-02-10T18:06:31Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:31Z- AHRS_M2 msg: 1612980391.79 epoch sec; seqNo:1643 2021-02-10T18:06:31Z- AHRS_M2 msg: 1.45 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:31Z- waiting for 1612980394.40, time is 1612980391.40 2021-02-10T18:06:31Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:31Z- handleDepth()-Depth_Keller msg: 50.47 epoch sec; seqNo:1612980391798; depth 0.00 2021-02-10T18:06:31Z- waiting for 1612980394.40, time is 1612980391.40 2021-02-10T18:06:31Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980391.81 epoch sec; seqNo:1653; 4061678.54 north; 594363.57 east 2021-02-10T18:06:31Z- waiting for 1612980394.40, time is 1612980391.40 2021-02-10T18:06:31Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:32Z- AHRS_M2 msg: 1612980392.19 epoch sec; seqNo:1644 2021-02-10T18:06:32Z- AHRS_M2 msg: 1.45 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:32Z- waiting for 1612980394.40, time is 1612980391.40 2021-02-10T18:06:32Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:32Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1612980392196; depth 0.00 2021-02-10T18:06:32Z- waiting for 1612980394.40, time is 1612980391.40 2021-02-10T18:06:32Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:32Z- handleDvl() - RDI_Pathfinder msg: 1612980392.21 epoch sec; seqNo:669 2021-02-10T18:06:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.19 , 35.23 , 32.48 , 34.47 2021-02-10T18:06:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.00 , 0.02 2021-02-10T18:06:32Z- waiting for 1612980394.40, time is 1612980392.21 2021-02-10T18:06:32Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980392.22 epoch sec; seqNo:1654; 4061678.54 north; 594363.57 east 2021-02-10T18:06:32Z- waiting for 1612980394.40, time is 1612980392.21 2021-02-10T18:06:32Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:32Z- AHRS_M2 msg: 1612980392.60 epoch sec; seqNo:1645 2021-02-10T18:06:32Z- AHRS_M2 msg: 1.45 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:32Z- waiting for 1612980394.40, time is 1612980392.21 2021-02-10T18:06:32Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:32Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1612980392600; depth 0.00 2021-02-10T18:06:32Z- waiting for 1612980394.40, time is 1612980392.21 2021-02-10T18:06:32Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980392.61 epoch sec; seqNo:1655; 4061678.55 north; 594364.79 east 2021-02-10T18:06:32Z- waiting for 1612980394.40, time is 1612980392.21 2021-02-10T18:06:32Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:33Z- AHRS_M2 msg: 1612980393.00 epoch sec; seqNo:1646 2021-02-10T18:06:33Z- AHRS_M2 msg: 1.45 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:33Z- waiting for 1612980394.40, time is 1612980392.21 2021-02-10T18:06:33Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:33Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1612980393004; depth 0.00 2021-02-10T18:06:33Z- waiting for 1612980394.40, time is 1612980392.21 2021-02-10T18:06:33Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980393.01 epoch sec; seqNo:1656; 4061678.55 north; 594364.79 east 2021-02-10T18:06:33Z- waiting for 1612980394.40, time is 1612980392.21 2021-02-10T18:06:33Z- sync is 0.80, coherence is 2.00 2021-02-10T18:06:33Z- AHRS_M2 msg: 1612980393.40 epoch sec; seqNo:1647 2021-02-10T18:06:33Z- AHRS_M2 msg: 1.45 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:33Z- waiting for 1612980394.40, time is 1612980392.21 2021-02-10T18:06:33Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:33Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1612980393410; depth 0.00 2021-02-10T18:06:33Z- waiting for 1612980394.40, time is 1612980392.21 2021-02-10T18:06:33Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:33Z- handleDvl() - RDI_Pathfinder msg: 1612980393.42 epoch sec; seqNo:670 2021-02-10T18:06:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.19 , 35.23 , 32.02 , 34.01 2021-02-10T18:06:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.03 2021-02-10T18:06:33Z- waiting for 1612980394.40, time is 1612980393.42 2021-02-10T18:06:33Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980393.43 epoch sec; seqNo:1657; 4061678.55 north; 594364.79 east 2021-02-10T18:06:33Z- waiting for 1612980394.40, time is 1612980393.42 2021-02-10T18:06:33Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:33Z- AHRS_M2 msg: 1612980393.81 epoch sec; seqNo:1648 2021-02-10T18:06:33Z- AHRS_M2 msg: 1.45 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:33Z- waiting for 1612980394.40, time is 1612980393.42 2021-02-10T18:06:33Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:33Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1612980393822; depth 0.00 2021-02-10T18:06:33Z- waiting for 1612980394.40, time is 1612980393.42 2021-02-10T18:06:33Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980393.84 epoch sec; seqNo:1658; 4061678.55 north; 594364.79 east 2021-02-10T18:06:33Z- waiting for 1612980394.40, time is 1612980393.42 2021-02-10T18:06:33Z- sync is 0.41, coherence is 2.00 2021-02-10T18:06:34Z- AHRS_M2 msg: 1612980394.21 epoch sec; seqNo:1649 2021-02-10T18:06:34Z- AHRS_M2 msg: 1.45 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:34Z- waiting for 1612980394.40, time is 1612980393.42 2021-02-10T18:06:34Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:34Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1612980394217; depth 0.00 2021-02-10T18:06:34Z- waiting for 1612980394.40, time is 1612980393.42 2021-02-10T18:06:34Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:34Z- handleDvl() - RDI_Pathfinder msg: 1612980394.23 epoch sec; seqNo:671 2021-02-10T18:06:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.19 , 35.23 , 32.02 , 31.40 2021-02-10T18:06:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.01 , 0.03 2021-02-10T18:06:34Z- waiting for 1612980394.40, time is 1612980394.23 2021-02-10T18:06:34Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980394.24 epoch sec; seqNo:1659; 4061678.57 north; 594366.01 east 2021-02-10T18:06:34Z- waiting for 1612980394.40, time is 1612980394.23 2021-02-10T18:06:34Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:34Z- AHRS_M2 msg: 1612980394.62 epoch sec; seqNo:1650 2021-02-10T18:06:34Z- AHRS_M2 msg: 1.46 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:34Z- waiting for 1612980394.40, time is 1612980394.23 2021-02-10T18:06:34Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:34Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1612980394622; depth 0.00 2021-02-10T18:06:34Z- waiting for 1612980394.40, time is 1612980394.23 2021-02-10T18:06:34Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980394.68 epoch sec; seqNo:1660; 4061678.95 north; 594366.01 east 2021-02-10T18:06:34Z- waiting for 1612980394.40, time is 1612980394.23 2021-02-10T18:06:34Z- sync is 0.45, coherence is 2.00 2021-02-10T18:06:35Z- AHRS_M2 msg: 1612980395.02 epoch sec; seqNo:1651 2021-02-10T18:06:35Z- AHRS_M2 msg: 1.46 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:35Z- waiting for 1612980394.40, time is 1612980394.23 2021-02-10T18:06:35Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:35Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1612980395028; depth 0.00 2021-02-10T18:06:35Z- waiting for 1612980394.40, time is 1612980394.23 2021-02-10T18:06:35Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980395.07 epoch sec; seqNo:1661; 4061678.95 north; 594366.01 east 2021-02-10T18:06:35Z- waiting for 1612980394.40, time is 1612980394.23 2021-02-10T18:06:35Z- sync is 0.84, coherence is 2.00 2021-02-10T18:06:35Z- AHRS_M2 msg: 1612980395.42 epoch sec; seqNo:1652 2021-02-10T18:06:35Z- AHRS_M2 msg: 1.46 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:35Z- waiting for 1612980394.40, time is 1612980394.23 2021-02-10T18:06:35Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:35Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1612980395429; depth 0.00 2021-02-10T18:06:35Z- waiting for 1612980394.40, time is 1612980394.23 2021-02-10T18:06:35Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:35Z- handleDvl() - RDI_Pathfinder msg: 1612980395.44 epoch sec; seqNo:672 2021-02-10T18:06:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.34 , 35.23 , 31.86 , 31.25 2021-02-10T18:06:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.00 , 0.03 2021-02-10T18:06:35Z- waiting for 1612980394.40, time is 1612980395.44 2021-02-10T18:06:35Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:35Z- LcmTrn::updateTrn() >>>> pose time 1612980395.42, meas time 1612980395.44 <<<< 2021-02-10T18:06:35Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980395.44 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:06:35Z- TerrainNav::motionUpdate() - currEstimate = (4061679, 594366.01, 50.25) 2021-02-10T18:06:35Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:06:35Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:06:35Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:06:35Z- TNavBF::mmse selected from filter -1 2021-02-10T18:06:35Z- variances([0], [2], and psi_berg) = 790.482518 833.084308 0.000000 2021-02-10T18:06:35Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:06:35Z- LcmTrn::cycle() - MLE : 4061652.45 594318.51 50.25 2021-02-10T18:06:35Z- LcmTrn::cycle() - MMSE : 4061678.95 594366.01 50.25 2021-02-10T18:06:35Z- LcmTrn::cycle() - COVAR: 790.48 833.08 53.02 0.00 2021-02-10T18:06:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980395.46 epoch sec; seqNo:1662; 4061678.96 north; 594367.23 east 2021-02-10T18:06:35Z- waiting for 1612980398.44, time is 1612980395.44 2021-02-10T18:06:35Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:35Z- AHRS_M2 msg: 1612980395.83 epoch sec; seqNo:1653 2021-02-10T18:06:35Z- AHRS_M2 msg: 1.46 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:35Z- waiting for 1612980398.44, time is 1612980395.44 2021-02-10T18:06:35Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:35Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1612980395837; depth 0.00 2021-02-10T18:06:35Z- waiting for 1612980398.44, time is 1612980395.44 2021-02-10T18:06:35Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980395.85 epoch sec; seqNo:1663; 4061678.96 north; 594367.23 east 2021-02-10T18:06:35Z- waiting for 1612980398.44, time is 1612980395.44 2021-02-10T18:06:35Z- sync is 0.41, coherence is 2.00 2021-02-10T18:06:36Z- AHRS_M2 msg: 1612980396.23 epoch sec; seqNo:1654 2021-02-10T18:06:36Z- AHRS_M2 msg: 1.46 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:36Z- waiting for 1612980398.44, time is 1612980395.44 2021-02-10T18:06:36Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:36Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1612980396245; depth 0.00 2021-02-10T18:06:36Z- waiting for 1612980398.44, time is 1612980395.44 2021-02-10T18:06:36Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:36Z- handleDvl() - RDI_Pathfinder msg: 1612980396.26 epoch sec; seqNo:673 2021-02-10T18:06:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.49 , 35.39 , 31.86 , 31.56 2021-02-10T18:06:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.02 , 0.04 2021-02-10T18:06:36Z- waiting for 1612980398.44, time is 1612980396.26 2021-02-10T18:06:36Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980396.27 epoch sec; seqNo:1664; 4061678.96 north; 594367.23 east 2021-02-10T18:06:36Z- waiting for 1612980398.44, time is 1612980396.26 2021-02-10T18:06:36Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:36Z- AHRS_M2 msg: 1612980396.63 epoch sec; seqNo:1655 2021-02-10T18:06:36Z- AHRS_M2 msg: 1.46 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:36Z- waiting for 1612980398.44, time is 1612980396.26 2021-02-10T18:06:36Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:36Z- handleDepth()-Depth_Keller msg: 50.17 epoch sec; seqNo:1612980396650; depth 0.00 2021-02-10T18:06:36Z- waiting for 1612980398.44, time is 1612980396.26 2021-02-10T18:06:36Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980396.66 epoch sec; seqNo:1665; 4061678.97 north; 594368.45 east 2021-02-10T18:06:36Z- waiting for 1612980398.44, time is 1612980396.26 2021-02-10T18:06:36Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:37Z- AHRS_M2 msg: 1612980397.05 epoch sec; seqNo:1656 2021-02-10T18:06:37Z- AHRS_M2 msg: 1.46 phi; 0.04 theta; -0.17 psi 2021-02-10T18:06:37Z- waiting for 1612980398.44, time is 1612980396.26 2021-02-10T18:06:37Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:37Z- handleDepth()-Depth_Keller msg: 50.15 epoch sec; seqNo:1612980397063; depth 0.00 2021-02-10T18:06:37Z- waiting for 1612980398.44, time is 1612980396.26 2021-02-10T18:06:37Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:37Z- handleDvl() - RDI_Pathfinder msg: 1612980397.09 epoch sec; seqNo:674 2021-02-10T18:06:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.19 , 35.23 , 32.32 , 31.10 2021-02-10T18:06:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.03 , 0.03 2021-02-10T18:06:37Z- waiting for 1612980398.44, time is 1612980397.09 2021-02-10T18:06:37Z- sync is 0.04, coherence is 2.00 2021-02-10T18:06:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980397.10 epoch sec; seqNo:1666; 4061678.97 north; 594368.45 east 2021-02-10T18:06:37Z- waiting for 1612980398.44, time is 1612980397.09 2021-02-10T18:06:37Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:37Z- AHRS_M2 msg: 1612980397.44 epoch sec; seqNo:1657 2021-02-10T18:06:37Z- AHRS_M2 msg: 1.46 phi; 0.04 theta; -0.17 psi 2021-02-10T18:06:37Z- waiting for 1612980398.44, time is 1612980397.09 2021-02-10T18:06:37Z- sync is 0.36, coherence is 2.00 2021-02-10T18:06:37Z- handleDepth()-Depth_Keller msg: 50.12 epoch sec; seqNo:1612980397450; depth 0.00 2021-02-10T18:06:37Z- waiting for 1612980398.44, time is 1612980397.09 2021-02-10T18:06:37Z- sync is 0.36, coherence is 2.00 2021-02-10T18:06:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980397.46 epoch sec; seqNo:1667; 4061678.97 north; 594368.45 east 2021-02-10T18:06:37Z- waiting for 1612980398.44, time is 1612980397.09 2021-02-10T18:06:37Z- sync is 0.37, coherence is 2.00 2021-02-10T18:06:37Z- AHRS_M2 msg: 1612980397.85 epoch sec; seqNo:1658 2021-02-10T18:06:37Z- AHRS_M2 msg: 1.46 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:37Z- waiting for 1612980398.44, time is 1612980397.09 2021-02-10T18:06:37Z- sync is 0.76, coherence is 2.00 2021-02-10T18:06:37Z- handleDepth()-Depth_Keller msg: 50.10 epoch sec; seqNo:1612980397853; depth 0.00 2021-02-10T18:06:37Z- waiting for 1612980398.44, time is 1612980397.09 2021-02-10T18:06:37Z- sync is 0.76, coherence is 2.00 2021-02-10T18:06:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980397.87 epoch sec; seqNo:1668; 4061678.97 north; 594368.45 east 2021-02-10T18:06:37Z- waiting for 1612980398.44, time is 1612980397.09 2021-02-10T18:06:37Z- sync is 0.78, coherence is 2.00 2021-02-10T18:06:38Z- AHRS_M2 msg: 1612980398.25 epoch sec; seqNo:1659 2021-02-10T18:06:38Z- AHRS_M2 msg: 1.46 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:38Z- waiting for 1612980398.44, time is 1612980397.09 2021-02-10T18:06:38Z- sync is 1.16, coherence is 2.00 2021-02-10T18:06:38Z- handleDepth()-Depth_Keller msg: 50.07 epoch sec; seqNo:1612980398256; depth 0.00 2021-02-10T18:06:38Z- waiting for 1612980398.44, time is 1612980397.09 2021-02-10T18:06:38Z- sync is 1.16, coherence is 2.00 2021-02-10T18:06:38Z- handleDvl() - RDI_Pathfinder msg: 1612980398.27 epoch sec; seqNo:675 2021-02-10T18:06:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.19 , 35.39 , 32.63 , 31.10 2021-02-10T18:06:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.03 , 0.02 2021-02-10T18:06:38Z- waiting for 1612980398.44, time is 1612980398.27 2021-02-10T18:06:38Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980398.28 epoch sec; seqNo:1669; 4061678.99 north; 594369.67 east 2021-02-10T18:06:38Z- waiting for 1612980398.44, time is 1612980398.27 2021-02-10T18:06:38Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:38Z- AHRS_M2 msg: 1612980398.66 epoch sec; seqNo:1660 2021-02-10T18:06:38Z- AHRS_M2 msg: 1.46 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:38Z- waiting for 1612980398.44, time is 1612980398.27 2021-02-10T18:06:38Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:38Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1612980398662; depth 0.00 2021-02-10T18:06:38Z- waiting for 1612980398.44, time is 1612980398.27 2021-02-10T18:06:38Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980398.67 epoch sec; seqNo:1670; 4061678.99 north; 594369.67 east 2021-02-10T18:06:38Z- waiting for 1612980398.44, time is 1612980398.27 2021-02-10T18:06:38Z- sync is 0.41, coherence is 2.00 2021-02-10T18:06:39Z- AHRS_M2 msg: 1612980399.08 epoch sec; seqNo:1661 2021-02-10T18:06:39Z- AHRS_M2 msg: 1.46 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:39Z- waiting for 1612980398.44, time is 1612980398.27 2021-02-10T18:06:39Z- sync is 0.81, coherence is 2.00 2021-02-10T18:06:39Z- handleDepth()-Depth_Keller msg: 50.02 epoch sec; seqNo:1612980399087; depth 0.00 2021-02-10T18:06:39Z- waiting for 1612980398.44, time is 1612980398.27 2021-02-10T18:06:39Z- sync is 0.81, coherence is 2.00 2021-02-10T18:06:39Z- handleDvl() - RDI_Pathfinder msg: 1612980399.10 epoch sec; seqNo:676 2021-02-10T18:06:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.34 , 35.39 , 33.85 , 31.40 2021-02-10T18:06:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.02 , 0.02 2021-02-10T18:06:39Z- waiting for 1612980398.44, time is 1612980399.10 2021-02-10T18:06:39Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:39Z- LcmTrn::updateTrn() >>>> pose time 1612980399.08, meas time 1612980399.10 <<<< 2021-02-10T18:06:39Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980399.10 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:06:39Z- TerrainNav::motionUpdate() - currEstimate = (4061679, 594369.67, 50.02) 2021-02-10T18:06:39Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:06:39Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:06:39Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:06:39Z- TNavBF::mmse selected from filter -1 2021-02-10T18:06:39Z- variances([0], [2], and psi_berg) = 790.305681 833.083998 0.000000 2021-02-10T18:06:39Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:06:39Z- LcmTrn::cycle() - MLE : 4061652.49 594322.17 50.02 2021-02-10T18:06:39Z- LcmTrn::cycle() - MMSE : 4061678.99 594369.67 50.02 2021-02-10T18:06:39Z- LcmTrn::cycle() - COVAR: 790.31 833.08 53.20 0.00 2021-02-10T18:06:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980399.11 epoch sec; seqNo:1671; 4061679.37 north; 594369.67 east 2021-02-10T18:06:39Z- waiting for 1612980402.10, time is 1612980399.10 2021-02-10T18:06:39Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:39Z- AHRS_M2 msg: 1612980399.46 epoch sec; seqNo:1662 2021-02-10T18:06:39Z- AHRS_M2 msg: 1.46 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:39Z- waiting for 1612980402.10, time is 1612980399.10 2021-02-10T18:06:39Z- sync is 0.36, coherence is 2.00 2021-02-10T18:06:39Z- handleDepth()-Depth_Keller msg: 50.00 epoch sec; seqNo:1612980399468; depth 0.00 2021-02-10T18:06:39Z- waiting for 1612980402.10, time is 1612980399.10 2021-02-10T18:06:39Z- sync is 0.36, coherence is 2.00 2021-02-10T18:06:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980399.48 epoch sec; seqNo:1672; 4061679.38 north; 594370.89 east 2021-02-10T18:06:39Z- waiting for 1612980402.10, time is 1612980399.10 2021-02-10T18:06:39Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:39Z- AHRS_M2 msg: 1612980399.87 epoch sec; seqNo:1663 2021-02-10T18:06:39Z- AHRS_M2 msg: 1.46 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:39Z- waiting for 1612980402.10, time is 1612980399.10 2021-02-10T18:06:39Z- sync is 0.77, coherence is 2.00 2021-02-10T18:06:39Z- handleDepth()-Depth_Keller msg: 49.98 epoch sec; seqNo:1612980399872; depth 0.00 2021-02-10T18:06:39Z- waiting for 1612980402.10, time is 1612980399.10 2021-02-10T18:06:39Z- sync is 0.77, coherence is 2.00 2021-02-10T18:06:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980399.88 epoch sec; seqNo:1673; 4061679.38 north; 594370.89 east 2021-02-10T18:06:39Z- waiting for 1612980402.10, time is 1612980399.10 2021-02-10T18:06:39Z- sync is 0.78, coherence is 2.00 2021-02-10T18:06:40Z- AHRS_M2 msg: 1612980400.27 epoch sec; seqNo:1664 2021-02-10T18:06:40Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:40Z- waiting for 1612980402.10, time is 1612980399.10 2021-02-10T18:06:40Z- sync is 1.17, coherence is 2.00 2021-02-10T18:06:40Z- handleDepth()-Depth_Keller msg: 49.96 epoch sec; seqNo:1612980400278; depth 0.00 2021-02-10T18:06:40Z- waiting for 1612980402.10, time is 1612980399.10 2021-02-10T18:06:40Z- sync is 1.17, coherence is 2.00 2021-02-10T18:06:40Z- handleDvl() - RDI_Pathfinder msg: 1612980400.29 epoch sec; seqNo:677 2021-02-10T18:06:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.80 , 34.62 , 34.01 , 31.56 2021-02-10T18:06:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.02 , 0.01 2021-02-10T18:06:40Z- waiting for 1612980402.10, time is 1612980400.29 2021-02-10T18:06:40Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980400.30 epoch sec; seqNo:1674; 4061679.38 north; 594370.89 east 2021-02-10T18:06:40Z- waiting for 1612980402.10, time is 1612980400.29 2021-02-10T18:06:40Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:40Z- AHRS_M2 msg: 1612980400.68 epoch sec; seqNo:1665 2021-02-10T18:06:40Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:40Z- waiting for 1612980402.10, time is 1612980400.29 2021-02-10T18:06:40Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:40Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1612980400680; depth 0.00 2021-02-10T18:06:40Z- waiting for 1612980402.10, time is 1612980400.29 2021-02-10T18:06:40Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980400.70 epoch sec; seqNo:1675; 4061679.39 north; 594372.11 east 2021-02-10T18:06:40Z- waiting for 1612980402.10, time is 1612980400.29 2021-02-10T18:06:40Z- sync is 0.41, coherence is 2.00 2021-02-10T18:06:41Z- AHRS_M2 msg: 1612980401.09 epoch sec; seqNo:1666 2021-02-10T18:06:41Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:41Z- waiting for 1612980402.10, time is 1612980400.29 2021-02-10T18:06:41Z- sync is 0.80, coherence is 2.00 2021-02-10T18:06:41Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1612980401090; depth 0.00 2021-02-10T18:06:41Z- waiting for 1612980402.10, time is 1612980400.29 2021-02-10T18:06:41Z- sync is 0.80, coherence is 2.00 2021-02-10T18:06:41Z- handleDvl() - RDI_Pathfinder msg: 1612980401.10 epoch sec; seqNo:678 2021-02-10T18:06:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.65 , 34.01 , 34.62 , 31.25 2021-02-10T18:06:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.04 , 0.01 2021-02-10T18:06:41Z- waiting for 1612980402.10, time is 1612980401.10 2021-02-10T18:06:41Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980401.12 epoch sec; seqNo:1676; 4061679.39 north; 594372.11 east 2021-02-10T18:06:41Z- waiting for 1612980402.10, time is 1612980401.10 2021-02-10T18:06:41Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:41Z- AHRS_M2 msg: 1612980401.48 epoch sec; seqNo:1667 2021-02-10T18:06:41Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:41Z- waiting for 1612980402.10, time is 1612980401.10 2021-02-10T18:06:41Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:41Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1612980401488; depth 0.00 2021-02-10T18:06:41Z- waiting for 1612980402.10, time is 1612980401.10 2021-02-10T18:06:41Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980401.50 epoch sec; seqNo:1677; 4061679.39 north; 594372.11 east 2021-02-10T18:06:41Z- waiting for 1612980402.10, time is 1612980401.10 2021-02-10T18:06:41Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:41Z- AHRS_M2 msg: 1612980401.89 epoch sec; seqNo:1668 2021-02-10T18:06:41Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:41Z- waiting for 1612980402.10, time is 1612980401.10 2021-02-10T18:06:41Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:41Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1612980401892; depth 0.00 2021-02-10T18:06:41Z- waiting for 1612980402.10, time is 1612980401.10 2021-02-10T18:06:41Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980401.91 epoch sec; seqNo:1678; 4061679.41 north; 594373.33 east 2021-02-10T18:06:41Z- waiting for 1612980402.10, time is 1612980401.10 2021-02-10T18:06:41Z- sync is 0.81, coherence is 2.00 2021-02-10T18:06:42Z- AHRS_M2 msg: 1612980402.29 epoch sec; seqNo:1669 2021-02-10T18:06:42Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:42Z- waiting for 1612980402.10, time is 1612980401.10 2021-02-10T18:06:42Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:42Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1612980402301; depth 0.00 2021-02-10T18:06:42Z- waiting for 1612980402.10, time is 1612980401.10 2021-02-10T18:06:42Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:42Z- handleDvl() - RDI_Pathfinder msg: 1612980402.31 epoch sec; seqNo:679 2021-02-10T18:06:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.11 , 33.70 , 18.23 , 31.56 2021-02-10T18:06:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.03 , 0.00 2021-02-10T18:06:42Z- waiting for 1612980402.10, time is 1612980402.31 2021-02-10T18:06:42Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:42Z- LcmTrn::updateTrn() >>>> pose time 1612980402.29, meas time 1612980402.31 <<<< 2021-02-10T18:06:42Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980402.31 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:06:42Z- TerrainNav::motionUpdate() - currEstimate = (4061679, 594373.33, 49.83) 2021-02-10T18:06:42Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:06:42Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:06:42Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:06:42Z- TNavBF::mmse selected from filter -1 2021-02-10T18:06:42Z- variances([0], [2], and psi_berg) = 790.128983 833.083690 0.000000 2021-02-10T18:06:42Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:06:42Z- LcmTrn::cycle() - MLE : 4061652.91 594325.83 49.83 2021-02-10T18:06:42Z- LcmTrn::cycle() - MMSE : 4061679.41 594373.33 49.83 2021-02-10T18:06:42Z- LcmTrn::cycle() - COVAR: 790.13 833.08 53.39 0.00 2021-02-10T18:06:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980402.33 epoch sec; seqNo:1679; 4061679.41 north; 594373.33 east 2021-02-10T18:06:42Z- waiting for 1612980405.31, time is 1612980402.31 2021-02-10T18:06:42Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:42Z- AHRS_M2 msg: 1612980402.70 epoch sec; seqNo:1670 2021-02-10T18:06:42Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:42Z- waiting for 1612980405.31, time is 1612980402.31 2021-02-10T18:06:42Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:42Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1612980402700; depth 0.00 2021-02-10T18:06:42Z- waiting for 1612980405.31, time is 1612980402.31 2021-02-10T18:06:42Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980402.71 epoch sec; seqNo:1680; 4061679.41 north; 594373.33 east 2021-02-10T18:06:42Z- waiting for 1612980405.31, time is 1612980402.31 2021-02-10T18:06:42Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:43Z- AHRS_M2 msg: 1612980403.10 epoch sec; seqNo:1671 2021-02-10T18:06:43Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.16 psi 2021-02-10T18:06:43Z- waiting for 1612980405.31, time is 1612980402.31 2021-02-10T18:06:43Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:43Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1612980403105; depth 0.00 2021-02-10T18:06:43Z- waiting for 1612980405.31, time is 1612980402.31 2021-02-10T18:06:43Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:43Z- handleDvl() - RDI_Pathfinder msg: 1612980403.12 epoch sec; seqNo:680 2021-02-10T18:06:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.55 , 33.50 , 18.25 , 31.73 2021-02-10T18:06:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.02 , 0.01 2021-02-10T18:06:43Z- waiting for 1612980405.31, time is 1612980403.12 2021-02-10T18:06:43Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980403.13 epoch sec; seqNo:1681; 4061679.42 north; 594374.55 east 2021-02-10T18:06:43Z- waiting for 1612980405.31, time is 1612980403.12 2021-02-10T18:06:43Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:43Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1612980403525; depth 0.00 2021-02-10T18:06:43Z- waiting for 1612980405.31, time is 1612980403.12 2021-02-10T18:06:43Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980403.54 epoch sec; seqNo:1682; 4061679.42 north; 594374.55 east 2021-02-10T18:06:43Z- waiting for 1612980405.31, time is 1612980403.12 2021-02-10T18:06:43Z- sync is 0.42, coherence is 2.00 2021-02-10T18:06:43Z- AHRS_M2 msg: 1612980403.91 epoch sec; seqNo:1672 2021-02-10T18:06:43Z- AHRS_M2 msg: 1.48 phi; 0.03 theta; -0.16 psi 2021-02-10T18:06:43Z- waiting for 1612980405.31, time is 1612980403.12 2021-02-10T18:06:43Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:43Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1612980403916; depth 0.00 2021-02-10T18:06:43Z- waiting for 1612980405.31, time is 1612980403.12 2021-02-10T18:06:43Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980403.92 epoch sec; seqNo:1683; 4061679.42 north; 594374.55 east 2021-02-10T18:06:43Z- waiting for 1612980405.31, time is 1612980403.12 2021-02-10T18:06:43Z- sync is 0.81, coherence is 2.00 2021-02-10T18:06:44Z- AHRS_M2 msg: 1612980404.31 epoch sec; seqNo:1673 2021-02-10T18:06:44Z- AHRS_M2 msg: 1.48 phi; 0.03 theta; -0.16 psi 2021-02-10T18:06:44Z- waiting for 1612980405.31, time is 1612980403.12 2021-02-10T18:06:44Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:44Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1612980404316; depth 0.00 2021-02-10T18:06:44Z- waiting for 1612980405.31, time is 1612980403.12 2021-02-10T18:06:44Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:44Z- handleDvl() - RDI_Pathfinder msg: 1612980404.33 epoch sec; seqNo:681 2021-02-10T18:06:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.68 , 33.22 , 35.68 , 31.86 2021-02-10T18:06:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.03 , 0.01 2021-02-10T18:06:44Z- waiting for 1612980405.31, time is 1612980404.33 2021-02-10T18:06:44Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980404.34 epoch sec; seqNo:1684; 4061679.43 north; 594375.77 east 2021-02-10T18:06:44Z- waiting for 1612980405.31, time is 1612980404.33 2021-02-10T18:06:44Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:44Z- AHRS_M2 msg: 1612980404.72 epoch sec; seqNo:1674 2021-02-10T18:06:44Z- AHRS_M2 msg: 1.48 phi; 0.03 theta; -0.16 psi 2021-02-10T18:06:44Z- waiting for 1612980405.31, time is 1612980404.33 2021-02-10T18:06:44Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:44Z- handleDepth()-Depth_Keller msg: 49.71 epoch sec; seqNo:1612980404733; depth 0.00 2021-02-10T18:06:44Z- waiting for 1612980405.31, time is 1612980404.33 2021-02-10T18:06:44Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980404.74 epoch sec; seqNo:1685; 4061679.81 north; 594375.76 east 2021-02-10T18:06:44Z- waiting for 1612980405.31, time is 1612980404.33 2021-02-10T18:06:44Z- sync is 0.42, coherence is 2.00 2021-02-10T18:06:45Z- AHRS_M2 msg: 1612980405.12 epoch sec; seqNo:1675 2021-02-10T18:06:45Z- AHRS_M2 msg: 1.48 phi; 0.02 theta; -0.16 psi 2021-02-10T18:06:45Z- waiting for 1612980405.31, time is 1612980404.33 2021-02-10T18:06:45Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:45Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1612980405129; depth 0.00 2021-02-10T18:06:45Z- waiting for 1612980405.31, time is 1612980404.33 2021-02-10T18:06:45Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:45Z- handleDvl() - RDI_Pathfinder msg: 1612980405.14 epoch sec; seqNo:682 2021-02-10T18:06:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.87 , 33.55 , 35.69 , 32.02 2021-02-10T18:06:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.03 , 0.02 2021-02-10T18:06:45Z- waiting for 1612980405.31, time is 1612980405.14 2021-02-10T18:06:45Z- sync is 0.03, coherence is 2.00 2021-02-10T18:06:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980405.15 epoch sec; seqNo:1686; 4061679.81 north; 594375.76 east 2021-02-10T18:06:45Z- waiting for 1612980405.31, time is 1612980405.14 2021-02-10T18:06:45Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:45Z- AHRS_M2 msg: 1612980405.52 epoch sec; seqNo:1676 2021-02-10T18:06:45Z- AHRS_M2 msg: 1.48 phi; 0.02 theta; -0.16 psi 2021-02-10T18:06:45Z- waiting for 1612980405.31, time is 1612980405.14 2021-02-10T18:06:45Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:45Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1612980405528; depth 0.00 2021-02-10T18:06:45Z- waiting for 1612980405.31, time is 1612980405.14 2021-02-10T18:06:45Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980405.54 epoch sec; seqNo:1687; 4061679.83 north; 594376.98 east 2021-02-10T18:06:45Z- waiting for 1612980405.31, time is 1612980405.14 2021-02-10T18:06:45Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:45Z- AHRS_M2 msg: 1612980405.93 epoch sec; seqNo:1677 2021-02-10T18:06:45Z- AHRS_M2 msg: 1.48 phi; 0.02 theta; -0.17 psi 2021-02-10T18:06:45Z- waiting for 1612980405.31, time is 1612980405.14 2021-02-10T18:06:45Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:45Z- handleDepth()-Depth_Keller msg: 49.64 epoch sec; seqNo:1612980405941; depth 0.00 2021-02-10T18:06:45Z- waiting for 1612980405.31, time is 1612980405.14 2021-02-10T18:06:45Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980405.95 epoch sec; seqNo:1688; 4061679.83 north; 594376.98 east 2021-02-10T18:06:45Z- waiting for 1612980405.31, time is 1612980405.14 2021-02-10T18:06:45Z- sync is 0.81, coherence is 2.00 2021-02-10T18:06:46Z- AHRS_M2 msg: 1612980406.33 epoch sec; seqNo:1678 2021-02-10T18:06:46Z- AHRS_M2 msg: 1.48 phi; 0.02 theta; -0.17 psi 2021-02-10T18:06:46Z- waiting for 1612980405.31, time is 1612980405.14 2021-02-10T18:06:46Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:46Z- handleDepth()-Depth_Keller msg: 49.63 epoch sec; seqNo:1612980406342; depth 0.00 2021-02-10T18:06:46Z- waiting for 1612980405.31, time is 1612980405.14 2021-02-10T18:06:46Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:46Z- handleDvl() - RDI_Pathfinder msg: 1612980406.35 epoch sec; seqNo:683 2021-02-10T18:06:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.72 , 34.01 , 36.00 , 32.02 2021-02-10T18:06:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.03 , 0.03 2021-02-10T18:06:46Z- waiting for 1612980405.31, time is 1612980406.35 2021-02-10T18:06:46Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:46Z- LcmTrn::updateTrn() >>>> pose time 1612980406.33, meas time 1612980406.35 <<<< 2021-02-10T18:06:46Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980406.35 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:06:46Z- TerrainNav::motionUpdate() - currEstimate = (4061680, 594376.98, 49.63) 2021-02-10T18:06:46Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:06:46Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:06:46Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:06:46Z- TNavBF::mmse selected from filter -1 2021-02-10T18:06:46Z- variances([0], [2], and psi_berg) = 789.952892 833.083384 0.000000 2021-02-10T18:06:46Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:06:46Z- LcmTrn::cycle() - MLE : 4061653.33 594330.48 49.63 2021-02-10T18:06:46Z- LcmTrn::cycle() - MMSE : 4061679.83 594376.98 49.63 2021-02-10T18:06:46Z- LcmTrn::cycle() - COVAR: 789.95 833.08 53.58 0.00 2021-02-10T18:06:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980406.36 epoch sec; seqNo:1689; 4061679.83 north; 594376.98 east 2021-02-10T18:06:46Z- waiting for 1612980409.35, time is 1612980406.35 2021-02-10T18:06:46Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:46Z- AHRS_M2 msg: 1612980406.74 epoch sec; seqNo:1679 2021-02-10T18:06:46Z- AHRS_M2 msg: 1.48 phi; 0.02 theta; -0.17 psi 2021-02-10T18:06:46Z- waiting for 1612980409.35, time is 1612980406.35 2021-02-10T18:06:46Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:46Z- handleDepth()-Depth_Keller msg: 49.61 epoch sec; seqNo:1612980406749; depth 0.00 2021-02-10T18:06:46Z- waiting for 1612980409.35, time is 1612980406.35 2021-02-10T18:06:46Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980406.78 epoch sec; seqNo:1690; 4061679.84 north; 594378.20 east 2021-02-10T18:06:46Z- waiting for 1612980409.35, time is 1612980406.35 2021-02-10T18:06:46Z- sync is 0.42, coherence is 2.00 2021-02-10T18:06:47Z- AHRS_M2 msg: 1612980407.14 epoch sec; seqNo:1680 2021-02-10T18:06:47Z- AHRS_M2 msg: 1.49 phi; 0.01 theta; -0.17 psi 2021-02-10T18:06:47Z- waiting for 1612980409.35, time is 1612980406.35 2021-02-10T18:06:47Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:47Z- handleDepth()-Depth_Keller msg: 49.60 epoch sec; seqNo:1612980407144; depth 0.00 2021-02-10T18:06:47Z- waiting for 1612980409.35, time is 1612980406.35 2021-02-10T18:06:47Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:47Z- handleDvl() - RDI_Pathfinder msg: 1612980407.16 epoch sec; seqNo:684 2021-02-10T18:06:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.18 , 34.01 , 35.39 , 32.02 2021-02-10T18:06:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.04 , 0.03 2021-02-10T18:06:47Z- waiting for 1612980409.35, time is 1612980407.16 2021-02-10T18:06:47Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980407.17 epoch sec; seqNo:1691; 4061679.84 north; 594378.20 east 2021-02-10T18:06:47Z- waiting for 1612980409.35, time is 1612980407.16 2021-02-10T18:06:47Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:47Z- AHRS_M2 msg: 1612980407.55 epoch sec; seqNo:1681 2021-02-10T18:06:47Z- AHRS_M2 msg: 1.49 phi; 0.01 theta; -0.17 psi 2021-02-10T18:06:47Z- waiting for 1612980409.35, time is 1612980407.16 2021-02-10T18:06:47Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:47Z- handleDepth()-Depth_Keller msg: 49.58 epoch sec; seqNo:1612980407550; depth 0.00 2021-02-10T18:06:47Z- waiting for 1612980409.35, time is 1612980407.16 2021-02-10T18:06:47Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980407.56 epoch sec; seqNo:1692; 4061679.84 north; 594378.20 east 2021-02-10T18:06:47Z- waiting for 1612980409.35, time is 1612980407.16 2021-02-10T18:06:47Z- sync is 0.41, coherence is 2.00 2021-02-10T18:06:47Z- AHRS_M2 msg: 1612980407.95 epoch sec; seqNo:1682 2021-02-10T18:06:47Z- AHRS_M2 msg: 1.49 phi; 0.01 theta; -0.17 psi 2021-02-10T18:06:47Z- waiting for 1612980409.35, time is 1612980407.16 2021-02-10T18:06:47Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:47Z- handleDepth()-Depth_Keller msg: 49.56 epoch sec; seqNo:1612980407953; depth 0.00 2021-02-10T18:06:47Z- waiting for 1612980409.35, time is 1612980407.16 2021-02-10T18:06:47Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980407.97 epoch sec; seqNo:1693; 4061679.84 north; 594378.20 east 2021-02-10T18:06:47Z- waiting for 1612980409.35, time is 1612980407.16 2021-02-10T18:06:47Z- sync is 0.81, coherence is 2.00 2021-02-10T18:06:48Z- AHRS_M2 msg: 1612980408.36 epoch sec; seqNo:1683 2021-02-10T18:06:48Z- AHRS_M2 msg: 1.49 phi; 0.01 theta; -0.17 psi 2021-02-10T18:06:48Z- waiting for 1612980409.35, time is 1612980407.16 2021-02-10T18:06:48Z- sync is 1.20, coherence is 2.00 2021-02-10T18:06:48Z- handleDepth()-Depth_Keller msg: 49.56 epoch sec; seqNo:1612980408362; depth 0.00 2021-02-10T18:06:48Z- waiting for 1612980409.35, time is 1612980407.16 2021-02-10T18:06:48Z- sync is 1.20, coherence is 2.00 2021-02-10T18:06:48Z- handleDvl() - RDI_Pathfinder msg: 1612980408.37 epoch sec; seqNo:685 2021-02-10T18:06:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.18 , 35.54 , 36.15 , 32.32 2021-02-10T18:06:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.02 , 0.03 2021-02-10T18:06:48Z- waiting for 1612980409.35, time is 1612980408.37 2021-02-10T18:06:48Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980408.38 epoch sec; seqNo:1694; 4061679.85 north; 594379.43 east 2021-02-10T18:06:48Z- waiting for 1612980409.35, time is 1612980408.37 2021-02-10T18:06:48Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:48Z- AHRS_M2 msg: 1612980408.77 epoch sec; seqNo:1684 2021-02-10T18:06:48Z- AHRS_M2 msg: 1.49 phi; 0.01 theta; -0.16 psi 2021-02-10T18:06:48Z- waiting for 1612980409.35, time is 1612980408.37 2021-02-10T18:06:48Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:48Z- handleDepth()-Depth_Keller msg: 49.54 epoch sec; seqNo:1612980408772; depth 0.00 2021-02-10T18:06:48Z- waiting for 1612980409.35, time is 1612980408.37 2021-02-10T18:06:48Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980408.79 epoch sec; seqNo:1695; 4061679.85 north; 594379.43 east 2021-02-10T18:06:48Z- waiting for 1612980409.35, time is 1612980408.37 2021-02-10T18:06:48Z- sync is 0.41, coherence is 2.00 2021-02-10T18:06:49Z- AHRS_M2 msg: 1612980409.16 epoch sec; seqNo:1685 2021-02-10T18:06:49Z- AHRS_M2 msg: 1.49 phi; 0.01 theta; -0.16 psi 2021-02-10T18:06:49Z- waiting for 1612980409.35, time is 1612980408.37 2021-02-10T18:06:49Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:49Z- handleDepth()-Depth_Keller msg: 49.51 epoch sec; seqNo:1612980409164; depth 0.00 2021-02-10T18:06:49Z- waiting for 1612980409.35, time is 1612980408.37 2021-02-10T18:06:49Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:49Z- handleDvl() - RDI_Pathfinder msg: 1612980409.18 epoch sec; seqNo:686 2021-02-10T18:06:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.33 , 36.61 , 36.00 , 32.32 2021-02-10T18:06:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.03 , 0.03 2021-02-10T18:06:49Z- waiting for 1612980409.35, time is 1612980409.18 2021-02-10T18:06:49Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980409.19 epoch sec; seqNo:1696; 4061679.85 north; 594379.43 east 2021-02-10T18:06:49Z- waiting for 1612980409.35, time is 1612980409.18 2021-02-10T18:06:49Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:49Z- AHRS_M2 msg: 1612980409.56 epoch sec; seqNo:1686 2021-02-10T18:06:49Z- AHRS_M2 msg: 1.50 phi; 0.00 theta; -0.16 psi 2021-02-10T18:06:49Z- waiting for 1612980409.35, time is 1612980409.18 2021-02-10T18:06:49Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:49Z- handleDepth()-Depth_Keller msg: 49.51 epoch sec; seqNo:1612980409568; depth 0.00 2021-02-10T18:06:49Z- waiting for 1612980409.35, time is 1612980409.18 2021-02-10T18:06:49Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980409.58 epoch sec; seqNo:1697; 4061679.87 north; 594380.65 east 2021-02-10T18:06:49Z- waiting for 1612980409.35, time is 1612980409.18 2021-02-10T18:06:49Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:49Z- AHRS_M2 msg: 1612980409.97 epoch sec; seqNo:1687 2021-02-10T18:06:49Z- AHRS_M2 msg: 1.50 phi; 0.00 theta; -0.16 psi 2021-02-10T18:06:49Z- waiting for 1612980409.35, time is 1612980409.18 2021-02-10T18:06:49Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:49Z- handleDepth()-Depth_Keller msg: 49.50 epoch sec; seqNo:1612980409977; depth 0.00 2021-02-10T18:06:49Z- waiting for 1612980409.35, time is 1612980409.18 2021-02-10T18:06:49Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980409.98 epoch sec; seqNo:1698; 4061679.87 north; 594380.65 east 2021-02-10T18:06:49Z- waiting for 1612980409.35, time is 1612980409.18 2021-02-10T18:06:49Z- sync is 0.80, coherence is 2.00 2021-02-10T18:06:50Z- AHRS_M2 msg: 1612980410.38 epoch sec; seqNo:1688 2021-02-10T18:06:50Z- AHRS_M2 msg: 1.50 phi; 0.00 theta; -0.16 psi 2021-02-10T18:06:50Z- waiting for 1612980409.35, time is 1612980409.18 2021-02-10T18:06:50Z- sync is 1.20, coherence is 2.00 2021-02-10T18:06:50Z- handleDepth()-Depth_Keller msg: 49.49 epoch sec; seqNo:1612980410382; depth 0.00 2021-02-10T18:06:50Z- waiting for 1612980409.35, time is 1612980409.18 2021-02-10T18:06:50Z- sync is 1.20, coherence is 2.00 2021-02-10T18:06:50Z- handleDvl() - RDI_Pathfinder msg: 1612980410.39 epoch sec; seqNo:687 2021-02-10T18:06:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.64 , 36.31 , 35.85 , 32.32 2021-02-10T18:06:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.02 , 0.02 2021-02-10T18:06:50Z- waiting for 1612980409.35, time is 1612980410.39 2021-02-10T18:06:50Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:50Z- LcmTrn::updateTrn() >>>> pose time 1612980410.38, meas time 1612980410.39 <<<< 2021-02-10T18:06:50Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980410.39 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:06:50Z- TerrainNav::motionUpdate() - currEstimate = (4061680, 594380.65, 49.49) 2021-02-10T18:06:50Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:06:50Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:06:50Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:06:50Z- TNavBF::mmse selected from filter -1 2021-02-10T18:06:50Z- variances([0], [2], and psi_berg) = 789.777869 833.083081 0.000000 2021-02-10T18:06:50Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:06:50Z- LcmTrn::cycle() - MLE : 4061653.37 594334.15 49.49 2021-02-10T18:06:50Z- LcmTrn::cycle() - MMSE : 4061679.87 594380.65 49.49 2021-02-10T18:06:50Z- LcmTrn::cycle() - COVAR: 789.78 833.08 53.77 0.00 2021-02-10T18:06:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980410.40 epoch sec; seqNo:1699; 4061679.87 north; 594380.65 east 2021-02-10T18:06:50Z- waiting for 1612980413.39, time is 1612980410.39 2021-02-10T18:06:50Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:50Z- AHRS_M2 msg: 1612980410.78 epoch sec; seqNo:1689 2021-02-10T18:06:50Z- AHRS_M2 msg: 1.50 phi; 0.00 theta; -0.16 psi 2021-02-10T18:06:50Z- waiting for 1612980413.39, time is 1612980410.39 2021-02-10T18:06:50Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:50Z- handleDepth()-Depth_Keller msg: 49.47 epoch sec; seqNo:1612980410799; depth 0.00 2021-02-10T18:06:50Z- waiting for 1612980413.39, time is 1612980410.39 2021-02-10T18:06:50Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980410.81 epoch sec; seqNo:1700; 4061679.88 north; 594381.87 east 2021-02-10T18:06:50Z- waiting for 1612980413.39, time is 1612980410.39 2021-02-10T18:06:50Z- sync is 0.42, coherence is 2.00 2021-02-10T18:06:51Z- AHRS_M2 msg: 1612980411.18 epoch sec; seqNo:1690 2021-02-10T18:06:51Z- AHRS_M2 msg: 1.50 phi; -0.00 theta; -0.16 psi 2021-02-10T18:06:51Z- waiting for 1612980413.39, time is 1612980410.39 2021-02-10T18:06:51Z- sync is 0.78, coherence is 2.00 2021-02-10T18:06:51Z- handleDepth()-Depth_Keller msg: 49.47 epoch sec; seqNo:1612980411185; depth 0.00 2021-02-10T18:06:51Z- waiting for 1612980413.39, time is 1612980410.39 2021-02-10T18:06:51Z- sync is 0.78, coherence is 2.00 2021-02-10T18:06:51Z- handleDvl() - RDI_Pathfinder msg: 1612980411.20 epoch sec; seqNo:688 2021-02-10T18:06:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.10 , 36.31 , 35.69 , 32.48 2021-02-10T18:06:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.01 , 0.01 2021-02-10T18:06:51Z- waiting for 1612980413.39, time is 1612980411.20 2021-02-10T18:06:51Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980411.21 epoch sec; seqNo:1701; 4061679.88 north; 594381.87 east 2021-02-10T18:06:51Z- waiting for 1612980413.39, time is 1612980411.20 2021-02-10T18:06:51Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:51Z- AHRS_M2 msg: 1612980411.58 epoch sec; seqNo:1691 2021-02-10T18:06:51Z- AHRS_M2 msg: 1.50 phi; -0.00 theta; -0.16 psi 2021-02-10T18:06:51Z- waiting for 1612980413.39, time is 1612980411.20 2021-02-10T18:06:51Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:51Z- handleDepth()-Depth_Keller msg: 49.45 epoch sec; seqNo:1612980411588; depth 0.00 2021-02-10T18:06:51Z- waiting for 1612980413.39, time is 1612980411.20 2021-02-10T18:06:51Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980411.60 epoch sec; seqNo:1702; 4061679.88 north; 594381.87 east 2021-02-10T18:06:51Z- waiting for 1612980413.39, time is 1612980411.20 2021-02-10T18:06:51Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:51Z- AHRS_M2 msg: 1612980411.99 epoch sec; seqNo:1692 2021-02-10T18:06:51Z- AHRS_M2 msg: 1.50 phi; -0.00 theta; -0.17 psi 2021-02-10T18:06:51Z- waiting for 1612980413.39, time is 1612980411.20 2021-02-10T18:06:51Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:52Z- handleDepth()-Depth_Keller msg: 49.43 epoch sec; seqNo:1612980412007; depth 0.00 2021-02-10T18:06:52Z- waiting for 1612980413.39, time is 1612980411.20 2021-02-10T18:06:52Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980412.02 epoch sec; seqNo:1703; 4061679.89 north; 594383.09 east 2021-02-10T18:06:52Z- waiting for 1612980413.39, time is 1612980411.20 2021-02-10T18:06:52Z- sync is 0.82, coherence is 2.00 2021-02-10T18:06:52Z- AHRS_M2 msg: 1612980412.39 epoch sec; seqNo:1693 2021-02-10T18:06:52Z- AHRS_M2 msg: 1.50 phi; -0.00 theta; -0.17 psi 2021-02-10T18:06:52Z- waiting for 1612980413.39, time is 1612980411.20 2021-02-10T18:06:52Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:52Z- handleDepth()-Depth_Keller msg: 49.44 epoch sec; seqNo:1612980412401; depth 0.00 2021-02-10T18:06:52Z- waiting for 1612980413.39, time is 1612980411.20 2021-02-10T18:06:52Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:52Z- handleDvl() - RDI_Pathfinder msg: 1612980412.41 epoch sec; seqNo:689 2021-02-10T18:06:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.25 , 36.46 , 35.84 , 32.47 2021-02-10T18:06:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.02 , 0.02 2021-02-10T18:06:52Z- waiting for 1612980413.39, time is 1612980412.41 2021-02-10T18:06:52Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980412.43 epoch sec; seqNo:1704; 4061679.89 north; 594383.09 east 2021-02-10T18:06:52Z- waiting for 1612980413.39, time is 1612980412.41 2021-02-10T18:06:52Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:52Z- AHRS_M2 msg: 1612980412.80 epoch sec; seqNo:1694 2021-02-10T18:06:52Z- AHRS_M2 msg: 1.50 phi; -0.01 theta; -0.17 psi 2021-02-10T18:06:52Z- waiting for 1612980413.39, time is 1612980412.41 2021-02-10T18:06:52Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:52Z- handleDepth()-Depth_Keller msg: 49.44 epoch sec; seqNo:1612980412807; depth 0.00 2021-02-10T18:06:52Z- waiting for 1612980413.39, time is 1612980412.41 2021-02-10T18:06:52Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980412.82 epoch sec; seqNo:1705; 4061680.27 north; 594383.08 east 2021-02-10T18:06:52Z- waiting for 1612980413.39, time is 1612980412.41 2021-02-10T18:06:52Z- sync is 0.41, coherence is 2.00 2021-02-10T18:06:53Z- AHRS_M2 msg: 1612980413.20 epoch sec; seqNo:1695 2021-02-10T18:06:53Z- AHRS_M2 msg: 1.50 phi; -0.01 theta; -0.17 psi 2021-02-10T18:06:53Z- waiting for 1612980413.39, time is 1612980412.41 2021-02-10T18:06:53Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:53Z- handleDepth()-Depth_Keller msg: 49.43 epoch sec; seqNo:1612980413206; depth 0.00 2021-02-10T18:06:53Z- waiting for 1612980413.39, time is 1612980412.41 2021-02-10T18:06:53Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:53Z- handleDvl() - RDI_Pathfinder msg: 1612980413.22 epoch sec; seqNo:690 2021-02-10T18:06:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.33 , 36.46 , 34.77 , 32.47 2021-02-10T18:06:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , 0.02 2021-02-10T18:06:53Z- waiting for 1612980413.39, time is 1612980413.22 2021-02-10T18:06:53Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980413.27 epoch sec; seqNo:1706; 4061680.29 north; 594384.30 east 2021-02-10T18:06:53Z- waiting for 1612980413.39, time is 1612980413.22 2021-02-10T18:06:53Z- sync is 0.05, coherence is 2.00 2021-02-10T18:06:53Z- AHRS_M2 msg: 1612980413.60 epoch sec; seqNo:1696 2021-02-10T18:06:53Z- AHRS_M2 msg: 1.50 phi; -0.01 theta; -0.17 psi 2021-02-10T18:06:53Z- waiting for 1612980413.39, time is 1612980413.22 2021-02-10T18:06:53Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:53Z- handleDepth()-Depth_Keller msg: 49.43 epoch sec; seqNo:1612980413608; depth 0.00 2021-02-10T18:06:53Z- waiting for 1612980413.39, time is 1612980413.22 2021-02-10T18:06:53Z- sync is 0.39, coherence is 2.00 2021-02-10T18:06:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980413.62 epoch sec; seqNo:1707; 4061680.29 north; 594384.30 east 2021-02-10T18:06:53Z- waiting for 1612980413.39, time is 1612980413.22 2021-02-10T18:06:53Z- sync is 0.41, coherence is 2.00 2021-02-10T18:06:54Z- AHRS_M2 msg: 1612980414.01 epoch sec; seqNo:1697 2021-02-10T18:06:54Z- AHRS_M2 msg: 1.50 phi; -0.01 theta; -0.18 psi 2021-02-10T18:06:54Z- waiting for 1612980413.39, time is 1612980413.22 2021-02-10T18:06:54Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:54Z- handleDepth()-Depth_Keller msg: 49.41 epoch sec; seqNo:1612980414017; depth 0.00 2021-02-10T18:06:54Z- waiting for 1612980413.39, time is 1612980413.22 2021-02-10T18:06:54Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980414.05 epoch sec; seqNo:1708; 4061680.29 north; 594384.30 east 2021-02-10T18:06:54Z- waiting for 1612980413.39, time is 1612980413.22 2021-02-10T18:06:54Z- sync is 0.83, coherence is 2.00 2021-02-10T18:06:54Z- AHRS_M2 msg: 1612980414.41 epoch sec; seqNo:1698 2021-02-10T18:06:54Z- AHRS_M2 msg: 1.50 phi; -0.01 theta; -0.18 psi 2021-02-10T18:06:54Z- waiting for 1612980413.39, time is 1612980413.22 2021-02-10T18:06:54Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:54Z- handleDepth()-Depth_Keller msg: 49.41 epoch sec; seqNo:1612980414421; depth 0.00 2021-02-10T18:06:54Z- waiting for 1612980413.39, time is 1612980413.22 2021-02-10T18:06:54Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:54Z- handleDvl() - RDI_Pathfinder msg: 1612980414.43 epoch sec; seqNo:691 2021-02-10T18:06:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.02 , 36.61 , 36.76 , 32.63 2021-02-10T18:06:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , 0.02 2021-02-10T18:06:54Z- waiting for 1612980413.39, time is 1612980414.43 2021-02-10T18:06:54Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:54Z- LcmTrn::updateTrn() >>>> pose time 1612980414.41, meas time 1612980414.43 <<<< 2021-02-10T18:06:54Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980414.43 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:06:54Z- TerrainNav::motionUpdate() - currEstimate = (4061680, 594384.30, 49.41) 2021-02-10T18:06:54Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:06:54Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:06:54Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:06:54Z- TNavBF::mmse selected from filter -1 2021-02-10T18:06:54Z- variances([0], [2], and psi_berg) = 789.602974 833.082779 0.000000 2021-02-10T18:06:54Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:06:54Z- LcmTrn::cycle() - MLE : 4061653.79 594337.80 49.41 2021-02-10T18:06:54Z- LcmTrn::cycle() - MMSE : 4061680.29 594384.30 49.41 2021-02-10T18:06:54Z- LcmTrn::cycle() - COVAR: 789.60 833.08 53.95 0.00 2021-02-10T18:06:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980414.44 epoch sec; seqNo:1709; 4061680.29 north; 594384.30 east 2021-02-10T18:06:54Z- waiting for 1612980417.43, time is 1612980414.43 2021-02-10T18:06:54Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:54Z- AHRS_M2 msg: 1612980414.82 epoch sec; seqNo:1699 2021-02-10T18:06:54Z- AHRS_M2 msg: 1.50 phi; -0.01 theta; -0.18 psi 2021-02-10T18:06:54Z- waiting for 1612980417.43, time is 1612980414.43 2021-02-10T18:06:54Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:54Z- handleDepth()-Depth_Keller msg: 49.38 epoch sec; seqNo:1612980414825; depth 0.00 2021-02-10T18:06:54Z- waiting for 1612980417.43, time is 1612980414.43 2021-02-10T18:06:54Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980414.84 epoch sec; seqNo:1710; 4061680.30 north; 594385.52 east 2021-02-10T18:06:54Z- waiting for 1612980417.43, time is 1612980414.43 2021-02-10T18:06:54Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:55Z- AHRS_M2 msg: 1612980415.22 epoch sec; seqNo:1700 2021-02-10T18:06:55Z- AHRS_M2 msg: 1.50 phi; -0.01 theta; -0.18 psi 2021-02-10T18:06:55Z- waiting for 1612980417.43, time is 1612980414.43 2021-02-10T18:06:55Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:55Z- handleDepth()-Depth_Keller msg: 49.39 epoch sec; seqNo:1612980415225; depth 0.00 2021-02-10T18:06:55Z- waiting for 1612980417.43, time is 1612980414.43 2021-02-10T18:06:55Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:55Z- handleDvl() - RDI_Pathfinder msg: 1612980415.24 epoch sec; seqNo:692 2021-02-10T18:06:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.02 , 37.07 , 36.46 , 32.94 2021-02-10T18:06:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.01 , 0.02 2021-02-10T18:06:55Z- waiting for 1612980417.43, time is 1612980415.24 2021-02-10T18:06:55Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980415.25 epoch sec; seqNo:1711; 4061680.30 north; 594385.52 east 2021-02-10T18:06:55Z- waiting for 1612980417.43, time is 1612980415.24 2021-02-10T18:06:55Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:55Z- AHRS_M2 msg: 1612980415.62 epoch sec; seqNo:1701 2021-02-10T18:06:55Z- AHRS_M2 msg: 1.50 phi; -0.01 theta; -0.18 psi 2021-02-10T18:06:55Z- waiting for 1612980417.43, time is 1612980415.24 2021-02-10T18:06:55Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:55Z- handleDepth()-Depth_Keller msg: 49.38 epoch sec; seqNo:1612980415628; depth 0.00 2021-02-10T18:06:55Z- waiting for 1612980417.43, time is 1612980415.24 2021-02-10T18:06:55Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980415.64 epoch sec; seqNo:1712; 4061680.30 north; 594385.52 east 2021-02-10T18:06:55Z- waiting for 1612980417.43, time is 1612980415.24 2021-02-10T18:06:55Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:56Z- AHRS_M2 msg: 1612980416.04 epoch sec; seqNo:1702 2021-02-10T18:06:56Z- AHRS_M2 msg: 1.50 phi; -0.01 theta; -0.18 psi 2021-02-10T18:06:56Z- waiting for 1612980417.43, time is 1612980415.24 2021-02-10T18:06:56Z- sync is 0.80, coherence is 2.00 2021-02-10T18:06:56Z- handleDepth()-Depth_Keller msg: 49.40 epoch sec; seqNo:1612980416051; depth 0.00 2021-02-10T18:06:56Z- waiting for 1612980417.43, time is 1612980415.24 2021-02-10T18:06:56Z- sync is 0.80, coherence is 2.00 2021-02-10T18:06:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980416.08 epoch sec; seqNo:1713; 4061680.31 north; 594386.74 east 2021-02-10T18:06:56Z- waiting for 1612980417.43, time is 1612980415.24 2021-02-10T18:06:56Z- sync is 0.83, coherence is 2.00 2021-02-10T18:06:56Z- AHRS_M2 msg: 1612980416.43 epoch sec; seqNo:1703 2021-02-10T18:06:56Z- AHRS_M2 msg: 1.50 phi; -0.02 theta; -0.18 psi 2021-02-10T18:06:56Z- waiting for 1612980417.43, time is 1612980415.24 2021-02-10T18:06:56Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:56Z- handleDepth()-Depth_Keller msg: 49.38 epoch sec; seqNo:1612980416436; depth 0.00 2021-02-10T18:06:56Z- waiting for 1612980417.43, time is 1612980415.24 2021-02-10T18:06:56Z- sync is 1.19, coherence is 2.00 2021-02-10T18:06:56Z- handleDvl() - RDI_Pathfinder msg: 1612980416.45 epoch sec; seqNo:693 2021-02-10T18:06:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.17 , 37.22 , 36.76 , 32.78 2021-02-10T18:06:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.03 , 0.03 2021-02-10T18:06:56Z- waiting for 1612980417.43, time is 1612980416.45 2021-02-10T18:06:56Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980416.46 epoch sec; seqNo:1714; 4061680.31 north; 594386.74 east 2021-02-10T18:06:56Z- waiting for 1612980417.43, time is 1612980416.45 2021-02-10T18:06:56Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:56Z- AHRS_M2 msg: 1612980416.84 epoch sec; seqNo:1704 2021-02-10T18:06:56Z- AHRS_M2 msg: 1.50 phi; -0.02 theta; -0.18 psi 2021-02-10T18:06:56Z- waiting for 1612980417.43, time is 1612980416.45 2021-02-10T18:06:56Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:56Z- handleDepth()-Depth_Keller msg: 49.38 epoch sec; seqNo:1612980416841; depth 0.00 2021-02-10T18:06:56Z- waiting for 1612980417.43, time is 1612980416.45 2021-02-10T18:06:56Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980416.85 epoch sec; seqNo:1715; 4061680.31 north; 594386.74 east 2021-02-10T18:06:56Z- waiting for 1612980417.43, time is 1612980416.45 2021-02-10T18:06:56Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:57Z- AHRS_M2 msg: 1612980417.24 epoch sec; seqNo:1705 2021-02-10T18:06:57Z- AHRS_M2 msg: 1.50 phi; -0.02 theta; -0.18 psi 2021-02-10T18:06:57Z- waiting for 1612980417.43, time is 1612980416.45 2021-02-10T18:06:57Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:57Z- handleDepth()-Depth_Keller msg: 49.38 epoch sec; seqNo:1612980417249; depth 0.00 2021-02-10T18:06:57Z- waiting for 1612980417.43, time is 1612980416.45 2021-02-10T18:06:57Z- sync is 0.79, coherence is 2.00 2021-02-10T18:06:57Z- handleDvl() - RDI_Pathfinder msg: 1612980417.26 epoch sec; seqNo:694 2021-02-10T18:06:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.33 , 37.53 , 36.61 , 32.78 2021-02-10T18:06:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.04 , 0.03 2021-02-10T18:06:57Z- waiting for 1612980417.43, time is 1612980417.26 2021-02-10T18:06:57Z- sync is 0.02, coherence is 2.00 2021-02-10T18:06:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980417.27 epoch sec; seqNo:1716; 4061680.33 north; 594387.96 east 2021-02-10T18:06:57Z- waiting for 1612980417.43, time is 1612980417.26 2021-02-10T18:06:57Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:57Z- AHRS_M2 msg: 1612980417.64 epoch sec; seqNo:1706 2021-02-10T18:06:57Z- AHRS_M2 msg: 1.50 phi; -0.02 theta; -0.18 psi 2021-02-10T18:06:57Z- waiting for 1612980417.43, time is 1612980417.26 2021-02-10T18:06:57Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:57Z- handleDepth()-Depth_Keller msg: 49.38 epoch sec; seqNo:1612980417651; depth 0.00 2021-02-10T18:06:57Z- waiting for 1612980417.43, time is 1612980417.26 2021-02-10T18:06:57Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980417.66 epoch sec; seqNo:1717; 4061680.33 north; 594387.96 east 2021-02-10T18:06:57Z- waiting for 1612980417.43, time is 1612980417.26 2021-02-10T18:06:57Z- sync is 0.40, coherence is 2.00 2021-02-10T18:06:58Z- AHRS_M2 msg: 1612980418.06 epoch sec; seqNo:1707 2021-02-10T18:06:58Z- AHRS_M2 msg: 1.50 phi; -0.02 theta; -0.18 psi 2021-02-10T18:06:58Z- waiting for 1612980417.43, time is 1612980417.26 2021-02-10T18:06:58Z- sync is 0.80, coherence is 2.00 2021-02-10T18:06:58Z- handleDepth()-Depth_Keller msg: 49.38 epoch sec; seqNo:1612980418082; depth 0.00 2021-02-10T18:06:58Z- waiting for 1612980417.43, time is 1612980417.26 2021-02-10T18:06:58Z- sync is 0.80, coherence is 2.00 2021-02-10T18:06:58Z- handleDvl() - RDI_Pathfinder msg: 1612980418.09 epoch sec; seqNo:695 2021-02-10T18:06:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.79 , 37.83 , 36.76 , 33.09 2021-02-10T18:06:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.04 , 0.04 2021-02-10T18:06:58Z- waiting for 1612980417.43, time is 1612980418.09 2021-02-10T18:06:58Z- sync is 0.03, coherence is 2.00 2021-02-10T18:06:58Z- LcmTrn::updateTrn() >>>> pose time 1612980418.06, meas time 1612980418.09 <<<< 2021-02-10T18:06:58Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980418.09 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:06:58Z- TerrainNav::motionUpdate() - currEstimate = (4061680, 594387.96, 49.38) 2021-02-10T18:06:58Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:06:58Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:06:58Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:06:58Z- TNavBF::mmse selected from filter -1 2021-02-10T18:06:58Z- variances([0], [2], and psi_berg) = 789.429133 833.082480 0.000000 2021-02-10T18:06:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:06:58Z- LcmTrn::cycle() - MLE : 4061653.83 594340.46 49.38 2021-02-10T18:06:58Z- LcmTrn::cycle() - MMSE : 4061680.33 594387.96 49.38 2021-02-10T18:06:58Z- LcmTrn::cycle() - COVAR: 789.43 833.08 54.14 0.00 2021-02-10T18:06:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980418.10 epoch sec; seqNo:1718; 4061680.33 north; 594387.96 east 2021-02-10T18:06:58Z- waiting for 1612980421.09, time is 1612980418.09 2021-02-10T18:06:58Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:58Z- AHRS_M2 msg: 1612980418.45 epoch sec; seqNo:1708 2021-02-10T18:06:58Z- AHRS_M2 msg: 1.50 phi; -0.02 theta; -0.18 psi 2021-02-10T18:06:58Z- waiting for 1612980421.09, time is 1612980418.09 2021-02-10T18:06:58Z- sync is 0.36, coherence is 2.00 2021-02-10T18:06:58Z- handleDepth()-Depth_Keller msg: 49.35 epoch sec; seqNo:1612980418457; depth 0.00 2021-02-10T18:06:58Z- waiting for 1612980421.09, time is 1612980418.09 2021-02-10T18:06:58Z- sync is 0.36, coherence is 2.00 2021-02-10T18:06:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980418.47 epoch sec; seqNo:1719; 4061680.34 north; 594389.18 east 2021-02-10T18:06:58Z- waiting for 1612980421.09, time is 1612980418.09 2021-02-10T18:06:58Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:58Z- AHRS_M2 msg: 1612980418.86 epoch sec; seqNo:1709 2021-02-10T18:06:58Z- AHRS_M2 msg: 1.50 phi; -0.02 theta; -0.18 psi 2021-02-10T18:06:58Z- waiting for 1612980421.09, time is 1612980418.09 2021-02-10T18:06:58Z- sync is 0.76, coherence is 2.00 2021-02-10T18:06:58Z- handleDepth()-Depth_Keller msg: 49.38 epoch sec; seqNo:1612980418862; depth 0.00 2021-02-10T18:06:58Z- waiting for 1612980421.09, time is 1612980418.09 2021-02-10T18:06:58Z- sync is 0.76, coherence is 2.00 2021-02-10T18:06:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980418.87 epoch sec; seqNo:1720; 4061680.34 north; 594389.18 east 2021-02-10T18:06:58Z- waiting for 1612980421.09, time is 1612980418.09 2021-02-10T18:06:58Z- sync is 0.78, coherence is 2.00 2021-02-10T18:06:59Z- AHRS_M2 msg: 1612980419.26 epoch sec; seqNo:1710 2021-02-10T18:06:59Z- AHRS_M2 msg: 1.50 phi; -0.02 theta; -0.18 psi 2021-02-10T18:06:59Z- waiting for 1612980421.09, time is 1612980418.09 2021-02-10T18:06:59Z- sync is 1.17, coherence is 2.00 2021-02-10T18:06:59Z- handleDepth()-Depth_Keller msg: 49.37 epoch sec; seqNo:1612980419269; depth 0.00 2021-02-10T18:06:59Z- waiting for 1612980421.09, time is 1612980418.09 2021-02-10T18:06:59Z- sync is 1.17, coherence is 2.00 2021-02-10T18:06:59Z- handleDvl() - RDI_Pathfinder msg: 1612980419.29 epoch sec; seqNo:696 2021-02-10T18:06:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.15 , 37.61 , 36.59 , 33.19 2021-02-10T18:06:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.03 , 0.04 2021-02-10T18:06:59Z- waiting for 1612980421.09, time is 1612980419.29 2021-02-10T18:06:59Z- sync is 0.03, coherence is 2.00 2021-02-10T18:06:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980419.30 epoch sec; seqNo:1721; 4061680.34 north; 594389.18 east 2021-02-10T18:06:59Z- waiting for 1612980421.09, time is 1612980419.29 2021-02-10T18:06:59Z- sync is 0.01, coherence is 2.00 2021-02-10T18:06:59Z- AHRS_M2 msg: 1612980419.66 epoch sec; seqNo:1711 2021-02-10T18:06:59Z- AHRS_M2 msg: 1.50 phi; -0.02 theta; -0.18 psi 2021-02-10T18:06:59Z- waiting for 1612980421.09, time is 1612980419.29 2021-02-10T18:06:59Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:59Z- handleDepth()-Depth_Keller msg: 49.37 epoch sec; seqNo:1612980419669; depth 0.00 2021-02-10T18:06:59Z- waiting for 1612980421.09, time is 1612980419.29 2021-02-10T18:06:59Z- sync is 0.38, coherence is 2.00 2021-02-10T18:06:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980419.68 epoch sec; seqNo:1722; 4061680.35 north; 594390.40 east 2021-02-10T18:06:59Z- waiting for 1612980421.09, time is 1612980419.29 2021-02-10T18:06:59Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:00Z- AHRS_M2 msg: 1612980420.09 epoch sec; seqNo:1712 2021-02-10T18:07:00Z- AHRS_M2 msg: 1.50 phi; -0.02 theta; -0.18 psi 2021-02-10T18:07:00Z- waiting for 1612980421.09, time is 1612980419.29 2021-02-10T18:07:00Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:00Z- handleDepth()-Depth_Keller msg: 49.38 epoch sec; seqNo:1612980420094; depth 0.00 2021-02-10T18:07:00Z- waiting for 1612980421.09, time is 1612980419.29 2021-02-10T18:07:00Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:00Z- handleDvl() - RDI_Pathfinder msg: 1612980420.12 epoch sec; seqNo:697 2021-02-10T18:07:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.51 , 37.79 , 36.60 , 33.19 2021-02-10T18:07:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.04 , 0.04 2021-02-10T18:07:00Z- waiting for 1612980421.09, time is 1612980420.12 2021-02-10T18:07:00Z- sync is 0.03, coherence is 2.00 2021-02-10T18:07:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980420.13 epoch sec; seqNo:1723; 4061680.35 north; 594390.40 east 2021-02-10T18:07:00Z- waiting for 1612980421.09, time is 1612980420.12 2021-02-10T18:07:00Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:00Z- AHRS_M2 msg: 1612980420.47 epoch sec; seqNo:1713 2021-02-10T18:07:00Z- AHRS_M2 msg: 1.50 phi; -0.02 theta; -0.18 psi 2021-02-10T18:07:00Z- waiting for 1612980421.09, time is 1612980420.12 2021-02-10T18:07:00Z- sync is 0.35, coherence is 2.00 2021-02-10T18:07:00Z- handleDepth()-Depth_Keller msg: 49.38 epoch sec; seqNo:1612980420486; depth 0.00 2021-02-10T18:07:00Z- waiting for 1612980421.09, time is 1612980420.12 2021-02-10T18:07:00Z- sync is 0.35, coherence is 2.00 2021-02-10T18:07:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980420.50 epoch sec; seqNo:1724; 4061680.35 north; 594390.40 east 2021-02-10T18:07:00Z- waiting for 1612980421.09, time is 1612980420.12 2021-02-10T18:07:00Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:00Z- AHRS_M2 msg: 1612980420.88 epoch sec; seqNo:1714 2021-02-10T18:07:00Z- AHRS_M2 msg: 1.51 phi; -0.03 theta; -0.18 psi 2021-02-10T18:07:00Z- waiting for 1612980421.09, time is 1612980420.12 2021-02-10T18:07:00Z- sync is 0.76, coherence is 2.00 2021-02-10T18:07:00Z- handleDepth()-Depth_Keller msg: 49.38 epoch sec; seqNo:1612980420885; depth 0.00 2021-02-10T18:07:00Z- waiting for 1612980421.09, time is 1612980420.12 2021-02-10T18:07:00Z- sync is 0.76, coherence is 2.00 2021-02-10T18:07:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980420.89 epoch sec; seqNo:1725; 4061680.37 north; 594391.62 east 2021-02-10T18:07:00Z- waiting for 1612980421.09, time is 1612980420.12 2021-02-10T18:07:00Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:01Z- AHRS_M2 msg: 1612980421.28 epoch sec; seqNo:1715 2021-02-10T18:07:01Z- AHRS_M2 msg: 1.51 phi; -0.03 theta; -0.18 psi 2021-02-10T18:07:01Z- waiting for 1612980421.09, time is 1612980420.12 2021-02-10T18:07:01Z- sync is 1.16, coherence is 2.00 2021-02-10T18:07:01Z- handleDepth()-Depth_Keller msg: 49.36 epoch sec; seqNo:1612980421284; depth 0.00 2021-02-10T18:07:01Z- waiting for 1612980421.09, time is 1612980420.12 2021-02-10T18:07:01Z- sync is 1.16, coherence is 2.00 2021-02-10T18:07:01Z- handleDvl() - RDI_Pathfinder msg: 1612980421.30 epoch sec; seqNo:698 2021-02-10T18:07:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.85 , 38.30 , 36.60 , 33.36 2021-02-10T18:07:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.06 , 0.04 2021-02-10T18:07:01Z- waiting for 1612980421.09, time is 1612980421.30 2021-02-10T18:07:01Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:01Z- LcmTrn::updateTrn() >>>> pose time 1612980421.28, meas time 1612980421.30 <<<< 2021-02-10T18:07:01Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980421.30 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:07:01Z- TerrainNav::motionUpdate() - currEstimate = (4061680, 594391.62, 49.36) 2021-02-10T18:07:01Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:07:01Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:07:01Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:07:01Z- TNavBF::mmse selected from filter -1 2021-02-10T18:07:01Z- variances([0], [2], and psi_berg) = 789.255873 833.082183 0.000000 2021-02-10T18:07:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:07:01Z- LcmTrn::cycle() - MLE : 4061653.87 594344.12 49.36 2021-02-10T18:07:01Z- LcmTrn::cycle() - MMSE : 4061680.37 594391.62 49.36 2021-02-10T18:07:01Z- LcmTrn::cycle() - COVAR: 789.26 833.08 54.33 0.00 2021-02-10T18:07:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980421.31 epoch sec; seqNo:1726; 4061680.37 north; 594391.62 east 2021-02-10T18:07:01Z- waiting for 1612980424.30, time is 1612980421.30 2021-02-10T18:07:01Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:01Z- AHRS_M2 msg: 1612980421.68 epoch sec; seqNo:1716 2021-02-10T18:07:01Z- AHRS_M2 msg: 1.51 phi; -0.03 theta; -0.18 psi 2021-02-10T18:07:01Z- waiting for 1612980424.30, time is 1612980421.30 2021-02-10T18:07:01Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:01Z- handleDepth()-Depth_Keller msg: 49.36 epoch sec; seqNo:1612980421690; depth 0.00 2021-02-10T18:07:01Z- waiting for 1612980424.30, time is 1612980421.30 2021-02-10T18:07:01Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980421.70 epoch sec; seqNo:1727; 4061680.37 north; 594391.62 east 2021-02-10T18:07:01Z- waiting for 1612980424.30, time is 1612980421.30 2021-02-10T18:07:01Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:02Z- AHRS_M2 msg: 1612980422.10 epoch sec; seqNo:1717 2021-02-10T18:07:02Z- AHRS_M2 msg: 1.51 phi; -0.03 theta; -0.18 psi 2021-02-10T18:07:02Z- waiting for 1612980424.30, time is 1612980421.30 2021-02-10T18:07:02Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:02Z- handleDepth()-Depth_Keller msg: 49.37 epoch sec; seqNo:1612980422111; depth 0.00 2021-02-10T18:07:02Z- waiting for 1612980424.30, time is 1612980421.30 2021-02-10T18:07:02Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:02Z- handleDvl() - RDI_Pathfinder msg: 1612980422.12 epoch sec; seqNo:699 2021-02-10T18:07:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.02 , 37.95 , 36.42 , 33.36 2021-02-10T18:07:02Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.04 , 0.03 2021-02-10T18:07:02Z- waiting for 1612980424.30, time is 1612980422.12 2021-02-10T18:07:02Z- sync is 0.03, coherence is 2.00 2021-02-10T18:07:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980422.13 epoch sec; seqNo:1728; 4061680.38 north; 594392.84 east 2021-02-10T18:07:02Z- waiting for 1612980424.30, time is 1612980422.12 2021-02-10T18:07:02Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:02Z- AHRS_M2 msg: 1612980422.49 epoch sec; seqNo:1718 2021-02-10T18:07:02Z- AHRS_M2 msg: 1.51 phi; -0.03 theta; -0.18 psi 2021-02-10T18:07:02Z- waiting for 1612980424.30, time is 1612980422.12 2021-02-10T18:07:02Z- sync is 0.37, coherence is 2.00 2021-02-10T18:07:02Z- handleDepth()-Depth_Keller msg: 49.37 epoch sec; seqNo:1612980422497; depth 0.00 2021-02-10T18:07:02Z- waiting for 1612980424.30, time is 1612980422.12 2021-02-10T18:07:02Z- sync is 0.37, coherence is 2.00 2021-02-10T18:07:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980422.51 epoch sec; seqNo:1729; 4061680.38 north; 594392.84 east 2021-02-10T18:07:02Z- waiting for 1612980424.30, time is 1612980422.12 2021-02-10T18:07:02Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:02Z- AHRS_M2 msg: 1612980422.90 epoch sec; seqNo:1719 2021-02-10T18:07:02Z- AHRS_M2 msg: 1.51 phi; -0.03 theta; -0.18 psi 2021-02-10T18:07:02Z- waiting for 1612980424.30, time is 1612980422.12 2021-02-10T18:07:02Z- sync is 0.77, coherence is 2.00 2021-02-10T18:07:02Z- handleDepth()-Depth_Keller msg: 49.36 epoch sec; seqNo:1612980422901; depth 0.00 2021-02-10T18:07:02Z- waiting for 1612980424.30, time is 1612980422.12 2021-02-10T18:07:02Z- sync is 0.77, coherence is 2.00 2021-02-10T18:07:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980422.91 epoch sec; seqNo:1730; 4061680.38 north; 594392.84 east 2021-02-10T18:07:02Z- waiting for 1612980424.30, time is 1612980422.12 2021-02-10T18:07:02Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:03Z- AHRS_M2 msg: 1612980423.30 epoch sec; seqNo:1720 2021-02-10T18:07:03Z- AHRS_M2 msg: 1.51 phi; -0.03 theta; -0.18 psi 2021-02-10T18:07:03Z- waiting for 1612980424.30, time is 1612980422.12 2021-02-10T18:07:03Z- sync is 1.18, coherence is 2.00 2021-02-10T18:07:03Z- handleDepth()-Depth_Keller msg: 49.35 epoch sec; seqNo:1612980423313; depth 0.00 2021-02-10T18:07:03Z- waiting for 1612980424.30, time is 1612980422.12 2021-02-10T18:07:03Z- sync is 1.18, coherence is 2.00 2021-02-10T18:07:03Z- handleDvl() - RDI_Pathfinder msg: 1612980423.33 epoch sec; seqNo:700 2021-02-10T18:07:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.02 , 38.12 , 36.42 , 33.53 2021-02-10T18:07:03Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.03 , 0.02 2021-02-10T18:07:03Z- waiting for 1612980424.30, time is 1612980423.33 2021-02-10T18:07:03Z- sync is 0.03, coherence is 2.00 2021-02-10T18:07:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980423.34 epoch sec; seqNo:1731; 4061680.39 north; 594394.06 east 2021-02-10T18:07:03Z- waiting for 1612980424.30, time is 1612980423.33 2021-02-10T18:07:03Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:03Z- AHRS_M2 msg: 1612980423.70 epoch sec; seqNo:1721 2021-02-10T18:07:03Z- AHRS_M2 msg: 1.51 phi; -0.03 theta; -0.19 psi 2021-02-10T18:07:03Z- waiting for 1612980424.30, time is 1612980423.33 2021-02-10T18:07:03Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:03Z- handleDepth()-Depth_Keller msg: 49.36 epoch sec; seqNo:1612980423708; depth 0.00 2021-02-10T18:07:03Z- waiting for 1612980424.30, time is 1612980423.33 2021-02-10T18:07:03Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980423.73 epoch sec; seqNo:1732; 4061680.39 north; 594394.06 east 2021-02-10T18:07:03Z- waiting for 1612980424.30, time is 1612980423.33 2021-02-10T18:07:03Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:04Z- AHRS_M2 msg: 1612980424.11 epoch sec; seqNo:1722 2021-02-10T18:07:04Z- AHRS_M2 msg: 1.51 phi; -0.03 theta; -0.19 psi 2021-02-10T18:07:04Z- waiting for 1612980424.30, time is 1612980423.33 2021-02-10T18:07:04Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:04Z- handleDepth()-Depth_Keller msg: 49.36 epoch sec; seqNo:1612980424113; depth 0.00 2021-02-10T18:07:04Z- waiting for 1612980424.30, time is 1612980423.33 2021-02-10T18:07:04Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:04Z- handleDvl() - RDI_Pathfinder msg: 1612980424.12 epoch sec; seqNo:701 2021-02-10T18:07:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.85 , 38.46 , 36.08 , 33.70 2021-02-10T18:07:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.03 , 0.00 2021-02-10T18:07:04Z- waiting for 1612980424.30, time is 1612980424.12 2021-02-10T18:07:04Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980424.15 epoch sec; seqNo:1733; 4061680.39 north; 594394.06 east 2021-02-10T18:07:04Z- waiting for 1612980424.30, time is 1612980424.12 2021-02-10T18:07:04Z- sync is 0.03, coherence is 2.00 2021-02-10T18:07:04Z- AHRS_M2 msg: 1612980424.51 epoch sec; seqNo:1723 2021-02-10T18:07:04Z- AHRS_M2 msg: 1.51 phi; -0.04 theta; -0.19 psi 2021-02-10T18:07:04Z- waiting for 1612980424.30, time is 1612980424.12 2021-02-10T18:07:04Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:04Z- handleDepth()-Depth_Keller msg: 49.34 epoch sec; seqNo:1612980424517; depth 0.00 2021-02-10T18:07:04Z- waiting for 1612980424.30, time is 1612980424.12 2021-02-10T18:07:04Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980424.53 epoch sec; seqNo:1734; 4061680.41 north; 594395.29 east 2021-02-10T18:07:04Z- waiting for 1612980424.30, time is 1612980424.12 2021-02-10T18:07:04Z- sync is 0.41, coherence is 2.00 2021-02-10T18:07:04Z- AHRS_M2 msg: 1612980424.92 epoch sec; seqNo:1724 2021-02-10T18:07:04Z- AHRS_M2 msg: 1.51 phi; -0.04 theta; -0.19 psi 2021-02-10T18:07:04Z- waiting for 1612980424.30, time is 1612980424.12 2021-02-10T18:07:04Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:04Z- handleDepth()-Depth_Keller msg: 49.35 epoch sec; seqNo:1612980424922; depth 0.00 2021-02-10T18:07:04Z- waiting for 1612980424.30, time is 1612980424.12 2021-02-10T18:07:04Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980424.93 epoch sec; seqNo:1735; 4061680.41 north; 594395.29 east 2021-02-10T18:07:04Z- waiting for 1612980424.30, time is 1612980424.12 2021-02-10T18:07:04Z- sync is 0.81, coherence is 2.00 2021-02-10T18:07:05Z- AHRS_M2 msg: 1612980425.32 epoch sec; seqNo:1725 2021-02-10T18:07:05Z- AHRS_M2 msg: 1.51 phi; -0.04 theta; -0.19 psi 2021-02-10T18:07:05Z- waiting for 1612980424.30, time is 1612980424.12 2021-02-10T18:07:05Z- sync is 1.19, coherence is 2.00 2021-02-10T18:07:05Z- handleDepth()-Depth_Keller msg: 49.35 epoch sec; seqNo:1612980425326; depth 0.00 2021-02-10T18:07:05Z- waiting for 1612980424.30, time is 1612980424.12 2021-02-10T18:07:05Z- sync is 1.19, coherence is 2.00 2021-02-10T18:07:05Z- handleDvl() - RDI_Pathfinder msg: 1612980425.35 epoch sec; seqNo:702 2021-02-10T18:07:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.02 , 38.46 , 36.25 , 33.87 2021-02-10T18:07:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.03 , -0.01 2021-02-10T18:07:05Z- waiting for 1612980424.30, time is 1612980425.35 2021-02-10T18:07:05Z- sync is 0.03, coherence is 2.00 2021-02-10T18:07:05Z- LcmTrn::updateTrn() >>>> pose time 1612980425.32, meas time 1612980425.35 <<<< 2021-02-10T18:07:05Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980425.35 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:07:05Z- TerrainNav::motionUpdate() - currEstimate = (4061680, 594395.29, 49.35) 2021-02-10T18:07:05Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:07:05Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:07:05Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:07:05Z- TNavBF::mmse selected from filter -1 2021-02-10T18:07:05Z- variances([0], [2], and psi_berg) = 789.083190 833.081888 0.000000 2021-02-10T18:07:05Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:07:05Z- LcmTrn::cycle() - MLE : 4061653.91 594347.79 49.35 2021-02-10T18:07:05Z- LcmTrn::cycle() - MMSE : 4061680.41 594395.29 49.35 2021-02-10T18:07:05Z- LcmTrn::cycle() - COVAR: 789.08 833.08 54.51 0.00 2021-02-10T18:07:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980425.36 epoch sec; seqNo:1736; 4061680.41 north; 594395.29 east 2021-02-10T18:07:05Z- waiting for 1612980428.35, time is 1612980425.35 2021-02-10T18:07:05Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:05Z- AHRS_M2 msg: 1612980425.73 epoch sec; seqNo:1726 2021-02-10T18:07:05Z- AHRS_M2 msg: 1.51 phi; -0.04 theta; -0.19 psi 2021-02-10T18:07:05Z- waiting for 1612980428.35, time is 1612980425.35 2021-02-10T18:07:05Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:05Z- handleDepth()-Depth_Keller msg: 49.35 epoch sec; seqNo:1612980425734; depth 0.00 2021-02-10T18:07:05Z- waiting for 1612980428.35, time is 1612980425.35 2021-02-10T18:07:05Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980425.74 epoch sec; seqNo:1737; 4061680.80 north; 594396.50 east 2021-02-10T18:07:05Z- waiting for 1612980428.35, time is 1612980425.35 2021-02-10T18:07:05Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:06Z- AHRS_M2 msg: 1612980426.13 epoch sec; seqNo:1727 2021-02-10T18:07:06Z- AHRS_M2 msg: 1.51 phi; -0.04 theta; -0.19 psi 2021-02-10T18:07:06Z- waiting for 1612980428.35, time is 1612980425.35 2021-02-10T18:07:06Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:06Z- handleDepth()-Depth_Keller msg: 49.34 epoch sec; seqNo:1612980426139; depth 0.00 2021-02-10T18:07:06Z- waiting for 1612980428.35, time is 1612980425.35 2021-02-10T18:07:06Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:06Z- handleDvl() - RDI_Pathfinder msg: 1612980426.15 epoch sec; seqNo:703 2021-02-10T18:07:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.51 , 38.63 , 36.08 , 33.70 2021-02-10T18:07:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.01 , -0.01 2021-02-10T18:07:06Z- waiting for 1612980428.35, time is 1612980426.15 2021-02-10T18:07:06Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980426.17 epoch sec; seqNo:1738; 4061680.80 north; 594396.50 east 2021-02-10T18:07:06Z- waiting for 1612980428.35, time is 1612980426.15 2021-02-10T18:07:06Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:06Z- AHRS_M2 msg: 1612980426.53 epoch sec; seqNo:1728 2021-02-10T18:07:06Z- AHRS_M2 msg: 1.51 phi; -0.04 theta; -0.19 psi 2021-02-10T18:07:06Z- waiting for 1612980428.35, time is 1612980426.15 2021-02-10T18:07:06Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:06Z- handleDepth()-Depth_Keller msg: 49.33 epoch sec; seqNo:1612980426541; depth 0.00 2021-02-10T18:07:06Z- waiting for 1612980428.35, time is 1612980426.15 2021-02-10T18:07:06Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980426.56 epoch sec; seqNo:1739; 4061680.80 north; 594396.50 east 2021-02-10T18:07:06Z- waiting for 1612980428.35, time is 1612980426.15 2021-02-10T18:07:06Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:06Z- AHRS_M2 msg: 1612980426.94 epoch sec; seqNo:1729 2021-02-10T18:07:06Z- AHRS_M2 msg: 1.51 phi; -0.04 theta; -0.20 psi 2021-02-10T18:07:06Z- waiting for 1612980428.35, time is 1612980426.15 2021-02-10T18:07:06Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:06Z- handleDepth()-Depth_Keller msg: 49.34 epoch sec; seqNo:1612980426940; depth 0.00 2021-02-10T18:07:06Z- waiting for 1612980428.35, time is 1612980426.15 2021-02-10T18:07:06Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980426.95 epoch sec; seqNo:1740; 4061680.80 north; 594396.50 east 2021-02-10T18:07:06Z- waiting for 1612980428.35, time is 1612980426.15 2021-02-10T18:07:06Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:07Z- AHRS_M2 msg: 1612980427.34 epoch sec; seqNo:1730 2021-02-10T18:07:07Z- AHRS_M2 msg: 1.51 phi; -0.05 theta; -0.20 psi 2021-02-10T18:07:07Z- waiting for 1612980428.35, time is 1612980426.15 2021-02-10T18:07:07Z- sync is 1.18, coherence is 2.00 2021-02-10T18:07:07Z- handleDepth()-Depth_Keller msg: 49.34 epoch sec; seqNo:1612980427344; depth 0.00 2021-02-10T18:07:07Z- waiting for 1612980428.35, time is 1612980426.15 2021-02-10T18:07:07Z- sync is 1.18, coherence is 2.00 2021-02-10T18:07:07Z- handleDvl() - RDI_Pathfinder msg: 1612980427.36 epoch sec; seqNo:704 2021-02-10T18:07:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.17 , 38.80 , 36.08 , 34.04 2021-02-10T18:07:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.01 , 0.00 2021-02-10T18:07:07Z- waiting for 1612980428.35, time is 1612980427.36 2021-02-10T18:07:07Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980427.37 epoch sec; seqNo:1741; 4061680.81 north; 594397.72 east 2021-02-10T18:07:07Z- waiting for 1612980428.35, time is 1612980427.36 2021-02-10T18:07:07Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:07Z- AHRS_M2 msg: 1612980427.74 epoch sec; seqNo:1731 2021-02-10T18:07:07Z- AHRS_M2 msg: 1.50 phi; -0.05 theta; -0.20 psi 2021-02-10T18:07:07Z- waiting for 1612980428.35, time is 1612980427.36 2021-02-10T18:07:07Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:07Z- handleDepth()-Depth_Keller msg: 49.33 epoch sec; seqNo:1612980427749; depth 0.00 2021-02-10T18:07:07Z- waiting for 1612980428.35, time is 1612980427.36 2021-02-10T18:07:07Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980427.76 epoch sec; seqNo:1742; 4061680.81 north; 594397.72 east 2021-02-10T18:07:07Z- waiting for 1612980428.35, time is 1612980427.36 2021-02-10T18:07:07Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:08Z- AHRS_M2 msg: 1612980428.15 epoch sec; seqNo:1732 2021-02-10T18:07:08Z- AHRS_M2 msg: 1.50 phi; -0.05 theta; -0.20 psi 2021-02-10T18:07:08Z- waiting for 1612980428.35, time is 1612980427.36 2021-02-10T18:07:08Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:08Z- handleDepth()-Depth_Keller msg: 49.34 epoch sec; seqNo:1612980428153; depth 0.00 2021-02-10T18:07:08Z- waiting for 1612980428.35, time is 1612980427.36 2021-02-10T18:07:08Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:08Z- handleDvl() - RDI_Pathfinder msg: 1612980428.17 epoch sec; seqNo:705 2021-02-10T18:07:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.51 , 38.81 , 35.91 , 34.04 2021-02-10T18:07:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.01 , 0.00 2021-02-10T18:07:08Z- waiting for 1612980428.35, time is 1612980428.17 2021-02-10T18:07:08Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980428.18 epoch sec; seqNo:1743; 4061680.81 north; 594397.72 east 2021-02-10T18:07:08Z- waiting for 1612980428.35, time is 1612980428.17 2021-02-10T18:07:08Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:08Z- AHRS_M2 msg: 1612980428.55 epoch sec; seqNo:1733 2021-02-10T18:07:08Z- AHRS_M2 msg: 1.50 phi; -0.05 theta; -0.20 psi 2021-02-10T18:07:08Z- waiting for 1612980428.35, time is 1612980428.17 2021-02-10T18:07:08Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:08Z- handleDepth()-Depth_Keller msg: 49.36 epoch sec; seqNo:1612980428556; depth 0.00 2021-02-10T18:07:08Z- waiting for 1612980428.35, time is 1612980428.17 2021-02-10T18:07:08Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980428.57 epoch sec; seqNo:1744; 4061680.83 north; 594398.94 east 2021-02-10T18:07:08Z- waiting for 1612980428.35, time is 1612980428.17 2021-02-10T18:07:08Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:08Z- AHRS_M2 msg: 1612980428.96 epoch sec; seqNo:1734 2021-02-10T18:07:08Z- AHRS_M2 msg: 1.50 phi; -0.05 theta; -0.20 psi 2021-02-10T18:07:08Z- waiting for 1612980428.35, time is 1612980428.17 2021-02-10T18:07:08Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:08Z- handleDepth()-Depth_Keller msg: 49.35 epoch sec; seqNo:1612980428960; depth 0.00 2021-02-10T18:07:08Z- waiting for 1612980428.35, time is 1612980428.17 2021-02-10T18:07:08Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980428.97 epoch sec; seqNo:1745; 4061680.83 north; 594398.94 east 2021-02-10T18:07:08Z- waiting for 1612980428.35, time is 1612980428.17 2021-02-10T18:07:08Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:09Z- AHRS_M2 msg: 1612980429.36 epoch sec; seqNo:1735 2021-02-10T18:07:09Z- AHRS_M2 msg: 1.50 phi; -0.05 theta; -0.20 psi 2021-02-10T18:07:09Z- waiting for 1612980428.35, time is 1612980428.17 2021-02-10T18:07:09Z- sync is 1.19, coherence is 2.00 2021-02-10T18:07:09Z- handleDepth()-Depth_Keller msg: 49.37 epoch sec; seqNo:1612980429369; depth 0.00 2021-02-10T18:07:09Z- waiting for 1612980428.35, time is 1612980428.17 2021-02-10T18:07:09Z- sync is 1.19, coherence is 2.00 2021-02-10T18:07:09Z- handleDvl() - RDI_Pathfinder msg: 1612980429.38 epoch sec; seqNo:706 2021-02-10T18:07:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.34 , 38.81 , 35.91 , 34.04 2021-02-10T18:07:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.01 , 0.02 2021-02-10T18:07:09Z- waiting for 1612980428.35, time is 1612980429.38 2021-02-10T18:07:09Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:09Z- LcmTrn::updateTrn() >>>> pose time 1612980429.36, meas time 1612980429.38 <<<< 2021-02-10T18:07:09Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980429.38 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:07:09Z- TerrainNav::motionUpdate() - currEstimate = (4061681, 594398.94, 49.37) 2021-02-10T18:07:09Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:07:09Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:07:09Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:07:09Z- TNavBF::mmse selected from filter -1 2021-02-10T18:07:09Z- variances([0], [2], and psi_berg) = 788.910620 833.081594 0.000000 2021-02-10T18:07:09Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:07:09Z- LcmTrn::cycle() - MLE : 4061654.33 594351.44 49.37 2021-02-10T18:07:09Z- LcmTrn::cycle() - MMSE : 4061680.83 594398.94 49.37 2021-02-10T18:07:09Z- LcmTrn::cycle() - COVAR: 788.91 833.08 54.70 0.00 2021-02-10T18:07:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980429.39 epoch sec; seqNo:1746; 4061680.83 north; 594398.94 east 2021-02-10T18:07:09Z- waiting for 1612980432.38, time is 1612980429.38 2021-02-10T18:07:09Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:09Z- AHRS_M2 msg: 1612980429.76 epoch sec; seqNo:1736 2021-02-10T18:07:09Z- AHRS_M2 msg: 1.50 phi; -0.05 theta; -0.20 psi 2021-02-10T18:07:09Z- waiting for 1612980432.38, time is 1612980429.38 2021-02-10T18:07:09Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:09Z- handleDepth()-Depth_Keller msg: 49.36 epoch sec; seqNo:1612980429769; depth 0.00 2021-02-10T18:07:09Z- waiting for 1612980432.38, time is 1612980429.38 2021-02-10T18:07:09Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980429.79 epoch sec; seqNo:1747; 4061680.84 north; 594400.16 east 2021-02-10T18:07:09Z- waiting for 1612980432.38, time is 1612980429.38 2021-02-10T18:07:09Z- sync is 0.41, coherence is 2.00 2021-02-10T18:07:10Z- AHRS_M2 msg: 1612980430.17 epoch sec; seqNo:1737 2021-02-10T18:07:10Z- AHRS_M2 msg: 1.50 phi; -0.05 theta; -0.20 psi 2021-02-10T18:07:10Z- waiting for 1612980432.38, time is 1612980429.38 2021-02-10T18:07:10Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:10Z- handleDepth()-Depth_Keller msg: 49.39 epoch sec; seqNo:1612980430177; depth 0.00 2021-02-10T18:07:10Z- waiting for 1612980432.38, time is 1612980429.38 2021-02-10T18:07:10Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:10Z- handleDvl() - RDI_Pathfinder msg: 1612980430.19 epoch sec; seqNo:707 2021-02-10T18:07:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.51 , 38.47 , 35.91 , 34.38 2021-02-10T18:07:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.00 , 0.04 2021-02-10T18:07:10Z- waiting for 1612980432.38, time is 1612980430.19 2021-02-10T18:07:10Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980430.20 epoch sec; seqNo:1748; 4061680.84 north; 594400.16 east 2021-02-10T18:07:10Z- waiting for 1612980432.38, time is 1612980430.19 2021-02-10T18:07:10Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:10Z- AHRS_M2 msg: 1612980430.57 epoch sec; seqNo:1738 2021-02-10T18:07:10Z- AHRS_M2 msg: 1.49 phi; -0.05 theta; -0.20 psi 2021-02-10T18:07:10Z- waiting for 1612980432.38, time is 1612980430.19 2021-02-10T18:07:10Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:10Z- handleDepth()-Depth_Keller msg: 49.40 epoch sec; seqNo:1612980430581; depth 0.00 2021-02-10T18:07:10Z- waiting for 1612980432.38, time is 1612980430.19 2021-02-10T18:07:10Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980430.59 epoch sec; seqNo:1749; 4061680.84 north; 594400.16 east 2021-02-10T18:07:10Z- waiting for 1612980432.38, time is 1612980430.19 2021-02-10T18:07:10Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:10Z- AHRS_M2 msg: 1612980430.98 epoch sec; seqNo:1739 2021-02-10T18:07:10Z- AHRS_M2 msg: 1.49 phi; -0.05 theta; -0.20 psi 2021-02-10T18:07:10Z- waiting for 1612980432.38, time is 1612980430.19 2021-02-10T18:07:10Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:10Z- handleDepth()-Depth_Keller msg: 49.42 epoch sec; seqNo:1612980430982; depth 0.00 2021-02-10T18:07:10Z- waiting for 1612980432.38, time is 1612980430.19 2021-02-10T18:07:10Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980430.99 epoch sec; seqNo:1750; 4061680.84 north; 594400.16 east 2021-02-10T18:07:10Z- waiting for 1612980432.38, time is 1612980430.19 2021-02-10T18:07:10Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:11Z- AHRS_M2 msg: 1612980431.38 epoch sec; seqNo:1740 2021-02-10T18:07:11Z- AHRS_M2 msg: 1.49 phi; -0.06 theta; -0.20 psi 2021-02-10T18:07:11Z- waiting for 1612980432.38, time is 1612980430.19 2021-02-10T18:07:11Z- sync is 1.19, coherence is 2.00 2021-02-10T18:07:11Z- handleDepth()-Depth_Keller msg: 49.44 epoch sec; seqNo:1612980431384; depth 0.00 2021-02-10T18:07:11Z- waiting for 1612980432.38, time is 1612980430.19 2021-02-10T18:07:11Z- sync is 1.19, coherence is 2.00 2021-02-10T18:07:11Z- handleDvl() - RDI_Pathfinder msg: 1612980431.40 epoch sec; seqNo:708 2021-02-10T18:07:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.68 , 38.81 , 35.74 , 34.38 2021-02-10T18:07:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.00 , 0.05 2021-02-10T18:07:11Z- waiting for 1612980432.38, time is 1612980431.40 2021-02-10T18:07:11Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980431.41 epoch sec; seqNo:1751; 4061680.85 north; 594401.38 east 2021-02-10T18:07:11Z- waiting for 1612980432.38, time is 1612980431.40 2021-02-10T18:07:11Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:11Z- AHRS_M2 msg: 1612980431.79 epoch sec; seqNo:1741 2021-02-10T18:07:11Z- AHRS_M2 msg: 1.49 phi; -0.06 theta; -0.20 psi 2021-02-10T18:07:11Z- waiting for 1612980432.38, time is 1612980431.40 2021-02-10T18:07:11Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:11Z- handleDepth()-Depth_Keller msg: 49.44 epoch sec; seqNo:1612980431794; depth 0.00 2021-02-10T18:07:11Z- waiting for 1612980432.38, time is 1612980431.40 2021-02-10T18:07:11Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980431.81 epoch sec; seqNo:1752; 4061680.85 north; 594401.38 east 2021-02-10T18:07:11Z- waiting for 1612980432.38, time is 1612980431.40 2021-02-10T18:07:11Z- sync is 0.41, coherence is 2.00 2021-02-10T18:07:12Z- AHRS_M2 msg: 1612980432.19 epoch sec; seqNo:1742 2021-02-10T18:07:12Z- AHRS_M2 msg: 1.49 phi; -0.06 theta; -0.20 psi 2021-02-10T18:07:12Z- waiting for 1612980432.38, time is 1612980431.40 2021-02-10T18:07:12Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:12Z- handleDepth()-Depth_Keller msg: 49.47 epoch sec; seqNo:1612980432199; depth 0.00 2021-02-10T18:07:12Z- waiting for 1612980432.38, time is 1612980431.40 2021-02-10T18:07:12Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:12Z- handleDvl() - RDI_Pathfinder msg: 1612980432.21 epoch sec; seqNo:709 2021-02-10T18:07:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.68 , 38.63 , 35.57 , 34.38 2021-02-10T18:07:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.00 , 0.05 2021-02-10T18:07:12Z- waiting for 1612980432.38, time is 1612980432.21 2021-02-10T18:07:12Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980432.22 epoch sec; seqNo:1753; 4061680.85 north; 594401.38 east 2021-02-10T18:07:12Z- waiting for 1612980432.38, time is 1612980432.21 2021-02-10T18:07:12Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:12Z- AHRS_M2 msg: 1612980432.59 epoch sec; seqNo:1743 2021-02-10T18:07:12Z- AHRS_M2 msg: 1.49 phi; -0.06 theta; -0.20 psi 2021-02-10T18:07:12Z- waiting for 1612980432.38, time is 1612980432.21 2021-02-10T18:07:12Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:12Z- handleDepth()-Depth_Keller msg: 49.49 epoch sec; seqNo:1612980432596; depth 0.00 2021-02-10T18:07:12Z- waiting for 1612980432.38, time is 1612980432.21 2021-02-10T18:07:12Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980432.62 epoch sec; seqNo:1754; 4061681.24 north; 594402.60 east 2021-02-10T18:07:12Z- waiting for 1612980432.38, time is 1612980432.21 2021-02-10T18:07:12Z- sync is 0.41, coherence is 2.00 2021-02-10T18:07:13Z- AHRS_M2 msg: 1612980433.00 epoch sec; seqNo:1744 2021-02-10T18:07:13Z- AHRS_M2 msg: 1.49 phi; -0.06 theta; -0.20 psi 2021-02-10T18:07:13Z- waiting for 1612980432.38, time is 1612980432.21 2021-02-10T18:07:13Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:13Z- handleDepth()-Depth_Keller msg: 49.50 epoch sec; seqNo:1612980433001; depth 0.00 2021-02-10T18:07:13Z- waiting for 1612980432.38, time is 1612980432.21 2021-02-10T18:07:13Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980433.01 epoch sec; seqNo:1755; 4061681.24 north; 594402.60 east 2021-02-10T18:07:13Z- waiting for 1612980432.38, time is 1612980432.21 2021-02-10T18:07:13Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:13Z- AHRS_M2 msg: 1612980433.40 epoch sec; seqNo:1745 2021-02-10T18:07:13Z- AHRS_M2 msg: 1.49 phi; -0.06 theta; -0.20 psi 2021-02-10T18:07:13Z- waiting for 1612980432.38, time is 1612980432.21 2021-02-10T18:07:13Z- sync is 1.19, coherence is 2.00 2021-02-10T18:07:13Z- handleDepth()-Depth_Keller msg: 49.52 epoch sec; seqNo:1612980433409; depth 0.00 2021-02-10T18:07:13Z- waiting for 1612980432.38, time is 1612980432.21 2021-02-10T18:07:13Z- sync is 1.19, coherence is 2.00 2021-02-10T18:07:13Z- handleDvl() - RDI_Pathfinder msg: 1612980433.42 epoch sec; seqNo:710 2021-02-10T18:07:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.34 , 38.46 , 35.57 , 34.72 2021-02-10T18:07:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.00 , 0.05 2021-02-10T18:07:13Z- waiting for 1612980432.38, time is 1612980433.42 2021-02-10T18:07:13Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:13Z- LcmTrn::updateTrn() >>>> pose time 1612980433.40, meas time 1612980433.42 <<<< 2021-02-10T18:07:13Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980433.42 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:07:13Z- TerrainNav::motionUpdate() - currEstimate = (4061681, 594402.60, 49.52) 2021-02-10T18:07:13Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:07:13Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:07:13Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:07:13Z- TNavBF::mmse selected from filter -1 2021-02-10T18:07:13Z- variances([0], [2], and psi_berg) = 788.738620 833.081303 0.000000 2021-02-10T18:07:13Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:07:13Z- LcmTrn::cycle() - MLE : 4061654.74 594356.10 49.52 2021-02-10T18:07:13Z- LcmTrn::cycle() - MMSE : 4061681.24 594402.60 49.52 2021-02-10T18:07:13Z- LcmTrn::cycle() - COVAR: 788.74 833.08 54.89 0.00 2021-02-10T18:07:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980433.43 epoch sec; seqNo:1756; 4061681.24 north; 594402.60 east 2021-02-10T18:07:13Z- waiting for 1612980436.42, time is 1612980433.42 2021-02-10T18:07:13Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:13Z- AHRS_M2 msg: 1612980433.81 epoch sec; seqNo:1746 2021-02-10T18:07:13Z- AHRS_M2 msg: 1.49 phi; -0.06 theta; -0.20 psi 2021-02-10T18:07:13Z- waiting for 1612980436.42, time is 1612980433.42 2021-02-10T18:07:13Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:13Z- handleDepth()-Depth_Keller msg: 49.55 epoch sec; seqNo:1612980433817; depth 0.00 2021-02-10T18:07:13Z- waiting for 1612980436.42, time is 1612980433.42 2021-02-10T18:07:13Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980433.83 epoch sec; seqNo:1757; 4061681.26 north; 594403.82 east 2021-02-10T18:07:13Z- waiting for 1612980436.42, time is 1612980433.42 2021-02-10T18:07:13Z- sync is 0.41, coherence is 2.00 2021-02-10T18:07:14Z- AHRS_M2 msg: 1612980434.21 epoch sec; seqNo:1747 2021-02-10T18:07:14Z- AHRS_M2 msg: 1.49 phi; -0.06 theta; -0.20 psi 2021-02-10T18:07:14Z- waiting for 1612980436.42, time is 1612980433.42 2021-02-10T18:07:14Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:14Z- handleDepth()-Depth_Keller msg: 49.57 epoch sec; seqNo:1612980434213; depth 0.00 2021-02-10T18:07:14Z- waiting for 1612980436.42, time is 1612980433.42 2021-02-10T18:07:14Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:14Z- handleDvl() - RDI_Pathfinder msg: 1612980434.23 epoch sec; seqNo:711 2021-02-10T18:07:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.17 , 38.46 , 35.74 , 34.38 2021-02-10T18:07:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.02 , 0.04 2021-02-10T18:07:14Z- waiting for 1612980436.42, time is 1612980434.23 2021-02-10T18:07:14Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980434.24 epoch sec; seqNo:1758; 4061681.26 north; 594403.82 east 2021-02-10T18:07:14Z- waiting for 1612980436.42, time is 1612980434.23 2021-02-10T18:07:14Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:14Z- AHRS_M2 msg: 1612980434.61 epoch sec; seqNo:1748 2021-02-10T18:07:14Z- AHRS_M2 msg: 1.48 phi; -0.06 theta; -0.20 psi 2021-02-10T18:07:14Z- waiting for 1612980436.42, time is 1612980434.23 2021-02-10T18:07:14Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:14Z- handleDepth()-Depth_Keller msg: 49.60 epoch sec; seqNo:1612980434616; depth 0.00 2021-02-10T18:07:14Z- waiting for 1612980436.42, time is 1612980434.23 2021-02-10T18:07:14Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980434.63 epoch sec; seqNo:1759; 4061681.26 north; 594403.82 east 2021-02-10T18:07:14Z- waiting for 1612980436.42, time is 1612980434.23 2021-02-10T18:07:14Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:15Z- AHRS_M2 msg: 1612980435.02 epoch sec; seqNo:1749 2021-02-10T18:07:15Z- AHRS_M2 msg: 1.48 phi; -0.06 theta; -0.20 psi 2021-02-10T18:07:15Z- waiting for 1612980436.42, time is 1612980434.23 2021-02-10T18:07:15Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:15Z- handleDepth()-Depth_Keller msg: 49.63 epoch sec; seqNo:1612980435025; depth 0.00 2021-02-10T18:07:15Z- waiting for 1612980436.42, time is 1612980434.23 2021-02-10T18:07:15Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980435.04 epoch sec; seqNo:1760; 4061681.27 north; 594405.04 east 2021-02-10T18:07:15Z- waiting for 1612980436.42, time is 1612980434.23 2021-02-10T18:07:15Z- sync is 0.81, coherence is 2.00 2021-02-10T18:07:15Z- AHRS_M2 msg: 1612980435.42 epoch sec; seqNo:1750 2021-02-10T18:07:15Z- AHRS_M2 msg: 1.48 phi; -0.06 theta; -0.20 psi 2021-02-10T18:07:15Z- waiting for 1612980436.42, time is 1612980434.23 2021-02-10T18:07:15Z- sync is 1.19, coherence is 2.00 2021-02-10T18:07:15Z- handleDepth()-Depth_Keller msg: 49.64 epoch sec; seqNo:1612980435430; depth 0.00 2021-02-10T18:07:15Z- waiting for 1612980436.42, time is 1612980434.23 2021-02-10T18:07:15Z- sync is 1.19, coherence is 2.00 2021-02-10T18:07:15Z- handleDvl() - RDI_Pathfinder msg: 1612980435.44 epoch sec; seqNo:712 2021-02-10T18:07:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 38.46 , 35.57 , 34.04 2021-02-10T18:07:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.03 , 0.03 2021-02-10T18:07:15Z- waiting for 1612980436.42, time is 1612980435.44 2021-02-10T18:07:15Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980435.45 epoch sec; seqNo:1761; 4061681.27 north; 594405.04 east 2021-02-10T18:07:15Z- waiting for 1612980436.42, time is 1612980435.44 2021-02-10T18:07:15Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:15Z- AHRS_M2 msg: 1612980435.83 epoch sec; seqNo:1751 2021-02-10T18:07:15Z- AHRS_M2 msg: 1.48 phi; -0.06 theta; -0.20 psi 2021-02-10T18:07:15Z- waiting for 1612980436.42, time is 1612980435.44 2021-02-10T18:07:15Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:15Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1612980435832; depth 0.00 2021-02-10T18:07:15Z- waiting for 1612980436.42, time is 1612980435.44 2021-02-10T18:07:15Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980435.85 epoch sec; seqNo:1762; 4061681.27 north; 594405.04 east 2021-02-10T18:07:15Z- waiting for 1612980436.42, time is 1612980435.44 2021-02-10T18:07:15Z- sync is 0.41, coherence is 2.00 2021-02-10T18:07:16Z- AHRS_M2 msg: 1612980436.23 epoch sec; seqNo:1752 2021-02-10T18:07:16Z- AHRS_M2 msg: 1.48 phi; -0.07 theta; -0.20 psi 2021-02-10T18:07:16Z- waiting for 1612980436.42, time is 1612980435.44 2021-02-10T18:07:16Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:16Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1612980436233; depth 0.00 2021-02-10T18:07:16Z- waiting for 1612980436.42, time is 1612980435.44 2021-02-10T18:07:16Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:16Z- handleDvl() - RDI_Pathfinder msg: 1612980436.24 epoch sec; seqNo:713 2021-02-10T18:07:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.17 , 38.29 , 35.40 , 34.55 2021-02-10T18:07:16Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.03 , 0.02 2021-02-10T18:07:16Z- waiting for 1612980436.42, time is 1612980436.24 2021-02-10T18:07:16Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980436.25 epoch sec; seqNo:1763; 4061681.28 north; 594406.26 east 2021-02-10T18:07:16Z- waiting for 1612980436.42, time is 1612980436.24 2021-02-10T18:07:16Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:16Z- AHRS_M2 msg: 1612980436.63 epoch sec; seqNo:1753 2021-02-10T18:07:16Z- AHRS_M2 msg: 1.48 phi; -0.07 theta; -0.20 psi 2021-02-10T18:07:16Z- waiting for 1612980436.42, time is 1612980436.24 2021-02-10T18:07:16Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:16Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1612980436645; depth 0.00 2021-02-10T18:07:16Z- waiting for 1612980436.42, time is 1612980436.24 2021-02-10T18:07:16Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980436.65 epoch sec; seqNo:1764; 4061681.28 north; 594406.26 east 2021-02-10T18:07:16Z- waiting for 1612980436.42, time is 1612980436.24 2021-02-10T18:07:16Z- sync is 0.41, coherence is 2.00 2021-02-10T18:07:17Z- AHRS_M2 msg: 1612980437.04 epoch sec; seqNo:1754 2021-02-10T18:07:17Z- AHRS_M2 msg: 1.48 phi; -0.07 theta; -0.20 psi 2021-02-10T18:07:17Z- waiting for 1612980436.42, time is 1612980436.24 2021-02-10T18:07:17Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:17Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1612980437044; depth 0.00 2021-02-10T18:07:17Z- waiting for 1612980436.42, time is 1612980436.24 2021-02-10T18:07:17Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980437.08 epoch sec; seqNo:1765; 4061681.28 north; 594406.26 east 2021-02-10T18:07:17Z- waiting for 1612980436.42, time is 1612980436.24 2021-02-10T18:07:17Z- sync is 0.84, coherence is 2.00 2021-02-10T18:07:17Z- AHRS_M2 msg: 1612980437.44 epoch sec; seqNo:1755 2021-02-10T18:07:17Z- AHRS_M2 msg: 1.48 phi; -0.07 theta; -0.20 psi 2021-02-10T18:07:17Z- waiting for 1612980436.42, time is 1612980436.24 2021-02-10T18:07:17Z- sync is 1.20, coherence is 2.00 2021-02-10T18:07:17Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1612980437447; depth 0.00 2021-02-10T18:07:17Z- waiting for 1612980436.42, time is 1612980436.24 2021-02-10T18:07:17Z- sync is 1.20, coherence is 2.00 2021-02-10T18:07:17Z- handleDvl() - RDI_Pathfinder msg: 1612980437.46 epoch sec; seqNo:714 2021-02-10T18:07:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.51 , 38.12 , 35.40 , 34.55 2021-02-10T18:07:17Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.04 , 0.01 2021-02-10T18:07:17Z- waiting for 1612980436.42, time is 1612980437.46 2021-02-10T18:07:17Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:17Z- LcmTrn::updateTrn() >>>> pose time 1612980437.44, meas time 1612980437.46 <<<< 2021-02-10T18:07:17Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980437.46 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:07:17Z- TerrainNav::motionUpdate() - currEstimate = (4061681, 594406.26, 49.76) 2021-02-10T18:07:17Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:07:17Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:07:17Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:07:17Z- TNavBF::mmse selected from filter -1 2021-02-10T18:07:17Z- variances([0], [2], and psi_berg) = 788.567640 833.081014 0.000000 2021-02-10T18:07:17Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:07:17Z- LcmTrn::cycle() - MLE : 4061654.78 594359.76 49.76 2021-02-10T18:07:17Z- LcmTrn::cycle() - MMSE : 4061681.28 594406.26 49.76 2021-02-10T18:07:17Z- LcmTrn::cycle() - COVAR: 788.57 833.08 55.07 0.00 2021-02-10T18:07:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980437.48 epoch sec; seqNo:1766; 4061681.30 north; 594407.48 east 2021-02-10T18:07:17Z- waiting for 1612980440.46, time is 1612980437.46 2021-02-10T18:07:17Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:17Z- AHRS_M2 msg: 1612980437.85 epoch sec; seqNo:1756 2021-02-10T18:07:17Z- AHRS_M2 msg: 1.48 phi; -0.07 theta; -0.20 psi 2021-02-10T18:07:17Z- waiting for 1612980440.46, time is 1612980437.46 2021-02-10T18:07:17Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:17Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1612980437853; depth 0.00 2021-02-10T18:07:17Z- waiting for 1612980440.46, time is 1612980437.46 2021-02-10T18:07:17Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980437.86 epoch sec; seqNo:1767; 4061681.30 north; 594407.48 east 2021-02-10T18:07:17Z- waiting for 1612980440.46, time is 1612980437.46 2021-02-10T18:07:17Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:18Z- AHRS_M2 msg: 1612980438.28 epoch sec; seqNo:1757 2021-02-10T18:07:18Z- AHRS_M2 msg: 1.48 phi; -0.07 theta; -0.20 psi 2021-02-10T18:07:18Z- waiting for 1612980440.46, time is 1612980437.46 2021-02-10T18:07:18Z- sync is 0.82, coherence is 2.00 2021-02-10T18:07:18Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1612980438289; depth 0.00 2021-02-10T18:07:18Z- waiting for 1612980440.46, time is 1612980437.46 2021-02-10T18:07:18Z- sync is 0.82, coherence is 2.00 2021-02-10T18:07:18Z- handleDvl() - RDI_Pathfinder msg: 1612980438.30 epoch sec; seqNo:715 2021-02-10T18:07:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.85 , 38.46 , 35.23 , 34.72 2021-02-10T18:07:18Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.03 , 0.00 2021-02-10T18:07:18Z- waiting for 1612980440.46, time is 1612980438.30 2021-02-10T18:07:18Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980438.33 epoch sec; seqNo:1768; 4061681.30 north; 594407.48 east 2021-02-10T18:07:18Z- waiting for 1612980440.46, time is 1612980438.30 2021-02-10T18:07:18Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:18Z- AHRS_M2 msg: 1612980438.65 epoch sec; seqNo:1758 2021-02-10T18:07:18Z- AHRS_M2 msg: 1.48 phi; -0.07 theta; -0.20 psi 2021-02-10T18:07:18Z- waiting for 1612980440.46, time is 1612980438.30 2021-02-10T18:07:18Z- sync is 0.35, coherence is 2.00 2021-02-10T18:07:18Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1612980438661; depth 0.00 2021-02-10T18:07:18Z- waiting for 1612980440.46, time is 1612980438.30 2021-02-10T18:07:18Z- sync is 0.35, coherence is 2.00 2021-02-10T18:07:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980438.67 epoch sec; seqNo:1769; 4061681.31 north; 594408.70 east 2021-02-10T18:07:18Z- waiting for 1612980440.46, time is 1612980438.30 2021-02-10T18:07:18Z- sync is 0.37, coherence is 2.00 2021-02-10T18:07:19Z- AHRS_M2 msg: 1612980439.07 epoch sec; seqNo:1759 2021-02-10T18:07:19Z- AHRS_M2 msg: 1.48 phi; -0.07 theta; -0.20 psi 2021-02-10T18:07:19Z- waiting for 1612980440.46, time is 1612980438.30 2021-02-10T18:07:19Z- sync is 0.77, coherence is 2.00 2021-02-10T18:07:19Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1612980439081; depth 0.00 2021-02-10T18:07:19Z- waiting for 1612980440.46, time is 1612980438.30 2021-02-10T18:07:19Z- sync is 0.77, coherence is 2.00 2021-02-10T18:07:19Z- handleDvl() - RDI_Pathfinder msg: 1612980439.11 epoch sec; seqNo:716 2021-02-10T18:07:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.02 , 38.29 , 34.89 , 34.72 2021-02-10T18:07:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.03 , -0.01 2021-02-10T18:07:19Z- waiting for 1612980440.46, time is 1612980439.11 2021-02-10T18:07:19Z- sync is 0.04, coherence is 2.00 2021-02-10T18:07:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980439.12 epoch sec; seqNo:1770; 4061681.69 north; 594408.70 east 2021-02-10T18:07:19Z- waiting for 1612980440.46, time is 1612980439.11 2021-02-10T18:07:19Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:19Z- AHRS_M2 msg: 1612980439.46 epoch sec; seqNo:1760 2021-02-10T18:07:19Z- AHRS_M2 msg: 1.48 phi; -0.07 theta; -0.20 psi 2021-02-10T18:07:19Z- waiting for 1612980440.46, time is 1612980439.11 2021-02-10T18:07:19Z- sync is 0.36, coherence is 2.00 2021-02-10T18:07:19Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1612980439466; depth 0.00 2021-02-10T18:07:19Z- waiting for 1612980440.46, time is 1612980439.11 2021-02-10T18:07:19Z- sync is 0.36, coherence is 2.00 2021-02-10T18:07:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980439.48 epoch sec; seqNo:1771; 4061681.69 north; 594408.70 east 2021-02-10T18:07:19Z- waiting for 1612980440.46, time is 1612980439.11 2021-02-10T18:07:19Z- sync is 0.37, coherence is 2.00 2021-02-10T18:07:19Z- AHRS_M2 msg: 1612980439.86 epoch sec; seqNo:1761 2021-02-10T18:07:19Z- AHRS_M2 msg: 1.48 phi; -0.07 theta; -0.20 psi 2021-02-10T18:07:19Z- waiting for 1612980440.46, time is 1612980439.11 2021-02-10T18:07:19Z- sync is 0.76, coherence is 2.00 2021-02-10T18:07:19Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1612980439868; depth 0.00 2021-02-10T18:07:19Z- waiting for 1612980440.46, time is 1612980439.11 2021-02-10T18:07:19Z- sync is 0.76, coherence is 2.00 2021-02-10T18:07:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980439.89 epoch sec; seqNo:1772; 4061681.70 north; 594409.92 east 2021-02-10T18:07:19Z- waiting for 1612980440.46, time is 1612980439.11 2021-02-10T18:07:19Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:20Z- AHRS_M2 msg: 1612980440.27 epoch sec; seqNo:1762 2021-02-10T18:07:20Z- AHRS_M2 msg: 1.48 phi; -0.07 theta; -0.20 psi 2021-02-10T18:07:20Z- waiting for 1612980440.46, time is 1612980439.11 2021-02-10T18:07:20Z- sync is 1.16, coherence is 2.00 2021-02-10T18:07:20Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1612980440277; depth 0.00 2021-02-10T18:07:20Z- waiting for 1612980440.46, time is 1612980439.11 2021-02-10T18:07:20Z- sync is 1.16, coherence is 2.00 2021-02-10T18:07:20Z- handleDvl() - RDI_Pathfinder msg: 1612980440.29 epoch sec; seqNo:717 2021-02-10T18:07:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.68 , 38.12 , 34.89 , 34.55 2021-02-10T18:07:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.02 , -0.01 2021-02-10T18:07:20Z- waiting for 1612980440.46, time is 1612980440.29 2021-02-10T18:07:20Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980440.30 epoch sec; seqNo:1773; 4061681.70 north; 594409.92 east 2021-02-10T18:07:20Z- waiting for 1612980440.46, time is 1612980440.29 2021-02-10T18:07:20Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:20Z- AHRS_M2 msg: 1612980440.67 epoch sec; seqNo:1763 2021-02-10T18:07:20Z- AHRS_M2 msg: 1.48 phi; -0.07 theta; -0.19 psi 2021-02-10T18:07:20Z- waiting for 1612980440.46, time is 1612980440.29 2021-02-10T18:07:20Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:20Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1612980440679; depth 0.00 2021-02-10T18:07:20Z- waiting for 1612980440.46, time is 1612980440.29 2021-02-10T18:07:20Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980440.69 epoch sec; seqNo:1774; 4061681.70 north; 594409.92 east 2021-02-10T18:07:20Z- waiting for 1612980440.46, time is 1612980440.29 2021-02-10T18:07:20Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:21Z- AHRS_M2 msg: 1612980441.09 epoch sec; seqNo:1764 2021-02-10T18:07:21Z- AHRS_M2 msg: 1.48 phi; -0.08 theta; -0.19 psi 2021-02-10T18:07:21Z- waiting for 1612980440.46, time is 1612980440.29 2021-02-10T18:07:21Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:21Z- handleDepth()-Depth_Keller msg: 49.98 epoch sec; seqNo:1612980441099; depth 0.00 2021-02-10T18:07:21Z- waiting for 1612980440.46, time is 1612980440.29 2021-02-10T18:07:21Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:21Z- handleDvl() - RDI_Pathfinder msg: 1612980441.11 epoch sec; seqNo:718 2021-02-10T18:07:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.85 , 38.29 , 34.72 , 34.72 2021-02-10T18:07:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.03 , -0.01 2021-02-10T18:07:21Z- waiting for 1612980440.46, time is 1612980441.11 2021-02-10T18:07:21Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:21Z- LcmTrn::updateTrn() >>>> pose time 1612980441.09, meas time 1612980441.11 <<<< 2021-02-10T18:07:21Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980441.11 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:07:21Z- TerrainNav::motionUpdate() - currEstimate = (4061682, 594409.92, 49.98) 2021-02-10T18:07:21Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:07:21Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:07:21Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:07:21Z- TNavBF::mmse selected from filter -1 2021-02-10T18:07:21Z- variances([0], [2], and psi_berg) = 788.396762 833.080726 0.000000 2021-02-10T18:07:21Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:07:21Z- LcmTrn::cycle() - MLE : 4061655.20 594363.42 49.98 2021-02-10T18:07:21Z- LcmTrn::cycle() - MMSE : 4061681.70 594409.92 49.98 2021-02-10T18:07:21Z- LcmTrn::cycle() - COVAR: 788.40 833.08 55.26 0.00 2021-02-10T18:07:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980441.12 epoch sec; seqNo:1775; 4061681.72 north; 594411.14 east 2021-02-10T18:07:21Z- waiting for 1612980444.11, time is 1612980441.11 2021-02-10T18:07:21Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:21Z- AHRS_M2 msg: 1612980441.48 epoch sec; seqNo:1765 2021-02-10T18:07:21Z- AHRS_M2 msg: 1.48 phi; -0.08 theta; -0.19 psi 2021-02-10T18:07:21Z- waiting for 1612980444.11, time is 1612980441.11 2021-02-10T18:07:21Z- sync is 0.37, coherence is 2.00 2021-02-10T18:07:21Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1612980441489; depth 0.00 2021-02-10T18:07:21Z- waiting for 1612980444.11, time is 1612980441.11 2021-02-10T18:07:21Z- sync is 0.37, coherence is 2.00 2021-02-10T18:07:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980441.50 epoch sec; seqNo:1776; 4061681.72 north; 594411.14 east 2021-02-10T18:07:21Z- waiting for 1612980444.11, time is 1612980441.11 2021-02-10T18:07:21Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:21Z- AHRS_M2 msg: 1612980441.88 epoch sec; seqNo:1766 2021-02-10T18:07:21Z- AHRS_M2 msg: 1.49 phi; -0.08 theta; -0.19 psi 2021-02-10T18:07:21Z- waiting for 1612980444.11, time is 1612980441.11 2021-02-10T18:07:21Z- sync is 0.77, coherence is 2.00 2021-02-10T18:07:21Z- handleDepth()-Depth_Keller msg: 50.01 epoch sec; seqNo:1612980441888; depth 0.00 2021-02-10T18:07:21Z- waiting for 1612980444.11, time is 1612980441.11 2021-02-10T18:07:21Z- sync is 0.77, coherence is 2.00 2021-02-10T18:07:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980441.90 epoch sec; seqNo:1777; 4061681.72 north; 594411.14 east 2021-02-10T18:07:21Z- waiting for 1612980444.11, time is 1612980441.11 2021-02-10T18:07:21Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:22Z- AHRS_M2 msg: 1612980442.29 epoch sec; seqNo:1767 2021-02-10T18:07:22Z- AHRS_M2 msg: 1.48 phi; -0.08 theta; -0.19 psi 2021-02-10T18:07:22Z- waiting for 1612980444.11, time is 1612980441.11 2021-02-10T18:07:22Z- sync is 1.18, coherence is 2.00 2021-02-10T18:07:22Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1612980442305; depth 0.00 2021-02-10T18:07:22Z- waiting for 1612980444.11, time is 1612980441.11 2021-02-10T18:07:22Z- sync is 1.18, coherence is 2.00 2021-02-10T18:07:22Z- handleDvl() - RDI_Pathfinder msg: 1612980442.32 epoch sec; seqNo:719 2021-02-10T18:07:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.02 , 37.78 , 34.38 , 34.55 2021-02-10T18:07:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.02 , -0.01 2021-02-10T18:07:22Z- waiting for 1612980444.11, time is 1612980442.32 2021-02-10T18:07:22Z- sync is 0.03, coherence is 2.00 2021-02-10T18:07:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980442.33 epoch sec; seqNo:1778; 4061681.72 north; 594411.14 east 2021-02-10T18:07:22Z- waiting for 1612980444.11, time is 1612980442.32 2021-02-10T18:07:22Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:22Z- AHRS_M2 msg: 1612980442.70 epoch sec; seqNo:1768 2021-02-10T18:07:22Z- AHRS_M2 msg: 1.48 phi; -0.08 theta; -0.19 psi 2021-02-10T18:07:22Z- waiting for 1612980444.11, time is 1612980442.32 2021-02-10T18:07:22Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:22Z- handleDepth()-Depth_Keller msg: 50.07 epoch sec; seqNo:1612980442702; depth 0.00 2021-02-10T18:07:22Z- waiting for 1612980444.11, time is 1612980442.32 2021-02-10T18:07:22Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980442.72 epoch sec; seqNo:1779; 4061681.73 north; 594412.36 east 2021-02-10T18:07:22Z- waiting for 1612980444.11, time is 1612980442.32 2021-02-10T18:07:22Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:23Z- AHRS_M2 msg: 1612980443.10 epoch sec; seqNo:1769 2021-02-10T18:07:23Z- AHRS_M2 msg: 1.48 phi; -0.08 theta; -0.19 psi 2021-02-10T18:07:23Z- waiting for 1612980444.11, time is 1612980442.32 2021-02-10T18:07:23Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:23Z- handleDepth()-Depth_Keller msg: 50.07 epoch sec; seqNo:1612980443106; depth 0.00 2021-02-10T18:07:23Z- waiting for 1612980444.11, time is 1612980442.32 2021-02-10T18:07:23Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:23Z- handleDvl() - RDI_Pathfinder msg: 1612980443.12 epoch sec; seqNo:720 2021-02-10T18:07:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.19 , 37.78 , 34.21 , 34.55 2021-02-10T18:07:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , -0.01 2021-02-10T18:07:23Z- waiting for 1612980444.11, time is 1612980443.12 2021-02-10T18:07:23Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980443.14 epoch sec; seqNo:1780; 4061681.73 north; 594412.36 east 2021-02-10T18:07:23Z- waiting for 1612980444.11, time is 1612980443.12 2021-02-10T18:07:23Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:23Z- AHRS_M2 msg: 1612980443.50 epoch sec; seqNo:1770 2021-02-10T18:07:23Z- AHRS_M2 msg: 1.48 phi; -0.08 theta; -0.19 psi 2021-02-10T18:07:23Z- waiting for 1612980444.11, time is 1612980443.12 2021-02-10T18:07:23Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:23Z- handleDepth()-Depth_Keller msg: 50.10 epoch sec; seqNo:1612980443504; depth 0.00 2021-02-10T18:07:23Z- waiting for 1612980444.11, time is 1612980443.12 2021-02-10T18:07:23Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980443.52 epoch sec; seqNo:1781; 4061681.73 north; 594412.36 east 2021-02-10T18:07:23Z- waiting for 1612980444.11, time is 1612980443.12 2021-02-10T18:07:23Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:23Z- AHRS_M2 msg: 1612980443.90 epoch sec; seqNo:1771 2021-02-10T18:07:23Z- AHRS_M2 msg: 1.48 phi; -0.08 theta; -0.18 psi 2021-02-10T18:07:23Z- waiting for 1612980444.11, time is 1612980443.12 2021-02-10T18:07:23Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:23Z- handleDepth()-Depth_Keller msg: 50.12 epoch sec; seqNo:1612980443910; depth 0.00 2021-02-10T18:07:23Z- waiting for 1612980444.11, time is 1612980443.12 2021-02-10T18:07:23Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980443.92 epoch sec; seqNo:1782; 4061681.74 north; 594413.58 east 2021-02-10T18:07:23Z- waiting for 1612980444.11, time is 1612980443.12 2021-02-10T18:07:23Z- sync is 0.81, coherence is 2.00 2021-02-10T18:07:24Z- AHRS_M2 msg: 1612980444.31 epoch sec; seqNo:1772 2021-02-10T18:07:24Z- AHRS_M2 msg: 1.48 phi; -0.08 theta; -0.18 psi 2021-02-10T18:07:24Z- waiting for 1612980444.11, time is 1612980443.12 2021-02-10T18:07:24Z- sync is 1.19, coherence is 2.00 2021-02-10T18:07:24Z- handleDepth()-Depth_Keller msg: 50.15 epoch sec; seqNo:1612980444312; depth 0.00 2021-02-10T18:07:24Z- waiting for 1612980444.11, time is 1612980443.12 2021-02-10T18:07:24Z- sync is 1.19, coherence is 2.00 2021-02-10T18:07:24Z- handleDvl() - RDI_Pathfinder msg: 1612980444.33 epoch sec; seqNo:721 2021-02-10T18:07:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.36 , 37.61 , 34.04 , 34.72 2021-02-10T18:07:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.02 , -0.01 2021-02-10T18:07:24Z- waiting for 1612980444.11, time is 1612980444.33 2021-02-10T18:07:24Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:24Z- LcmTrn::updateTrn() >>>> pose time 1612980444.31, meas time 1612980444.33 <<<< 2021-02-10T18:07:24Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980444.33 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:07:24Z- TerrainNav::motionUpdate() - currEstimate = (4061682, 594413.58, 50.15) 2021-02-10T18:07:24Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:07:24Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:07:24Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:07:24Z- TNavBF::mmse selected from filter -1 2021-02-10T18:07:24Z- variances([0], [2], and psi_berg) = 788.226892 833.080440 0.000000 2021-02-10T18:07:24Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:07:24Z- LcmTrn::cycle() - MLE : 4061655.24 594367.08 50.15 2021-02-10T18:07:24Z- LcmTrn::cycle() - MMSE : 4061681.74 594413.58 50.15 2021-02-10T18:07:24Z- LcmTrn::cycle() - COVAR: 788.23 833.08 55.45 0.00 2021-02-10T18:07:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980444.34 epoch sec; seqNo:1783; 4061681.74 north; 594413.58 east 2021-02-10T18:07:24Z- waiting for 1612980447.33, time is 1612980444.33 2021-02-10T18:07:24Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:24Z- AHRS_M2 msg: 1612980444.71 epoch sec; seqNo:1773 2021-02-10T18:07:24Z- AHRS_M2 msg: 1.48 phi; -0.08 theta; -0.18 psi 2021-02-10T18:07:24Z- waiting for 1612980447.33, time is 1612980444.33 2021-02-10T18:07:24Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:24Z- handleDepth()-Depth_Keller msg: 50.18 epoch sec; seqNo:1612980444721; depth 0.00 2021-02-10T18:07:24Z- waiting for 1612980447.33, time is 1612980444.33 2021-02-10T18:07:24Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980444.73 epoch sec; seqNo:1784; 4061681.74 north; 594413.58 east 2021-02-10T18:07:24Z- waiting for 1612980447.33, time is 1612980444.33 2021-02-10T18:07:24Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:25Z- AHRS_M2 msg: 1612980445.12 epoch sec; seqNo:1774 2021-02-10T18:07:25Z- AHRS_M2 msg: 1.48 phi; -0.08 theta; -0.18 psi 2021-02-10T18:07:25Z- waiting for 1612980447.33, time is 1612980444.33 2021-02-10T18:07:25Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:25Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1612980445123; depth 0.00 2021-02-10T18:07:25Z- waiting for 1612980447.33, time is 1612980444.33 2021-02-10T18:07:25Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:25Z- handleDvl() - RDI_Pathfinder msg: 1612980445.13 epoch sec; seqNo:722 2021-02-10T18:07:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.36 , 37.61 , 34.21 , 34.72 2021-02-10T18:07:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.02 , -0.00 2021-02-10T18:07:25Z- waiting for 1612980447.33, time is 1612980445.13 2021-02-10T18:07:25Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980445.15 epoch sec; seqNo:1785; 4061681.76 north; 594414.80 east 2021-02-10T18:07:25Z- waiting for 1612980447.33, time is 1612980445.13 2021-02-10T18:07:25Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:25Z- AHRS_M2 msg: 1612980445.52 epoch sec; seqNo:1775 2021-02-10T18:07:25Z- AHRS_M2 msg: 1.48 phi; -0.08 theta; -0.18 psi 2021-02-10T18:07:25Z- waiting for 1612980447.33, time is 1612980445.13 2021-02-10T18:07:25Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:25Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1612980445524; depth 0.00 2021-02-10T18:07:25Z- waiting for 1612980447.33, time is 1612980445.13 2021-02-10T18:07:25Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980445.54 epoch sec; seqNo:1786; 4061682.14 north; 594414.79 east 2021-02-10T18:07:25Z- waiting for 1612980447.33, time is 1612980445.13 2021-02-10T18:07:25Z- sync is 0.41, coherence is 2.00 2021-02-10T18:07:25Z- AHRS_M2 msg: 1612980445.93 epoch sec; seqNo:1776 2021-02-10T18:07:25Z- AHRS_M2 msg: 1.48 phi; -0.08 theta; -0.19 psi 2021-02-10T18:07:25Z- waiting for 1612980447.33, time is 1612980445.13 2021-02-10T18:07:25Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:25Z- handleDepth()-Depth_Keller msg: 50.26 epoch sec; seqNo:1612980445932; depth 0.00 2021-02-10T18:07:25Z- waiting for 1612980447.33, time is 1612980445.13 2021-02-10T18:07:25Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980445.94 epoch sec; seqNo:1787; 4061682.14 north; 594414.79 east 2021-02-10T18:07:25Z- waiting for 1612980447.33, time is 1612980445.13 2021-02-10T18:07:25Z- sync is 0.81, coherence is 2.00 2021-02-10T18:07:26Z- AHRS_M2 msg: 1612980446.33 epoch sec; seqNo:1777 2021-02-10T18:07:26Z- AHRS_M2 msg: 1.48 phi; -0.08 theta; -0.19 psi 2021-02-10T18:07:26Z- waiting for 1612980447.33, time is 1612980445.13 2021-02-10T18:07:26Z- sync is 1.19, coherence is 2.00 2021-02-10T18:07:26Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1612980446337; depth 0.00 2021-02-10T18:07:26Z- waiting for 1612980447.33, time is 1612980445.13 2021-02-10T18:07:26Z- sync is 1.19, coherence is 2.00 2021-02-10T18:07:26Z- handleDvl() - RDI_Pathfinder msg: 1612980446.35 epoch sec; seqNo:723 2021-02-10T18:07:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.36 , 37.61 , 33.87 , 34.55 2021-02-10T18:07:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.01 , 0.00 2021-02-10T18:07:26Z- waiting for 1612980447.33, time is 1612980446.35 2021-02-10T18:07:26Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980446.36 epoch sec; seqNo:1788; 4061682.15 north; 594416.01 east 2021-02-10T18:07:26Z- waiting for 1612980447.33, time is 1612980446.35 2021-02-10T18:07:26Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:26Z- AHRS_M2 msg: 1612980446.73 epoch sec; seqNo:1778 2021-02-10T18:07:26Z- AHRS_M2 msg: 1.47 phi; -0.08 theta; -0.19 psi 2021-02-10T18:07:26Z- waiting for 1612980447.33, time is 1612980446.35 2021-02-10T18:07:26Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:26Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1612980446738; depth 0.00 2021-02-10T18:07:26Z- waiting for 1612980447.33, time is 1612980446.35 2021-02-10T18:07:26Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980446.75 epoch sec; seqNo:1789; 4061682.15 north; 594416.01 east 2021-02-10T18:07:26Z- waiting for 1612980447.33, time is 1612980446.35 2021-02-10T18:07:26Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:27Z- AHRS_M2 msg: 1612980447.14 epoch sec; seqNo:1779 2021-02-10T18:07:27Z- AHRS_M2 msg: 1.47 phi; -0.08 theta; -0.19 psi 2021-02-10T18:07:27Z- waiting for 1612980447.33, time is 1612980446.35 2021-02-10T18:07:27Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:27Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1612980447145; depth 0.00 2021-02-10T18:07:27Z- waiting for 1612980447.33, time is 1612980446.35 2021-02-10T18:07:27Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:27Z- handleDvl() - RDI_Pathfinder msg: 1612980447.16 epoch sec; seqNo:724 2021-02-10T18:07:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.36 , 37.44 , 34.04 , 34.89 2021-02-10T18:07:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.02 , 0.00 2021-02-10T18:07:27Z- waiting for 1612980447.33, time is 1612980447.16 2021-02-10T18:07:27Z- sync is 0.03, coherence is 2.00 2021-02-10T18:07:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980447.17 epoch sec; seqNo:1790; 4061682.15 north; 594416.01 east 2021-02-10T18:07:27Z- waiting for 1612980447.33, time is 1612980447.16 2021-02-10T18:07:27Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:27Z- AHRS_M2 msg: 1612980447.54 epoch sec; seqNo:1780 2021-02-10T18:07:27Z- AHRS_M2 msg: 1.47 phi; -0.08 theta; -0.19 psi 2021-02-10T18:07:27Z- waiting for 1612980447.33, time is 1612980447.16 2021-02-10T18:07:27Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:27Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1612980447545; depth 0.00 2021-02-10T18:07:27Z- waiting for 1612980447.33, time is 1612980447.16 2021-02-10T18:07:27Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980447.56 epoch sec; seqNo:1791; 4061682.15 north; 594416.01 east 2021-02-10T18:07:27Z- waiting for 1612980447.33, time is 1612980447.16 2021-02-10T18:07:27Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:27Z- AHRS_M2 msg: 1612980447.95 epoch sec; seqNo:1781 2021-02-10T18:07:27Z- AHRS_M2 msg: 1.47 phi; -0.08 theta; -0.19 psi 2021-02-10T18:07:27Z- waiting for 1612980447.33, time is 1612980447.16 2021-02-10T18:07:27Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:27Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1612980447955; depth 0.00 2021-02-10T18:07:27Z- waiting for 1612980447.33, time is 1612980447.16 2021-02-10T18:07:27Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980447.96 epoch sec; seqNo:1792; 4061682.16 north; 594417.23 east 2021-02-10T18:07:27Z- waiting for 1612980447.33, time is 1612980447.16 2021-02-10T18:07:27Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:28Z- AHRS_M2 msg: 1612980448.35 epoch sec; seqNo:1782 2021-02-10T18:07:28Z- AHRS_M2 msg: 1.47 phi; -0.08 theta; -0.19 psi 2021-02-10T18:07:28Z- waiting for 1612980447.33, time is 1612980447.16 2021-02-10T18:07:28Z- sync is 1.18, coherence is 2.00 2021-02-10T18:07:28Z- handleDepth()-Depth_Keller msg: 50.43 epoch sec; seqNo:1612980448354; depth 0.00 2021-02-10T18:07:28Z- waiting for 1612980447.33, time is 1612980447.16 2021-02-10T18:07:28Z- sync is 1.18, coherence is 2.00 2021-02-10T18:07:28Z- handleDvl() - RDI_Pathfinder msg: 1612980448.37 epoch sec; seqNo:725 2021-02-10T18:07:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.53 , 37.27 , 33.70 , 35.06 2021-02-10T18:07:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.02 , 0.01 2021-02-10T18:07:28Z- waiting for 1612980447.33, time is 1612980448.37 2021-02-10T18:07:28Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:28Z- LcmTrn::updateTrn() >>>> pose time 1612980448.35, meas time 1612980448.37 <<<< 2021-02-10T18:07:28Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980448.37 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:07:28Z- TerrainNav::motionUpdate() - currEstimate = (4061682, 594417.23, 50.43) 2021-02-10T18:07:28Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:07:28Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:07:28Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:07:28Z- TNavBF::mmse selected from filter -1 2021-02-10T18:07:28Z- variances([0], [2], and psi_berg) = 788.057118 833.080156 0.000000 2021-02-10T18:07:28Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:07:28Z- LcmTrn::cycle() - MLE : 4061655.66 594370.73 50.43 2021-02-10T18:07:28Z- LcmTrn::cycle() - MMSE : 4061682.16 594417.23 50.43 2021-02-10T18:07:28Z- LcmTrn::cycle() - COVAR: 788.06 833.08 55.64 0.00 2021-02-10T18:07:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980448.38 epoch sec; seqNo:1793; 4061682.16 north; 594417.23 east 2021-02-10T18:07:28Z- waiting for 1612980451.37, time is 1612980448.37 2021-02-10T18:07:28Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:28Z- AHRS_M2 msg: 1612980448.75 epoch sec; seqNo:1783 2021-02-10T18:07:28Z- AHRS_M2 msg: 1.47 phi; -0.08 theta; -0.19 psi 2021-02-10T18:07:28Z- waiting for 1612980451.37, time is 1612980448.37 2021-02-10T18:07:28Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:28Z- handleDepth()-Depth_Keller msg: 50.46 epoch sec; seqNo:1612980448761; depth 0.00 2021-02-10T18:07:28Z- waiting for 1612980451.37, time is 1612980448.37 2021-02-10T18:07:28Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980448.79 epoch sec; seqNo:1794; 4061682.16 north; 594417.23 east 2021-02-10T18:07:28Z- waiting for 1612980451.37, time is 1612980448.37 2021-02-10T18:07:28Z- sync is 0.42, coherence is 2.00 2021-02-10T18:07:29Z- AHRS_M2 msg: 1612980449.16 epoch sec; seqNo:1784 2021-02-10T18:07:29Z- AHRS_M2 msg: 1.47 phi; -0.08 theta; -0.19 psi 2021-02-10T18:07:29Z- waiting for 1612980451.37, time is 1612980448.37 2021-02-10T18:07:29Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:29Z- handleDepth()-Depth_Keller msg: 50.51 epoch sec; seqNo:1612980449160; depth 0.00 2021-02-10T18:07:29Z- waiting for 1612980451.37, time is 1612980448.37 2021-02-10T18:07:29Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:29Z- handleDvl() - RDI_Pathfinder msg: 1612980449.17 epoch sec; seqNo:726 2021-02-10T18:07:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.02 , 37.44 , 34.04 , 35.40 2021-02-10T18:07:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , 0.01 2021-02-10T18:07:29Z- waiting for 1612980451.37, time is 1612980449.17 2021-02-10T18:07:29Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980449.20 epoch sec; seqNo:1795; 4061682.18 north; 594418.45 east 2021-02-10T18:07:29Z- waiting for 1612980451.37, time is 1612980449.17 2021-02-10T18:07:29Z- sync is 0.03, coherence is 2.00 2021-02-10T18:07:29Z- AHRS_M2 msg: 1612980449.56 epoch sec; seqNo:1785 2021-02-10T18:07:29Z- AHRS_M2 msg: 1.47 phi; -0.08 theta; -0.19 psi 2021-02-10T18:07:29Z- waiting for 1612980451.37, time is 1612980449.17 2021-02-10T18:07:29Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:29Z- handleDepth()-Depth_Keller msg: 50.54 epoch sec; seqNo:1612980449569; depth 0.00 2021-02-10T18:07:29Z- waiting for 1612980451.37, time is 1612980449.17 2021-02-10T18:07:29Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980449.58 epoch sec; seqNo:1796; 4061682.18 north; 594418.45 east 2021-02-10T18:07:29Z- waiting for 1612980451.37, time is 1612980449.17 2021-02-10T18:07:29Z- sync is 0.41, coherence is 2.00 2021-02-10T18:07:29Z- AHRS_M2 msg: 1612980449.96 epoch sec; seqNo:1786 2021-02-10T18:07:29Z- AHRS_M2 msg: 1.46 phi; -0.08 theta; -0.19 psi 2021-02-10T18:07:29Z- waiting for 1612980451.37, time is 1612980449.17 2021-02-10T18:07:29Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:29Z- handleDepth()-Depth_Keller msg: 50.56 epoch sec; seqNo:1612980449975; depth 0.00 2021-02-10T18:07:29Z- waiting for 1612980451.37, time is 1612980449.17 2021-02-10T18:07:29Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980449.98 epoch sec; seqNo:1797; 4061682.18 north; 594418.45 east 2021-02-10T18:07:29Z- waiting for 1612980451.37, time is 1612980449.17 2021-02-10T18:07:29Z- sync is 0.81, coherence is 2.00 2021-02-10T18:07:30Z- AHRS_M2 msg: 1612980450.37 epoch sec; seqNo:1787 2021-02-10T18:07:30Z- AHRS_M2 msg: 1.46 phi; -0.07 theta; -0.19 psi 2021-02-10T18:07:30Z- waiting for 1612980451.37, time is 1612980449.17 2021-02-10T18:07:30Z- sync is 1.20, coherence is 2.00 2021-02-10T18:07:30Z- handleDepth()-Depth_Keller msg: 50.59 epoch sec; seqNo:1612980450373; depth 0.00 2021-02-10T18:07:30Z- waiting for 1612980451.37, time is 1612980449.17 2021-02-10T18:07:30Z- sync is 1.20, coherence is 2.00 2021-02-10T18:07:30Z- handleDvl() - RDI_Pathfinder msg: 1612980450.38 epoch sec; seqNo:727 2021-02-10T18:07:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.19 , 37.10 , 33.70 , 35.06 2021-02-10T18:07:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.00 , 0.02 2021-02-10T18:07:30Z- waiting for 1612980451.37, time is 1612980450.38 2021-02-10T18:07:30Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980450.41 epoch sec; seqNo:1798; 4061682.57 north; 594419.67 east 2021-02-10T18:07:30Z- waiting for 1612980451.37, time is 1612980450.38 2021-02-10T18:07:30Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:30Z- AHRS_M2 msg: 1612980450.78 epoch sec; seqNo:1788 2021-02-10T18:07:30Z- AHRS_M2 msg: 1.46 phi; -0.07 theta; -0.19 psi 2021-02-10T18:07:30Z- waiting for 1612980451.37, time is 1612980450.38 2021-02-10T18:07:30Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:30Z- handleDepth()-Depth_Keller msg: 50.63 epoch sec; seqNo:1612980450783; depth 0.00 2021-02-10T18:07:30Z- waiting for 1612980451.37, time is 1612980450.38 2021-02-10T18:07:30Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980450.80 epoch sec; seqNo:1799; 4061682.57 north; 594419.67 east 2021-02-10T18:07:30Z- waiting for 1612980451.37, time is 1612980450.38 2021-02-10T18:07:30Z- sync is 0.41, coherence is 2.00 2021-02-10T18:07:31Z- AHRS_M2 msg: 1612980451.18 epoch sec; seqNo:1789 2021-02-10T18:07:31Z- AHRS_M2 msg: 1.46 phi; -0.07 theta; -0.19 psi 2021-02-10T18:07:31Z- waiting for 1612980451.37, time is 1612980450.38 2021-02-10T18:07:31Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:31Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1612980451180; depth 0.00 2021-02-10T18:07:31Z- waiting for 1612980451.37, time is 1612980450.38 2021-02-10T18:07:31Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:31Z- handleDvl() - RDI_Pathfinder msg: 1612980451.19 epoch sec; seqNo:728 2021-02-10T18:07:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.19 , 37.10 , 33.70 , 35.06 2021-02-10T18:07:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , 0.01 2021-02-10T18:07:31Z- waiting for 1612980451.37, time is 1612980451.19 2021-02-10T18:07:31Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980451.21 epoch sec; seqNo:1800; 4061682.57 north; 594419.67 east 2021-02-10T18:07:31Z- waiting for 1612980451.37, time is 1612980451.19 2021-02-10T18:07:31Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:31Z- AHRS_M2 msg: 1612980451.58 epoch sec; seqNo:1790 2021-02-10T18:07:31Z- AHRS_M2 msg: 1.46 phi; -0.07 theta; -0.19 psi 2021-02-10T18:07:31Z- waiting for 1612980451.37, time is 1612980451.19 2021-02-10T18:07:31Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:31Z- handleDepth()-Depth_Keller msg: 50.69 epoch sec; seqNo:1612980451585; depth 0.00 2021-02-10T18:07:31Z- waiting for 1612980451.37, time is 1612980451.19 2021-02-10T18:07:31Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980451.60 epoch sec; seqNo:1801; 4061682.58 north; 594420.89 east 2021-02-10T18:07:31Z- waiting for 1612980451.37, time is 1612980451.19 2021-02-10T18:07:31Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:31Z- AHRS_M2 msg: 1612980451.99 epoch sec; seqNo:1791 2021-02-10T18:07:31Z- AHRS_M2 msg: 1.45 phi; -0.07 theta; -0.19 psi 2021-02-10T18:07:31Z- waiting for 1612980451.37, time is 1612980451.19 2021-02-10T18:07:31Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:32Z- handleDepth()-Depth_Keller msg: 50.72 epoch sec; seqNo:1612980451998; depth 0.00 2021-02-10T18:07:32Z- waiting for 1612980451.37, time is 1612980451.19 2021-02-10T18:07:32Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980452.01 epoch sec; seqNo:1802; 4061682.58 north; 594420.89 east 2021-02-10T18:07:32Z- waiting for 1612980451.37, time is 1612980451.19 2021-02-10T18:07:32Z- sync is 0.82, coherence is 2.00 2021-02-10T18:07:32Z- AHRS_M2 msg: 1612980452.39 epoch sec; seqNo:1792 2021-02-10T18:07:32Z- AHRS_M2 msg: 1.45 phi; -0.07 theta; -0.19 psi 2021-02-10T18:07:32Z- waiting for 1612980451.37, time is 1612980451.19 2021-02-10T18:07:32Z- sync is 1.20, coherence is 2.00 2021-02-10T18:07:32Z- handleDepth()-Depth_Keller msg: 50.77 epoch sec; seqNo:1612980452397; depth 0.00 2021-02-10T18:07:32Z- waiting for 1612980451.37, time is 1612980451.19 2021-02-10T18:07:32Z- sync is 1.20, coherence is 2.00 2021-02-10T18:07:32Z- handleDvl() - RDI_Pathfinder msg: 1612980452.41 epoch sec; seqNo:729 2021-02-10T18:07:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.02 , 37.27 , 33.53 , 35.23 2021-02-10T18:07:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , 0.01 2021-02-10T18:07:32Z- waiting for 1612980451.37, time is 1612980452.41 2021-02-10T18:07:32Z- sync is 0.03, coherence is 2.00 2021-02-10T18:07:32Z- LcmTrn::updateTrn() >>>> pose time 1612980452.39, meas time 1612980452.41 <<<< 2021-02-10T18:07:32Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980452.41 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:07:32Z- TerrainNav::motionUpdate() - currEstimate = (4061683, 594420.89, 50.77) 2021-02-10T18:07:32Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:07:32Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:07:32Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:07:32Z- TNavBF::mmse selected from filter -1 2021-02-10T18:07:32Z- variances([0], [2], and psi_berg) = 787.887888 833.079874 0.000000 2021-02-10T18:07:32Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:07:32Z- LcmTrn::cycle() - MLE : 4061656.08 594377.39 50.77 2021-02-10T18:07:32Z- LcmTrn::cycle() - MMSE : 4061682.58 594420.89 50.77 2021-02-10T18:07:32Z- LcmTrn::cycle() - COVAR: 787.89 833.08 55.82 0.00 2021-02-10T18:07:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980452.42 epoch sec; seqNo:1803; 4061682.58 north; 594420.89 east 2021-02-10T18:07:32Z- waiting for 1612980455.41, time is 1612980452.41 2021-02-10T18:07:32Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:32Z- AHRS_M2 msg: 1612980452.79 epoch sec; seqNo:1793 2021-02-10T18:07:32Z- AHRS_M2 msg: 1.45 phi; -0.06 theta; -0.19 psi 2021-02-10T18:07:32Z- waiting for 1612980455.41, time is 1612980452.41 2021-02-10T18:07:32Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:32Z- handleDepth()-Depth_Keller msg: 50.80 epoch sec; seqNo:1612980452797; depth 0.00 2021-02-10T18:07:32Z- waiting for 1612980455.41, time is 1612980452.41 2021-02-10T18:07:32Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980452.81 epoch sec; seqNo:1804; 4061682.58 north; 594420.89 east 2021-02-10T18:07:32Z- waiting for 1612980455.41, time is 1612980452.41 2021-02-10T18:07:32Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:33Z- AHRS_M2 msg: 1612980453.20 epoch sec; seqNo:1794 2021-02-10T18:07:33Z- AHRS_M2 msg: 1.45 phi; -0.06 theta; -0.19 psi 2021-02-10T18:07:33Z- waiting for 1612980455.41, time is 1612980452.41 2021-02-10T18:07:33Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:33Z- handleDepth()-Depth_Keller msg: 50.82 epoch sec; seqNo:1612980453209; depth 0.00 2021-02-10T18:07:33Z- waiting for 1612980455.41, time is 1612980452.41 2021-02-10T18:07:33Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:33Z- handleDvl() - RDI_Pathfinder msg: 1612980453.23 epoch sec; seqNo:730 2021-02-10T18:07:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.02 , 37.44 , 33.36 , 35.06 2021-02-10T18:07:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.01 , 0.00 2021-02-10T18:07:33Z- waiting for 1612980455.41, time is 1612980453.23 2021-02-10T18:07:33Z- sync is 0.03, coherence is 2.00 2021-02-10T18:07:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980453.24 epoch sec; seqNo:1805; 4061682.60 north; 594422.11 east 2021-02-10T18:07:33Z- waiting for 1612980455.41, time is 1612980453.23 2021-02-10T18:07:33Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:33Z- AHRS_M2 msg: 1612980453.60 epoch sec; seqNo:1795 2021-02-10T18:07:33Z- AHRS_M2 msg: 1.45 phi; -0.06 theta; -0.19 psi 2021-02-10T18:07:33Z- waiting for 1612980455.41, time is 1612980453.23 2021-02-10T18:07:33Z- sync is 0.37, coherence is 2.00 2021-02-10T18:07:33Z- handleDepth()-Depth_Keller msg: 50.85 epoch sec; seqNo:1612980453605; depth 0.00 2021-02-10T18:07:33Z- waiting for 1612980455.41, time is 1612980453.23 2021-02-10T18:07:33Z- sync is 0.37, coherence is 2.00 2021-02-10T18:07:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980453.62 epoch sec; seqNo:1806; 4061682.60 north; 594422.11 east 2021-02-10T18:07:33Z- waiting for 1612980455.41, time is 1612980453.23 2021-02-10T18:07:33Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:34Z- AHRS_M2 msg: 1612980454.00 epoch sec; seqNo:1796 2021-02-10T18:07:34Z- AHRS_M2 msg: 1.45 phi; -0.06 theta; -0.19 psi 2021-02-10T18:07:34Z- waiting for 1612980455.41, time is 1612980453.23 2021-02-10T18:07:34Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:34Z- handleDepth()-Depth_Keller msg: 50.88 epoch sec; seqNo:1612980454009; depth 0.00 2021-02-10T18:07:34Z- waiting for 1612980455.41, time is 1612980453.23 2021-02-10T18:07:34Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980454.02 epoch sec; seqNo:1807; 4061682.98 north; 594422.11 east 2021-02-10T18:07:34Z- waiting for 1612980455.41, time is 1612980453.23 2021-02-10T18:07:34Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:34Z- AHRS_M2 msg: 1612980454.41 epoch sec; seqNo:1797 2021-02-10T18:07:34Z- AHRS_M2 msg: 1.44 phi; -0.06 theta; -0.19 psi 2021-02-10T18:07:34Z- waiting for 1612980455.41, time is 1612980453.23 2021-02-10T18:07:34Z- sync is 1.18, coherence is 2.00 2021-02-10T18:07:34Z- handleDepth()-Depth_Keller msg: 50.90 epoch sec; seqNo:1612980454413; depth 0.00 2021-02-10T18:07:34Z- waiting for 1612980455.41, time is 1612980453.23 2021-02-10T18:07:34Z- sync is 1.18, coherence is 2.00 2021-02-10T18:07:34Z- handleDvl() - RDI_Pathfinder msg: 1612980454.42 epoch sec; seqNo:731 2021-02-10T18:07:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.02 , 37.44 , 33.36 , 35.06 2021-02-10T18:07:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.01 , 0.00 2021-02-10T18:07:34Z- waiting for 1612980455.41, time is 1612980454.42 2021-02-10T18:07:34Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980454.43 epoch sec; seqNo:1808; 4061682.99 north; 594423.33 east 2021-02-10T18:07:34Z- waiting for 1612980455.41, time is 1612980454.42 2021-02-10T18:07:34Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:34Z- AHRS_M2 msg: 1612980454.81 epoch sec; seqNo:1798 2021-02-10T18:07:34Z- AHRS_M2 msg: 1.44 phi; -0.05 theta; -0.19 psi 2021-02-10T18:07:34Z- waiting for 1612980455.41, time is 1612980454.42 2021-02-10T18:07:34Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:34Z- handleDepth()-Depth_Keller msg: 50.92 epoch sec; seqNo:1612980454819; depth 0.00 2021-02-10T18:07:34Z- waiting for 1612980455.41, time is 1612980454.42 2021-02-10T18:07:34Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980454.84 epoch sec; seqNo:1809; 4061682.99 north; 594423.33 east 2021-02-10T18:07:34Z- waiting for 1612980455.41, time is 1612980454.42 2021-02-10T18:07:34Z- sync is 0.42, coherence is 2.00 2021-02-10T18:07:35Z- AHRS_M2 msg: 1612980455.22 epoch sec; seqNo:1799 2021-02-10T18:07:35Z- AHRS_M2 msg: 1.44 phi; -0.05 theta; -0.19 psi 2021-02-10T18:07:35Z- waiting for 1612980455.41, time is 1612980454.42 2021-02-10T18:07:35Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:35Z- handleDepth()-Depth_Keller msg: 50.95 epoch sec; seqNo:1612980455220; depth 0.00 2021-02-10T18:07:35Z- waiting for 1612980455.41, time is 1612980454.42 2021-02-10T18:07:35Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:35Z- handleDvl() - RDI_Pathfinder msg: 1612980455.23 epoch sec; seqNo:732 2021-02-10T18:07:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.85 , 37.44 , 33.36 , 35.40 2021-02-10T18:07:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.03 , 0.00 2021-02-10T18:07:35Z- waiting for 1612980455.41, time is 1612980455.23 2021-02-10T18:07:35Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980455.26 epoch sec; seqNo:1810; 4061682.99 north; 594423.33 east 2021-02-10T18:07:35Z- waiting for 1612980455.41, time is 1612980455.23 2021-02-10T18:07:35Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:35Z- AHRS_M2 msg: 1612980455.62 epoch sec; seqNo:1800 2021-02-10T18:07:35Z- AHRS_M2 msg: 1.44 phi; -0.05 theta; -0.19 psi 2021-02-10T18:07:35Z- waiting for 1612980455.41, time is 1612980455.23 2021-02-10T18:07:35Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:35Z- handleDepth()-Depth_Keller msg: 50.99 epoch sec; seqNo:1612980455624; depth 0.00 2021-02-10T18:07:35Z- waiting for 1612980455.41, time is 1612980455.23 2021-02-10T18:07:35Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980455.63 epoch sec; seqNo:1811; 4061683.00 north; 594424.55 east 2021-02-10T18:07:35Z- waiting for 1612980455.41, time is 1612980455.23 2021-02-10T18:07:35Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:36Z- AHRS_M2 msg: 1612980456.03 epoch sec; seqNo:1801 2021-02-10T18:07:36Z- AHRS_M2 msg: 1.44 phi; -0.05 theta; -0.19 psi 2021-02-10T18:07:36Z- waiting for 1612980455.41, time is 1612980455.23 2021-02-10T18:07:36Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:36Z- handleDepth()-Depth_Keller msg: 50.98 epoch sec; seqNo:1612980456034; depth 0.00 2021-02-10T18:07:36Z- waiting for 1612980455.41, time is 1612980455.23 2021-02-10T18:07:36Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980456.04 epoch sec; seqNo:1812; 4061683.00 north; 594424.55 east 2021-02-10T18:07:36Z- waiting for 1612980455.41, time is 1612980455.23 2021-02-10T18:07:36Z- sync is 0.81, coherence is 2.00 2021-02-10T18:07:36Z- AHRS_M2 msg: 1612980456.43 epoch sec; seqNo:1802 2021-02-10T18:07:36Z- AHRS_M2 msg: 1.44 phi; -0.05 theta; -0.19 psi 2021-02-10T18:07:36Z- waiting for 1612980455.41, time is 1612980455.23 2021-02-10T18:07:36Z- sync is 1.20, coherence is 2.00 2021-02-10T18:07:36Z- handleDepth()-Depth_Keller msg: 51.01 epoch sec; seqNo:1612980456432; depth 0.00 2021-02-10T18:07:36Z- waiting for 1612980455.41, time is 1612980455.23 2021-02-10T18:07:36Z- sync is 1.20, coherence is 2.00 2021-02-10T18:07:36Z- handleDvl() - RDI_Pathfinder msg: 1612980456.45 epoch sec; seqNo:733 2021-02-10T18:07:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.68 , 37.27 , 33.36 , 35.74 2021-02-10T18:07:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.03 , 0.00 2021-02-10T18:07:36Z- waiting for 1612980455.41, time is 1612980456.45 2021-02-10T18:07:36Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:36Z- LcmTrn::updateTrn() >>>> pose time 1612980456.43, meas time 1612980456.45 <<<< 2021-02-10T18:07:36Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980456.45 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:07:36Z- TerrainNav::motionUpdate() - currEstimate = (4061683, 594424.55, 51.01) 2021-02-10T18:07:36Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:07:36Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:07:36Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:07:36Z- TNavBF::mmse selected from filter -1 2021-02-10T18:07:36Z- variances([0], [2], and psi_berg) = 787.719200 833.079593 0.000000 2021-02-10T18:07:36Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:07:36Z- LcmTrn::cycle() - MLE : 4061656.50 594379.05 51.01 2021-02-10T18:07:36Z- LcmTrn::cycle() - MMSE : 4061683.00 594424.55 51.01 2021-02-10T18:07:36Z- LcmTrn::cycle() - COVAR: 787.72 833.08 56.01 0.00 2021-02-10T18:07:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980456.46 epoch sec; seqNo:1813; 4061683.00 north; 594424.55 east 2021-02-10T18:07:36Z- waiting for 1612980459.45, time is 1612980456.45 2021-02-10T18:07:36Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:36Z- AHRS_M2 msg: 1612980456.83 epoch sec; seqNo:1803 2021-02-10T18:07:36Z- AHRS_M2 msg: 1.44 phi; -0.04 theta; -0.19 psi 2021-02-10T18:07:36Z- waiting for 1612980459.45, time is 1612980456.45 2021-02-10T18:07:36Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:36Z- handleDepth()-Depth_Keller msg: 51.04 epoch sec; seqNo:1612980456838; depth 0.00 2021-02-10T18:07:36Z- waiting for 1612980459.45, time is 1612980456.45 2021-02-10T18:07:36Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980456.85 epoch sec; seqNo:1814; 4061683.02 north; 594425.77 east 2021-02-10T18:07:36Z- waiting for 1612980459.45, time is 1612980456.45 2021-02-10T18:07:36Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:37Z- AHRS_M2 msg: 1612980457.24 epoch sec; seqNo:1804 2021-02-10T18:07:37Z- AHRS_M2 msg: 1.44 phi; -0.04 theta; -0.18 psi 2021-02-10T18:07:37Z- waiting for 1612980459.45, time is 1612980456.45 2021-02-10T18:07:37Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:37Z- handleDepth()-Depth_Keller msg: 51.06 epoch sec; seqNo:1612980457245; depth 0.00 2021-02-10T18:07:37Z- waiting for 1612980459.45, time is 1612980456.45 2021-02-10T18:07:37Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:37Z- handleDvl() - RDI_Pathfinder msg: 1612980457.26 epoch sec; seqNo:734 2021-02-10T18:07:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.68 , 37.27 , 33.19 , 35.91 2021-02-10T18:07:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.03 , 0.00 2021-02-10T18:07:37Z- waiting for 1612980459.45, time is 1612980457.26 2021-02-10T18:07:37Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980457.27 epoch sec; seqNo:1815; 4061683.02 north; 594425.77 east 2021-02-10T18:07:37Z- waiting for 1612980459.45, time is 1612980457.26 2021-02-10T18:07:37Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:37Z- AHRS_M2 msg: 1612980457.64 epoch sec; seqNo:1805 2021-02-10T18:07:37Z- AHRS_M2 msg: 1.44 phi; -0.04 theta; -0.18 psi 2021-02-10T18:07:37Z- waiting for 1612980459.45, time is 1612980457.26 2021-02-10T18:07:37Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:37Z- handleDepth()-Depth_Keller msg: 51.06 epoch sec; seqNo:1612980457646; depth 0.00 2021-02-10T18:07:37Z- waiting for 1612980459.45, time is 1612980457.26 2021-02-10T18:07:37Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980457.66 epoch sec; seqNo:1816; 4061683.02 north; 594425.77 east 2021-02-10T18:07:37Z- waiting for 1612980459.45, time is 1612980457.26 2021-02-10T18:07:37Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:38Z- AHRS_M2 msg: 1612980458.05 epoch sec; seqNo:1806 2021-02-10T18:07:38Z- AHRS_M2 msg: 1.44 phi; -0.03 theta; -0.18 psi 2021-02-10T18:07:38Z- waiting for 1612980459.45, time is 1612980457.26 2021-02-10T18:07:38Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:38Z- handleDepth()-Depth_Keller msg: 51.09 epoch sec; seqNo:1612980458054; depth 0.00 2021-02-10T18:07:38Z- waiting for 1612980459.45, time is 1612980457.26 2021-02-10T18:07:38Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980458.10 epoch sec; seqNo:1817; 4061683.41 north; 594426.98 east 2021-02-10T18:07:38Z- waiting for 1612980459.45, time is 1612980457.26 2021-02-10T18:07:38Z- sync is 0.84, coherence is 2.00 2021-02-10T18:07:38Z- AHRS_M2 msg: 1612980458.45 epoch sec; seqNo:1807 2021-02-10T18:07:38Z- AHRS_M2 msg: 1.44 phi; -0.03 theta; -0.18 psi 2021-02-10T18:07:38Z- waiting for 1612980459.45, time is 1612980457.26 2021-02-10T18:07:38Z- sync is 1.19, coherence is 2.00 2021-02-10T18:07:38Z- handleDepth()-Depth_Keller msg: 51.09 epoch sec; seqNo:1612980458457; depth 0.00 2021-02-10T18:07:38Z- waiting for 1612980459.45, time is 1612980457.26 2021-02-10T18:07:38Z- sync is 1.19, coherence is 2.00 2021-02-10T18:07:38Z- handleDvl() - RDI_Pathfinder msg: 1612980458.47 epoch sec; seqNo:735 2021-02-10T18:07:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.68 , 37.61 , 33.36 , 35.74 2021-02-10T18:07:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.03 , -0.01 2021-02-10T18:07:38Z- waiting for 1612980459.45, time is 1612980458.47 2021-02-10T18:07:38Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980458.48 epoch sec; seqNo:1818; 4061683.41 north; 594426.98 east 2021-02-10T18:07:38Z- waiting for 1612980459.45, time is 1612980458.47 2021-02-10T18:07:38Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:38Z- AHRS_M2 msg: 1612980458.86 epoch sec; seqNo:1808 2021-02-10T18:07:38Z- AHRS_M2 msg: 1.43 phi; -0.03 theta; -0.18 psi 2021-02-10T18:07:38Z- waiting for 1612980459.45, time is 1612980458.47 2021-02-10T18:07:38Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:38Z- handleDepth()-Depth_Keller msg: 51.11 epoch sec; seqNo:1612980458866; depth 0.00 2021-02-10T18:07:38Z- waiting for 1612980459.45, time is 1612980458.47 2021-02-10T18:07:38Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980458.88 epoch sec; seqNo:1819; 4061683.41 north; 594426.98 east 2021-02-10T18:07:38Z- waiting for 1612980459.45, time is 1612980458.47 2021-02-10T18:07:38Z- sync is 0.42, coherence is 2.00 2021-02-10T18:07:39Z- AHRS_M2 msg: 1612980459.26 epoch sec; seqNo:1809 2021-02-10T18:07:39Z- AHRS_M2 msg: 1.43 phi; -0.02 theta; -0.18 psi 2021-02-10T18:07:39Z- waiting for 1612980459.45, time is 1612980458.47 2021-02-10T18:07:39Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:39Z- handleDepth()-Depth_Keller msg: 51.12 epoch sec; seqNo:1612980459271; depth 0.00 2021-02-10T18:07:39Z- waiting for 1612980459.45, time is 1612980458.47 2021-02-10T18:07:39Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:39Z- handleDvl() - RDI_Pathfinder msg: 1612980459.29 epoch sec; seqNo:736 2021-02-10T18:07:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.68 , 37.61 , 33.36 , 35.40 2021-02-10T18:07:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.03 , -0.01 2021-02-10T18:07:39Z- waiting for 1612980459.45, time is 1612980459.29 2021-02-10T18:07:39Z- sync is 0.03, coherence is 2.00 2021-02-10T18:07:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980459.30 epoch sec; seqNo:1820; 4061683.42 north; 594428.20 east 2021-02-10T18:07:39Z- waiting for 1612980459.45, time is 1612980459.29 2021-02-10T18:07:39Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:39Z- AHRS_M2 msg: 1612980459.66 epoch sec; seqNo:1810 2021-02-10T18:07:39Z- AHRS_M2 msg: 1.43 phi; -0.02 theta; -0.18 psi 2021-02-10T18:07:39Z- waiting for 1612980459.45, time is 1612980459.29 2021-02-10T18:07:39Z- sync is 0.37, coherence is 2.00 2021-02-10T18:07:39Z- handleDepth()-Depth_Keller msg: 51.13 epoch sec; seqNo:1612980459670; depth 0.00 2021-02-10T18:07:39Z- waiting for 1612980459.45, time is 1612980459.29 2021-02-10T18:07:39Z- sync is 0.37, coherence is 2.00 2021-02-10T18:07:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980459.69 epoch sec; seqNo:1821; 4061683.42 north; 594428.20 east 2021-02-10T18:07:39Z- waiting for 1612980459.45, time is 1612980459.29 2021-02-10T18:07:39Z- sync is 0.41, coherence is 2.00 2021-02-10T18:07:40Z- AHRS_M2 msg: 1612980460.09 epoch sec; seqNo:1811 2021-02-10T18:07:40Z- AHRS_M2 msg: 1.43 phi; -0.01 theta; -0.18 psi 2021-02-10T18:07:40Z- waiting for 1612980459.45, time is 1612980459.29 2021-02-10T18:07:40Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:40Z- handleDepth()-Depth_Keller msg: 51.13 epoch sec; seqNo:1612980460093; depth 0.00 2021-02-10T18:07:40Z- waiting for 1612980459.45, time is 1612980459.29 2021-02-10T18:07:40Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:40Z- handleDvl() - RDI_Pathfinder msg: 1612980460.11 epoch sec; seqNo:737 2021-02-10T18:07:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.85 , 37.27 , 33.53 , 35.06 2021-02-10T18:07:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.02 , -0.01 2021-02-10T18:07:40Z- waiting for 1612980459.45, time is 1612980460.11 2021-02-10T18:07:40Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:40Z- LcmTrn::updateTrn() >>>> pose time 1612980460.09, meas time 1612980460.11 <<<< 2021-02-10T18:07:40Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980460.11 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:07:40Z- TerrainNav::motionUpdate() - currEstimate = (4061683, 594428.20, 51.13) 2021-02-10T18:07:40Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:07:40Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:07:40Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:07:40Z- TNavBF::mmse selected from filter -1 2021-02-10T18:07:40Z- variances([0], [2], and psi_berg) = 787.551047 833.079315 0.000000 2021-02-10T18:07:40Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:07:40Z- LcmTrn::cycle() - MLE : 4061656.92 594472.70 51.13 2021-02-10T18:07:40Z- LcmTrn::cycle() - MMSE : 4061683.42 594428.20 51.13 2021-02-10T18:07:40Z- LcmTrn::cycle() - COVAR: 787.55 833.08 56.20 0.00 2021-02-10T18:07:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980460.12 epoch sec; seqNo:1822; 4061683.42 north; 594428.20 east 2021-02-10T18:07:40Z- waiting for 1612980463.11, time is 1612980460.11 2021-02-10T18:07:40Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:40Z- AHRS_M2 msg: 1612980460.47 epoch sec; seqNo:1812 2021-02-10T18:07:40Z- AHRS_M2 msg: 1.43 phi; -0.01 theta; -0.18 psi 2021-02-10T18:07:40Z- waiting for 1612980463.11, time is 1612980460.11 2021-02-10T18:07:40Z- sync is 0.36, coherence is 2.00 2021-02-10T18:07:40Z- handleDepth()-Depth_Keller msg: 51.15 epoch sec; seqNo:1612980460476; depth 0.00 2021-02-10T18:07:40Z- waiting for 1612980463.11, time is 1612980460.11 2021-02-10T18:07:40Z- sync is 0.36, coherence is 2.00 2021-02-10T18:07:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980460.49 epoch sec; seqNo:1823; 4061683.42 north; 594428.20 east 2021-02-10T18:07:40Z- waiting for 1612980463.11, time is 1612980460.11 2021-02-10T18:07:40Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:40Z- AHRS_M2 msg: 1612980460.87 epoch sec; seqNo:1813 2021-02-10T18:07:40Z- AHRS_M2 msg: 1.43 phi; -0.01 theta; -0.18 psi 2021-02-10T18:07:40Z- waiting for 1612980463.11, time is 1612980460.11 2021-02-10T18:07:40Z- sync is 0.76, coherence is 2.00 2021-02-10T18:07:40Z- handleDepth()-Depth_Keller msg: 51.16 epoch sec; seqNo:1612980460877; depth 0.00 2021-02-10T18:07:40Z- waiting for 1612980463.11, time is 1612980460.11 2021-02-10T18:07:40Z- sync is 0.76, coherence is 2.00 2021-02-10T18:07:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980460.88 epoch sec; seqNo:1824; 4061683.43 north; 594429.43 east 2021-02-10T18:07:40Z- waiting for 1612980463.11, time is 1612980460.11 2021-02-10T18:07:40Z- sync is 0.77, coherence is 2.00 2021-02-10T18:07:41Z- AHRS_M2 msg: 1612980461.28 epoch sec; seqNo:1814 2021-02-10T18:07:41Z- AHRS_M2 msg: 1.43 phi; -0.00 theta; -0.18 psi 2021-02-10T18:07:41Z- waiting for 1612980463.11, time is 1612980460.11 2021-02-10T18:07:41Z- sync is 1.16, coherence is 2.00 2021-02-10T18:07:41Z- handleDepth()-Depth_Keller msg: 51.15 epoch sec; seqNo:1612980461280; depth 0.00 2021-02-10T18:07:41Z- waiting for 1612980463.11, time is 1612980460.11 2021-02-10T18:07:41Z- sync is 1.16, coherence is 2.00 2021-02-10T18:07:41Z- handleDvl() - RDI_Pathfinder msg: 1612980461.29 epoch sec; seqNo:738 2021-02-10T18:07:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.85 , 37.27 , 33.36 , 35.06 2021-02-10T18:07:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.01 , 0.00 2021-02-10T18:07:41Z- waiting for 1612980463.11, time is 1612980461.29 2021-02-10T18:07:41Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980461.30 epoch sec; seqNo:1825; 4061683.81 north; 594429.42 east 2021-02-10T18:07:41Z- waiting for 1612980463.11, time is 1612980461.29 2021-02-10T18:07:41Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:41Z- AHRS_M2 msg: 1612980461.68 epoch sec; seqNo:1815 2021-02-10T18:07:41Z- AHRS_M2 msg: 1.42 phi; -0.00 theta; -0.18 psi 2021-02-10T18:07:41Z- waiting for 1612980463.11, time is 1612980461.29 2021-02-10T18:07:41Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:41Z- handleDepth()-Depth_Keller msg: 51.16 epoch sec; seqNo:1612980461685; depth 0.00 2021-02-10T18:07:41Z- waiting for 1612980463.11, time is 1612980461.29 2021-02-10T18:07:41Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980461.70 epoch sec; seqNo:1826; 4061683.81 north; 594429.42 east 2021-02-10T18:07:41Z- waiting for 1612980463.11, time is 1612980461.29 2021-02-10T18:07:41Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:42Z- AHRS_M2 msg: 1612980462.10 epoch sec; seqNo:1816 2021-02-10T18:07:42Z- AHRS_M2 msg: 1.42 phi; 0.00 theta; -0.18 psi 2021-02-10T18:07:42Z- waiting for 1612980463.11, time is 1612980461.29 2021-02-10T18:07:42Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:42Z- handleDepth()-Depth_Keller msg: 51.16 epoch sec; seqNo:1612980462105; depth 0.00 2021-02-10T18:07:42Z- waiting for 1612980463.11, time is 1612980461.29 2021-02-10T18:07:42Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:42Z- handleDvl() - RDI_Pathfinder msg: 1612980462.12 epoch sec; seqNo:739 2021-02-10T18:07:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.68 , 37.44 , 33.87 , 35.06 2021-02-10T18:07:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.02 , 0.00 2021-02-10T18:07:42Z- waiting for 1612980463.11, time is 1612980462.12 2021-02-10T18:07:42Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980462.13 epoch sec; seqNo:1827; 4061683.83 north; 594430.64 east 2021-02-10T18:07:42Z- waiting for 1612980463.11, time is 1612980462.12 2021-02-10T18:07:42Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:42Z- AHRS_M2 msg: 1612980462.49 epoch sec; seqNo:1817 2021-02-10T18:07:42Z- AHRS_M2 msg: 1.42 phi; 0.00 theta; -0.18 psi 2021-02-10T18:07:42Z- waiting for 1612980463.11, time is 1612980462.12 2021-02-10T18:07:42Z- sync is 0.37, coherence is 2.00 2021-02-10T18:07:42Z- handleDepth()-Depth_Keller msg: 51.15 epoch sec; seqNo:1612980462492; depth 0.00 2021-02-10T18:07:42Z- waiting for 1612980463.11, time is 1612980462.12 2021-02-10T18:07:42Z- sync is 0.37, coherence is 2.00 2021-02-10T18:07:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980462.50 epoch sec; seqNo:1828; 4061683.83 north; 594430.64 east 2021-02-10T18:07:42Z- waiting for 1612980463.11, time is 1612980462.12 2021-02-10T18:07:42Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:42Z- AHRS_M2 msg: 1612980462.89 epoch sec; seqNo:1818 2021-02-10T18:07:42Z- AHRS_M2 msg: 1.42 phi; 0.01 theta; -0.18 psi 2021-02-10T18:07:42Z- waiting for 1612980463.11, time is 1612980462.12 2021-02-10T18:07:42Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:42Z- handleDepth()-Depth_Keller msg: 51.15 epoch sec; seqNo:1612980462897; depth 0.00 2021-02-10T18:07:42Z- waiting for 1612980463.11, time is 1612980462.12 2021-02-10T18:07:42Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980462.90 epoch sec; seqNo:1829; 4061683.83 north; 594430.64 east 2021-02-10T18:07:42Z- waiting for 1612980463.11, time is 1612980462.12 2021-02-10T18:07:42Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:43Z- AHRS_M2 msg: 1612980463.30 epoch sec; seqNo:1819 2021-02-10T18:07:43Z- AHRS_M2 msg: 1.42 phi; 0.01 theta; -0.18 psi 2021-02-10T18:07:43Z- waiting for 1612980463.11, time is 1612980462.12 2021-02-10T18:07:43Z- sync is 1.18, coherence is 2.00 2021-02-10T18:07:43Z- handleDepth()-Depth_Keller msg: 51.15 epoch sec; seqNo:1612980463304; depth 0.00 2021-02-10T18:07:43Z- waiting for 1612980463.11, time is 1612980462.12 2021-02-10T18:07:43Z- sync is 1.18, coherence is 2.00 2021-02-10T18:07:43Z- handleDvl() - RDI_Pathfinder msg: 1612980463.32 epoch sec; seqNo:740 2021-02-10T18:07:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.02 , 37.27 , 34.38 , 34.89 2021-02-10T18:07:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.00 , 0.00 2021-02-10T18:07:43Z- waiting for 1612980463.11, time is 1612980463.32 2021-02-10T18:07:43Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:43Z- LcmTrn::updateTrn() >>>> pose time 1612980463.30, meas time 1612980463.32 <<<< 2021-02-10T18:07:43Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980463.32 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:07:43Z- TerrainNav::motionUpdate() - currEstimate = (4061684, 594430.64, 51.15) 2021-02-10T18:07:43Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:07:43Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:07:43Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:07:43Z- TNavBF::mmse selected from filter -1 2021-02-10T18:07:43Z- variances([0], [2], and psi_berg) = 787.413737 833.079088 0.000000 2021-02-10T18:07:43Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:07:43Z- LcmTrn::cycle() - MLE : 4061657.33 594475.14 51.15 2021-02-10T18:07:43Z- LcmTrn::cycle() - MMSE : 4061683.83 594430.64 51.15 2021-02-10T18:07:43Z- LcmTrn::cycle() - COVAR: 787.41 833.08 56.33 0.00 2021-02-10T18:07:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980463.33 epoch sec; seqNo:1830; 4061683.84 north; 594431.86 east 2021-02-10T18:07:43Z- waiting for 1612980466.32, time is 1612980463.32 2021-02-10T18:07:43Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:43Z- AHRS_M2 msg: 1612980463.70 epoch sec; seqNo:1820 2021-02-10T18:07:43Z- AHRS_M2 msg: 1.42 phi; 0.01 theta; -0.18 psi 2021-02-10T18:07:43Z- waiting for 1612980466.32, time is 1612980463.32 2021-02-10T18:07:43Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:43Z- handleDepth()-Depth_Keller msg: 51.15 epoch sec; seqNo:1612980463704; depth 0.00 2021-02-10T18:07:43Z- waiting for 1612980466.32, time is 1612980463.32 2021-02-10T18:07:43Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980463.72 epoch sec; seqNo:1831; 4061683.84 north; 594431.86 east 2021-02-10T18:07:43Z- waiting for 1612980466.32, time is 1612980463.32 2021-02-10T18:07:43Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:44Z- AHRS_M2 msg: 1612980464.10 epoch sec; seqNo:1821 2021-02-10T18:07:44Z- AHRS_M2 msg: 1.42 phi; 0.02 theta; -0.17 psi 2021-02-10T18:07:44Z- waiting for 1612980466.32, time is 1612980463.32 2021-02-10T18:07:44Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:44Z- handleDepth()-Depth_Keller msg: 51.14 epoch sec; seqNo:1612980464108; depth 0.00 2021-02-10T18:07:44Z- waiting for 1612980466.32, time is 1612980463.32 2021-02-10T18:07:44Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:44Z- handleDvl() - RDI_Pathfinder msg: 1612980464.12 epoch sec; seqNo:741 2021-02-10T18:07:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.02 , 36.76 , 34.72 , 34.89 2021-02-10T18:07:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.01 , 0.01 2021-02-10T18:07:44Z- waiting for 1612980466.32, time is 1612980464.12 2021-02-10T18:07:44Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980464.14 epoch sec; seqNo:1832; 4061683.84 north; 594431.86 east 2021-02-10T18:07:44Z- waiting for 1612980466.32, time is 1612980464.12 2021-02-10T18:07:44Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:44Z- AHRS_M2 msg: 1612980464.51 epoch sec; seqNo:1822 2021-02-10T18:07:44Z- AHRS_M2 msg: 1.42 phi; 0.02 theta; -0.17 psi 2021-02-10T18:07:44Z- waiting for 1612980466.32, time is 1612980464.12 2021-02-10T18:07:44Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:44Z- handleDepth()-Depth_Keller msg: 51.13 epoch sec; seqNo:1612980464521; depth 0.00 2021-02-10T18:07:44Z- waiting for 1612980466.32, time is 1612980464.12 2021-02-10T18:07:44Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980464.53 epoch sec; seqNo:1833; 4061684.22 north; 594431.86 east 2021-02-10T18:07:44Z- waiting for 1612980466.32, time is 1612980464.12 2021-02-10T18:07:44Z- sync is 0.41, coherence is 2.00 2021-02-10T18:07:44Z- AHRS_M2 msg: 1612980464.92 epoch sec; seqNo:1823 2021-02-10T18:07:44Z- AHRS_M2 msg: 1.42 phi; 0.02 theta; -0.17 psi 2021-02-10T18:07:44Z- waiting for 1612980466.32, time is 1612980464.12 2021-02-10T18:07:44Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:44Z- handleDepth()-Depth_Keller msg: 51.14 epoch sec; seqNo:1612980464921; depth 0.00 2021-02-10T18:07:44Z- waiting for 1612980466.32, time is 1612980464.12 2021-02-10T18:07:44Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980464.93 epoch sec; seqNo:1834; 4061684.23 north; 594433.08 east 2021-02-10T18:07:44Z- waiting for 1612980466.32, time is 1612980464.12 2021-02-10T18:07:44Z- sync is 0.81, coherence is 2.00 2021-02-10T18:07:45Z- AHRS_M2 msg: 1612980465.32 epoch sec; seqNo:1824 2021-02-10T18:07:45Z- AHRS_M2 msg: 1.42 phi; 0.02 theta; -0.17 psi 2021-02-10T18:07:45Z- waiting for 1612980466.32, time is 1612980464.12 2021-02-10T18:07:45Z- sync is 1.20, coherence is 2.00 2021-02-10T18:07:45Z- handleDepth()-Depth_Keller msg: 51.12 epoch sec; seqNo:1612980465325; depth 0.00 2021-02-10T18:07:45Z- waiting for 1612980466.32, time is 1612980464.12 2021-02-10T18:07:45Z- sync is 1.20, coherence is 2.00 2021-02-10T18:07:45Z- handleDvl() - RDI_Pathfinder msg: 1612980465.34 epoch sec; seqNo:742 2021-02-10T18:07:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.02 , 37.10 , 35.57 , 35.06 2021-02-10T18:07:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.02 , 0.00 2021-02-10T18:07:45Z- waiting for 1612980466.32, time is 1612980465.34 2021-02-10T18:07:45Z- sync is 0.03, coherence is 2.00 2021-02-10T18:07:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980465.35 epoch sec; seqNo:1835; 4061684.23 north; 594433.08 east 2021-02-10T18:07:45Z- waiting for 1612980466.32, time is 1612980465.34 2021-02-10T18:07:45Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:45Z- AHRS_M2 msg: 1612980465.72 epoch sec; seqNo:1825 2021-02-10T18:07:45Z- AHRS_M2 msg: 1.42 phi; 0.03 theta; -0.17 psi 2021-02-10T18:07:45Z- waiting for 1612980466.32, time is 1612980465.34 2021-02-10T18:07:45Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:45Z- handleDepth()-Depth_Keller msg: 51.12 epoch sec; seqNo:1612980465729; depth 0.00 2021-02-10T18:07:45Z- waiting for 1612980466.32, time is 1612980465.34 2021-02-10T18:07:45Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980465.74 epoch sec; seqNo:1836; 4061684.23 north; 594433.08 east 2021-02-10T18:07:45Z- waiting for 1612980466.32, time is 1612980465.34 2021-02-10T18:07:45Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:46Z- AHRS_M2 msg: 1612980466.12 epoch sec; seqNo:1826 2021-02-10T18:07:46Z- AHRS_M2 msg: 1.42 phi; 0.03 theta; -0.17 psi 2021-02-10T18:07:46Z- waiting for 1612980466.32, time is 1612980465.34 2021-02-10T18:07:46Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:46Z- handleDepth()-Depth_Keller msg: 51.11 epoch sec; seqNo:1612980466128; depth 0.00 2021-02-10T18:07:46Z- waiting for 1612980466.32, time is 1612980465.34 2021-02-10T18:07:46Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:46Z- handleDvl() - RDI_Pathfinder msg: 1612980466.14 epoch sec; seqNo:743 2021-02-10T18:07:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.19 , 36.93 , 35.57 , 34.89 2021-02-10T18:07:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.01 , -0.00 2021-02-10T18:07:46Z- waiting for 1612980466.32, time is 1612980466.14 2021-02-10T18:07:46Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980466.15 epoch sec; seqNo:1837; 4061684.25 north; 594434.30 east 2021-02-10T18:07:46Z- waiting for 1612980466.32, time is 1612980466.14 2021-02-10T18:07:46Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:46Z- AHRS_M2 msg: 1612980466.53 epoch sec; seqNo:1827 2021-02-10T18:07:46Z- AHRS_M2 msg: 1.42 phi; 0.03 theta; -0.17 psi 2021-02-10T18:07:46Z- waiting for 1612980466.32, time is 1612980466.14 2021-02-10T18:07:46Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:46Z- handleDepth()-Depth_Keller msg: 51.09 epoch sec; seqNo:1612980466533; depth 0.00 2021-02-10T18:07:46Z- waiting for 1612980466.32, time is 1612980466.14 2021-02-10T18:07:46Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980466.54 epoch sec; seqNo:1838; 4061684.25 north; 594434.30 east 2021-02-10T18:07:46Z- waiting for 1612980466.32, time is 1612980466.14 2021-02-10T18:07:46Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:46Z- AHRS_M2 msg: 1612980466.93 epoch sec; seqNo:1828 2021-02-10T18:07:46Z- AHRS_M2 msg: 1.42 phi; 0.03 theta; -0.17 psi 2021-02-10T18:07:46Z- waiting for 1612980466.32, time is 1612980466.14 2021-02-10T18:07:46Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:46Z- handleDepth()-Depth_Keller msg: 51.08 epoch sec; seqNo:1612980466936; depth 0.00 2021-02-10T18:07:46Z- waiting for 1612980466.32, time is 1612980466.14 2021-02-10T18:07:46Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980466.95 epoch sec; seqNo:1839; 4061684.25 north; 594434.30 east 2021-02-10T18:07:46Z- waiting for 1612980466.32, time is 1612980466.14 2021-02-10T18:07:46Z- sync is 0.81, coherence is 2.00 2021-02-10T18:07:47Z- AHRS_M2 msg: 1612980467.34 epoch sec; seqNo:1829 2021-02-10T18:07:47Z- AHRS_M2 msg: 1.42 phi; 0.03 theta; -0.17 psi 2021-02-10T18:07:47Z- waiting for 1612980466.32, time is 1612980466.14 2021-02-10T18:07:47Z- sync is 1.20, coherence is 2.00 2021-02-10T18:07:47Z- handleDepth()-Depth_Keller msg: 51.06 epoch sec; seqNo:1612980467340; depth 0.00 2021-02-10T18:07:47Z- waiting for 1612980466.32, time is 1612980466.14 2021-02-10T18:07:47Z- sync is 1.20, coherence is 2.00 2021-02-10T18:07:47Z- handleDvl() - RDI_Pathfinder msg: 1612980467.35 epoch sec; seqNo:744 2021-02-10T18:07:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.02 , 37.10 , 35.74 , 34.55 2021-02-10T18:07:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , -0.01 2021-02-10T18:07:47Z- waiting for 1612980466.32, time is 1612980467.35 2021-02-10T18:07:47Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:47Z- LcmTrn::updateTrn() >>>> pose time 1612980467.34, meas time 1612980467.35 <<<< 2021-02-10T18:07:47Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980467.35 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:07:47Z- TerrainNav::motionUpdate() - currEstimate = (4061684, 594434.30, 51.06) 2021-02-10T18:07:47Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:07:47Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:07:47Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:07:47Z- TNavBF::mmse selected from filter -1 2021-02-10T18:07:47Z- variances([0], [2], and psi_berg) = 787.246548 833.078813 0.000000 2021-02-10T18:07:47Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:07:47Z- LcmTrn::cycle() - MLE : 4061657.75 594478.80 51.06 2021-02-10T18:07:47Z- LcmTrn::cycle() - MMSE : 4061684.25 594434.30 51.06 2021-02-10T18:07:47Z- LcmTrn::cycle() - COVAR: 787.25 833.08 56.51 0.00 2021-02-10T18:07:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980467.37 epoch sec; seqNo:1840; 4061684.64 north; 594435.51 east 2021-02-10T18:07:47Z- waiting for 1612980470.35, time is 1612980467.35 2021-02-10T18:07:47Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:47Z- AHRS_M2 msg: 1612980467.74 epoch sec; seqNo:1830 2021-02-10T18:07:47Z- AHRS_M2 msg: 1.42 phi; 0.04 theta; -0.17 psi 2021-02-10T18:07:47Z- waiting for 1612980470.35, time is 1612980467.35 2021-02-10T18:07:47Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:47Z- handleDepth()-Depth_Keller msg: 51.05 epoch sec; seqNo:1612980467744; depth 0.00 2021-02-10T18:07:47Z- waiting for 1612980470.35, time is 1612980467.35 2021-02-10T18:07:47Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980467.76 epoch sec; seqNo:1841; 4061684.64 north; 594435.51 east 2021-02-10T18:07:47Z- waiting for 1612980470.35, time is 1612980467.35 2021-02-10T18:07:47Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:48Z- AHRS_M2 msg: 1612980468.14 epoch sec; seqNo:1831 2021-02-10T18:07:48Z- AHRS_M2 msg: 1.42 phi; 0.04 theta; -0.17 psi 2021-02-10T18:07:48Z- waiting for 1612980470.35, time is 1612980467.35 2021-02-10T18:07:48Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:48Z- handleDepth()-Depth_Keller msg: 51.03 epoch sec; seqNo:1612980468157; depth 0.00 2021-02-10T18:07:48Z- waiting for 1612980470.35, time is 1612980467.35 2021-02-10T18:07:48Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:48Z- handleDvl() - RDI_Pathfinder msg: 1612980468.17 epoch sec; seqNo:745 2021-02-10T18:07:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.02 , 37.27 , 35.91 , 34.55 2021-02-10T18:07:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.01 , -0.00 2021-02-10T18:07:48Z- waiting for 1612980470.35, time is 1612980468.17 2021-02-10T18:07:48Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980468.18 epoch sec; seqNo:1842; 4061684.64 north; 594435.51 east 2021-02-10T18:07:48Z- waiting for 1612980470.35, time is 1612980468.17 2021-02-10T18:07:48Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:48Z- AHRS_M2 msg: 1612980468.55 epoch sec; seqNo:1832 2021-02-10T18:07:48Z- AHRS_M2 msg: 1.42 phi; 0.04 theta; -0.17 psi 2021-02-10T18:07:48Z- waiting for 1612980470.35, time is 1612980468.17 2021-02-10T18:07:48Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:48Z- handleDepth()-Depth_Keller msg: 51.02 epoch sec; seqNo:1612980468552; depth 0.00 2021-02-10T18:07:48Z- waiting for 1612980470.35, time is 1612980468.17 2021-02-10T18:07:48Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980468.58 epoch sec; seqNo:1843; 4061684.65 north; 594436.73 east 2021-02-10T18:07:48Z- waiting for 1612980470.35, time is 1612980468.17 2021-02-10T18:07:48Z- sync is 0.41, coherence is 2.00 2021-02-10T18:07:48Z- AHRS_M2 msg: 1612980468.95 epoch sec; seqNo:1833 2021-02-10T18:07:48Z- AHRS_M2 msg: 1.43 phi; 0.04 theta; -0.17 psi 2021-02-10T18:07:48Z- waiting for 1612980470.35, time is 1612980468.17 2021-02-10T18:07:48Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:48Z- handleDepth()-Depth_Keller msg: 51.02 epoch sec; seqNo:1612980468956; depth 0.00 2021-02-10T18:07:48Z- waiting for 1612980470.35, time is 1612980468.17 2021-02-10T18:07:48Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980468.96 epoch sec; seqNo:1844; 4061684.65 north; 594436.73 east 2021-02-10T18:07:48Z- waiting for 1612980470.35, time is 1612980468.17 2021-02-10T18:07:48Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:49Z- AHRS_M2 msg: 1612980469.36 epoch sec; seqNo:1834 2021-02-10T18:07:49Z- AHRS_M2 msg: 1.43 phi; 0.05 theta; -0.16 psi 2021-02-10T18:07:49Z- waiting for 1612980470.35, time is 1612980468.17 2021-02-10T18:07:49Z- sync is 1.19, coherence is 2.00 2021-02-10T18:07:49Z- handleDepth()-Depth_Keller msg: 51.00 epoch sec; seqNo:1612980469360; depth 0.00 2021-02-10T18:07:49Z- waiting for 1612980470.35, time is 1612980468.17 2021-02-10T18:07:49Z- sync is 1.19, coherence is 2.00 2021-02-10T18:07:49Z- handleDvl() - RDI_Pathfinder msg: 1612980469.37 epoch sec; seqNo:746 2021-02-10T18:07:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.19 , 36.76 , 36.08 , 34.55 2021-02-10T18:07:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.01 , 0.00 2021-02-10T18:07:49Z- waiting for 1612980470.35, time is 1612980469.37 2021-02-10T18:07:49Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980469.38 epoch sec; seqNo:1845; 4061684.65 north; 594436.73 east 2021-02-10T18:07:49Z- waiting for 1612980470.35, time is 1612980469.37 2021-02-10T18:07:49Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:49Z- AHRS_M2 msg: 1612980469.76 epoch sec; seqNo:1835 2021-02-10T18:07:49Z- AHRS_M2 msg: 1.43 phi; 0.05 theta; -0.16 psi 2021-02-10T18:07:49Z- waiting for 1612980470.35, time is 1612980469.37 2021-02-10T18:07:49Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:49Z- handleDepth()-Depth_Keller msg: 50.98 epoch sec; seqNo:1612980469764; depth 0.00 2021-02-10T18:07:49Z- waiting for 1612980470.35, time is 1612980469.37 2021-02-10T18:07:49Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980469.78 epoch sec; seqNo:1846; 4061684.65 north; 594436.73 east 2021-02-10T18:07:49Z- waiting for 1612980470.35, time is 1612980469.37 2021-02-10T18:07:49Z- sync is 0.41, coherence is 2.00 2021-02-10T18:07:50Z- AHRS_M2 msg: 1612980470.16 epoch sec; seqNo:1836 2021-02-10T18:07:50Z- AHRS_M2 msg: 1.43 phi; 0.05 theta; -0.16 psi 2021-02-10T18:07:50Z- waiting for 1612980470.35, time is 1612980469.37 2021-02-10T18:07:50Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:50Z- handleDepth()-Depth_Keller msg: 50.98 epoch sec; seqNo:1612980470168; depth 0.00 2021-02-10T18:07:50Z- waiting for 1612980470.35, time is 1612980469.37 2021-02-10T18:07:50Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:50Z- handleDvl() - RDI_Pathfinder msg: 1612980470.19 epoch sec; seqNo:747 2021-02-10T18:07:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.19 , 36.42 , 37.10 , 34.55 2021-02-10T18:07:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.01 , 0.02 2021-02-10T18:07:50Z- waiting for 1612980470.35, time is 1612980470.19 2021-02-10T18:07:50Z- sync is 0.03, coherence is 2.00 2021-02-10T18:07:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980470.20 epoch sec; seqNo:1847; 4061684.67 north; 594437.95 east 2021-02-10T18:07:50Z- waiting for 1612980470.35, time is 1612980470.19 2021-02-10T18:07:50Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:50Z- AHRS_M2 msg: 1612980470.57 epoch sec; seqNo:1837 2021-02-10T18:07:50Z- AHRS_M2 msg: 1.43 phi; 0.05 theta; -0.16 psi 2021-02-10T18:07:50Z- waiting for 1612980470.35, time is 1612980470.19 2021-02-10T18:07:50Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:50Z- handleDepth()-Depth_Keller msg: 50.96 epoch sec; seqNo:1612980470577; depth 0.00 2021-02-10T18:07:50Z- waiting for 1612980470.35, time is 1612980470.19 2021-02-10T18:07:50Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980470.59 epoch sec; seqNo:1848; 4061685.04 north; 594437.95 east 2021-02-10T18:07:50Z- waiting for 1612980470.35, time is 1612980470.19 2021-02-10T18:07:50Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:50Z- AHRS_M2 msg: 1612980470.97 epoch sec; seqNo:1838 2021-02-10T18:07:50Z- AHRS_M2 msg: 1.43 phi; 0.05 theta; -0.15 psi 2021-02-10T18:07:50Z- waiting for 1612980470.35, time is 1612980470.19 2021-02-10T18:07:50Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:50Z- handleDepth()-Depth_Keller msg: 50.95 epoch sec; seqNo:1612980470977; depth 0.00 2021-02-10T18:07:50Z- waiting for 1612980470.35, time is 1612980470.19 2021-02-10T18:07:50Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980470.99 epoch sec; seqNo:1849; 4061685.04 north; 594437.95 east 2021-02-10T18:07:50Z- waiting for 1612980470.35, time is 1612980470.19 2021-02-10T18:07:50Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:51Z- AHRS_M2 msg: 1612980471.38 epoch sec; seqNo:1839 2021-02-10T18:07:51Z- AHRS_M2 msg: 1.43 phi; 0.06 theta; -0.15 psi 2021-02-10T18:07:51Z- waiting for 1612980470.35, time is 1612980470.19 2021-02-10T18:07:51Z- sync is 1.18, coherence is 2.00 2021-02-10T18:07:51Z- handleDepth()-Depth_Keller msg: 50.93 epoch sec; seqNo:1612980471382; depth 0.00 2021-02-10T18:07:51Z- waiting for 1612980470.35, time is 1612980470.19 2021-02-10T18:07:51Z- sync is 1.18, coherence is 2.00 2021-02-10T18:07:51Z- handleDvl() - RDI_Pathfinder msg: 1612980471.39 epoch sec; seqNo:748 2021-02-10T18:07:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.36 , 36.08 , 36.93 , 34.55 2021-02-10T18:07:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.03 , 0.04 2021-02-10T18:07:51Z- waiting for 1612980470.35, time is 1612980471.39 2021-02-10T18:07:51Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:51Z- LcmTrn::updateTrn() >>>> pose time 1612980471.38, meas time 1612980471.39 <<<< 2021-02-10T18:07:51Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980471.39 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:07:51Z- TerrainNav::motionUpdate() - currEstimate = (4061685, 594437.95, 50.93) 2021-02-10T18:07:51Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:07:51Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:07:51Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:07:51Z- TNavBF::mmse selected from filter -1 2021-02-10T18:07:51Z- variances([0], [2], and psi_berg) = 787.078572 833.078537 0.000000 2021-02-10T18:07:51Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:07:51Z- LcmTrn::cycle() - MLE : 4061659.54 594391.45 50.93 2021-02-10T18:07:51Z- LcmTrn::cycle() - MMSE : 4061685.04 594437.95 50.93 2021-02-10T18:07:51Z- LcmTrn::cycle() - COVAR: 787.08 833.08 56.70 0.00 2021-02-10T18:07:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980471.40 epoch sec; seqNo:1850; 4061685.06 north; 594439.17 east 2021-02-10T18:07:51Z- waiting for 1612980474.39, time is 1612980471.39 2021-02-10T18:07:51Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:51Z- AHRS_M2 msg: 1612980471.78 epoch sec; seqNo:1840 2021-02-10T18:07:51Z- AHRS_M2 msg: 1.43 phi; 0.06 theta; -0.15 psi 2021-02-10T18:07:51Z- waiting for 1612980474.39, time is 1612980471.39 2021-02-10T18:07:51Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:51Z- handleDepth()-Depth_Keller msg: 50.92 epoch sec; seqNo:1612980471788; depth 0.00 2021-02-10T18:07:51Z- waiting for 1612980474.39, time is 1612980471.39 2021-02-10T18:07:51Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980471.81 epoch sec; seqNo:1851; 4061685.06 north; 594439.17 east 2021-02-10T18:07:51Z- waiting for 1612980474.39, time is 1612980471.39 2021-02-10T18:07:51Z- sync is 0.41, coherence is 2.00 2021-02-10T18:07:52Z- AHRS_M2 msg: 1612980472.18 epoch sec; seqNo:1841 2021-02-10T18:07:52Z- AHRS_M2 msg: 1.43 phi; 0.06 theta; -0.15 psi 2021-02-10T18:07:52Z- waiting for 1612980474.39, time is 1612980471.39 2021-02-10T18:07:52Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:52Z- handleDepth()-Depth_Keller msg: 50.90 epoch sec; seqNo:1612980472193; depth 0.00 2021-02-10T18:07:52Z- waiting for 1612980474.39, time is 1612980471.39 2021-02-10T18:07:52Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:52Z- handleDvl() - RDI_Pathfinder msg: 1612980472.20 epoch sec; seqNo:749 2021-02-10T18:07:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.36 , 35.74 , 37.78 , 34.55 2021-02-10T18:07:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.03 , 0.04 2021-02-10T18:07:52Z- waiting for 1612980474.39, time is 1612980472.20 2021-02-10T18:07:52Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980472.23 epoch sec; seqNo:1852; 4061685.06 north; 594439.17 east 2021-02-10T18:07:52Z- waiting for 1612980474.39, time is 1612980472.20 2021-02-10T18:07:52Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:52Z- AHRS_M2 msg: 1612980472.59 epoch sec; seqNo:1842 2021-02-10T18:07:52Z- AHRS_M2 msg: 1.44 phi; 0.06 theta; -0.15 psi 2021-02-10T18:07:52Z- waiting for 1612980474.39, time is 1612980472.20 2021-02-10T18:07:52Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:52Z- handleDepth()-Depth_Keller msg: 50.86 epoch sec; seqNo:1612980472600; depth 0.00 2021-02-10T18:07:52Z- waiting for 1612980474.39, time is 1612980472.20 2021-02-10T18:07:52Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980472.61 epoch sec; seqNo:1853; 4061685.07 north; 594440.39 east 2021-02-10T18:07:52Z- waiting for 1612980474.39, time is 1612980472.20 2021-02-10T18:07:52Z- sync is 0.41, coherence is 2.00 2021-02-10T18:07:52Z- AHRS_M2 msg: 1612980472.99 epoch sec; seqNo:1843 2021-02-10T18:07:52Z- AHRS_M2 msg: 1.44 phi; 0.06 theta; -0.15 psi 2021-02-10T18:07:52Z- waiting for 1612980474.39, time is 1612980472.20 2021-02-10T18:07:52Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:52Z- handleDepth()-Depth_Keller msg: 50.86 epoch sec; seqNo:1612980472996; depth 0.00 2021-02-10T18:07:52Z- waiting for 1612980474.39, time is 1612980472.20 2021-02-10T18:07:52Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980473.01 epoch sec; seqNo:1854; 4061685.07 north; 594440.39 east 2021-02-10T18:07:53Z- waiting for 1612980474.39, time is 1612980472.20 2021-02-10T18:07:53Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:53Z- AHRS_M2 msg: 1612980473.40 epoch sec; seqNo:1844 2021-02-10T18:07:53Z- AHRS_M2 msg: 1.44 phi; 0.06 theta; -0.15 psi 2021-02-10T18:07:53Z- waiting for 1612980474.39, time is 1612980472.20 2021-02-10T18:07:53Z- sync is 1.19, coherence is 2.00 2021-02-10T18:07:53Z- handleDepth()-Depth_Keller msg: 50.82 epoch sec; seqNo:1612980473408; depth 0.00 2021-02-10T18:07:53Z- waiting for 1612980474.39, time is 1612980472.20 2021-02-10T18:07:53Z- sync is 1.19, coherence is 2.00 2021-02-10T18:07:53Z- handleDvl() - RDI_Pathfinder msg: 1612980473.42 epoch sec; seqNo:750 2021-02-10T18:07:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.53 , 35.91 , 37.95 , 34.38 2021-02-10T18:07:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.03 , 0.04 2021-02-10T18:07:53Z- waiting for 1612980474.39, time is 1612980473.42 2021-02-10T18:07:53Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980473.43 epoch sec; seqNo:1855; 4061685.07 north; 594440.39 east 2021-02-10T18:07:53Z- waiting for 1612980474.39, time is 1612980473.42 2021-02-10T18:07:53Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:53Z- AHRS_M2 msg: 1612980473.80 epoch sec; seqNo:1845 2021-02-10T18:07:53Z- AHRS_M2 msg: 1.44 phi; 0.06 theta; -0.15 psi 2021-02-10T18:07:53Z- waiting for 1612980474.39, time is 1612980473.42 2021-02-10T18:07:53Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:53Z- handleDepth()-Depth_Keller msg: 50.80 epoch sec; seqNo:1612980473807; depth 0.00 2021-02-10T18:07:53Z- waiting for 1612980474.39, time is 1612980473.42 2021-02-10T18:07:53Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980473.83 epoch sec; seqNo:1856; 4061685.08 north; 594441.61 east 2021-02-10T18:07:53Z- waiting for 1612980474.39, time is 1612980473.42 2021-02-10T18:07:53Z- sync is 0.41, coherence is 2.00 2021-02-10T18:07:54Z- AHRS_M2 msg: 1612980474.20 epoch sec; seqNo:1846 2021-02-10T18:07:54Z- AHRS_M2 msg: 1.44 phi; 0.07 theta; -0.15 psi 2021-02-10T18:07:54Z- waiting for 1612980474.39, time is 1612980473.42 2021-02-10T18:07:54Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:54Z- handleDepth()-Depth_Keller msg: 50.77 epoch sec; seqNo:1612980474214; depth 0.00 2021-02-10T18:07:54Z- waiting for 1612980474.39, time is 1612980473.42 2021-02-10T18:07:54Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:54Z- handleDvl() - RDI_Pathfinder msg: 1612980474.23 epoch sec; seqNo:751 2021-02-10T18:07:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.19 , 35.91 , 38.46 , 34.55 2021-02-10T18:07:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.04 , 0.03 2021-02-10T18:07:54Z- waiting for 1612980474.39, time is 1612980474.23 2021-02-10T18:07:54Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980474.24 epoch sec; seqNo:1857; 4061685.08 north; 594441.61 east 2021-02-10T18:07:54Z- waiting for 1612980474.39, time is 1612980474.23 2021-02-10T18:07:54Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:54Z- AHRS_M2 msg: 1612980474.61 epoch sec; seqNo:1847 2021-02-10T18:07:54Z- AHRS_M2 msg: 1.44 phi; 0.07 theta; -0.15 psi 2021-02-10T18:07:54Z- waiting for 1612980474.39, time is 1612980474.23 2021-02-10T18:07:54Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:54Z- handleDepth()-Depth_Keller msg: 50.74 epoch sec; seqNo:1612980474612; depth 0.00 2021-02-10T18:07:54Z- waiting for 1612980474.39, time is 1612980474.23 2021-02-10T18:07:54Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980474.62 epoch sec; seqNo:1858; 4061685.46 north; 594441.61 east 2021-02-10T18:07:54Z- waiting for 1612980474.39, time is 1612980474.23 2021-02-10T18:07:54Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:55Z- AHRS_M2 msg: 1612980475.02 epoch sec; seqNo:1848 2021-02-10T18:07:55Z- AHRS_M2 msg: 1.45 phi; 0.07 theta; -0.15 psi 2021-02-10T18:07:55Z- waiting for 1612980474.39, time is 1612980474.23 2021-02-10T18:07:55Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:55Z- handleDepth()-Depth_Keller msg: 50.72 epoch sec; seqNo:1612980475019; depth 0.00 2021-02-10T18:07:55Z- waiting for 1612980474.39, time is 1612980474.23 2021-02-10T18:07:55Z- sync is 0.79, coherence is 2.00 2021-02-10T18:07:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980475.03 epoch sec; seqNo:1859; 4061685.46 north; 594441.61 east 2021-02-10T18:07:55Z- waiting for 1612980474.39, time is 1612980474.23 2021-02-10T18:07:55Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:55Z- AHRS_M2 msg: 1612980475.41 epoch sec; seqNo:1849 2021-02-10T18:07:55Z- AHRS_M2 msg: 1.45 phi; 0.07 theta; -0.15 psi 2021-02-10T18:07:55Z- waiting for 1612980474.39, time is 1612980474.23 2021-02-10T18:07:55Z- sync is 1.19, coherence is 2.00 2021-02-10T18:07:55Z- handleDepth()-Depth_Keller msg: 50.68 epoch sec; seqNo:1612980475429; depth 0.00 2021-02-10T18:07:55Z- waiting for 1612980474.39, time is 1612980474.23 2021-02-10T18:07:55Z- sync is 1.19, coherence is 2.00 2021-02-10T18:07:55Z- handleDvl() - RDI_Pathfinder msg: 1612980475.44 epoch sec; seqNo:752 2021-02-10T18:07:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.85 , 35.91 , 38.80 , 34.04 2021-02-10T18:07:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.03 , 0.01 2021-02-10T18:07:55Z- waiting for 1612980474.39, time is 1612980475.44 2021-02-10T18:07:55Z- sync is 0.03, coherence is 2.00 2021-02-10T18:07:55Z- LcmTrn::updateTrn() >>>> pose time 1612980475.41, meas time 1612980475.44 <<<< 2021-02-10T18:07:55Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980475.44 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:07:55Z- TerrainNav::motionUpdate() - currEstimate = (4061685, 594441.61, 50.68) 2021-02-10T18:07:55Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:07:55Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:07:55Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:07:55Z- TNavBF::mmse selected from filter -1 2021-02-10T18:07:55Z- variances([0], [2], and psi_berg) = 786.912429 833.078265 0.000000 2021-02-10T18:07:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:07:55Z- LcmTrn::cycle() - MLE : 4061659.96 594395.11 50.68 2021-02-10T18:07:55Z- LcmTrn::cycle() - MMSE : 4061685.46 594441.61 50.68 2021-02-10T18:07:55Z- LcmTrn::cycle() - COVAR: 786.91 833.08 56.89 0.00 2021-02-10T18:07:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980475.45 epoch sec; seqNo:1860; 4061685.48 north; 594442.83 east 2021-02-10T18:07:55Z- waiting for 1612980478.44, time is 1612980475.44 2021-02-10T18:07:55Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:55Z- AHRS_M2 msg: 1612980475.82 epoch sec; seqNo:1850 2021-02-10T18:07:55Z- AHRS_M2 msg: 1.45 phi; 0.07 theta; -0.15 psi 2021-02-10T18:07:55Z- waiting for 1612980478.44, time is 1612980475.44 2021-02-10T18:07:55Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:55Z- handleDepth()-Depth_Keller msg: 50.65 epoch sec; seqNo:1612980475824; depth 0.00 2021-02-10T18:07:55Z- waiting for 1612980478.44, time is 1612980475.44 2021-02-10T18:07:55Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980475.84 epoch sec; seqNo:1861; 4061685.48 north; 594442.83 east 2021-02-10T18:07:55Z- waiting for 1612980478.44, time is 1612980475.44 2021-02-10T18:07:55Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:56Z- AHRS_M2 msg: 1612980476.22 epoch sec; seqNo:1851 2021-02-10T18:07:56Z- AHRS_M2 msg: 1.46 phi; 0.07 theta; -0.15 psi 2021-02-10T18:07:56Z- waiting for 1612980478.44, time is 1612980475.44 2021-02-10T18:07:56Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:56Z- handleDepth()-Depth_Keller msg: 50.62 epoch sec; seqNo:1612980476229; depth 0.00 2021-02-10T18:07:56Z- waiting for 1612980478.44, time is 1612980475.44 2021-02-10T18:07:56Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:56Z- handleDvl() - RDI_Pathfinder msg: 1612980476.24 epoch sec; seqNo:753 2021-02-10T18:07:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.34 , 36.08 , 38.97 , 34.04 2021-02-10T18:07:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.03 , 0.00 2021-02-10T18:07:56Z- waiting for 1612980478.44, time is 1612980476.24 2021-02-10T18:07:56Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980476.27 epoch sec; seqNo:1862; 4061685.48 north; 594442.83 east 2021-02-10T18:07:56Z- waiting for 1612980478.44, time is 1612980476.24 2021-02-10T18:07:56Z- sync is 0.03, coherence is 2.00 2021-02-10T18:07:56Z- AHRS_M2 msg: 1612980476.63 epoch sec; seqNo:1852 2021-02-10T18:07:56Z- AHRS_M2 msg: 1.46 phi; 0.07 theta; -0.14 psi 2021-02-10T18:07:56Z- waiting for 1612980478.44, time is 1612980476.24 2021-02-10T18:07:56Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:56Z- handleDepth()-Depth_Keller msg: 50.59 epoch sec; seqNo:1612980476637; depth 0.00 2021-02-10T18:07:56Z- waiting for 1612980478.44, time is 1612980476.24 2021-02-10T18:07:56Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980476.65 epoch sec; seqNo:1863; 4061685.49 north; 594444.05 east 2021-02-10T18:07:56Z- waiting for 1612980478.44, time is 1612980476.24 2021-02-10T18:07:56Z- sync is 0.41, coherence is 2.00 2021-02-10T18:07:57Z- AHRS_M2 msg: 1612980477.04 epoch sec; seqNo:1853 2021-02-10T18:07:57Z- AHRS_M2 msg: 1.46 phi; 0.07 theta; -0.14 psi 2021-02-10T18:07:57Z- waiting for 1612980478.44, time is 1612980476.24 2021-02-10T18:07:57Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:57Z- handleDepth()-Depth_Keller msg: 50.56 epoch sec; seqNo:1612980477060; depth 0.00 2021-02-10T18:07:57Z- waiting for 1612980478.44, time is 1612980476.24 2021-02-10T18:07:57Z- sync is 0.80, coherence is 2.00 2021-02-10T18:07:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980477.10 epoch sec; seqNo:1864; 4061685.49 north; 594444.05 east 2021-02-10T18:07:57Z- waiting for 1612980478.44, time is 1612980476.24 2021-02-10T18:07:57Z- sync is 0.86, coherence is 2.00 2021-02-10T18:07:57Z- AHRS_M2 msg: 1612980477.44 epoch sec; seqNo:1854 2021-02-10T18:07:57Z- AHRS_M2 msg: 1.47 phi; 0.07 theta; -0.14 psi 2021-02-10T18:07:57Z- waiting for 1612980478.44, time is 1612980476.24 2021-02-10T18:07:57Z- sync is 1.20, coherence is 2.00 2021-02-10T18:07:57Z- handleDepth()-Depth_Keller msg: 50.52 epoch sec; seqNo:1612980477450; depth 0.00 2021-02-10T18:07:57Z- waiting for 1612980478.44, time is 1612980476.24 2021-02-10T18:07:57Z- sync is 1.20, coherence is 2.00 2021-02-10T18:07:57Z- handleDvl() - RDI_Pathfinder msg: 1612980477.46 epoch sec; seqNo:754 2021-02-10T18:07:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.34 , 36.42 , 39.31 , 34.21 2021-02-10T18:07:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.02 , -0.01 2021-02-10T18:07:57Z- waiting for 1612980478.44, time is 1612980477.46 2021-02-10T18:07:57Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980477.47 epoch sec; seqNo:1865; 4061685.49 north; 594444.05 east 2021-02-10T18:07:57Z- waiting for 1612980478.44, time is 1612980477.46 2021-02-10T18:07:57Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:57Z- AHRS_M2 msg: 1612980477.84 epoch sec; seqNo:1855 2021-02-10T18:07:57Z- AHRS_M2 msg: 1.47 phi; 0.07 theta; -0.14 psi 2021-02-10T18:07:57Z- waiting for 1612980478.44, time is 1612980477.46 2021-02-10T18:07:57Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:57Z- handleDepth()-Depth_Keller msg: 50.49 epoch sec; seqNo:1612980477844; depth 0.00 2021-02-10T18:07:57Z- waiting for 1612980478.44, time is 1612980477.46 2021-02-10T18:07:57Z- sync is 0.38, coherence is 2.00 2021-02-10T18:07:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980477.86 epoch sec; seqNo:1866; 4061685.50 north; 594445.27 east 2021-02-10T18:07:57Z- waiting for 1612980478.44, time is 1612980477.46 2021-02-10T18:07:57Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:58Z- AHRS_M2 msg: 1612980478.24 epoch sec; seqNo:1856 2021-02-10T18:07:58Z- AHRS_M2 msg: 1.47 phi; 0.07 theta; -0.14 psi 2021-02-10T18:07:58Z- waiting for 1612980478.44, time is 1612980477.46 2021-02-10T18:07:58Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:58Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1612980478248; depth 0.00 2021-02-10T18:07:58Z- waiting for 1612980478.44, time is 1612980477.46 2021-02-10T18:07:58Z- sync is 0.78, coherence is 2.00 2021-02-10T18:07:58Z- handleDvl() - RDI_Pathfinder msg: 1612980478.26 epoch sec; seqNo:755 2021-02-10T18:07:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.34 , 36.59 , 39.83 , 34.55 2021-02-10T18:07:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.01 , -0.02 2021-02-10T18:07:58Z- waiting for 1612980478.44, time is 1612980478.26 2021-02-10T18:07:58Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980478.27 epoch sec; seqNo:1867; 4061685.50 north; 594445.27 east 2021-02-10T18:07:58Z- waiting for 1612980478.44, time is 1612980478.26 2021-02-10T18:07:58Z- sync is 0.01, coherence is 2.00 2021-02-10T18:07:58Z- AHRS_M2 msg: 1612980478.65 epoch sec; seqNo:1857 2021-02-10T18:07:58Z- AHRS_M2 msg: 1.47 phi; 0.07 theta; -0.15 psi 2021-02-10T18:07:58Z- waiting for 1612980478.44, time is 1612980478.26 2021-02-10T18:07:58Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:58Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1612980478654; depth 0.00 2021-02-10T18:07:58Z- waiting for 1612980478.44, time is 1612980478.26 2021-02-10T18:07:58Z- sync is 0.39, coherence is 2.00 2021-02-10T18:07:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980478.66 epoch sec; seqNo:1868; 4061685.50 north; 594445.27 east 2021-02-10T18:07:58Z- waiting for 1612980478.44, time is 1612980478.26 2021-02-10T18:07:58Z- sync is 0.40, coherence is 2.00 2021-02-10T18:07:59Z- AHRS_M2 msg: 1612980479.08 epoch sec; seqNo:1858 2021-02-10T18:07:59Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.15 psi 2021-02-10T18:07:59Z- waiting for 1612980478.44, time is 1612980478.26 2021-02-10T18:07:59Z- sync is 0.82, coherence is 2.00 2021-02-10T18:07:59Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1612980479096; depth 0.00 2021-02-10T18:07:59Z- waiting for 1612980478.44, time is 1612980478.26 2021-02-10T18:07:59Z- sync is 0.82, coherence is 2.00 2021-02-10T18:07:59Z- handleDvl() - RDI_Pathfinder msg: 1612980479.11 epoch sec; seqNo:756 2021-02-10T18:07:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.17 , 36.25 , 39.65 , 34.38 2021-02-10T18:07:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.01 , -0.02 2021-02-10T18:07:59Z- waiting for 1612980478.44, time is 1612980479.11 2021-02-10T18:07:59Z- sync is 0.03, coherence is 2.00 2021-02-10T18:07:59Z- LcmTrn::updateTrn() >>>> pose time 1612980479.08, meas time 1612980479.11 <<<< 2021-02-10T18:07:59Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980479.11 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:07:59Z- TerrainNav::motionUpdate() - currEstimate = (4061686, 594445.27, 50.37) 2021-02-10T18:07:59Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:07:59Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:07:59Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:07:59Z- TNavBF::mmse selected from filter -1 2021-02-10T18:07:59Z- variances([0], [2], and psi_berg) = 786.747242 833.077995 0.000000 2021-02-10T18:07:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:07:59Z- LcmTrn::cycle() - MLE : 4061660.00 594398.77 50.37 2021-02-10T18:07:59Z- LcmTrn::cycle() - MMSE : 4061685.50 594445.27 50.37 2021-02-10T18:07:59Z- LcmTrn::cycle() - COVAR: 786.75 833.08 57.08 0.00 2021-02-10T18:07:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980479.12 epoch sec; seqNo:1869; 4061685.52 north; 594446.49 east 2021-02-10T18:07:59Z- waiting for 1612980482.11, time is 1612980479.11 2021-02-10T18:07:59Z- sync is 0.02, coherence is 2.00 2021-02-10T18:07:59Z- AHRS_M2 msg: 1612980479.46 epoch sec; seqNo:1859 2021-02-10T18:07:59Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.15 psi 2021-02-10T18:07:59Z- waiting for 1612980482.11, time is 1612980479.11 2021-02-10T18:07:59Z- sync is 0.35, coherence is 2.00 2021-02-10T18:07:59Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1612980479460; depth 0.00 2021-02-10T18:07:59Z- waiting for 1612980482.11, time is 1612980479.11 2021-02-10T18:07:59Z- sync is 0.35, coherence is 2.00 2021-02-10T18:07:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980479.47 epoch sec; seqNo:1870; 4061685.90 north; 594446.48 east 2021-02-10T18:07:59Z- waiting for 1612980482.11, time is 1612980479.11 2021-02-10T18:07:59Z- sync is 0.36, coherence is 2.00 2021-02-10T18:07:59Z- AHRS_M2 msg: 1612980479.86 epoch sec; seqNo:1860 2021-02-10T18:07:59Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.15 psi 2021-02-10T18:07:59Z- waiting for 1612980482.11, time is 1612980479.11 2021-02-10T18:07:59Z- sync is 0.75, coherence is 2.00 2021-02-10T18:07:59Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1612980479864; depth 0.00 2021-02-10T18:07:59Z- waiting for 1612980482.11, time is 1612980479.11 2021-02-10T18:07:59Z- sync is 0.75, coherence is 2.00 2021-02-10T18:07:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980479.87 epoch sec; seqNo:1871; 4061685.90 north; 594446.48 east 2021-02-10T18:07:59Z- waiting for 1612980482.11, time is 1612980479.11 2021-02-10T18:07:59Z- sync is 0.76, coherence is 2.00 2021-02-10T18:08:00Z- AHRS_M2 msg: 1612980480.27 epoch sec; seqNo:1861 2021-02-10T18:08:00Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.15 psi 2021-02-10T18:08:00Z- waiting for 1612980482.11, time is 1612980479.11 2021-02-10T18:08:00Z- sync is 1.16, coherence is 2.00 2021-02-10T18:08:00Z- handleDepth()-Depth_Keller msg: 50.26 epoch sec; seqNo:1612980480277; depth 0.00 2021-02-10T18:08:00Z- waiting for 1612980482.11, time is 1612980479.11 2021-02-10T18:08:00Z- sync is 1.16, coherence is 2.00 2021-02-10T18:08:00Z- handleDvl() - RDI_Pathfinder msg: 1612980480.29 epoch sec; seqNo:757 2021-02-10T18:08:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.17 , 36.42 , 40.34 , 34.38 2021-02-10T18:08:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.01 , -0.00 2021-02-10T18:08:00Z- waiting for 1612980482.11, time is 1612980480.29 2021-02-10T18:08:00Z- sync is 0.03, coherence is 2.00 2021-02-10T18:08:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980480.31 epoch sec; seqNo:1872; 4061685.91 north; 594447.70 east 2021-02-10T18:08:00Z- waiting for 1612980482.11, time is 1612980480.29 2021-02-10T18:08:00Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:00Z- AHRS_M2 msg: 1612980480.67 epoch sec; seqNo:1862 2021-02-10T18:08:00Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.15 psi 2021-02-10T18:08:00Z- waiting for 1612980482.11, time is 1612980480.29 2021-02-10T18:08:00Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:00Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1612980480672; depth 0.00 2021-02-10T18:08:00Z- waiting for 1612980482.11, time is 1612980480.29 2021-02-10T18:08:00Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980480.69 epoch sec; seqNo:1873; 4061685.91 north; 594447.70 east 2021-02-10T18:08:00Z- waiting for 1612980482.11, time is 1612980480.29 2021-02-10T18:08:00Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:01Z- AHRS_M2 msg: 1612980481.10 epoch sec; seqNo:1863 2021-02-10T18:08:01Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.15 psi 2021-02-10T18:08:01Z- waiting for 1612980482.11, time is 1612980480.29 2021-02-10T18:08:01Z- sync is 0.81, coherence is 2.00 2021-02-10T18:08:01Z- handleDepth()-Depth_Keller msg: 50.18 epoch sec; seqNo:1612980481106; depth 0.00 2021-02-10T18:08:01Z- waiting for 1612980482.11, time is 1612980480.29 2021-02-10T18:08:01Z- sync is 0.81, coherence is 2.00 2021-02-10T18:08:01Z- handleDvl() - RDI_Pathfinder msg: 1612980481.12 epoch sec; seqNo:758 2021-02-10T18:08:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 36.59 , 39.83 , 34.55 2021-02-10T18:08:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.01 , 0.02 2021-02-10T18:08:01Z- waiting for 1612980482.11, time is 1612980481.12 2021-02-10T18:08:01Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980481.13 epoch sec; seqNo:1874; 4061685.91 north; 594447.70 east 2021-02-10T18:08:01Z- waiting for 1612980482.11, time is 1612980481.12 2021-02-10T18:08:01Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:01Z- AHRS_M2 msg: 1612980481.48 epoch sec; seqNo:1864 2021-02-10T18:08:01Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.16 psi 2021-02-10T18:08:01Z- waiting for 1612980482.11, time is 1612980481.12 2021-02-10T18:08:01Z- sync is 0.37, coherence is 2.00 2021-02-10T18:08:01Z- handleDepth()-Depth_Keller msg: 50.15 epoch sec; seqNo:1612980481488; depth 0.00 2021-02-10T18:08:01Z- waiting for 1612980482.11, time is 1612980481.12 2021-02-10T18:08:01Z- sync is 0.37, coherence is 2.00 2021-02-10T18:08:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980481.50 epoch sec; seqNo:1875; 4061685.91 north; 594447.70 east 2021-02-10T18:08:01Z- waiting for 1612980482.11, time is 1612980481.12 2021-02-10T18:08:01Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:01Z- AHRS_M2 msg: 1612980481.89 epoch sec; seqNo:1865 2021-02-10T18:08:01Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.16 psi 2021-02-10T18:08:01Z- waiting for 1612980482.11, time is 1612980481.12 2021-02-10T18:08:01Z- sync is 0.77, coherence is 2.00 2021-02-10T18:08:01Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1612980481892; depth 0.00 2021-02-10T18:08:01Z- waiting for 1612980482.11, time is 1612980481.12 2021-02-10T18:08:01Z- sync is 0.77, coherence is 2.00 2021-02-10T18:08:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980481.90 epoch sec; seqNo:1876; 4061685.92 north; 594448.93 east 2021-02-10T18:08:01Z- waiting for 1612980482.11, time is 1612980481.12 2021-02-10T18:08:01Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:02Z- AHRS_M2 msg: 1612980482.29 epoch sec; seqNo:1866 2021-02-10T18:08:02Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.16 psi 2021-02-10T18:08:02Z- waiting for 1612980482.11, time is 1612980481.12 2021-02-10T18:08:02Z- sync is 1.18, coherence is 2.00 2021-02-10T18:08:02Z- handleDepth()-Depth_Keller msg: 50.08 epoch sec; seqNo:1612980482305; depth 0.00 2021-02-10T18:08:02Z- waiting for 1612980482.11, time is 1612980481.12 2021-02-10T18:08:02Z- sync is 1.18, coherence is 2.00 2021-02-10T18:08:02Z- handleDvl() - RDI_Pathfinder msg: 1612980482.32 epoch sec; seqNo:759 2021-02-10T18:08:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.17 , 36.76 , 39.83 , 34.72 2021-02-10T18:08:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.01 , 0.03 2021-02-10T18:08:02Z- waiting for 1612980482.11, time is 1612980482.32 2021-02-10T18:08:02Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:02Z- LcmTrn::updateTrn() >>>> pose time 1612980482.29, meas time 1612980482.32 <<<< 2021-02-10T18:08:02Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980482.32 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:08:02Z- TerrainNav::motionUpdate() - currEstimate = (4061686, 594448.93, 50.08) 2021-02-10T18:08:02Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:08:02Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:08:02Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:08:02Z- TNavBF::mmse selected from filter -1 2021-02-10T18:08:02Z- variances([0], [2], and psi_berg) = 786.582123 833.077727 0.000000 2021-02-10T18:08:02Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:08:02Z- LcmTrn::cycle() - MLE : 4061660.42 594402.43 50.08 2021-02-10T18:08:02Z- LcmTrn::cycle() - MMSE : 4061685.92 594448.93 50.08 2021-02-10T18:08:02Z- LcmTrn::cycle() - COVAR: 786.58 833.08 57.26 0.00 2021-02-10T18:08:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980482.33 epoch sec; seqNo:1877; 4061685.92 north; 594448.93 east 2021-02-10T18:08:02Z- waiting for 1612980485.32, time is 1612980482.32 2021-02-10T18:08:02Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:02Z- AHRS_M2 msg: 1612980482.70 epoch sec; seqNo:1867 2021-02-10T18:08:02Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.17 psi 2021-02-10T18:08:02Z- waiting for 1612980485.32, time is 1612980482.32 2021-02-10T18:08:02Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:02Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1612980482711; depth 0.00 2021-02-10T18:08:02Z- waiting for 1612980485.32, time is 1612980482.32 2021-02-10T18:08:02Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980482.72 epoch sec; seqNo:1878; 4061685.92 north; 594448.93 east 2021-02-10T18:08:02Z- waiting for 1612980485.32, time is 1612980482.32 2021-02-10T18:08:02Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:03Z- AHRS_M2 msg: 1612980483.10 epoch sec; seqNo:1868 2021-02-10T18:08:03Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.17 psi 2021-02-10T18:08:03Z- waiting for 1612980485.32, time is 1612980482.32 2021-02-10T18:08:03Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:03Z- handleDepth()-Depth_Keller msg: 50.00 epoch sec; seqNo:1612980483107; depth 0.00 2021-02-10T18:08:03Z- waiting for 1612980485.32, time is 1612980482.32 2021-02-10T18:08:03Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:03Z- handleDvl() - RDI_Pathfinder msg: 1612980483.12 epoch sec; seqNo:760 2021-02-10T18:08:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 37.27 , 40.34 , 34.89 2021-02-10T18:08:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.02 , 0.04 2021-02-10T18:08:03Z- waiting for 1612980485.32, time is 1612980483.12 2021-02-10T18:08:03Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980483.14 epoch sec; seqNo:1879; 4061685.94 north; 594450.15 east 2021-02-10T18:08:03Z- waiting for 1612980485.32, time is 1612980483.12 2021-02-10T18:08:03Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:03Z- AHRS_M2 msg: 1612980483.51 epoch sec; seqNo:1869 2021-02-10T18:08:03Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.18 psi 2021-02-10T18:08:03Z- waiting for 1612980485.32, time is 1612980483.12 2021-02-10T18:08:03Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:03Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1612980483509; depth 0.00 2021-02-10T18:08:03Z- waiting for 1612980485.32, time is 1612980483.12 2021-02-10T18:08:03Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980483.52 epoch sec; seqNo:1880; 4061685.94 north; 594450.15 east 2021-02-10T18:08:03Z- waiting for 1612980485.32, time is 1612980483.12 2021-02-10T18:08:03Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:03Z- AHRS_M2 msg: 1612980483.91 epoch sec; seqNo:1870 2021-02-10T18:08:03Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.18 psi 2021-02-10T18:08:03Z- waiting for 1612980485.32, time is 1612980483.12 2021-02-10T18:08:03Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:03Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1612980483917; depth 0.00 2021-02-10T18:08:03Z- waiting for 1612980485.32, time is 1612980483.12 2021-02-10T18:08:03Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980483.94 epoch sec; seqNo:1881; 4061685.94 north; 594450.15 east 2021-02-10T18:08:03Z- waiting for 1612980485.32, time is 1612980483.12 2021-02-10T18:08:03Z- sync is 0.82, coherence is 2.00 2021-02-10T18:08:04Z- AHRS_M2 msg: 1612980484.31 epoch sec; seqNo:1871 2021-02-10T18:08:04Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.18 psi 2021-02-10T18:08:04Z- waiting for 1612980485.32, time is 1612980483.12 2021-02-10T18:08:04Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:04Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1612980484321; depth 0.00 2021-02-10T18:08:04Z- waiting for 1612980485.32, time is 1612980483.12 2021-02-10T18:08:04Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:04Z- handleDvl() - RDI_Pathfinder msg: 1612980484.33 epoch sec; seqNo:761 2021-02-10T18:08:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 37.61 , 40.51 , 34.89 2021-02-10T18:08:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.02 , 0.05 2021-02-10T18:08:04Z- waiting for 1612980485.32, time is 1612980484.33 2021-02-10T18:08:04Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980484.34 epoch sec; seqNo:1882; 4061685.95 north; 594451.37 east 2021-02-10T18:08:04Z- waiting for 1612980485.32, time is 1612980484.33 2021-02-10T18:08:04Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:04Z- AHRS_M2 msg: 1612980484.72 epoch sec; seqNo:1872 2021-02-10T18:08:04Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.19 psi 2021-02-10T18:08:04Z- waiting for 1612980485.32, time is 1612980484.33 2021-02-10T18:08:04Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:04Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1612980484722; depth 0.00 2021-02-10T18:08:04Z- waiting for 1612980485.32, time is 1612980484.33 2021-02-10T18:08:04Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980484.73 epoch sec; seqNo:1883; 4061685.95 north; 594451.37 east 2021-02-10T18:08:04Z- waiting for 1612980485.32, time is 1612980484.33 2021-02-10T18:08:04Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:05Z- AHRS_M2 msg: 1612980485.12 epoch sec; seqNo:1873 2021-02-10T18:08:05Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.19 psi 2021-02-10T18:08:05Z- waiting for 1612980485.32, time is 1612980484.33 2021-02-10T18:08:05Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:05Z- handleDepth()-Depth_Keller msg: 49.86 epoch sec; seqNo:1612980485129; depth 0.00 2021-02-10T18:08:05Z- waiting for 1612980485.32, time is 1612980484.33 2021-02-10T18:08:05Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:05Z- handleDvl() - RDI_Pathfinder msg: 1612980485.15 epoch sec; seqNo:762 2021-02-10T18:08:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.00 , 37.61 , 40.68 , 34.72 2021-02-10T18:08:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.01 , 0.04 2021-02-10T18:08:05Z- waiting for 1612980485.32, time is 1612980485.15 2021-02-10T18:08:05Z- sync is 0.03, coherence is 2.00 2021-02-10T18:08:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980485.16 epoch sec; seqNo:1884; 4061686.33 north; 594451.36 east 2021-02-10T18:08:05Z- waiting for 1612980485.32, time is 1612980485.15 2021-02-10T18:08:05Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:05Z- AHRS_M2 msg: 1612980485.52 epoch sec; seqNo:1874 2021-02-10T18:08:05Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.19 psi 2021-02-10T18:08:05Z- waiting for 1612980485.32, time is 1612980485.15 2021-02-10T18:08:05Z- sync is 0.37, coherence is 2.00 2021-02-10T18:08:05Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1612980485529; depth 0.00 2021-02-10T18:08:05Z- waiting for 1612980485.32, time is 1612980485.15 2021-02-10T18:08:05Z- sync is 0.37, coherence is 2.00 2021-02-10T18:08:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980485.54 epoch sec; seqNo:1885; 4061686.33 north; 594451.36 east 2021-02-10T18:08:05Z- waiting for 1612980485.32, time is 1612980485.15 2021-02-10T18:08:05Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:05Z- AHRS_M2 msg: 1612980485.93 epoch sec; seqNo:1875 2021-02-10T18:08:05Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.19 psi 2021-02-10T18:08:05Z- waiting for 1612980485.32, time is 1612980485.15 2021-02-10T18:08:05Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:05Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1612980485940; depth 0.00 2021-02-10T18:08:05Z- waiting for 1612980485.32, time is 1612980485.15 2021-02-10T18:08:05Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980485.95 epoch sec; seqNo:1886; 4061686.34 north; 594452.58 east 2021-02-10T18:08:05Z- waiting for 1612980485.32, time is 1612980485.15 2021-02-10T18:08:05Z- sync is 0.80, coherence is 2.00 2021-02-10T18:08:06Z- AHRS_M2 msg: 1612980486.33 epoch sec; seqNo:1876 2021-02-10T18:08:06Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.19 psi 2021-02-10T18:08:06Z- waiting for 1612980485.32, time is 1612980485.15 2021-02-10T18:08:06Z- sync is 1.18, coherence is 2.00 2021-02-10T18:08:06Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1612980486337; depth 0.00 2021-02-10T18:08:06Z- waiting for 1612980485.32, time is 1612980485.15 2021-02-10T18:08:06Z- sync is 1.18, coherence is 2.00 2021-02-10T18:08:06Z- handleDvl() - RDI_Pathfinder msg: 1612980486.35 epoch sec; seqNo:763 2021-02-10T18:08:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.34 , 37.44 , 40.51 , 34.89 2021-02-10T18:08:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.01 , 0.03 2021-02-10T18:08:06Z- waiting for 1612980485.32, time is 1612980486.35 2021-02-10T18:08:06Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:06Z- LcmTrn::updateTrn() >>>> pose time 1612980486.33, meas time 1612980486.35 <<<< 2021-02-10T18:08:06Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980486.35 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:08:06Z- TerrainNav::motionUpdate() - currEstimate = (4061686, 594452.58, 49.76) 2021-02-10T18:08:06Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:08:06Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:08:06Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:08:06Z- TNavBF::mmse selected from filter -1 2021-02-10T18:08:06Z- variances([0], [2], and psi_berg) = 786.417510 833.077460 0.000000 2021-02-10T18:08:06Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:08:06Z- LcmTrn::cycle() - MLE : 4061660.84 594406.08 49.76 2021-02-10T18:08:06Z- LcmTrn::cycle() - MMSE : 4061686.34 594452.58 49.76 2021-02-10T18:08:06Z- LcmTrn::cycle() - COVAR: 786.42 833.08 57.45 0.00 2021-02-10T18:08:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980486.36 epoch sec; seqNo:1887; 4061686.34 north; 594452.58 east 2021-02-10T18:08:06Z- waiting for 1612980489.35, time is 1612980486.35 2021-02-10T18:08:06Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:06Z- AHRS_M2 msg: 1612980486.73 epoch sec; seqNo:1877 2021-02-10T18:08:06Z- AHRS_M2 msg: 1.48 phi; 0.05 theta; -0.19 psi 2021-02-10T18:08:06Z- waiting for 1612980489.35, time is 1612980486.35 2021-02-10T18:08:06Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:06Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1612980486740; depth 0.00 2021-02-10T18:08:06Z- waiting for 1612980489.35, time is 1612980486.35 2021-02-10T18:08:06Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980486.75 epoch sec; seqNo:1888; 4061686.34 north; 594452.58 east 2021-02-10T18:08:06Z- waiting for 1612980489.35, time is 1612980486.35 2021-02-10T18:08:06Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:07Z- AHRS_M2 msg: 1612980487.15 epoch sec; seqNo:1878 2021-02-10T18:08:07Z- AHRS_M2 msg: 1.48 phi; 0.05 theta; -0.19 psi 2021-02-10T18:08:07Z- waiting for 1612980489.35, time is 1612980486.35 2021-02-10T18:08:07Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:07Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1612980487161; depth 0.00 2021-02-10T18:08:07Z- waiting for 1612980489.35, time is 1612980486.35 2021-02-10T18:08:07Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:07Z- handleDvl() - RDI_Pathfinder msg: 1612980487.17 epoch sec; seqNo:764 2021-02-10T18:08:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.34 , 37.61 , 40.34 , 35.06 2021-02-10T18:08:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , 0.01 2021-02-10T18:08:07Z- waiting for 1612980489.35, time is 1612980487.17 2021-02-10T18:08:07Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980487.18 epoch sec; seqNo:1889; 4061686.36 north; 594453.80 east 2021-02-10T18:08:07Z- waiting for 1612980489.35, time is 1612980487.17 2021-02-10T18:08:07Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:07Z- AHRS_M2 msg: 1612980487.54 epoch sec; seqNo:1879 2021-02-10T18:08:07Z- AHRS_M2 msg: 1.48 phi; 0.05 theta; -0.19 psi 2021-02-10T18:08:07Z- waiting for 1612980489.35, time is 1612980487.17 2021-02-10T18:08:07Z- sync is 0.37, coherence is 2.00 2021-02-10T18:08:07Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1612980487558; depth 0.00 2021-02-10T18:08:07Z- waiting for 1612980489.35, time is 1612980487.17 2021-02-10T18:08:07Z- sync is 0.37, coherence is 2.00 2021-02-10T18:08:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980487.57 epoch sec; seqNo:1890; 4061686.36 north; 594453.80 east 2021-02-10T18:08:07Z- waiting for 1612980489.35, time is 1612980487.17 2021-02-10T18:08:07Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:07Z- AHRS_M2 msg: 1612980487.95 epoch sec; seqNo:1880 2021-02-10T18:08:07Z- AHRS_M2 msg: 1.49 phi; 0.05 theta; -0.19 psi 2021-02-10T18:08:07Z- waiting for 1612980489.35, time is 1612980487.17 2021-02-10T18:08:07Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:07Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1612980487953; depth 0.00 2021-02-10T18:08:07Z- waiting for 1612980489.35, time is 1612980487.17 2021-02-10T18:08:07Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980487.96 epoch sec; seqNo:1891; 4061686.36 north; 594453.80 east 2021-02-10T18:08:07Z- waiting for 1612980489.35, time is 1612980487.17 2021-02-10T18:08:07Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:08Z- AHRS_M2 msg: 1612980488.35 epoch sec; seqNo:1881 2021-02-10T18:08:08Z- AHRS_M2 msg: 1.49 phi; 0.04 theta; -0.18 psi 2021-02-10T18:08:08Z- waiting for 1612980489.35, time is 1612980487.17 2021-02-10T18:08:08Z- sync is 1.18, coherence is 2.00 2021-02-10T18:08:08Z- handleDepth()-Depth_Keller msg: 49.62 epoch sec; seqNo:1612980488357; depth 0.00 2021-02-10T18:08:08Z- waiting for 1612980489.35, time is 1612980487.17 2021-02-10T18:08:08Z- sync is 1.18, coherence is 2.00 2021-02-10T18:08:08Z- handleDvl() - RDI_Pathfinder msg: 1612980488.37 epoch sec; seqNo:765 2021-02-10T18:08:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.33 , 37.78 , 40.16 , 35.23 2021-02-10T18:08:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.00 , 0.01 2021-02-10T18:08:08Z- waiting for 1612980489.35, time is 1612980488.37 2021-02-10T18:08:08Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980488.38 epoch sec; seqNo:1892; 4061686.37 north; 594455.02 east 2021-02-10T18:08:08Z- waiting for 1612980489.35, time is 1612980488.37 2021-02-10T18:08:08Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:08Z- AHRS_M2 msg: 1612980488.76 epoch sec; seqNo:1882 2021-02-10T18:08:08Z- AHRS_M2 msg: 1.49 phi; 0.04 theta; -0.18 psi 2021-02-10T18:08:08Z- waiting for 1612980489.35, time is 1612980488.37 2021-02-10T18:08:08Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:08Z- handleDepth()-Depth_Keller msg: 49.61 epoch sec; seqNo:1612980488763; depth 0.00 2021-02-10T18:08:08Z- waiting for 1612980489.35, time is 1612980488.37 2021-02-10T18:08:08Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980488.78 epoch sec; seqNo:1893; 4061686.37 north; 594455.02 east 2021-02-10T18:08:08Z- waiting for 1612980489.35, time is 1612980488.37 2021-02-10T18:08:08Z- sync is 0.41, coherence is 2.00 2021-02-10T18:08:09Z- AHRS_M2 msg: 1612980489.16 epoch sec; seqNo:1883 2021-02-10T18:08:09Z- AHRS_M2 msg: 1.49 phi; 0.04 theta; -0.18 psi 2021-02-10T18:08:09Z- waiting for 1612980489.35, time is 1612980488.37 2021-02-10T18:08:09Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:09Z- handleDepth()-Depth_Keller msg: 49.58 epoch sec; seqNo:1612980489164; depth 0.00 2021-02-10T18:08:09Z- waiting for 1612980489.35, time is 1612980488.37 2021-02-10T18:08:09Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:09Z- handleDvl() - RDI_Pathfinder msg: 1612980489.18 epoch sec; seqNo:766 2021-02-10T18:08:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.33 , 37.95 , 39.99 , 35.40 2021-02-10T18:08:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.01 , 0.00 2021-02-10T18:08:09Z- waiting for 1612980489.35, time is 1612980489.18 2021-02-10T18:08:09Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980489.19 epoch sec; seqNo:1894; 4061686.37 north; 594455.02 east 2021-02-10T18:08:09Z- waiting for 1612980489.35, time is 1612980489.18 2021-02-10T18:08:09Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:09Z- AHRS_M2 msg: 1612980489.56 epoch sec; seqNo:1884 2021-02-10T18:08:09Z- AHRS_M2 msg: 1.49 phi; 0.04 theta; -0.18 psi 2021-02-10T18:08:09Z- waiting for 1612980489.35, time is 1612980489.18 2021-02-10T18:08:09Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:09Z- handleDepth()-Depth_Keller msg: 49.54 epoch sec; seqNo:1612980489568; depth 0.00 2021-02-10T18:08:09Z- waiting for 1612980489.35, time is 1612980489.18 2021-02-10T18:08:09Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980489.58 epoch sec; seqNo:1895; 4061686.38 north; 594456.24 east 2021-02-10T18:08:09Z- waiting for 1612980489.35, time is 1612980489.18 2021-02-10T18:08:09Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:09Z- AHRS_M2 msg: 1612980489.97 epoch sec; seqNo:1885 2021-02-10T18:08:09Z- AHRS_M2 msg: 1.49 phi; 0.03 theta; -0.18 psi 2021-02-10T18:08:09Z- waiting for 1612980489.35, time is 1612980489.18 2021-02-10T18:08:09Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:09Z- handleDepth()-Depth_Keller msg: 49.52 epoch sec; seqNo:1612980489977; depth 0.00 2021-02-10T18:08:09Z- waiting for 1612980489.35, time is 1612980489.18 2021-02-10T18:08:09Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980489.98 epoch sec; seqNo:1896; 4061686.38 north; 594456.24 east 2021-02-10T18:08:09Z- waiting for 1612980489.35, time is 1612980489.18 2021-02-10T18:08:09Z- sync is 0.80, coherence is 2.00 2021-02-10T18:08:10Z- AHRS_M2 msg: 1612980490.37 epoch sec; seqNo:1886 2021-02-10T18:08:10Z- AHRS_M2 msg: 1.49 phi; 0.03 theta; -0.18 psi 2021-02-10T18:08:10Z- waiting for 1612980489.35, time is 1612980489.18 2021-02-10T18:08:10Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:10Z- handleDepth()-Depth_Keller msg: 49.49 epoch sec; seqNo:1612980490378; depth 0.00 2021-02-10T18:08:10Z- waiting for 1612980489.35, time is 1612980489.18 2021-02-10T18:08:10Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:10Z- handleDvl() - RDI_Pathfinder msg: 1612980490.39 epoch sec; seqNo:767 2021-02-10T18:08:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.17 , 38.63 , 39.83 , 35.57 2021-02-10T18:08:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , 0.01 2021-02-10T18:08:10Z- waiting for 1612980489.35, time is 1612980490.39 2021-02-10T18:08:10Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:10Z- LcmTrn::updateTrn() >>>> pose time 1612980490.37, meas time 1612980490.39 <<<< 2021-02-10T18:08:10Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980490.39 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:08:10Z- TerrainNav::motionUpdate() - currEstimate = (4061686, 594456.24, 49.49) 2021-02-10T18:08:10Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:08:10Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:08:10Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:08:10Z- TNavBF::mmse selected from filter -1 2021-02-10T18:08:10Z- variances([0], [2], and psi_berg) = 786.253835 833.077195 0.000000 2021-02-10T18:08:10Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:08:10Z- LcmTrn::cycle() - MLE : 4061660.88 594409.74 49.49 2021-02-10T18:08:10Z- LcmTrn::cycle() - MMSE : 4061686.38 594456.24 49.49 2021-02-10T18:08:10Z- LcmTrn::cycle() - COVAR: 786.25 833.08 57.64 0.00 2021-02-10T18:08:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980490.40 epoch sec; seqNo:1897; 4061686.38 north; 594456.24 east 2021-02-10T18:08:10Z- waiting for 1612980493.39, time is 1612980490.39 2021-02-10T18:08:10Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:10Z- AHRS_M2 msg: 1612980490.78 epoch sec; seqNo:1887 2021-02-10T18:08:10Z- AHRS_M2 msg: 1.49 phi; 0.03 theta; -0.18 psi 2021-02-10T18:08:10Z- waiting for 1612980493.39, time is 1612980490.39 2021-02-10T18:08:10Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:10Z- handleDepth()-Depth_Keller msg: 49.48 epoch sec; seqNo:1612980490783; depth 0.00 2021-02-10T18:08:10Z- waiting for 1612980493.39, time is 1612980490.39 2021-02-10T18:08:10Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980490.81 epoch sec; seqNo:1898; 4061686.78 north; 594457.46 east 2021-02-10T18:08:10Z- waiting for 1612980493.39, time is 1612980490.39 2021-02-10T18:08:10Z- sync is 0.42, coherence is 2.00 2021-02-10T18:08:11Z- AHRS_M2 msg: 1612980491.18 epoch sec; seqNo:1888 2021-02-10T18:08:11Z- AHRS_M2 msg: 1.49 phi; 0.02 theta; -0.18 psi 2021-02-10T18:08:11Z- waiting for 1612980493.39, time is 1612980490.39 2021-02-10T18:08:11Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:11Z- handleDepth()-Depth_Keller msg: 49.46 epoch sec; seqNo:1612980491184; depth 0.00 2021-02-10T18:08:11Z- waiting for 1612980493.39, time is 1612980490.39 2021-02-10T18:08:11Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:11Z- handleDvl() - RDI_Pathfinder msg: 1612980491.20 epoch sec; seqNo:768 2021-02-10T18:08:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.34 , 38.80 , 40.00 , 35.57 2021-02-10T18:08:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.00 , 0.03 2021-02-10T18:08:11Z- waiting for 1612980493.39, time is 1612980491.20 2021-02-10T18:08:11Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980491.22 epoch sec; seqNo:1899; 4061686.78 north; 594457.46 east 2021-02-10T18:08:11Z- waiting for 1612980493.39, time is 1612980491.20 2021-02-10T18:08:11Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:11Z- AHRS_M2 msg: 1612980491.59 epoch sec; seqNo:1889 2021-02-10T18:08:11Z- AHRS_M2 msg: 1.49 phi; 0.02 theta; -0.18 psi 2021-02-10T18:08:11Z- waiting for 1612980493.39, time is 1612980491.20 2021-02-10T18:08:11Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:11Z- handleDepth()-Depth_Keller msg: 49.45 epoch sec; seqNo:1612980491591; depth 0.00 2021-02-10T18:08:11Z- waiting for 1612980493.39, time is 1612980491.20 2021-02-10T18:08:11Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980491.60 epoch sec; seqNo:1900; 4061686.78 north; 594457.46 east 2021-02-10T18:08:11Z- waiting for 1612980493.39, time is 1612980491.20 2021-02-10T18:08:11Z- sync is 0.41, coherence is 2.00 2021-02-10T18:08:11Z- AHRS_M2 msg: 1612980491.99 epoch sec; seqNo:1890 2021-02-10T18:08:11Z- AHRS_M2 msg: 1.49 phi; 0.02 theta; -0.18 psi 2021-02-10T18:08:11Z- waiting for 1612980493.39, time is 1612980491.20 2021-02-10T18:08:11Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:12Z- handleDepth()-Depth_Keller msg: 49.42 epoch sec; seqNo:1612980492002; depth 0.00 2021-02-10T18:08:12Z- waiting for 1612980493.39, time is 1612980491.20 2021-02-10T18:08:12Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980492.01 epoch sec; seqNo:1901; 4061686.78 north; 594457.46 east 2021-02-10T18:08:12Z- waiting for 1612980493.39, time is 1612980491.20 2021-02-10T18:08:12Z- sync is 0.81, coherence is 2.00 2021-02-10T18:08:12Z- AHRS_M2 msg: 1612980492.39 epoch sec; seqNo:1891 2021-02-10T18:08:12Z- AHRS_M2 msg: 1.49 phi; 0.02 theta; -0.18 psi 2021-02-10T18:08:12Z- waiting for 1612980493.39, time is 1612980491.20 2021-02-10T18:08:12Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:12Z- handleDepth()-Depth_Keller msg: 49.41 epoch sec; seqNo:1612980492401; depth 0.00 2021-02-10T18:08:12Z- waiting for 1612980493.39, time is 1612980491.20 2021-02-10T18:08:12Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:12Z- handleDvl() - RDI_Pathfinder msg: 1612980492.41 epoch sec; seqNo:769 2021-02-10T18:08:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.51 , 38.97 , 39.83 , 35.57 2021-02-10T18:08:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.00 , 0.04 2021-02-10T18:08:12Z- waiting for 1612980493.39, time is 1612980492.41 2021-02-10T18:08:12Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980492.43 epoch sec; seqNo:1902; 4061686.79 north; 594458.68 east 2021-02-10T18:08:12Z- waiting for 1612980493.39, time is 1612980492.41 2021-02-10T18:08:12Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:12Z- AHRS_M2 msg: 1612980492.80 epoch sec; seqNo:1892 2021-02-10T18:08:12Z- AHRS_M2 msg: 1.49 phi; 0.02 theta; -0.18 psi 2021-02-10T18:08:12Z- waiting for 1612980493.39, time is 1612980492.41 2021-02-10T18:08:12Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:12Z- handleDepth()-Depth_Keller msg: 49.38 epoch sec; seqNo:1612980492805; depth 0.00 2021-02-10T18:08:12Z- waiting for 1612980493.39, time is 1612980492.41 2021-02-10T18:08:12Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980492.82 epoch sec; seqNo:1903; 4061686.79 north; 594458.68 east 2021-02-10T18:08:12Z- waiting for 1612980493.39, time is 1612980492.41 2021-02-10T18:08:12Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:13Z- AHRS_M2 msg: 1612980493.20 epoch sec; seqNo:1893 2021-02-10T18:08:13Z- AHRS_M2 msg: 1.50 phi; 0.01 theta; -0.18 psi 2021-02-10T18:08:13Z- waiting for 1612980493.39, time is 1612980492.41 2021-02-10T18:08:13Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:13Z- handleDepth()-Depth_Keller msg: 49.38 epoch sec; seqNo:1612980493213; depth 0.00 2021-02-10T18:08:13Z- waiting for 1612980493.39, time is 1612980492.41 2021-02-10T18:08:13Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:13Z- handleDvl() - RDI_Pathfinder msg: 1612980493.23 epoch sec; seqNo:770 2021-02-10T18:08:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.19 , 39.65 , 39.65 , 35.74 2021-02-10T18:08:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , 0.05 2021-02-10T18:08:13Z- waiting for 1612980493.39, time is 1612980493.23 2021-02-10T18:08:13Z- sync is 0.03, coherence is 2.00 2021-02-10T18:08:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980493.24 epoch sec; seqNo:1904; 4061686.79 north; 594458.68 east 2021-02-10T18:08:13Z- waiting for 1612980493.39, time is 1612980493.23 2021-02-10T18:08:13Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:13Z- AHRS_M2 msg: 1612980493.60 epoch sec; seqNo:1894 2021-02-10T18:08:13Z- AHRS_M2 msg: 1.50 phi; 0.01 theta; -0.18 psi 2021-02-10T18:08:13Z- waiting for 1612980493.39, time is 1612980493.23 2021-02-10T18:08:13Z- sync is 0.37, coherence is 2.00 2021-02-10T18:08:13Z- handleDepth()-Depth_Keller msg: 49.36 epoch sec; seqNo:1612980493608; depth 0.00 2021-02-10T18:08:13Z- waiting for 1612980493.39, time is 1612980493.23 2021-02-10T18:08:13Z- sync is 0.37, coherence is 2.00 2021-02-10T18:08:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980493.63 epoch sec; seqNo:1905; 4061686.80 north; 594459.90 east 2021-02-10T18:08:13Z- waiting for 1612980493.39, time is 1612980493.23 2021-02-10T18:08:13Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:14Z- AHRS_M2 msg: 1612980494.01 epoch sec; seqNo:1895 2021-02-10T18:08:14Z- AHRS_M2 msg: 1.49 phi; 0.01 theta; -0.18 psi 2021-02-10T18:08:14Z- waiting for 1612980493.39, time is 1612980493.23 2021-02-10T18:08:14Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:14Z- handleDepth()-Depth_Keller msg: 49.34 epoch sec; seqNo:1612980494018; depth 0.00 2021-02-10T18:08:14Z- waiting for 1612980493.39, time is 1612980493.23 2021-02-10T18:08:14Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980494.03 epoch sec; seqNo:1906; 4061686.80 north; 594459.90 east 2021-02-10T18:08:14Z- waiting for 1612980493.39, time is 1612980493.23 2021-02-10T18:08:14Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:14Z- AHRS_M2 msg: 1612980494.42 epoch sec; seqNo:1896 2021-02-10T18:08:14Z- AHRS_M2 msg: 1.49 phi; 0.01 theta; -0.19 psi 2021-02-10T18:08:14Z- waiting for 1612980493.39, time is 1612980493.23 2021-02-10T18:08:14Z- sync is 1.18, coherence is 2.00 2021-02-10T18:08:14Z- handleDepth()-Depth_Keller msg: 49.33 epoch sec; seqNo:1612980494422; depth 0.00 2021-02-10T18:08:14Z- waiting for 1612980493.39, time is 1612980493.23 2021-02-10T18:08:14Z- sync is 1.18, coherence is 2.00 2021-02-10T18:08:14Z- handleDvl() - RDI_Pathfinder msg: 1612980494.43 epoch sec; seqNo:771 2021-02-10T18:08:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.53 , 39.65 , 39.49 , 36.08 2021-02-10T18:08:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.01 , 0.05 2021-02-10T18:08:14Z- waiting for 1612980493.39, time is 1612980494.43 2021-02-10T18:08:14Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:14Z- LcmTrn::updateTrn() >>>> pose time 1612980494.42, meas time 1612980494.43 <<<< 2021-02-10T18:08:14Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980494.43 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:08:14Z- TerrainNav::motionUpdate() - currEstimate = (4061687, 594459.90, 49.33) 2021-02-10T18:08:14Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:08:14Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:08:14Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:08:14Z- TNavBF::mmse selected from filter -1 2021-02-10T18:08:14Z- variances([0], [2], and psi_berg) = 786.090221 833.076931 0.000000 2021-02-10T18:08:14Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:08:14Z- LcmTrn::cycle() - MLE : 4061661.30 594413.40 49.33 2021-02-10T18:08:14Z- LcmTrn::cycle() - MMSE : 4061686.80 594459.90 49.33 2021-02-10T18:08:14Z- LcmTrn::cycle() - COVAR: 786.09 833.08 57.83 0.00 2021-02-10T18:08:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980494.44 epoch sec; seqNo:1907; 4061686.80 north; 594459.90 east 2021-02-10T18:08:14Z- waiting for 1612980497.43, time is 1612980494.43 2021-02-10T18:08:14Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:14Z- AHRS_M2 msg: 1612980494.82 epoch sec; seqNo:1897 2021-02-10T18:08:14Z- AHRS_M2 msg: 1.49 phi; 0.00 theta; -0.19 psi 2021-02-10T18:08:14Z- waiting for 1612980497.43, time is 1612980494.43 2021-02-10T18:08:14Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:14Z- handleDepth()-Depth_Keller msg: 49.30 epoch sec; seqNo:1612980494825; depth 0.00 2021-02-10T18:08:14Z- waiting for 1612980497.43, time is 1612980494.43 2021-02-10T18:08:14Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980494.84 epoch sec; seqNo:1908; 4061686.82 north; 594461.12 east 2021-02-10T18:08:14Z- waiting for 1612980497.43, time is 1612980494.43 2021-02-10T18:08:14Z- sync is 0.41, coherence is 2.00 2021-02-10T18:08:15Z- AHRS_M2 msg: 1612980495.22 epoch sec; seqNo:1898 2021-02-10T18:08:15Z- AHRS_M2 msg: 1.49 phi; 0.00 theta; -0.19 psi 2021-02-10T18:08:15Z- waiting for 1612980497.43, time is 1612980494.43 2021-02-10T18:08:15Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:15Z- handleDepth()-Depth_Keller msg: 49.29 epoch sec; seqNo:1612980495229; depth 0.00 2021-02-10T18:08:15Z- waiting for 1612980497.43, time is 1612980494.43 2021-02-10T18:08:15Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:15Z- handleDvl() - RDI_Pathfinder msg: 1612980495.24 epoch sec; seqNo:772 2021-02-10T18:08:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.04 , 40.51 , 39.83 , 35.91 2021-02-10T18:08:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.00 , 0.05 2021-02-10T18:08:15Z- waiting for 1612980497.43, time is 1612980495.24 2021-02-10T18:08:15Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980495.27 epoch sec; seqNo:1909; 4061686.82 north; 594461.12 east 2021-02-10T18:08:15Z- waiting for 1612980497.43, time is 1612980495.24 2021-02-10T18:08:15Z- sync is 0.03, coherence is 2.00 2021-02-10T18:08:15Z- AHRS_M2 msg: 1612980495.62 epoch sec; seqNo:1899 2021-02-10T18:08:15Z- AHRS_M2 msg: 1.49 phi; 0.00 theta; -0.19 psi 2021-02-10T18:08:15Z- waiting for 1612980497.43, time is 1612980495.24 2021-02-10T18:08:15Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:15Z- handleDepth()-Depth_Keller msg: 49.28 epoch sec; seqNo:1612980495629; depth 0.00 2021-02-10T18:08:15Z- waiting for 1612980497.43, time is 1612980495.24 2021-02-10T18:08:15Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980495.64 epoch sec; seqNo:1910; 4061686.82 north; 594461.12 east 2021-02-10T18:08:15Z- waiting for 1612980497.43, time is 1612980495.24 2021-02-10T18:08:15Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:16Z- AHRS_M2 msg: 1612980496.03 epoch sec; seqNo:1900 2021-02-10T18:08:16Z- AHRS_M2 msg: 1.49 phi; -0.00 theta; -0.19 psi 2021-02-10T18:08:16Z- waiting for 1612980497.43, time is 1612980495.24 2021-02-10T18:08:16Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:16Z- handleDepth()-Depth_Keller msg: 49.26 epoch sec; seqNo:1612980496045; depth 0.00 2021-02-10T18:08:16Z- waiting for 1612980497.43, time is 1612980495.24 2021-02-10T18:08:16Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980496.07 epoch sec; seqNo:1911; 4061686.83 north; 594462.34 east 2021-02-10T18:08:16Z- waiting for 1612980497.43, time is 1612980495.24 2021-02-10T18:08:16Z- sync is 0.83, coherence is 2.00 2021-02-10T18:08:16Z- AHRS_M2 msg: 1612980496.43 epoch sec; seqNo:1901 2021-02-10T18:08:16Z- AHRS_M2 msg: 1.49 phi; -0.00 theta; -0.19 psi 2021-02-10T18:08:16Z- waiting for 1612980497.43, time is 1612980495.24 2021-02-10T18:08:16Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:16Z- handleDepth()-Depth_Keller msg: 49.26 epoch sec; seqNo:1612980496436; depth 0.00 2021-02-10T18:08:16Z- waiting for 1612980497.43, time is 1612980495.24 2021-02-10T18:08:16Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:16Z- handleDvl() - RDI_Pathfinder msg: 1612980496.45 epoch sec; seqNo:773 2021-02-10T18:08:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.21 , 40.68 , 39.83 , 36.08 2021-02-10T18:08:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.01 , 0.03 2021-02-10T18:08:16Z- waiting for 1612980497.43, time is 1612980496.45 2021-02-10T18:08:16Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980496.47 epoch sec; seqNo:1912; 4061686.83 north; 594462.34 east 2021-02-10T18:08:16Z- waiting for 1612980497.43, time is 1612980496.45 2021-02-10T18:08:16Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:16Z- AHRS_M2 msg: 1612980496.84 epoch sec; seqNo:1902 2021-02-10T18:08:16Z- AHRS_M2 msg: 1.49 phi; -0.00 theta; -0.19 psi 2021-02-10T18:08:16Z- waiting for 1612980497.43, time is 1612980496.45 2021-02-10T18:08:16Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:16Z- handleDepth()-Depth_Keller msg: 49.24 epoch sec; seqNo:1612980496845; depth 0.00 2021-02-10T18:08:16Z- waiting for 1612980497.43, time is 1612980496.45 2021-02-10T18:08:16Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980496.86 epoch sec; seqNo:1913; 4061686.83 north; 594462.34 east 2021-02-10T18:08:16Z- waiting for 1612980497.43, time is 1612980496.45 2021-02-10T18:08:16Z- sync is 0.41, coherence is 2.00 2021-02-10T18:08:17Z- AHRS_M2 msg: 1612980497.24 epoch sec; seqNo:1903 2021-02-10T18:08:17Z- AHRS_M2 msg: 1.49 phi; -0.01 theta; -0.19 psi 2021-02-10T18:08:17Z- waiting for 1612980497.43, time is 1612980496.45 2021-02-10T18:08:17Z- sync is 0.80, coherence is 2.00 2021-02-10T18:08:17Z- handleDepth()-Depth_Keller msg: 49.23 epoch sec; seqNo:1612980497249; depth 0.00 2021-02-10T18:08:17Z- waiting for 1612980497.43, time is 1612980496.45 2021-02-10T18:08:17Z- sync is 0.80, coherence is 2.00 2021-02-10T18:08:17Z- handleDvl() - RDI_Pathfinder msg: 1612980497.26 epoch sec; seqNo:774 2021-02-10T18:08:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.21 , 41.02 , 39.65 , 35.91 2021-02-10T18:08:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.00 , 0.02 2021-02-10T18:08:17Z- waiting for 1612980497.43, time is 1612980497.26 2021-02-10T18:08:17Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980497.27 epoch sec; seqNo:1914; 4061687.22 north; 594463.56 east 2021-02-10T18:08:17Z- waiting for 1612980497.43, time is 1612980497.26 2021-02-10T18:08:17Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:17Z- AHRS_M2 msg: 1612980497.64 epoch sec; seqNo:1904 2021-02-10T18:08:17Z- AHRS_M2 msg: 1.49 phi; -0.01 theta; -0.19 psi 2021-02-10T18:08:17Z- waiting for 1612980497.43, time is 1612980497.26 2021-02-10T18:08:17Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:17Z- handleDepth()-Depth_Keller msg: 49.22 epoch sec; seqNo:1612980497653; depth 0.00 2021-02-10T18:08:17Z- waiting for 1612980497.43, time is 1612980497.26 2021-02-10T18:08:17Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980497.67 epoch sec; seqNo:1915; 4061687.22 north; 594463.56 east 2021-02-10T18:08:17Z- waiting for 1612980497.43, time is 1612980497.26 2021-02-10T18:08:17Z- sync is 0.41, coherence is 2.00 2021-02-10T18:08:18Z- AHRS_M2 msg: 1612980498.05 epoch sec; seqNo:1905 2021-02-10T18:08:18Z- AHRS_M2 msg: 1.49 phi; -0.01 theta; -0.19 psi 2021-02-10T18:08:18Z- waiting for 1612980497.43, time is 1612980497.26 2021-02-10T18:08:18Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:18Z- handleDepth()-Depth_Keller msg: 49.22 epoch sec; seqNo:1612980498058; depth 0.00 2021-02-10T18:08:18Z- waiting for 1612980497.43, time is 1612980497.26 2021-02-10T18:08:18Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980498.10 epoch sec; seqNo:1916; 4061687.22 north; 594463.56 east 2021-02-10T18:08:18Z- waiting for 1612980497.43, time is 1612980497.26 2021-02-10T18:08:18Z- sync is 0.84, coherence is 2.00 2021-02-10T18:08:18Z- AHRS_M2 msg: 1612980498.45 epoch sec; seqNo:1906 2021-02-10T18:08:18Z- AHRS_M2 msg: 1.49 phi; -0.01 theta; -0.19 psi 2021-02-10T18:08:18Z- waiting for 1612980497.43, time is 1612980497.26 2021-02-10T18:08:18Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:18Z- handleDepth()-Depth_Keller msg: 49.20 epoch sec; seqNo:1612980498464; depth 0.00 2021-02-10T18:08:18Z- waiting for 1612980497.43, time is 1612980497.26 2021-02-10T18:08:18Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:18Z- handleDvl() - RDI_Pathfinder msg: 1612980498.48 epoch sec; seqNo:775 2021-02-10T18:08:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.38 , 41.18 , 39.82 , 36.08 2021-02-10T18:08:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.01 , 0.01 2021-02-10T18:08:18Z- waiting for 1612980497.43, time is 1612980498.48 2021-02-10T18:08:18Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:18Z- LcmTrn::updateTrn() >>>> pose time 1612980498.45, meas time 1612980498.48 <<<< 2021-02-10T18:08:18Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980498.48 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:08:18Z- TerrainNav::motionUpdate() - currEstimate = (4061687, 594463.56, 49.20) 2021-02-10T18:08:18Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:08:18Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:08:18Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:08:18Z- TNavBF::mmse selected from filter -1 2021-02-10T18:08:18Z- variances([0], [2], and psi_berg) = 785.927101 833.076669 0.000000 2021-02-10T18:08:18Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:08:18Z- LcmTrn::cycle() - MLE : 4061661.72 594417.06 49.20 2021-02-10T18:08:18Z- LcmTrn::cycle() - MMSE : 4061687.22 594463.56 49.20 2021-02-10T18:08:18Z- LcmTrn::cycle() - COVAR: 785.93 833.08 58.01 0.00 2021-02-10T18:08:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980498.49 epoch sec; seqNo:1917; 4061687.23 north; 594464.78 east 2021-02-10T18:08:18Z- waiting for 1612980501.48, time is 1612980498.48 2021-02-10T18:08:18Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:18Z- AHRS_M2 msg: 1612980498.86 epoch sec; seqNo:1907 2021-02-10T18:08:18Z- AHRS_M2 msg: 1.49 phi; -0.01 theta; -0.19 psi 2021-02-10T18:08:18Z- waiting for 1612980501.48, time is 1612980498.48 2021-02-10T18:08:18Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:18Z- handleDepth()-Depth_Keller msg: 49.20 epoch sec; seqNo:1612980498860; depth 0.00 2021-02-10T18:08:18Z- waiting for 1612980501.48, time is 1612980498.48 2021-02-10T18:08:18Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980498.87 epoch sec; seqNo:1918; 4061687.23 north; 594464.78 east 2021-02-10T18:08:18Z- waiting for 1612980501.48, time is 1612980498.48 2021-02-10T18:08:18Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:19Z- AHRS_M2 msg: 1612980499.26 epoch sec; seqNo:1908 2021-02-10T18:08:19Z- AHRS_M2 msg: 1.49 phi; -0.01 theta; -0.19 psi 2021-02-10T18:08:19Z- waiting for 1612980501.48, time is 1612980498.48 2021-02-10T18:08:19Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:19Z- handleDepth()-Depth_Keller msg: 49.20 epoch sec; seqNo:1612980499264; depth 0.00 2021-02-10T18:08:19Z- waiting for 1612980501.48, time is 1612980498.48 2021-02-10T18:08:19Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:19Z- handleDvl() - RDI_Pathfinder msg: 1612980499.28 epoch sec; seqNo:776 2021-02-10T18:08:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.72 , 41.52 , 39.65 , 36.08 2021-02-10T18:08:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.02 , -0.00 2021-02-10T18:08:19Z- waiting for 1612980501.48, time is 1612980499.28 2021-02-10T18:08:19Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980499.29 epoch sec; seqNo:1919; 4061687.23 north; 594464.78 east 2021-02-10T18:08:19Z- waiting for 1612980501.48, time is 1612980499.28 2021-02-10T18:08:19Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:19Z- AHRS_M2 msg: 1612980499.66 epoch sec; seqNo:1909 2021-02-10T18:08:19Z- AHRS_M2 msg: 1.49 phi; -0.01 theta; -0.19 psi 2021-02-10T18:08:19Z- waiting for 1612980501.48, time is 1612980499.28 2021-02-10T18:08:19Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:19Z- handleDepth()-Depth_Keller msg: 49.18 epoch sec; seqNo:1612980499677; depth 0.00 2021-02-10T18:08:19Z- waiting for 1612980501.48, time is 1612980499.28 2021-02-10T18:08:19Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980499.69 epoch sec; seqNo:1920; 4061687.25 north; 594466.00 east 2021-02-10T18:08:19Z- waiting for 1612980501.48, time is 1612980499.28 2021-02-10T18:08:19Z- sync is 0.41, coherence is 2.00 2021-02-10T18:08:20Z- AHRS_M2 msg: 1612980500.09 epoch sec; seqNo:1910 2021-02-10T18:08:20Z- AHRS_M2 msg: 1.49 phi; -0.02 theta; -0.19 psi 2021-02-10T18:08:20Z- waiting for 1612980501.48, time is 1612980499.28 2021-02-10T18:08:20Z- sync is 0.81, coherence is 2.00 2021-02-10T18:08:20Z- handleDepth()-Depth_Keller msg: 49.16 epoch sec; seqNo:1612980500098; depth 0.00 2021-02-10T18:08:20Z- waiting for 1612980501.48, time is 1612980499.28 2021-02-10T18:08:20Z- sync is 0.81, coherence is 2.00 2021-02-10T18:08:20Z- handleDvl() - RDI_Pathfinder msg: 1612980500.11 epoch sec; seqNo:777 2021-02-10T18:08:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.89 , 41.35 , 39.48 , 36.25 2021-02-10T18:08:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.01 , -0.01 2021-02-10T18:08:20Z- waiting for 1612980501.48, time is 1612980500.11 2021-02-10T18:08:20Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980500.12 epoch sec; seqNo:1921; 4061687.25 north; 594466.00 east 2021-02-10T18:08:20Z- waiting for 1612980501.48, time is 1612980500.11 2021-02-10T18:08:20Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:20Z- AHRS_M2 msg: 1612980500.47 epoch sec; seqNo:1911 2021-02-10T18:08:20Z- AHRS_M2 msg: 1.49 phi; -0.02 theta; -0.19 psi 2021-02-10T18:08:20Z- waiting for 1612980501.48, time is 1612980500.11 2021-02-10T18:08:20Z- sync is 0.36, coherence is 2.00 2021-02-10T18:08:20Z- handleDepth()-Depth_Keller msg: 49.17 epoch sec; seqNo:1612980500481; depth 0.00 2021-02-10T18:08:20Z- waiting for 1612980501.48, time is 1612980500.11 2021-02-10T18:08:20Z- sync is 0.36, coherence is 2.00 2021-02-10T18:08:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980500.49 epoch sec; seqNo:1922; 4061687.25 north; 594466.00 east 2021-02-10T18:08:20Z- waiting for 1612980501.48, time is 1612980500.11 2021-02-10T18:08:20Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:20Z- AHRS_M2 msg: 1612980500.88 epoch sec; seqNo:1912 2021-02-10T18:08:20Z- AHRS_M2 msg: 1.49 phi; -0.02 theta; -0.19 psi 2021-02-10T18:08:20Z- waiting for 1612980501.48, time is 1612980500.11 2021-02-10T18:08:20Z- sync is 0.77, coherence is 2.00 2021-02-10T18:08:20Z- handleDepth()-Depth_Keller msg: 49.16 epoch sec; seqNo:1612980500880; depth 0.00 2021-02-10T18:08:20Z- waiting for 1612980501.48, time is 1612980500.11 2021-02-10T18:08:20Z- sync is 0.77, coherence is 2.00 2021-02-10T18:08:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980500.89 epoch sec; seqNo:1923; 4061687.25 north; 594466.00 east 2021-02-10T18:08:20Z- waiting for 1612980501.48, time is 1612980500.11 2021-02-10T18:08:20Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:21Z- AHRS_M2 msg: 1612980501.28 epoch sec; seqNo:1913 2021-02-10T18:08:21Z- AHRS_M2 msg: 1.49 phi; -0.02 theta; -0.19 psi 2021-02-10T18:08:21Z- waiting for 1612980501.48, time is 1612980500.11 2021-02-10T18:08:21Z- sync is 1.17, coherence is 2.00 2021-02-10T18:08:21Z- handleDepth()-Depth_Keller msg: 49.14 epoch sec; seqNo:1612980501293; depth 0.00 2021-02-10T18:08:21Z- waiting for 1612980501.48, time is 1612980500.11 2021-02-10T18:08:21Z- sync is 1.17, coherence is 2.00 2021-02-10T18:08:21Z- handleDvl() - RDI_Pathfinder msg: 1612980501.31 epoch sec; seqNo:778 2021-02-10T18:08:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.89 , 42.20 , 39.31 , 36.08 2021-02-10T18:08:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.01 , 0.00 2021-02-10T18:08:21Z- waiting for 1612980501.48, time is 1612980501.31 2021-02-10T18:08:21Z- sync is 0.03, coherence is 2.00 2021-02-10T18:08:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980501.32 epoch sec; seqNo:1924; 4061687.26 north; 594467.22 east 2021-02-10T18:08:21Z- waiting for 1612980501.48, time is 1612980501.31 2021-02-10T18:08:21Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:21Z- AHRS_M2 msg: 1612980501.68 epoch sec; seqNo:1914 2021-02-10T18:08:21Z- AHRS_M2 msg: 1.49 phi; -0.02 theta; -0.19 psi 2021-02-10T18:08:21Z- waiting for 1612980501.48, time is 1612980501.31 2021-02-10T18:08:21Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:21Z- handleDepth()-Depth_Keller msg: 49.15 epoch sec; seqNo:1612980501688; depth 0.00 2021-02-10T18:08:21Z- waiting for 1612980501.48, time is 1612980501.31 2021-02-10T18:08:21Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980501.71 epoch sec; seqNo:1925; 4061687.26 north; 594467.22 east 2021-02-10T18:08:21Z- waiting for 1612980501.48, time is 1612980501.31 2021-02-10T18:08:21Z- sync is 0.41, coherence is 2.00 2021-02-10T18:08:22Z- AHRS_M2 msg: 1612980502.10 epoch sec; seqNo:1915 2021-02-10T18:08:22Z- AHRS_M2 msg: 1.49 phi; -0.02 theta; -0.19 psi 2021-02-10T18:08:22Z- waiting for 1612980501.48, time is 1612980501.31 2021-02-10T18:08:22Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:22Z- handleDepth()-Depth_Keller msg: 49.15 epoch sec; seqNo:1612980502104; depth 0.00 2021-02-10T18:08:22Z- waiting for 1612980501.48, time is 1612980501.31 2021-02-10T18:08:22Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:22Z- handleDvl() - RDI_Pathfinder msg: 1612980502.12 epoch sec; seqNo:779 2021-02-10T18:08:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.40 , 42.04 , 39.31 , 36.25 2021-02-10T18:08:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.00 , 0.01 2021-02-10T18:08:22Z- waiting for 1612980501.48, time is 1612980502.12 2021-02-10T18:08:22Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:22Z- LcmTrn::updateTrn() >>>> pose time 1612980502.10, meas time 1612980502.12 <<<< 2021-02-10T18:08:22Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980502.12 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:08:22Z- TerrainNav::motionUpdate() - currEstimate = (4061687, 594467.22, 49.15) 2021-02-10T18:08:22Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:08:22Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:08:22Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:08:22Z- TNavBF::mmse selected from filter -1 2021-02-10T18:08:22Z- variances([0], [2], and psi_berg) = 785.764904 833.076410 0.000000 2021-02-10T18:08:22Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:08:22Z- LcmTrn::cycle() - MLE : 4061661.76 594420.72 49.15 2021-02-10T18:08:22Z- LcmTrn::cycle() - MMSE : 4061687.26 594467.22 49.15 2021-02-10T18:08:22Z- LcmTrn::cycle() - COVAR: 785.76 833.08 58.20 0.00 2021-02-10T18:08:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980502.13 epoch sec; seqNo:1926; 4061687.26 north; 594467.22 east 2021-02-10T18:08:22Z- waiting for 1612980505.12, time is 1612980502.12 2021-02-10T18:08:22Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:22Z- AHRS_M2 msg: 1612980502.49 epoch sec; seqNo:1916 2021-02-10T18:08:22Z- AHRS_M2 msg: 1.49 phi; -0.02 theta; -0.19 psi 2021-02-10T18:08:22Z- waiting for 1612980505.12, time is 1612980502.12 2021-02-10T18:08:22Z- sync is 0.37, coherence is 2.00 2021-02-10T18:08:22Z- handleDepth()-Depth_Keller msg: 49.14 epoch sec; seqNo:1612980502501; depth 0.00 2021-02-10T18:08:22Z- waiting for 1612980505.12, time is 1612980502.12 2021-02-10T18:08:22Z- sync is 0.37, coherence is 2.00 2021-02-10T18:08:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980502.51 epoch sec; seqNo:1927; 4061687.28 north; 594468.44 east 2021-02-10T18:08:22Z- waiting for 1612980505.12, time is 1612980502.12 2021-02-10T18:08:22Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:22Z- AHRS_M2 msg: 1612980502.90 epoch sec; seqNo:1917 2021-02-10T18:08:22Z- AHRS_M2 msg: 1.49 phi; -0.03 theta; -0.19 psi 2021-02-10T18:08:22Z- waiting for 1612980505.12, time is 1612980502.12 2021-02-10T18:08:22Z- sync is 0.77, coherence is 2.00 2021-02-10T18:08:22Z- handleDepth()-Depth_Keller msg: 49.15 epoch sec; seqNo:1612980502900; depth 0.00 2021-02-10T18:08:22Z- waiting for 1612980505.12, time is 1612980502.12 2021-02-10T18:08:22Z- sync is 0.77, coherence is 2.00 2021-02-10T18:08:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980502.91 epoch sec; seqNo:1928; 4061687.65 north; 594468.43 east 2021-02-10T18:08:22Z- waiting for 1612980505.12, time is 1612980502.12 2021-02-10T18:08:22Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:23Z- AHRS_M2 msg: 1612980503.30 epoch sec; seqNo:1918 2021-02-10T18:08:23Z- AHRS_M2 msg: 1.49 phi; -0.03 theta; -0.19 psi 2021-02-10T18:08:23Z- waiting for 1612980505.12, time is 1612980502.12 2021-02-10T18:08:23Z- sync is 1.18, coherence is 2.00 2021-02-10T18:08:23Z- handleDepth()-Depth_Keller msg: 49.13 epoch sec; seqNo:1612980503304; depth 0.00 2021-02-10T18:08:23Z- waiting for 1612980505.12, time is 1612980502.12 2021-02-10T18:08:23Z- sync is 1.18, coherence is 2.00 2021-02-10T18:08:23Z- handleDvl() - RDI_Pathfinder msg: 1612980503.35 epoch sec; seqNo:780 2021-02-10T18:08:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.38 , 42.12 , 39.13 , 36.51 2021-02-10T18:08:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.03 2021-02-10T18:08:23Z- waiting for 1612980505.12, time is 1612980503.35 2021-02-10T18:08:23Z- sync is 0.05, coherence is 2.00 2021-02-10T18:08:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980503.36 epoch sec; seqNo:1929; 4061687.65 north; 594468.43 east 2021-02-10T18:08:23Z- waiting for 1612980505.12, time is 1612980503.35 2021-02-10T18:08:23Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:23Z- AHRS_M2 msg: 1612980503.70 epoch sec; seqNo:1919 2021-02-10T18:08:23Z- AHRS_M2 msg: 1.49 phi; -0.03 theta; -0.19 psi 2021-02-10T18:08:23Z- waiting for 1612980505.12, time is 1612980503.35 2021-02-10T18:08:23Z- sync is 0.35, coherence is 2.00 2021-02-10T18:08:23Z- handleDepth()-Depth_Keller msg: 49.14 epoch sec; seqNo:1612980503708; depth 0.00 2021-02-10T18:08:23Z- waiting for 1612980505.12, time is 1612980503.35 2021-02-10T18:08:23Z- sync is 0.35, coherence is 2.00 2021-02-10T18:08:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980503.72 epoch sec; seqNo:1930; 4061687.67 north; 594469.65 east 2021-02-10T18:08:23Z- waiting for 1612980505.12, time is 1612980503.35 2021-02-10T18:08:23Z- sync is 0.37, coherence is 2.00 2021-02-10T18:08:24Z- AHRS_M2 msg: 1612980504.11 epoch sec; seqNo:1920 2021-02-10T18:08:24Z- AHRS_M2 msg: 1.48 phi; -0.03 theta; -0.19 psi 2021-02-10T18:08:24Z- waiting for 1612980505.12, time is 1612980503.35 2021-02-10T18:08:24Z- sync is 0.76, coherence is 2.00 2021-02-10T18:08:24Z- handleDepth()-Depth_Keller msg: 49.14 epoch sec; seqNo:1612980504117; depth 0.00 2021-02-10T18:08:24Z- waiting for 1612980505.12, time is 1612980503.35 2021-02-10T18:08:24Z- sync is 0.76, coherence is 2.00 2021-02-10T18:08:24Z- handleDvl() - RDI_Pathfinder msg: 1612980504.13 epoch sec; seqNo:781 2021-02-10T18:08:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.57 , 42.12 , 38.94 , 36.69 2021-02-10T18:08:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.02 , 0.05 2021-02-10T18:08:24Z- waiting for 1612980505.12, time is 1612980504.13 2021-02-10T18:08:24Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980504.14 epoch sec; seqNo:1931; 4061687.67 north; 594469.65 east 2021-02-10T18:08:24Z- waiting for 1612980505.12, time is 1612980504.13 2021-02-10T18:08:24Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:24Z- AHRS_M2 msg: 1612980504.51 epoch sec; seqNo:1921 2021-02-10T18:08:24Z- AHRS_M2 msg: 1.48 phi; -0.03 theta; -0.19 psi 2021-02-10T18:08:24Z- waiting for 1612980505.12, time is 1612980504.13 2021-02-10T18:08:24Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:24Z- handleDepth()-Depth_Keller msg: 49.15 epoch sec; seqNo:1612980504525; depth 0.00 2021-02-10T18:08:24Z- waiting for 1612980505.12, time is 1612980504.13 2021-02-10T18:08:24Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980504.54 epoch sec; seqNo:1932; 4061687.67 north; 594469.65 east 2021-02-10T18:08:24Z- waiting for 1612980505.12, time is 1612980504.13 2021-02-10T18:08:24Z- sync is 0.41, coherence is 2.00 2021-02-10T18:08:24Z- AHRS_M2 msg: 1612980504.92 epoch sec; seqNo:1922 2021-02-10T18:08:24Z- AHRS_M2 msg: 1.48 phi; -0.03 theta; -0.19 psi 2021-02-10T18:08:24Z- waiting for 1612980505.12, time is 1612980504.13 2021-02-10T18:08:24Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:24Z- handleDepth()-Depth_Keller msg: 49.15 epoch sec; seqNo:1612980504925; depth 0.00 2021-02-10T18:08:24Z- waiting for 1612980505.12, time is 1612980504.13 2021-02-10T18:08:24Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980504.94 epoch sec; seqNo:1933; 4061687.67 north; 594469.65 east 2021-02-10T18:08:24Z- waiting for 1612980505.12, time is 1612980504.13 2021-02-10T18:08:24Z- sync is 0.81, coherence is 2.00 2021-02-10T18:08:25Z- AHRS_M2 msg: 1612980505.32 epoch sec; seqNo:1923 2021-02-10T18:08:25Z- AHRS_M2 msg: 1.48 phi; -0.03 theta; -0.19 psi 2021-02-10T18:08:25Z- waiting for 1612980505.12, time is 1612980504.13 2021-02-10T18:08:25Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:25Z- handleDepth()-Depth_Keller msg: 49.16 epoch sec; seqNo:1612980505325; depth 0.00 2021-02-10T18:08:25Z- waiting for 1612980505.12, time is 1612980504.13 2021-02-10T18:08:25Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:25Z- handleDvl() - RDI_Pathfinder msg: 1612980505.34 epoch sec; seqNo:782 2021-02-10T18:08:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 42.49 , 38.94 , 36.69 2021-02-10T18:08:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.00 , 0.06 2021-02-10T18:08:25Z- waiting for 1612980505.12, time is 1612980505.34 2021-02-10T18:08:25Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:25Z- LcmTrn::updateTrn() >>>> pose time 1612980505.32, meas time 1612980505.34 <<<< 2021-02-10T18:08:25Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980505.34 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:08:25Z- TerrainNav::motionUpdate() - currEstimate = (4061688, 594469.65, 49.16) 2021-02-10T18:08:25Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:08:25Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:08:25Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:08:25Z- TNavBF::mmse selected from filter -1 2021-02-10T18:08:25Z- variances([0], [2], and psi_berg) = 785.632079 833.076197 0.000000 2021-02-10T18:08:25Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:08:25Z- LcmTrn::cycle() - MLE : 4061662.17 594423.15 49.16 2021-02-10T18:08:25Z- LcmTrn::cycle() - MMSE : 4061687.67 594469.65 49.16 2021-02-10T18:08:25Z- LcmTrn::cycle() - COVAR: 785.63 833.08 58.33 0.00 2021-02-10T18:08:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980505.36 epoch sec; seqNo:1934; 4061687.68 north; 594470.87 east 2021-02-10T18:08:25Z- waiting for 1612980508.34, time is 1612980505.34 2021-02-10T18:08:25Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:25Z- AHRS_M2 msg: 1612980505.72 epoch sec; seqNo:1924 2021-02-10T18:08:25Z- AHRS_M2 msg: 1.48 phi; -0.04 theta; -0.19 psi 2021-02-10T18:08:25Z- waiting for 1612980508.34, time is 1612980505.34 2021-02-10T18:08:25Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:25Z- handleDepth()-Depth_Keller msg: 49.17 epoch sec; seqNo:1612980505733; depth 0.00 2021-02-10T18:08:25Z- waiting for 1612980508.34, time is 1612980505.34 2021-02-10T18:08:25Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980505.74 epoch sec; seqNo:1935; 4061687.68 north; 594470.87 east 2021-02-10T18:08:25Z- waiting for 1612980508.34, time is 1612980505.34 2021-02-10T18:08:25Z- sync is 0.41, coherence is 2.00 2021-02-10T18:08:26Z- AHRS_M2 msg: 1612980506.13 epoch sec; seqNo:1925 2021-02-10T18:08:26Z- AHRS_M2 msg: 1.48 phi; -0.04 theta; -0.19 psi 2021-02-10T18:08:26Z- waiting for 1612980508.34, time is 1612980505.34 2021-02-10T18:08:26Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:26Z- handleDepth()-Depth_Keller msg: 49.16 epoch sec; seqNo:1612980506135; depth 0.00 2021-02-10T18:08:26Z- waiting for 1612980508.34, time is 1612980505.34 2021-02-10T18:08:26Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:26Z- handleDvl() - RDI_Pathfinder msg: 1612980506.15 epoch sec; seqNo:783 2021-02-10T18:08:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.94 , 42.31 , 38.75 , 37.06 2021-02-10T18:08:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.01 , 0.06 2021-02-10T18:08:26Z- waiting for 1612980508.34, time is 1612980506.15 2021-02-10T18:08:26Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980506.16 epoch sec; seqNo:1936; 4061687.68 north; 594470.87 east 2021-02-10T18:08:26Z- waiting for 1612980508.34, time is 1612980506.15 2021-02-10T18:08:26Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:26Z- AHRS_M2 msg: 1612980506.53 epoch sec; seqNo:1926 2021-02-10T18:08:26Z- AHRS_M2 msg: 1.48 phi; -0.04 theta; -0.19 psi 2021-02-10T18:08:26Z- waiting for 1612980508.34, time is 1612980506.15 2021-02-10T18:08:26Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:26Z- handleDepth()-Depth_Keller msg: 49.17 epoch sec; seqNo:1612980506541; depth 0.00 2021-02-10T18:08:26Z- waiting for 1612980508.34, time is 1612980506.15 2021-02-10T18:08:26Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980506.56 epoch sec; seqNo:1937; 4061687.69 north; 594472.09 east 2021-02-10T18:08:26Z- waiting for 1612980508.34, time is 1612980506.15 2021-02-10T18:08:26Z- sync is 0.41, coherence is 2.00 2021-02-10T18:08:26Z- AHRS_M2 msg: 1612980506.93 epoch sec; seqNo:1927 2021-02-10T18:08:26Z- AHRS_M2 msg: 1.48 phi; -0.04 theta; -0.19 psi 2021-02-10T18:08:26Z- waiting for 1612980508.34, time is 1612980506.15 2021-02-10T18:08:26Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:26Z- handleDepth()-Depth_Keller msg: 49.18 epoch sec; seqNo:1612980506945; depth 0.00 2021-02-10T18:08:26Z- waiting for 1612980508.34, time is 1612980506.15 2021-02-10T18:08:26Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980506.95 epoch sec; seqNo:1938; 4061687.69 north; 594472.09 east 2021-02-10T18:08:26Z- waiting for 1612980508.34, time is 1612980506.15 2021-02-10T18:08:26Z- sync is 0.81, coherence is 2.00 2021-02-10T18:08:27Z- AHRS_M2 msg: 1612980507.34 epoch sec; seqNo:1928 2021-02-10T18:08:27Z- AHRS_M2 msg: 1.47 phi; -0.04 theta; -0.19 psi 2021-02-10T18:08:27Z- waiting for 1612980508.34, time is 1612980506.15 2021-02-10T18:08:27Z- sync is 1.20, coherence is 2.00 2021-02-10T18:08:27Z- handleDepth()-Depth_Keller msg: 49.19 epoch sec; seqNo:1612980507353; depth 0.00 2021-02-10T18:08:27Z- waiting for 1612980508.34, time is 1612980506.15 2021-02-10T18:08:27Z- sync is 1.20, coherence is 2.00 2021-02-10T18:08:27Z- handleDvl() - RDI_Pathfinder msg: 1612980507.37 epoch sec; seqNo:784 2021-02-10T18:08:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.94 , 42.68 , 38.94 , 37.25 2021-02-10T18:08:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.00 , 0.07 2021-02-10T18:08:27Z- waiting for 1612980508.34, time is 1612980507.37 2021-02-10T18:08:27Z- sync is 0.03, coherence is 2.00 2021-02-10T18:08:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980507.39 epoch sec; seqNo:1939; 4061688.07 north; 594472.09 east 2021-02-10T18:08:27Z- waiting for 1612980508.34, time is 1612980507.37 2021-02-10T18:08:27Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:27Z- AHRS_M2 msg: 1612980507.75 epoch sec; seqNo:1929 2021-02-10T18:08:27Z- AHRS_M2 msg: 1.47 phi; -0.04 theta; -0.19 psi 2021-02-10T18:08:27Z- waiting for 1612980508.34, time is 1612980507.37 2021-02-10T18:08:27Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:27Z- handleDepth()-Depth_Keller msg: 49.20 epoch sec; seqNo:1612980507750; depth 0.00 2021-02-10T18:08:27Z- waiting for 1612980508.34, time is 1612980507.37 2021-02-10T18:08:27Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980507.76 epoch sec; seqNo:1940; 4061688.09 north; 594473.31 east 2021-02-10T18:08:27Z- waiting for 1612980508.34, time is 1612980507.37 2021-02-10T18:08:27Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:28Z- AHRS_M2 msg: 1612980508.15 epoch sec; seqNo:1930 2021-02-10T18:08:28Z- AHRS_M2 msg: 1.47 phi; -0.04 theta; -0.18 psi 2021-02-10T18:08:28Z- waiting for 1612980508.34, time is 1612980507.37 2021-02-10T18:08:28Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:28Z- handleDepth()-Depth_Keller msg: 49.21 epoch sec; seqNo:1612980508157; depth 0.00 2021-02-10T18:08:28Z- waiting for 1612980508.34, time is 1612980507.37 2021-02-10T18:08:28Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:28Z- handleDvl() - RDI_Pathfinder msg: 1612980508.18 epoch sec; seqNo:785 2021-02-10T18:08:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.94 , 42.68 , 38.75 , 37.25 2021-02-10T18:08:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.01 , 0.05 2021-02-10T18:08:28Z- waiting for 1612980508.34, time is 1612980508.18 2021-02-10T18:08:28Z- sync is 0.03, coherence is 2.00 2021-02-10T18:08:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980508.19 epoch sec; seqNo:1941; 4061688.09 north; 594473.31 east 2021-02-10T18:08:28Z- waiting for 1612980508.34, time is 1612980508.18 2021-02-10T18:08:28Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:28Z- AHRS_M2 msg: 1612980508.55 epoch sec; seqNo:1931 2021-02-10T18:08:28Z- AHRS_M2 msg: 1.47 phi; -0.04 theta; -0.18 psi 2021-02-10T18:08:28Z- waiting for 1612980508.34, time is 1612980508.18 2021-02-10T18:08:28Z- sync is 0.37, coherence is 2.00 2021-02-10T18:08:28Z- handleDepth()-Depth_Keller msg: 49.24 epoch sec; seqNo:1612980508561; depth 0.00 2021-02-10T18:08:28Z- waiting for 1612980508.34, time is 1612980508.18 2021-02-10T18:08:28Z- sync is 0.37, coherence is 2.00 2021-02-10T18:08:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980508.57 epoch sec; seqNo:1942; 4061688.09 north; 594473.31 east 2021-02-10T18:08:28Z- waiting for 1612980508.34, time is 1612980508.18 2021-02-10T18:08:28Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:28Z- AHRS_M2 msg: 1612980508.96 epoch sec; seqNo:1932 2021-02-10T18:08:28Z- AHRS_M2 msg: 1.47 phi; -0.04 theta; -0.18 psi 2021-02-10T18:08:28Z- waiting for 1612980508.34, time is 1612980508.18 2021-02-10T18:08:28Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:28Z- handleDepth()-Depth_Keller msg: 49.24 epoch sec; seqNo:1612980508961; depth 0.00 2021-02-10T18:08:28Z- waiting for 1612980508.34, time is 1612980508.18 2021-02-10T18:08:28Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980508.97 epoch sec; seqNo:1943; 4061688.10 north; 594474.53 east 2021-02-10T18:08:28Z- waiting for 1612980508.34, time is 1612980508.18 2021-02-10T18:08:28Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:29Z- AHRS_M2 msg: 1612980509.36 epoch sec; seqNo:1933 2021-02-10T18:08:29Z- AHRS_M2 msg: 1.47 phi; -0.05 theta; -0.18 psi 2021-02-10T18:08:29Z- waiting for 1612980508.34, time is 1612980508.18 2021-02-10T18:08:29Z- sync is 1.18, coherence is 2.00 2021-02-10T18:08:29Z- handleDepth()-Depth_Keller msg: 49.24 epoch sec; seqNo:1612980509373; depth 0.00 2021-02-10T18:08:29Z- waiting for 1612980508.34, time is 1612980508.18 2021-02-10T18:08:29Z- sync is 1.18, coherence is 2.00 2021-02-10T18:08:29Z- handleDvl() - RDI_Pathfinder msg: 1612980509.38 epoch sec; seqNo:786 2021-02-10T18:08:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.94 , 42.68 , 38.56 , 37.44 2021-02-10T18:08:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.01 , 0.04 2021-02-10T18:08:29Z- waiting for 1612980508.34, time is 1612980509.38 2021-02-10T18:08:29Z- sync is 0.03, coherence is 2.00 2021-02-10T18:08:29Z- LcmTrn::updateTrn() >>>> pose time 1612980509.36, meas time 1612980509.38 <<<< 2021-02-10T18:08:29Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980509.38 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:08:29Z- TerrainNav::motionUpdate() - currEstimate = (4061688, 594474.53, 49.24) 2021-02-10T18:08:29Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:08:29Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:08:29Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:08:29Z- TNavBF::mmse selected from filter -1 2021-02-10T18:08:29Z- variances([0], [2], and psi_berg) = 785.445520 833.075900 0.000000 2021-02-10T18:08:29Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:08:29Z- LcmTrn::cycle() - MLE : 4061662.60 594518.03 49.24 2021-02-10T18:08:29Z- LcmTrn::cycle() - MMSE : 4061688.10 594474.53 49.24 2021-02-10T18:08:29Z- LcmTrn::cycle() - COVAR: 785.45 833.08 58.58 0.00 2021-02-10T18:08:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980509.39 epoch sec; seqNo:1944; 4061688.10 north; 594474.53 east 2021-02-10T18:08:29Z- waiting for 1612980512.38, time is 1612980509.38 2021-02-10T18:08:29Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:29Z- AHRS_M2 msg: 1612980509.76 epoch sec; seqNo:1934 2021-02-10T18:08:29Z- AHRS_M2 msg: 1.47 phi; -0.05 theta; -0.18 psi 2021-02-10T18:08:29Z- waiting for 1612980512.38, time is 1612980509.38 2021-02-10T18:08:29Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:29Z- handleDepth()-Depth_Keller msg: 49.25 epoch sec; seqNo:1612980509769; depth 0.00 2021-02-10T18:08:29Z- waiting for 1612980512.38, time is 1612980509.38 2021-02-10T18:08:29Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980509.79 epoch sec; seqNo:1945; 4061688.10 north; 594474.53 east 2021-02-10T18:08:29Z- waiting for 1612980512.38, time is 1612980509.38 2021-02-10T18:08:29Z- sync is 0.41, coherence is 2.00 2021-02-10T18:08:30Z- AHRS_M2 msg: 1612980510.17 epoch sec; seqNo:1935 2021-02-10T18:08:30Z- AHRS_M2 msg: 1.47 phi; -0.05 theta; -0.18 psi 2021-02-10T18:08:30Z- waiting for 1612980512.38, time is 1612980509.38 2021-02-10T18:08:30Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:30Z- handleDepth()-Depth_Keller msg: 49.28 epoch sec; seqNo:1612980510180; depth 0.00 2021-02-10T18:08:30Z- waiting for 1612980512.38, time is 1612980509.38 2021-02-10T18:08:30Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:30Z- handleDvl() - RDI_Pathfinder msg: 1612980510.21 epoch sec; seqNo:787 2021-02-10T18:08:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.94 , 42.68 , 38.56 , 37.63 2021-02-10T18:08:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.00 , 0.01 2021-02-10T18:08:30Z- waiting for 1612980512.38, time is 1612980510.21 2021-02-10T18:08:30Z- sync is 0.04, coherence is 2.00 2021-02-10T18:08:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980510.22 epoch sec; seqNo:1946; 4061688.11 north; 594475.75 east 2021-02-10T18:08:30Z- waiting for 1612980512.38, time is 1612980510.21 2021-02-10T18:08:30Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:30Z- AHRS_M2 msg: 1612980510.57 epoch sec; seqNo:1936 2021-02-10T18:08:30Z- AHRS_M2 msg: 1.47 phi; -0.05 theta; -0.18 psi 2021-02-10T18:08:30Z- waiting for 1612980512.38, time is 1612980510.21 2021-02-10T18:08:30Z- sync is 0.36, coherence is 2.00 2021-02-10T18:08:30Z- handleDepth()-Depth_Keller msg: 49.27 epoch sec; seqNo:1612980510581; depth 0.00 2021-02-10T18:08:30Z- waiting for 1612980512.38, time is 1612980510.21 2021-02-10T18:08:30Z- sync is 0.36, coherence is 2.00 2021-02-10T18:08:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980510.60 epoch sec; seqNo:1947; 4061688.11 north; 594475.75 east 2021-02-10T18:08:30Z- waiting for 1612980512.38, time is 1612980510.21 2021-02-10T18:08:30Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:30Z- AHRS_M2 msg: 1612980510.97 epoch sec; seqNo:1937 2021-02-10T18:08:30Z- AHRS_M2 msg: 1.47 phi; -0.05 theta; -0.18 psi 2021-02-10T18:08:30Z- waiting for 1612980512.38, time is 1612980510.21 2021-02-10T18:08:30Z- sync is 0.77, coherence is 2.00 2021-02-10T18:08:30Z- handleDepth()-Depth_Keller msg: 49.29 epoch sec; seqNo:1612980510987; depth 0.00 2021-02-10T18:08:30Z- waiting for 1612980512.38, time is 1612980510.21 2021-02-10T18:08:30Z- sync is 0.77, coherence is 2.00 2021-02-10T18:08:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980511.00 epoch sec; seqNo:1948; 4061688.11 north; 594475.75 east 2021-02-10T18:08:31Z- waiting for 1612980512.38, time is 1612980510.21 2021-02-10T18:08:31Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:31Z- AHRS_M2 msg: 1612980511.39 epoch sec; seqNo:1938 2021-02-10T18:08:31Z- AHRS_M2 msg: 1.47 phi; -0.05 theta; -0.18 psi 2021-02-10T18:08:31Z- waiting for 1612980512.38, time is 1612980510.21 2021-02-10T18:08:31Z- sync is 1.18, coherence is 2.00 2021-02-10T18:08:31Z- handleDepth()-Depth_Keller msg: 49.28 epoch sec; seqNo:1612980511390; depth 0.00 2021-02-10T18:08:31Z- waiting for 1612980512.38, time is 1612980510.21 2021-02-10T18:08:31Z- sync is 1.18, coherence is 2.00 2021-02-10T18:08:31Z- handleDvl() - RDI_Pathfinder msg: 1612980511.41 epoch sec; seqNo:788 2021-02-10T18:08:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 42.87 , 38.56 , 37.63 2021-02-10T18:08:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.02 , 0.00 2021-02-10T18:08:31Z- waiting for 1612980512.38, time is 1612980511.41 2021-02-10T18:08:31Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980511.42 epoch sec; seqNo:1949; 4061688.11 north; 594475.75 east 2021-02-10T18:08:31Z- waiting for 1612980512.38, time is 1612980511.41 2021-02-10T18:08:31Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:31Z- AHRS_M2 msg: 1612980511.79 epoch sec; seqNo:1939 2021-02-10T18:08:31Z- AHRS_M2 msg: 1.47 phi; -0.05 theta; -0.18 psi 2021-02-10T18:08:31Z- waiting for 1612980512.38, time is 1612980511.41 2021-02-10T18:08:31Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:31Z- handleDepth()-Depth_Keller msg: 49.30 epoch sec; seqNo:1612980511797; depth 0.00 2021-02-10T18:08:31Z- waiting for 1612980512.38, time is 1612980511.41 2021-02-10T18:08:31Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980511.81 epoch sec; seqNo:1950; 4061688.51 north; 594476.97 east 2021-02-10T18:08:31Z- waiting for 1612980512.38, time is 1612980511.41 2021-02-10T18:08:31Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:32Z- AHRS_M2 msg: 1612980512.20 epoch sec; seqNo:1940 2021-02-10T18:08:32Z- AHRS_M2 msg: 1.47 phi; -0.05 theta; -0.18 psi 2021-02-10T18:08:32Z- waiting for 1612980512.38, time is 1612980511.41 2021-02-10T18:08:32Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:32Z- handleDepth()-Depth_Keller msg: 49.31 epoch sec; seqNo:1612980512209; depth 0.00 2021-02-10T18:08:32Z- waiting for 1612980512.38, time is 1612980511.41 2021-02-10T18:08:32Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:32Z- handleDvl() - RDI_Pathfinder msg: 1612980512.23 epoch sec; seqNo:789 2021-02-10T18:08:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 42.49 , 38.56 , 38.00 2021-02-10T18:08:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.02 , -0.01 2021-02-10T18:08:32Z- waiting for 1612980512.38, time is 1612980512.23 2021-02-10T18:08:32Z- sync is 0.03, coherence is 2.00 2021-02-10T18:08:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980512.24 epoch sec; seqNo:1951; 4061688.51 north; 594476.97 east 2021-02-10T18:08:32Z- waiting for 1612980512.38, time is 1612980512.23 2021-02-10T18:08:32Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:32Z- AHRS_M2 msg: 1612980512.59 epoch sec; seqNo:1941 2021-02-10T18:08:32Z- AHRS_M2 msg: 1.47 phi; -0.06 theta; -0.18 psi 2021-02-10T18:08:32Z- waiting for 1612980512.38, time is 1612980512.23 2021-02-10T18:08:32Z- sync is 0.37, coherence is 2.00 2021-02-10T18:08:32Z- handleDepth()-Depth_Keller msg: 49.31 epoch sec; seqNo:1612980512601; depth 0.00 2021-02-10T18:08:32Z- waiting for 1612980512.38, time is 1612980512.23 2021-02-10T18:08:32Z- sync is 0.37, coherence is 2.00 2021-02-10T18:08:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980512.62 epoch sec; seqNo:1952; 4061688.51 north; 594476.97 east 2021-02-10T18:08:32Z- waiting for 1612980512.38, time is 1612980512.23 2021-02-10T18:08:32Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:33Z- AHRS_M2 msg: 1612980513.00 epoch sec; seqNo:1942 2021-02-10T18:08:33Z- AHRS_M2 msg: 1.47 phi; -0.06 theta; -0.18 psi 2021-02-10T18:08:33Z- waiting for 1612980512.38, time is 1612980512.23 2021-02-10T18:08:33Z- sync is 0.77, coherence is 2.00 2021-02-10T18:08:33Z- handleDepth()-Depth_Keller msg: 49.35 epoch sec; seqNo:1612980513009; depth 0.00 2021-02-10T18:08:33Z- waiting for 1612980512.38, time is 1612980512.23 2021-02-10T18:08:33Z- sync is 0.77, coherence is 2.00 2021-02-10T18:08:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980513.02 epoch sec; seqNo:1953; 4061688.52 north; 594478.19 east 2021-02-10T18:08:33Z- waiting for 1612980512.38, time is 1612980512.23 2021-02-10T18:08:33Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:33Z- AHRS_M2 msg: 1612980513.40 epoch sec; seqNo:1943 2021-02-10T18:08:33Z- AHRS_M2 msg: 1.47 phi; -0.06 theta; -0.18 psi 2021-02-10T18:08:33Z- waiting for 1612980512.38, time is 1612980512.23 2021-02-10T18:08:33Z- sync is 1.18, coherence is 2.00 2021-02-10T18:08:33Z- handleDepth()-Depth_Keller msg: 49.35 epoch sec; seqNo:1612980513413; depth 0.00 2021-02-10T18:08:33Z- waiting for 1612980512.38, time is 1612980512.23 2021-02-10T18:08:33Z- sync is 1.18, coherence is 2.00 2021-02-10T18:08:33Z- handleDvl() - RDI_Pathfinder msg: 1612980513.42 epoch sec; seqNo:790 2021-02-10T18:08:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.94 , 42.49 , 38.38 , 38.00 2021-02-10T18:08:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.03 , -0.01 2021-02-10T18:08:33Z- waiting for 1612980512.38, time is 1612980513.42 2021-02-10T18:08:33Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:33Z- LcmTrn::updateTrn() >>>> pose time 1612980513.40, meas time 1612980513.42 <<<< 2021-02-10T18:08:33Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980513.42 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:08:33Z- TerrainNav::motionUpdate() - currEstimate = (4061689, 594478.19, 49.35) 2021-02-10T18:08:33Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:08:33Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:08:33Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:08:33Z- TNavBF::mmse selected from filter -1 2021-02-10T18:08:33Z- variances([0], [2], and psi_berg) = 785.284323 833.075644 0.000000 2021-02-10T18:08:33Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:08:33Z- LcmTrn::cycle() - MLE : 4061663.02 594521.69 49.35 2021-02-10T18:08:33Z- LcmTrn::cycle() - MMSE : 4061688.52 594478.19 49.35 2021-02-10T18:08:33Z- LcmTrn::cycle() - COVAR: 785.28 833.08 58.76 0.00 2021-02-10T18:08:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980513.43 epoch sec; seqNo:1954; 4061688.52 north; 594478.19 east 2021-02-10T18:08:33Z- waiting for 1612980516.42, time is 1612980513.42 2021-02-10T18:08:33Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:33Z- AHRS_M2 msg: 1612980513.81 epoch sec; seqNo:1944 2021-02-10T18:08:33Z- AHRS_M2 msg: 1.47 phi; -0.06 theta; -0.18 psi 2021-02-10T18:08:33Z- waiting for 1612980516.42, time is 1612980513.42 2021-02-10T18:08:33Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:33Z- handleDepth()-Depth_Keller msg: 49.35 epoch sec; seqNo:1612980513811; depth 0.00 2021-02-10T18:08:33Z- waiting for 1612980516.42, time is 1612980513.42 2021-02-10T18:08:33Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980513.82 epoch sec; seqNo:1955; 4061688.52 north; 594478.19 east 2021-02-10T18:08:33Z- waiting for 1612980516.42, time is 1612980513.42 2021-02-10T18:08:33Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:34Z- AHRS_M2 msg: 1612980514.21 epoch sec; seqNo:1945 2021-02-10T18:08:34Z- AHRS_M2 msg: 1.46 phi; -0.06 theta; -0.18 psi 2021-02-10T18:08:34Z- waiting for 1612980516.42, time is 1612980513.42 2021-02-10T18:08:34Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:34Z- handleDepth()-Depth_Keller msg: 49.36 epoch sec; seqNo:1612980514217; depth 0.00 2021-02-10T18:08:34Z- waiting for 1612980516.42, time is 1612980513.42 2021-02-10T18:08:34Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:34Z- handleDvl() - RDI_Pathfinder msg: 1612980514.23 epoch sec; seqNo:791 2021-02-10T18:08:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 42.68 , 38.19 , 38.00 2021-02-10T18:08:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.02 , -0.01 2021-02-10T18:08:34Z- waiting for 1612980516.42, time is 1612980514.23 2021-02-10T18:08:34Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980514.25 epoch sec; seqNo:1956; 4061688.53 north; 594479.41 east 2021-02-10T18:08:34Z- waiting for 1612980516.42, time is 1612980514.23 2021-02-10T18:08:34Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:34Z- AHRS_M2 msg: 1612980514.61 epoch sec; seqNo:1946 2021-02-10T18:08:34Z- AHRS_M2 msg: 1.46 phi; -0.06 theta; -0.18 psi 2021-02-10T18:08:34Z- waiting for 1612980516.42, time is 1612980514.23 2021-02-10T18:08:34Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:34Z- handleDepth()-Depth_Keller msg: 49.37 epoch sec; seqNo:1612980514621; depth 0.00 2021-02-10T18:08:34Z- waiting for 1612980516.42, time is 1612980514.23 2021-02-10T18:08:34Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980514.63 epoch sec; seqNo:1957; 4061688.53 north; 594479.41 east 2021-02-10T18:08:34Z- waiting for 1612980516.42, time is 1612980514.23 2021-02-10T18:08:34Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:35Z- AHRS_M2 msg: 1612980515.02 epoch sec; seqNo:1947 2021-02-10T18:08:35Z- AHRS_M2 msg: 1.46 phi; -0.06 theta; -0.18 psi 2021-02-10T18:08:35Z- waiting for 1612980516.42, time is 1612980514.23 2021-02-10T18:08:35Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:35Z- handleDepth()-Depth_Keller msg: 49.39 epoch sec; seqNo:1612980515020; depth 0.00 2021-02-10T18:08:35Z- waiting for 1612980516.42, time is 1612980514.23 2021-02-10T18:08:35Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980515.04 epoch sec; seqNo:1958; 4061688.53 north; 594479.41 east 2021-02-10T18:08:35Z- waiting for 1612980516.42, time is 1612980514.23 2021-02-10T18:08:35Z- sync is 0.81, coherence is 2.00 2021-02-10T18:08:35Z- AHRS_M2 msg: 1612980515.42 epoch sec; seqNo:1948 2021-02-10T18:08:35Z- AHRS_M2 msg: 1.46 phi; -0.06 theta; -0.18 psi 2021-02-10T18:08:35Z- waiting for 1612980516.42, time is 1612980514.23 2021-02-10T18:08:35Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:35Z- handleDepth()-Depth_Keller msg: 49.40 epoch sec; seqNo:1612980515429; depth 0.00 2021-02-10T18:08:35Z- waiting for 1612980516.42, time is 1612980514.23 2021-02-10T18:08:35Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:35Z- handleDvl() - RDI_Pathfinder msg: 1612980515.45 epoch sec; seqNo:792 2021-02-10T18:08:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.94 , 42.49 , 38.00 , 38.38 2021-02-10T18:08:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , 0.00 2021-02-10T18:08:35Z- waiting for 1612980516.42, time is 1612980515.45 2021-02-10T18:08:35Z- sync is 0.03, coherence is 2.00 2021-02-10T18:08:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980515.46 epoch sec; seqNo:1959; 4061688.55 north; 594480.63 east 2021-02-10T18:08:35Z- waiting for 1612980516.42, time is 1612980515.45 2021-02-10T18:08:35Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:35Z- AHRS_M2 msg: 1612980515.82 epoch sec; seqNo:1949 2021-02-10T18:08:35Z- AHRS_M2 msg: 1.46 phi; -0.07 theta; -0.18 psi 2021-02-10T18:08:35Z- waiting for 1612980516.42, time is 1612980515.45 2021-02-10T18:08:35Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:35Z- handleDepth()-Depth_Keller msg: 49.42 epoch sec; seqNo:1612980515829; depth 0.00 2021-02-10T18:08:35Z- waiting for 1612980516.42, time is 1612980515.45 2021-02-10T18:08:35Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980515.84 epoch sec; seqNo:1960; 4061688.55 north; 594480.63 east 2021-02-10T18:08:35Z- waiting for 1612980516.42, time is 1612980515.45 2021-02-10T18:08:35Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:36Z- AHRS_M2 msg: 1612980516.23 epoch sec; seqNo:1950 2021-02-10T18:08:36Z- AHRS_M2 msg: 1.46 phi; -0.07 theta; -0.18 psi 2021-02-10T18:08:36Z- waiting for 1612980516.42, time is 1612980515.45 2021-02-10T18:08:36Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:36Z- handleDepth()-Depth_Keller msg: 49.44 epoch sec; seqNo:1612980516247; depth 0.00 2021-02-10T18:08:36Z- waiting for 1612980516.42, time is 1612980515.45 2021-02-10T18:08:36Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:36Z- handleDvl() - RDI_Pathfinder msg: 1612980516.26 epoch sec; seqNo:793 2021-02-10T18:08:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.94 , 42.49 , 38.00 , 38.38 2021-02-10T18:08:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.01 , 0.02 2021-02-10T18:08:36Z- waiting for 1612980516.42, time is 1612980516.26 2021-02-10T18:08:36Z- sync is 0.03, coherence is 2.00 2021-02-10T18:08:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980516.27 epoch sec; seqNo:1961; 4061688.93 north; 594480.62 east 2021-02-10T18:08:36Z- waiting for 1612980516.42, time is 1612980516.26 2021-02-10T18:08:36Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:36Z- AHRS_M2 msg: 1612980516.63 epoch sec; seqNo:1951 2021-02-10T18:08:36Z- AHRS_M2 msg: 1.46 phi; -0.07 theta; -0.18 psi 2021-02-10T18:08:36Z- waiting for 1612980516.42, time is 1612980516.26 2021-02-10T18:08:36Z- sync is 0.37, coherence is 2.00 2021-02-10T18:08:36Z- handleDepth()-Depth_Keller msg: 49.45 epoch sec; seqNo:1612980516636; depth 0.00 2021-02-10T18:08:36Z- waiting for 1612980516.42, time is 1612980516.26 2021-02-10T18:08:36Z- sync is 0.37, coherence is 2.00 2021-02-10T18:08:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980516.65 epoch sec; seqNo:1962; 4061688.94 north; 594481.84 east 2021-02-10T18:08:36Z- waiting for 1612980516.42, time is 1612980516.26 2021-02-10T18:08:36Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:37Z- AHRS_M2 msg: 1612980517.04 epoch sec; seqNo:1952 2021-02-10T18:08:37Z- AHRS_M2 msg: 1.46 phi; -0.07 theta; -0.18 psi 2021-02-10T18:08:37Z- waiting for 1612980516.42, time is 1612980516.26 2021-02-10T18:08:37Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:37Z- handleDepth()-Depth_Keller msg: 49.47 epoch sec; seqNo:1612980517041; depth 0.00 2021-02-10T18:08:37Z- waiting for 1612980516.42, time is 1612980516.26 2021-02-10T18:08:37Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980517.05 epoch sec; seqNo:1963; 4061688.94 north; 594481.84 east 2021-02-10T18:08:37Z- waiting for 1612980516.42, time is 1612980516.26 2021-02-10T18:08:37Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:37Z- AHRS_M2 msg: 1612980517.44 epoch sec; seqNo:1953 2021-02-10T18:08:37Z- AHRS_M2 msg: 1.46 phi; -0.07 theta; -0.18 psi 2021-02-10T18:08:37Z- waiting for 1612980516.42, time is 1612980516.26 2021-02-10T18:08:37Z- sync is 1.18, coherence is 2.00 2021-02-10T18:08:37Z- handleDepth()-Depth_Keller msg: 49.47 epoch sec; seqNo:1612980517449; depth 0.00 2021-02-10T18:08:37Z- waiting for 1612980516.42, time is 1612980516.26 2021-02-10T18:08:37Z- sync is 1.18, coherence is 2.00 2021-02-10T18:08:37Z- handleDvl() - RDI_Pathfinder msg: 1612980517.46 epoch sec; seqNo:794 2021-02-10T18:08:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.94 , 42.68 , 38.00 , 38.75 2021-02-10T18:08:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.01 , 0.04 2021-02-10T18:08:37Z- waiting for 1612980516.42, time is 1612980517.46 2021-02-10T18:08:37Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:37Z- LcmTrn::updateTrn() >>>> pose time 1612980517.44, meas time 1612980517.46 <<<< 2021-02-10T18:08:37Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980517.46 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:08:37Z- TerrainNav::motionUpdate() - currEstimate = (4061689, 594481.84, 49.47) 2021-02-10T18:08:37Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:08:37Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:08:37Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:08:37Z- TNavBF::mmse selected from filter -1 2021-02-10T18:08:37Z- variances([0], [2], and psi_berg) = 785.123601 833.075390 0.000000 2021-02-10T18:08:37Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:08:37Z- LcmTrn::cycle() - MLE : 4061663.44 594525.34 49.47 2021-02-10T18:08:37Z- LcmTrn::cycle() - MMSE : 4061688.94 594481.84 49.47 2021-02-10T18:08:37Z- LcmTrn::cycle() - COVAR: 785.12 833.08 58.95 0.00 2021-02-10T18:08:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980517.47 epoch sec; seqNo:1964; 4061688.94 north; 594481.84 east 2021-02-10T18:08:37Z- waiting for 1612980520.46, time is 1612980517.46 2021-02-10T18:08:37Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:37Z- AHRS_M2 msg: 1612980517.84 epoch sec; seqNo:1954 2021-02-10T18:08:37Z- AHRS_M2 msg: 1.46 phi; -0.07 theta; -0.18 psi 2021-02-10T18:08:37Z- waiting for 1612980520.46, time is 1612980517.46 2021-02-10T18:08:37Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:37Z- handleDepth()-Depth_Keller msg: 49.50 epoch sec; seqNo:1612980517848; depth 0.00 2021-02-10T18:08:37Z- waiting for 1612980520.46, time is 1612980517.46 2021-02-10T18:08:37Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980517.87 epoch sec; seqNo:1965; 4061688.94 north; 594481.84 east 2021-02-10T18:08:37Z- waiting for 1612980520.46, time is 1612980517.46 2021-02-10T18:08:37Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:38Z- AHRS_M2 msg: 1612980518.25 epoch sec; seqNo:1955 2021-02-10T18:08:38Z- AHRS_M2 msg: 1.45 phi; -0.07 theta; -0.18 psi 2021-02-10T18:08:38Z- waiting for 1612980520.46, time is 1612980517.46 2021-02-10T18:08:38Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:38Z- handleDepth()-Depth_Keller msg: 49.53 epoch sec; seqNo:1612980518252; depth 0.00 2021-02-10T18:08:38Z- waiting for 1612980520.46, time is 1612980517.46 2021-02-10T18:08:38Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:38Z- handleDvl() - RDI_Pathfinder msg: 1612980518.27 epoch sec; seqNo:795 2021-02-10T18:08:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 42.87 , 37.81 , 38.75 2021-02-10T18:08:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.01 , 0.04 2021-02-10T18:08:38Z- waiting for 1612980520.46, time is 1612980518.27 2021-02-10T18:08:38Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980518.29 epoch sec; seqNo:1966; 4061688.95 north; 594483.07 east 2021-02-10T18:08:38Z- waiting for 1612980520.46, time is 1612980518.27 2021-02-10T18:08:38Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:38Z- AHRS_M2 msg: 1612980518.65 epoch sec; seqNo:1956 2021-02-10T18:08:38Z- AHRS_M2 msg: 1.45 phi; -0.07 theta; -0.18 psi 2021-02-10T18:08:38Z- waiting for 1612980520.46, time is 1612980518.27 2021-02-10T18:08:38Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:38Z- handleDepth()-Depth_Keller msg: 49.56 epoch sec; seqNo:1612980518665; depth 0.00 2021-02-10T18:08:38Z- waiting for 1612980520.46, time is 1612980518.27 2021-02-10T18:08:38Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980518.68 epoch sec; seqNo:1967; 4061688.95 north; 594483.07 east 2021-02-10T18:08:38Z- waiting for 1612980520.46, time is 1612980518.27 2021-02-10T18:08:38Z- sync is 0.41, coherence is 2.00 2021-02-10T18:08:39Z- AHRS_M2 msg: 1612980519.06 epoch sec; seqNo:1957 2021-02-10T18:08:39Z- AHRS_M2 msg: 1.45 phi; -0.07 theta; -0.18 psi 2021-02-10T18:08:39Z- waiting for 1612980520.46, time is 1612980518.27 2021-02-10T18:08:39Z- sync is 0.80, coherence is 2.00 2021-02-10T18:08:39Z- handleDepth()-Depth_Keller msg: 49.58 epoch sec; seqNo:1612980519070; depth 0.00 2021-02-10T18:08:39Z- waiting for 1612980520.46, time is 1612980518.27 2021-02-10T18:08:39Z- sync is 0.80, coherence is 2.00 2021-02-10T18:08:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980519.10 epoch sec; seqNo:1968; 4061688.95 north; 594483.07 east 2021-02-10T18:08:39Z- waiting for 1612980520.46, time is 1612980518.27 2021-02-10T18:08:39Z- sync is 0.83, coherence is 2.00 2021-02-10T18:08:39Z- AHRS_M2 msg: 1612980519.46 epoch sec; seqNo:1958 2021-02-10T18:08:39Z- AHRS_M2 msg: 1.45 phi; -0.07 theta; -0.18 psi 2021-02-10T18:08:39Z- waiting for 1612980520.46, time is 1612980518.27 2021-02-10T18:08:39Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:39Z- handleDepth()-Depth_Keller msg: 49.61 epoch sec; seqNo:1612980519464; depth 0.00 2021-02-10T18:08:39Z- waiting for 1612980520.46, time is 1612980518.27 2021-02-10T18:08:39Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:39Z- handleDvl() - RDI_Pathfinder msg: 1612980519.48 epoch sec; seqNo:796 2021-02-10T18:08:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 42.87 , 37.81 , 38.94 2021-02-10T18:08:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , 0.04 2021-02-10T18:08:39Z- waiting for 1612980520.46, time is 1612980519.48 2021-02-10T18:08:39Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980519.49 epoch sec; seqNo:1969; 4061688.97 north; 594484.29 east 2021-02-10T18:08:39Z- waiting for 1612980520.46, time is 1612980519.48 2021-02-10T18:08:39Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:39Z- AHRS_M2 msg: 1612980519.86 epoch sec; seqNo:1959 2021-02-10T18:08:39Z- AHRS_M2 msg: 1.45 phi; -0.07 theta; -0.18 psi 2021-02-10T18:08:39Z- waiting for 1612980520.46, time is 1612980519.48 2021-02-10T18:08:39Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:39Z- handleDepth()-Depth_Keller msg: 49.63 epoch sec; seqNo:1612980519873; depth 0.00 2021-02-10T18:08:39Z- waiting for 1612980520.46, time is 1612980519.48 2021-02-10T18:08:39Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980519.88 epoch sec; seqNo:1970; 4061688.97 north; 594484.29 east 2021-02-10T18:08:39Z- waiting for 1612980520.46, time is 1612980519.48 2021-02-10T18:08:39Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:40Z- AHRS_M2 msg: 1612980520.27 epoch sec; seqNo:1960 2021-02-10T18:08:40Z- AHRS_M2 msg: 1.45 phi; -0.07 theta; -0.18 psi 2021-02-10T18:08:40Z- waiting for 1612980520.46, time is 1612980519.48 2021-02-10T18:08:40Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:40Z- handleDepth()-Depth_Keller msg: 49.64 epoch sec; seqNo:1612980520277; depth 0.00 2021-02-10T18:08:40Z- waiting for 1612980520.46, time is 1612980519.48 2021-02-10T18:08:40Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:40Z- handleDvl() - RDI_Pathfinder msg: 1612980520.29 epoch sec; seqNo:797 2021-02-10T18:08:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.57 , 42.68 , 37.63 , 38.94 2021-02-10T18:08:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.01 , 0.04 2021-02-10T18:08:40Z- waiting for 1612980520.46, time is 1612980520.29 2021-02-10T18:08:40Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980520.30 epoch sec; seqNo:1971; 4061689.34 north; 594484.28 east 2021-02-10T18:08:40Z- waiting for 1612980520.46, time is 1612980520.29 2021-02-10T18:08:40Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:40Z- AHRS_M2 msg: 1612980520.67 epoch sec; seqNo:1961 2021-02-10T18:08:40Z- AHRS_M2 msg: 1.45 phi; -0.07 theta; -0.18 psi 2021-02-10T18:08:40Z- waiting for 1612980520.46, time is 1612980520.29 2021-02-10T18:08:40Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:40Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1612980520678; depth 0.00 2021-02-10T18:08:40Z- waiting for 1612980520.46, time is 1612980520.29 2021-02-10T18:08:40Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980520.69 epoch sec; seqNo:1972; 4061689.36 north; 594485.50 east 2021-02-10T18:08:40Z- waiting for 1612980520.46, time is 1612980520.29 2021-02-10T18:08:40Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:41Z- AHRS_M2 msg: 1612980521.10 epoch sec; seqNo:1962 2021-02-10T18:08:41Z- AHRS_M2 msg: 1.45 phi; -0.07 theta; -0.18 psi 2021-02-10T18:08:41Z- waiting for 1612980520.46, time is 1612980520.29 2021-02-10T18:08:41Z- sync is 0.81, coherence is 2.00 2021-02-10T18:08:41Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1612980521108; depth 0.00 2021-02-10T18:08:41Z- waiting for 1612980520.46, time is 1612980520.29 2021-02-10T18:08:41Z- sync is 0.81, coherence is 2.00 2021-02-10T18:08:41Z- handleDvl() - RDI_Pathfinder msg: 1612980521.12 epoch sec; seqNo:798 2021-02-10T18:08:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 42.68 , 37.81 , 39.12 2021-02-10T18:08:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , 0.02 2021-02-10T18:08:41Z- waiting for 1612980520.46, time is 1612980521.12 2021-02-10T18:08:41Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:41Z- LcmTrn::updateTrn() >>>> pose time 1612980521.10, meas time 1612980521.12 <<<< 2021-02-10T18:08:41Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980521.12 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:08:41Z- TerrainNav::motionUpdate() - currEstimate = (4061689, 594485.50, 49.69) 2021-02-10T18:08:41Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:08:41Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:08:41Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:08:41Z- TNavBF::mmse selected from filter -1 2021-02-10T18:08:41Z- variances([0], [2], and psi_berg) = 784.963349 833.075137 0.000000 2021-02-10T18:08:41Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:08:41Z- LcmTrn::cycle() - MLE : 4061663.86 594529.00 49.69 2021-02-10T18:08:41Z- LcmTrn::cycle() - MMSE : 4061689.36 594485.50 49.69 2021-02-10T18:08:41Z- LcmTrn::cycle() - COVAR: 784.96 833.08 59.14 0.00 2021-02-10T18:08:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980521.13 epoch sec; seqNo:1973; 4061689.36 north; 594485.50 east 2021-02-10T18:08:41Z- waiting for 1612980524.12, time is 1612980521.12 2021-02-10T18:08:41Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:41Z- AHRS_M2 msg: 1612980521.48 epoch sec; seqNo:1963 2021-02-10T18:08:41Z- AHRS_M2 msg: 1.45 phi; -0.08 theta; -0.18 psi 2021-02-10T18:08:41Z- waiting for 1612980524.12, time is 1612980521.12 2021-02-10T18:08:41Z- sync is 0.36, coherence is 2.00 2021-02-10T18:08:41Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1612980521489; depth 0.00 2021-02-10T18:08:41Z- waiting for 1612980524.12, time is 1612980521.12 2021-02-10T18:08:41Z- sync is 0.36, coherence is 2.00 2021-02-10T18:08:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980521.50 epoch sec; seqNo:1974; 4061689.36 north; 594485.50 east 2021-02-10T18:08:41Z- waiting for 1612980524.12, time is 1612980521.12 2021-02-10T18:08:41Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:41Z- AHRS_M2 msg: 1612980521.88 epoch sec; seqNo:1964 2021-02-10T18:08:41Z- AHRS_M2 msg: 1.45 phi; -0.08 theta; -0.18 psi 2021-02-10T18:08:41Z- waiting for 1612980524.12, time is 1612980521.12 2021-02-10T18:08:41Z- sync is 0.76, coherence is 2.00 2021-02-10T18:08:41Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1612980521888; depth 0.00 2021-02-10T18:08:41Z- waiting for 1612980524.12, time is 1612980521.12 2021-02-10T18:08:41Z- sync is 0.76, coherence is 2.00 2021-02-10T18:08:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980521.90 epoch sec; seqNo:1975; 4061689.37 north; 594486.72 east 2021-02-10T18:08:41Z- waiting for 1612980524.12, time is 1612980521.12 2021-02-10T18:08:41Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:42Z- AHRS_M2 msg: 1612980522.29 epoch sec; seqNo:1965 2021-02-10T18:08:42Z- AHRS_M2 msg: 1.44 phi; -0.08 theta; -0.18 psi 2021-02-10T18:08:42Z- waiting for 1612980524.12, time is 1612980521.12 2021-02-10T18:08:42Z- sync is 1.17, coherence is 2.00 2021-02-10T18:08:42Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1612980522297; depth 0.00 2021-02-10T18:08:42Z- waiting for 1612980524.12, time is 1612980521.12 2021-02-10T18:08:42Z- sync is 1.17, coherence is 2.00 2021-02-10T18:08:42Z- handleDvl() - RDI_Pathfinder msg: 1612980522.31 epoch sec; seqNo:799 2021-02-10T18:08:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 42.49 , 37.63 , 38.56 2021-02-10T18:08:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , 0.01 2021-02-10T18:08:42Z- waiting for 1612980524.12, time is 1612980522.31 2021-02-10T18:08:42Z- sync is 0.03, coherence is 2.00 2021-02-10T18:08:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980522.32 epoch sec; seqNo:1976; 4061689.37 north; 594486.72 east 2021-02-10T18:08:42Z- waiting for 1612980524.12, time is 1612980522.31 2021-02-10T18:08:42Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:42Z- AHRS_M2 msg: 1612980522.69 epoch sec; seqNo:1966 2021-02-10T18:08:42Z- AHRS_M2 msg: 1.44 phi; -0.08 theta; -0.18 psi 2021-02-10T18:08:42Z- waiting for 1612980524.12, time is 1612980522.31 2021-02-10T18:08:42Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:42Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1612980522701; depth 0.00 2021-02-10T18:08:42Z- waiting for 1612980524.12, time is 1612980522.31 2021-02-10T18:08:42Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980522.71 epoch sec; seqNo:1977; 4061689.37 north; 594486.72 east 2021-02-10T18:08:42Z- waiting for 1612980524.12, time is 1612980522.31 2021-02-10T18:08:42Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:43Z- AHRS_M2 msg: 1612980523.11 epoch sec; seqNo:1967 2021-02-10T18:08:43Z- AHRS_M2 msg: 1.44 phi; -0.08 theta; -0.18 psi 2021-02-10T18:08:43Z- waiting for 1612980524.12, time is 1612980522.31 2021-02-10T18:08:43Z- sync is 0.80, coherence is 2.00 2021-02-10T18:08:43Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1612980523114; depth 0.00 2021-02-10T18:08:43Z- waiting for 1612980524.12, time is 1612980522.31 2021-02-10T18:08:43Z- sync is 0.80, coherence is 2.00 2021-02-10T18:08:43Z- handleDvl() - RDI_Pathfinder msg: 1612980523.13 epoch sec; seqNo:800 2021-02-10T18:08:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.57 , 42.68 , 37.63 , 38.75 2021-02-10T18:08:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.01 , 0.00 2021-02-10T18:08:43Z- waiting for 1612980524.12, time is 1612980523.13 2021-02-10T18:08:43Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980523.16 epoch sec; seqNo:1978; 4061689.37 north; 594486.72 east 2021-02-10T18:08:43Z- waiting for 1612980524.12, time is 1612980523.13 2021-02-10T18:08:43Z- sync is 0.03, coherence is 2.00 2021-02-10T18:08:43Z- AHRS_M2 msg: 1612980523.50 epoch sec; seqNo:1968 2021-02-10T18:08:43Z- AHRS_M2 msg: 1.44 phi; -0.08 theta; -0.18 psi 2021-02-10T18:08:43Z- waiting for 1612980524.12, time is 1612980523.13 2021-02-10T18:08:43Z- sync is 0.37, coherence is 2.00 2021-02-10T18:08:43Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1612980523509; depth 0.00 2021-02-10T18:08:43Z- waiting for 1612980524.12, time is 1612980523.13 2021-02-10T18:08:43Z- sync is 0.37, coherence is 2.00 2021-02-10T18:08:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980523.53 epoch sec; seqNo:1979; 4061689.38 north; 594487.94 east 2021-02-10T18:08:43Z- waiting for 1612980524.12, time is 1612980523.13 2021-02-10T18:08:43Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:43Z- AHRS_M2 msg: 1612980523.90 epoch sec; seqNo:1969 2021-02-10T18:08:43Z- AHRS_M2 msg: 1.44 phi; -0.08 theta; -0.18 psi 2021-02-10T18:08:43Z- waiting for 1612980524.12, time is 1612980523.13 2021-02-10T18:08:43Z- sync is 0.77, coherence is 2.00 2021-02-10T18:08:43Z- handleDepth()-Depth_Keller msg: 49.86 epoch sec; seqNo:1612980523913; depth 0.00 2021-02-10T18:08:43Z- waiting for 1612980524.12, time is 1612980523.13 2021-02-10T18:08:43Z- sync is 0.77, coherence is 2.00 2021-02-10T18:08:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980523.92 epoch sec; seqNo:1980; 4061689.76 north; 594487.94 east 2021-02-10T18:08:43Z- waiting for 1612980524.12, time is 1612980523.13 2021-02-10T18:08:43Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:44Z- AHRS_M2 msg: 1612980524.31 epoch sec; seqNo:1970 2021-02-10T18:08:44Z- AHRS_M2 msg: 1.44 phi; -0.08 theta; -0.18 psi 2021-02-10T18:08:44Z- waiting for 1612980524.12, time is 1612980523.13 2021-02-10T18:08:44Z- sync is 1.18, coherence is 2.00 2021-02-10T18:08:44Z- handleDepth()-Depth_Keller msg: 49.88 epoch sec; seqNo:1612980524317; depth 0.00 2021-02-10T18:08:44Z- waiting for 1612980524.12, time is 1612980523.13 2021-02-10T18:08:44Z- sync is 1.18, coherence is 2.00 2021-02-10T18:08:44Z- handleDvl() - RDI_Pathfinder msg: 1612980524.33 epoch sec; seqNo:801 2021-02-10T18:08:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.57 , 42.49 , 37.63 , 38.75 2021-02-10T18:08:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , 0.00 2021-02-10T18:08:44Z- waiting for 1612980524.12, time is 1612980524.33 2021-02-10T18:08:44Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:44Z- LcmTrn::updateTrn() >>>> pose time 1612980524.31, meas time 1612980524.33 <<<< 2021-02-10T18:08:44Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980524.33 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:08:44Z- TerrainNav::motionUpdate() - currEstimate = (4061690, 594487.94, 49.88) 2021-02-10T18:08:44Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:08:44Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:08:44Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:08:44Z- TNavBF::mmse selected from filter -1 2021-02-10T18:08:44Z- variances([0], [2], and psi_berg) = 784.832459 833.074931 0.000000 2021-02-10T18:08:44Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:08:44Z- LcmTrn::cycle() - MLE : 4061664.26 594531.44 49.88 2021-02-10T18:08:44Z- LcmTrn::cycle() - MMSE : 4061689.76 594487.94 49.88 2021-02-10T18:08:44Z- LcmTrn::cycle() - COVAR: 784.83 833.07 59.26 0.00 2021-02-10T18:08:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980524.34 epoch sec; seqNo:1981; 4061689.76 north; 594487.94 east 2021-02-10T18:08:44Z- waiting for 1612980527.33, time is 1612980524.33 2021-02-10T18:08:44Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:44Z- AHRS_M2 msg: 1612980524.71 epoch sec; seqNo:1971 2021-02-10T18:08:44Z- AHRS_M2 msg: 1.44 phi; -0.08 theta; -0.18 psi 2021-02-10T18:08:44Z- waiting for 1612980527.33, time is 1612980524.33 2021-02-10T18:08:44Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:44Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1612980524718; depth 0.00 2021-02-10T18:08:44Z- waiting for 1612980527.33, time is 1612980524.33 2021-02-10T18:08:44Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980524.73 epoch sec; seqNo:1982; 4061689.78 north; 594489.16 east 2021-02-10T18:08:44Z- waiting for 1612980527.33, time is 1612980524.33 2021-02-10T18:08:44Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:45Z- AHRS_M2 msg: 1612980525.12 epoch sec; seqNo:1972 2021-02-10T18:08:45Z- AHRS_M2 msg: 1.44 phi; -0.08 theta; -0.18 psi 2021-02-10T18:08:45Z- waiting for 1612980527.33, time is 1612980524.33 2021-02-10T18:08:45Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:45Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1612980525125; depth 0.00 2021-02-10T18:08:45Z- waiting for 1612980527.33, time is 1612980524.33 2021-02-10T18:08:45Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:45Z- handleDvl() - RDI_Pathfinder msg: 1612980525.14 epoch sec; seqNo:802 2021-02-10T18:08:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.57 , 42.49 , 37.63 , 38.94 2021-02-10T18:08:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.01 , 0.00 2021-02-10T18:08:45Z- waiting for 1612980527.33, time is 1612980525.14 2021-02-10T18:08:45Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980525.16 epoch sec; seqNo:1983; 4061689.78 north; 594489.16 east 2021-02-10T18:08:45Z- waiting for 1612980527.33, time is 1612980525.14 2021-02-10T18:08:45Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:45Z- AHRS_M2 msg: 1612980525.52 epoch sec; seqNo:1973 2021-02-10T18:08:45Z- AHRS_M2 msg: 1.44 phi; -0.08 theta; -0.18 psi 2021-02-10T18:08:45Z- waiting for 1612980527.33, time is 1612980525.14 2021-02-10T18:08:45Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:45Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1612980525524; depth 0.00 2021-02-10T18:08:45Z- waiting for 1612980527.33, time is 1612980525.14 2021-02-10T18:08:45Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980525.54 epoch sec; seqNo:1984; 4061689.78 north; 594489.16 east 2021-02-10T18:08:45Z- waiting for 1612980527.33, time is 1612980525.14 2021-02-10T18:08:45Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:45Z- AHRS_M2 msg: 1612980525.92 epoch sec; seqNo:1974 2021-02-10T18:08:45Z- AHRS_M2 msg: 1.44 phi; -0.08 theta; -0.18 psi 2021-02-10T18:08:45Z- waiting for 1612980527.33, time is 1612980525.14 2021-02-10T18:08:45Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:45Z- handleDepth()-Depth_Keller msg: 49.98 epoch sec; seqNo:1612980525930; depth 0.00 2021-02-10T18:08:45Z- waiting for 1612980527.33, time is 1612980525.14 2021-02-10T18:08:45Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980525.94 epoch sec; seqNo:1985; 4061689.79 north; 594490.38 east 2021-02-10T18:08:45Z- waiting for 1612980527.33, time is 1612980525.14 2021-02-10T18:08:45Z- sync is 0.80, coherence is 2.00 2021-02-10T18:08:46Z- AHRS_M2 msg: 1612980526.33 epoch sec; seqNo:1975 2021-02-10T18:08:46Z- AHRS_M2 msg: 1.43 phi; -0.08 theta; -0.18 psi 2021-02-10T18:08:46Z- waiting for 1612980527.33, time is 1612980525.14 2021-02-10T18:08:46Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:46Z- handleDepth()-Depth_Keller msg: 50.00 epoch sec; seqNo:1612980526337; depth 0.00 2021-02-10T18:08:46Z- waiting for 1612980527.33, time is 1612980525.14 2021-02-10T18:08:46Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:46Z- handleDvl() - RDI_Pathfinder msg: 1612980526.35 epoch sec; seqNo:803 2021-02-10T18:08:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.57 , 42.31 , 37.44 , 39.12 2021-02-10T18:08:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.01 , 0.00 2021-02-10T18:08:46Z- waiting for 1612980527.33, time is 1612980526.35 2021-02-10T18:08:46Z- sync is 0.03, coherence is 2.00 2021-02-10T18:08:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980526.36 epoch sec; seqNo:1986; 4061689.79 north; 594490.38 east 2021-02-10T18:08:46Z- waiting for 1612980527.33, time is 1612980526.35 2021-02-10T18:08:46Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:46Z- AHRS_M2 msg: 1612980526.73 epoch sec; seqNo:1976 2021-02-10T18:08:46Z- AHRS_M2 msg: 1.43 phi; -0.08 theta; -0.18 psi 2021-02-10T18:08:46Z- waiting for 1612980527.33, time is 1612980526.35 2021-02-10T18:08:46Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:46Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1612980526736; depth 0.00 2021-02-10T18:08:46Z- waiting for 1612980527.33, time is 1612980526.35 2021-02-10T18:08:46Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980526.75 epoch sec; seqNo:1987; 4061689.79 north; 594490.38 east 2021-02-10T18:08:46Z- waiting for 1612980527.33, time is 1612980526.35 2021-02-10T18:08:46Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:47Z- AHRS_M2 msg: 1612980527.14 epoch sec; seqNo:1977 2021-02-10T18:08:47Z- AHRS_M2 msg: 1.43 phi; -0.08 theta; -0.18 psi 2021-02-10T18:08:47Z- waiting for 1612980527.33, time is 1612980526.35 2021-02-10T18:08:47Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:47Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1612980527145; depth 0.00 2021-02-10T18:08:47Z- waiting for 1612980527.33, time is 1612980526.35 2021-02-10T18:08:47Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:47Z- handleDvl() - RDI_Pathfinder msg: 1612980527.16 epoch sec; seqNo:804 2021-02-10T18:08:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.57 , 42.31 , 37.25 , 38.94 2021-02-10T18:08:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.01 , 0.02 2021-02-10T18:08:47Z- waiting for 1612980527.33, time is 1612980527.16 2021-02-10T18:08:47Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980527.17 epoch sec; seqNo:1988; 4061690.18 north; 594491.59 east 2021-02-10T18:08:47Z- waiting for 1612980527.33, time is 1612980527.16 2021-02-10T18:08:47Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:47Z- AHRS_M2 msg: 1612980527.54 epoch sec; seqNo:1978 2021-02-10T18:08:47Z- AHRS_M2 msg: 1.43 phi; -0.08 theta; -0.17 psi 2021-02-10T18:08:47Z- waiting for 1612980527.33, time is 1612980527.16 2021-02-10T18:08:47Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:47Z- handleDepth()-Depth_Keller msg: 50.08 epoch sec; seqNo:1612980527553; depth 0.00 2021-02-10T18:08:47Z- waiting for 1612980527.33, time is 1612980527.16 2021-02-10T18:08:47Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980527.57 epoch sec; seqNo:1989; 4061690.18 north; 594491.59 east 2021-02-10T18:08:47Z- waiting for 1612980527.33, time is 1612980527.16 2021-02-10T18:08:47Z- sync is 0.41, coherence is 2.00 2021-02-10T18:08:47Z- AHRS_M2 msg: 1612980527.94 epoch sec; seqNo:1979 2021-02-10T18:08:47Z- AHRS_M2 msg: 1.43 phi; -0.08 theta; -0.17 psi 2021-02-10T18:08:47Z- waiting for 1612980527.33, time is 1612980527.16 2021-02-10T18:08:47Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:47Z- handleDepth()-Depth_Keller msg: 50.12 epoch sec; seqNo:1612980527948; depth 0.00 2021-02-10T18:08:47Z- waiting for 1612980527.33, time is 1612980527.16 2021-02-10T18:08:47Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980527.97 epoch sec; seqNo:1990; 4061690.18 north; 594491.59 east 2021-02-10T18:08:47Z- waiting for 1612980527.33, time is 1612980527.16 2021-02-10T18:08:47Z- sync is 0.81, coherence is 2.00 2021-02-10T18:08:48Z- AHRS_M2 msg: 1612980528.37 epoch sec; seqNo:1980 2021-02-10T18:08:48Z- AHRS_M2 msg: 1.43 phi; -0.08 theta; -0.17 psi 2021-02-10T18:08:48Z- waiting for 1612980527.33, time is 1612980527.16 2021-02-10T18:08:48Z- sync is 1.21, coherence is 2.00 2021-02-10T18:08:48Z- handleDepth()-Depth_Keller msg: 50.14 epoch sec; seqNo:1612980528371; depth 0.00 2021-02-10T18:08:48Z- waiting for 1612980527.33, time is 1612980527.16 2021-02-10T18:08:48Z- sync is 1.21, coherence is 2.00 2021-02-10T18:08:48Z- handleDvl() - RDI_Pathfinder msg: 1612980528.38 epoch sec; seqNo:805 2021-02-10T18:08:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 41.74 , 37.25 , 39.12 2021-02-10T18:08:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.01 , 0.03 2021-02-10T18:08:48Z- waiting for 1612980527.33, time is 1612980528.38 2021-02-10T18:08:48Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:48Z- LcmTrn::updateTrn() >>>> pose time 1612980528.37, meas time 1612980528.38 <<<< 2021-02-10T18:08:48Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980528.38 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:08:48Z- TerrainNav::motionUpdate() - currEstimate = (4061690, 594491.59, 50.14) 2021-02-10T18:08:48Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:08:48Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:08:48Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:08:48Z- TNavBF::mmse selected from filter -1 2021-02-10T18:08:48Z- variances([0], [2], and psi_berg) = 784.673055 833.074681 0.000000 2021-02-10T18:08:48Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:08:48Z- LcmTrn::cycle() - MLE : 4061664.68 594535.09 50.14 2021-02-10T18:08:48Z- LcmTrn::cycle() - MMSE : 4061690.18 594491.59 50.14 2021-02-10T18:08:48Z- LcmTrn::cycle() - COVAR: 784.67 833.07 59.45 0.00 2021-02-10T18:08:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980528.41 epoch sec; seqNo:1991; 4061690.20 north; 594492.82 east 2021-02-10T18:08:48Z- waiting for 1612980531.38, time is 1612980528.38 2021-02-10T18:08:48Z- sync is 0.03, coherence is 2.00 2021-02-10T18:08:48Z- AHRS_M2 msg: 1612980528.76 epoch sec; seqNo:1981 2021-02-10T18:08:48Z- AHRS_M2 msg: 1.43 phi; -0.08 theta; -0.16 psi 2021-02-10T18:08:48Z- waiting for 1612980531.38, time is 1612980528.38 2021-02-10T18:08:48Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:48Z- handleDepth()-Depth_Keller msg: 50.16 epoch sec; seqNo:1612980528763; depth 0.00 2021-02-10T18:08:48Z- waiting for 1612980531.38, time is 1612980528.38 2021-02-10T18:08:48Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980528.78 epoch sec; seqNo:1992; 4061690.20 north; 594492.82 east 2021-02-10T18:08:48Z- waiting for 1612980531.38, time is 1612980528.38 2021-02-10T18:08:48Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:49Z- AHRS_M2 msg: 1612980529.16 epoch sec; seqNo:1982 2021-02-10T18:08:49Z- AHRS_M2 msg: 1.43 phi; -0.08 theta; -0.16 psi 2021-02-10T18:08:49Z- waiting for 1612980531.38, time is 1612980528.38 2021-02-10T18:08:49Z- sync is 0.77, coherence is 2.00 2021-02-10T18:08:49Z- handleDepth()-Depth_Keller msg: 50.18 epoch sec; seqNo:1612980529160; depth 0.00 2021-02-10T18:08:49Z- waiting for 1612980531.38, time is 1612980528.38 2021-02-10T18:08:49Z- sync is 0.77, coherence is 2.00 2021-02-10T18:08:49Z- handleDvl() - RDI_Pathfinder msg: 1612980529.17 epoch sec; seqNo:806 2021-02-10T18:08:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.94 , 41.56 , 37.06 , 39.31 2021-02-10T18:08:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , 0.03 2021-02-10T18:08:49Z- waiting for 1612980531.38, time is 1612980529.17 2021-02-10T18:08:49Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980529.19 epoch sec; seqNo:1993; 4061690.20 north; 594492.82 east 2021-02-10T18:08:49Z- waiting for 1612980531.38, time is 1612980529.17 2021-02-10T18:08:49Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:49Z- AHRS_M2 msg: 1612980529.56 epoch sec; seqNo:1983 2021-02-10T18:08:49Z- AHRS_M2 msg: 1.44 phi; -0.08 theta; -0.16 psi 2021-02-10T18:08:49Z- waiting for 1612980531.38, time is 1612980529.17 2021-02-10T18:08:49Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:49Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1612980529569; depth 0.00 2021-02-10T18:08:49Z- waiting for 1612980531.38, time is 1612980529.17 2021-02-10T18:08:49Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980529.58 epoch sec; seqNo:1994; 4061690.20 north; 594492.82 east 2021-02-10T18:08:49Z- waiting for 1612980531.38, time is 1612980529.17 2021-02-10T18:08:49Z- sync is 0.41, coherence is 2.00 2021-02-10T18:08:49Z- AHRS_M2 msg: 1612980529.96 epoch sec; seqNo:1984 2021-02-10T18:08:49Z- AHRS_M2 msg: 1.44 phi; -0.08 theta; -0.16 psi 2021-02-10T18:08:49Z- waiting for 1612980531.38, time is 1612980529.17 2021-02-10T18:08:49Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:49Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1612980529970; depth 0.00 2021-02-10T18:08:49Z- waiting for 1612980531.38, time is 1612980529.17 2021-02-10T18:08:49Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980529.98 epoch sec; seqNo:1995; 4061690.21 north; 594494.04 east 2021-02-10T18:08:49Z- waiting for 1612980531.38, time is 1612980529.17 2021-02-10T18:08:49Z- sync is 0.81, coherence is 2.00 2021-02-10T18:08:50Z- AHRS_M2 msg: 1612980530.37 epoch sec; seqNo:1985 2021-02-10T18:08:50Z- AHRS_M2 msg: 1.44 phi; -0.08 theta; -0.16 psi 2021-02-10T18:08:50Z- waiting for 1612980531.38, time is 1612980529.17 2021-02-10T18:08:50Z- sync is 1.20, coherence is 2.00 2021-02-10T18:08:50Z- handleDepth()-Depth_Keller msg: 50.26 epoch sec; seqNo:1612980530372; depth 0.00 2021-02-10T18:08:50Z- waiting for 1612980531.38, time is 1612980529.17 2021-02-10T18:08:50Z- sync is 1.20, coherence is 2.00 2021-02-10T18:08:50Z- handleDvl() - RDI_Pathfinder msg: 1612980530.39 epoch sec; seqNo:807 2021-02-10T18:08:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.94 , 41.56 , 37.25 , 39.50 2021-02-10T18:08:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.02 , 0.04 2021-02-10T18:08:50Z- waiting for 1612980531.38, time is 1612980530.39 2021-02-10T18:08:50Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980530.40 epoch sec; seqNo:1996; 4061690.59 north; 594494.03 east 2021-02-10T18:08:50Z- waiting for 1612980531.38, time is 1612980530.39 2021-02-10T18:08:50Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:50Z- AHRS_M2 msg: 1612980530.77 epoch sec; seqNo:1986 2021-02-10T18:08:50Z- AHRS_M2 msg: 1.44 phi; -0.08 theta; -0.16 psi 2021-02-10T18:08:50Z- waiting for 1612980531.38, time is 1612980530.39 2021-02-10T18:08:50Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:50Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1612980530779; depth 0.00 2021-02-10T18:08:50Z- waiting for 1612980531.38, time is 1612980530.39 2021-02-10T18:08:50Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980530.81 epoch sec; seqNo:1997; 4061690.59 north; 594494.03 east 2021-02-10T18:08:50Z- waiting for 1612980531.38, time is 1612980530.39 2021-02-10T18:08:50Z- sync is 0.42, coherence is 2.00 2021-02-10T18:08:51Z- AHRS_M2 msg: 1612980531.18 epoch sec; seqNo:1987 2021-02-10T18:08:51Z- AHRS_M2 msg: 1.44 phi; -0.07 theta; -0.16 psi 2021-02-10T18:08:51Z- waiting for 1612980531.38, time is 1612980530.39 2021-02-10T18:08:51Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:51Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1612980531180; depth 0.00 2021-02-10T18:08:51Z- waiting for 1612980531.38, time is 1612980530.39 2021-02-10T18:08:51Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:51Z- handleDvl() - RDI_Pathfinder msg: 1612980531.19 epoch sec; seqNo:808 2021-02-10T18:08:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.94 , 41.56 , 37.06 , 39.50 2021-02-10T18:08:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.01 , 0.03 2021-02-10T18:08:51Z- waiting for 1612980531.38, time is 1612980531.19 2021-02-10T18:08:51Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980531.20 epoch sec; seqNo:1998; 4061690.60 north; 594495.25 east 2021-02-10T18:08:51Z- waiting for 1612980531.38, time is 1612980531.19 2021-02-10T18:08:51Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:51Z- AHRS_M2 msg: 1612980531.58 epoch sec; seqNo:1988 2021-02-10T18:08:51Z- AHRS_M2 msg: 1.44 phi; -0.07 theta; -0.16 psi 2021-02-10T18:08:51Z- waiting for 1612980531.38, time is 1612980531.19 2021-02-10T18:08:51Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:51Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1612980531593; depth 0.00 2021-02-10T18:08:51Z- waiting for 1612980531.38, time is 1612980531.19 2021-02-10T18:08:51Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980531.60 epoch sec; seqNo:1999; 4061690.60 north; 594495.25 east 2021-02-10T18:08:51Z- waiting for 1612980531.38, time is 1612980531.19 2021-02-10T18:08:51Z- sync is 0.41, coherence is 2.00 2021-02-10T18:08:51Z- AHRS_M2 msg: 1612980531.98 epoch sec; seqNo:1989 2021-02-10T18:08:51Z- AHRS_M2 msg: 1.44 phi; -0.07 theta; -0.16 psi 2021-02-10T18:08:51Z- waiting for 1612980531.38, time is 1612980531.19 2021-02-10T18:08:51Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:51Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1612980531988; depth 0.00 2021-02-10T18:08:51Z- waiting for 1612980531.38, time is 1612980531.19 2021-02-10T18:08:51Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980532.01 epoch sec; seqNo:2000; 4061690.60 north; 594495.25 east 2021-02-10T18:08:52Z- waiting for 1612980531.38, time is 1612980531.19 2021-02-10T18:08:52Z- sync is 0.81, coherence is 2.00 2021-02-10T18:08:52Z- AHRS_M2 msg: 1612980532.39 epoch sec; seqNo:1990 2021-02-10T18:08:52Z- AHRS_M2 msg: 1.44 phi; -0.07 theta; -0.16 psi 2021-02-10T18:08:52Z- waiting for 1612980531.38, time is 1612980531.19 2021-02-10T18:08:52Z- sync is 1.20, coherence is 2.00 2021-02-10T18:08:52Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1612980532392; depth 0.00 2021-02-10T18:08:52Z- waiting for 1612980531.38, time is 1612980531.19 2021-02-10T18:08:52Z- sync is 1.20, coherence is 2.00 2021-02-10T18:08:52Z- handleDvl() - RDI_Pathfinder msg: 1612980532.40 epoch sec; seqNo:809 2021-02-10T18:08:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.94 , 41.56 , 37.06 , 39.69 2021-02-10T18:08:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.01 , 0.02 2021-02-10T18:08:52Z- waiting for 1612980531.38, time is 1612980532.40 2021-02-10T18:08:52Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:52Z- LcmTrn::updateTrn() >>>> pose time 1612980532.39, meas time 1612980532.40 <<<< 2021-02-10T18:08:52Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980532.40 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:08:52Z- TerrainNav::motionUpdate() - currEstimate = (4061691, 594495.25, 50.37) 2021-02-10T18:08:52Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:08:52Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:08:52Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:08:52Z- TNavBF::mmse selected from filter -1 2021-02-10T18:08:52Z- variances([0], [2], and psi_berg) = 784.514113 833.074433 0.000000 2021-02-10T18:08:52Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:08:52Z- LcmTrn::cycle() - MLE : 4061665.10 594540.75 50.37 2021-02-10T18:08:52Z- LcmTrn::cycle() - MMSE : 4061690.60 594495.25 50.37 2021-02-10T18:08:52Z- LcmTrn::cycle() - COVAR: 784.51 833.07 59.64 0.00 2021-02-10T18:08:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980532.43 epoch sec; seqNo:2001; 4061690.62 north; 594496.47 east 2021-02-10T18:08:52Z- waiting for 1612980535.40, time is 1612980532.40 2021-02-10T18:08:52Z- sync is 0.03, coherence is 2.00 2021-02-10T18:08:52Z- AHRS_M2 msg: 1612980532.80 epoch sec; seqNo:1991 2021-02-10T18:08:52Z- AHRS_M2 msg: 1.44 phi; -0.07 theta; -0.16 psi 2021-02-10T18:08:52Z- waiting for 1612980535.40, time is 1612980532.40 2021-02-10T18:08:52Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:52Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1612980532808; depth 0.00 2021-02-10T18:08:52Z- waiting for 1612980535.40, time is 1612980532.40 2021-02-10T18:08:52Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980532.82 epoch sec; seqNo:2002; 4061690.62 north; 594496.47 east 2021-02-10T18:08:52Z- waiting for 1612980535.40, time is 1612980532.40 2021-02-10T18:08:52Z- sync is 0.42, coherence is 2.00 2021-02-10T18:08:53Z- AHRS_M2 msg: 1612980533.20 epoch sec; seqNo:1992 2021-02-10T18:08:53Z- AHRS_M2 msg: 1.44 phi; -0.07 theta; -0.16 psi 2021-02-10T18:08:53Z- waiting for 1612980535.40, time is 1612980532.40 2021-02-10T18:08:53Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:53Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1612980533209; depth 0.00 2021-02-10T18:08:53Z- waiting for 1612980535.40, time is 1612980532.40 2021-02-10T18:08:53Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:53Z- handleDvl() - RDI_Pathfinder msg: 1612980533.22 epoch sec; seqNo:810 2021-02-10T18:08:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.94 , 41.18 , 37.06 , 39.69 2021-02-10T18:08:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.00 , 0.01 2021-02-10T18:08:53Z- waiting for 1612980535.40, time is 1612980533.22 2021-02-10T18:08:53Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980533.23 epoch sec; seqNo:2003; 4061690.62 north; 594496.47 east 2021-02-10T18:08:53Z- waiting for 1612980535.40, time is 1612980533.22 2021-02-10T18:08:53Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:53Z- AHRS_M2 msg: 1612980533.60 epoch sec; seqNo:1993 2021-02-10T18:08:53Z- AHRS_M2 msg: 1.44 phi; -0.07 theta; -0.16 psi 2021-02-10T18:08:53Z- waiting for 1612980535.40, time is 1612980533.22 2021-02-10T18:08:53Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:53Z- handleDepth()-Depth_Keller msg: 50.45 epoch sec; seqNo:1612980533605; depth 0.00 2021-02-10T18:08:53Z- waiting for 1612980535.40, time is 1612980533.22 2021-02-10T18:08:53Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980533.62 epoch sec; seqNo:2004; 4061690.63 north; 594497.69 east 2021-02-10T18:08:53Z- waiting for 1612980535.40, time is 1612980533.22 2021-02-10T18:08:53Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:54Z- AHRS_M2 msg: 1612980534.00 epoch sec; seqNo:1994 2021-02-10T18:08:54Z- AHRS_M2 msg: 1.44 phi; -0.07 theta; -0.16 psi 2021-02-10T18:08:54Z- waiting for 1612980535.40, time is 1612980533.22 2021-02-10T18:08:54Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:54Z- handleDepth()-Depth_Keller msg: 50.47 epoch sec; seqNo:1612980534013; depth 0.00 2021-02-10T18:08:54Z- waiting for 1612980535.40, time is 1612980533.22 2021-02-10T18:08:54Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980534.02 epoch sec; seqNo:2005; 4061691.01 north; 594497.69 east 2021-02-10T18:08:54Z- waiting for 1612980535.40, time is 1612980533.22 2021-02-10T18:08:54Z- sync is 0.80, coherence is 2.00 2021-02-10T18:08:54Z- AHRS_M2 msg: 1612980534.41 epoch sec; seqNo:1995 2021-02-10T18:08:54Z- AHRS_M2 msg: 1.45 phi; -0.07 theta; -0.16 psi 2021-02-10T18:08:54Z- waiting for 1612980535.40, time is 1612980533.22 2021-02-10T18:08:54Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:54Z- handleDepth()-Depth_Keller msg: 50.48 epoch sec; seqNo:1612980534419; depth 0.00 2021-02-10T18:08:54Z- waiting for 1612980535.40, time is 1612980533.22 2021-02-10T18:08:54Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:54Z- handleDvl() - RDI_Pathfinder msg: 1612980534.43 epoch sec; seqNo:811 2021-02-10T18:08:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 41.56 , 37.06 , 39.50 2021-02-10T18:08:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.00 , 0.01 2021-02-10T18:08:54Z- waiting for 1612980535.40, time is 1612980534.43 2021-02-10T18:08:54Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980534.44 epoch sec; seqNo:2006; 4061691.01 north; 594497.69 east 2021-02-10T18:08:54Z- waiting for 1612980535.40, time is 1612980534.43 2021-02-10T18:08:54Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:54Z- AHRS_M2 msg: 1612980534.81 epoch sec; seqNo:1996 2021-02-10T18:08:54Z- AHRS_M2 msg: 1.45 phi; -0.06 theta; -0.16 psi 2021-02-10T18:08:54Z- waiting for 1612980535.40, time is 1612980534.43 2021-02-10T18:08:54Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:54Z- handleDepth()-Depth_Keller msg: 50.51 epoch sec; seqNo:1612980534825; depth 0.00 2021-02-10T18:08:54Z- waiting for 1612980535.40, time is 1612980534.43 2021-02-10T18:08:54Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980534.84 epoch sec; seqNo:2007; 4061691.02 north; 594498.91 east 2021-02-10T18:08:54Z- waiting for 1612980535.40, time is 1612980534.43 2021-02-10T18:08:54Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:55Z- AHRS_M2 msg: 1612980535.22 epoch sec; seqNo:1997 2021-02-10T18:08:55Z- AHRS_M2 msg: 1.45 phi; -0.06 theta; -0.16 psi 2021-02-10T18:08:55Z- waiting for 1612980535.40, time is 1612980534.43 2021-02-10T18:08:55Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:55Z- handleDepth()-Depth_Keller msg: 50.52 epoch sec; seqNo:1612980535220; depth 0.00 2021-02-10T18:08:55Z- waiting for 1612980535.40, time is 1612980534.43 2021-02-10T18:08:55Z- sync is 0.78, coherence is 2.00 2021-02-10T18:08:55Z- handleDvl() - RDI_Pathfinder msg: 1612980535.23 epoch sec; seqNo:812 2021-02-10T18:08:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 41.56 , 36.88 , 39.50 2021-02-10T18:08:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.01 , -0.00 2021-02-10T18:08:55Z- waiting for 1612980535.40, time is 1612980535.23 2021-02-10T18:08:55Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980535.25 epoch sec; seqNo:2008; 4061691.02 north; 594498.91 east 2021-02-10T18:08:55Z- waiting for 1612980535.40, time is 1612980535.23 2021-02-10T18:08:55Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:55Z- AHRS_M2 msg: 1612980535.62 epoch sec; seqNo:1998 2021-02-10T18:08:55Z- AHRS_M2 msg: 1.45 phi; -0.06 theta; -0.16 psi 2021-02-10T18:08:55Z- waiting for 1612980535.40, time is 1612980535.23 2021-02-10T18:08:55Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:55Z- handleDepth()-Depth_Keller msg: 50.54 epoch sec; seqNo:1612980535628; depth 0.00 2021-02-10T18:08:55Z- waiting for 1612980535.40, time is 1612980535.23 2021-02-10T18:08:55Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980535.64 epoch sec; seqNo:2009; 4061691.02 north; 594498.91 east 2021-02-10T18:08:55Z- waiting for 1612980535.40, time is 1612980535.23 2021-02-10T18:08:55Z- sync is 0.41, coherence is 2.00 2021-02-10T18:08:56Z- AHRS_M2 msg: 1612980536.02 epoch sec; seqNo:1999 2021-02-10T18:08:56Z- AHRS_M2 msg: 1.45 phi; -0.06 theta; -0.16 psi 2021-02-10T18:08:56Z- waiting for 1612980535.40, time is 1612980535.23 2021-02-10T18:08:56Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:56Z- handleDepth()-Depth_Keller msg: 50.55 epoch sec; seqNo:1612980536028; depth 0.00 2021-02-10T18:08:56Z- waiting for 1612980535.40, time is 1612980535.23 2021-02-10T18:08:56Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980536.05 epoch sec; seqNo:2010; 4061691.03 north; 594500.13 east 2021-02-10T18:08:56Z- waiting for 1612980535.40, time is 1612980535.23 2021-02-10T18:08:56Z- sync is 0.82, coherence is 2.00 2021-02-10T18:08:56Z- AHRS_M2 msg: 1612980536.43 epoch sec; seqNo:2000 2021-02-10T18:08:56Z- AHRS_M2 msg: 1.45 phi; -0.06 theta; -0.16 psi 2021-02-10T18:08:56Z- waiting for 1612980535.40, time is 1612980535.23 2021-02-10T18:08:56Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:56Z- handleDepth()-Depth_Keller msg: 50.58 epoch sec; seqNo:1612980536432; depth 0.00 2021-02-10T18:08:56Z- waiting for 1612980535.40, time is 1612980535.23 2021-02-10T18:08:56Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:56Z- handleDvl() - RDI_Pathfinder msg: 1612980536.44 epoch sec; seqNo:813 2021-02-10T18:08:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 41.56 , 37.06 , 39.31 2021-02-10T18:08:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.01 , -0.01 2021-02-10T18:08:56Z- waiting for 1612980535.40, time is 1612980536.44 2021-02-10T18:08:56Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:56Z- LcmTrn::updateTrn() >>>> pose time 1612980536.43, meas time 1612980536.44 <<<< 2021-02-10T18:08:56Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980536.44 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:08:56Z- TerrainNav::motionUpdate() - currEstimate = (4061691, 594500.13, 50.58) 2021-02-10T18:08:56Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:08:56Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:08:56Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:08:56Z- TNavBF::mmse selected from filter -1 2021-02-10T18:08:56Z- variances([0], [2], and psi_berg) = 784.331319 833.074147 0.000000 2021-02-10T18:08:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:08:56Z- LcmTrn::cycle() - MLE : 4061665.53 594545.63 50.58 2021-02-10T18:08:56Z- LcmTrn::cycle() - MMSE : 4061691.03 594500.13 50.58 2021-02-10T18:08:56Z- LcmTrn::cycle() - COVAR: 784.33 833.07 59.89 0.00 2021-02-10T18:08:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980536.47 epoch sec; seqNo:2011; 4061691.03 north; 594500.13 east 2021-02-10T18:08:56Z- waiting for 1612980539.44, time is 1612980536.44 2021-02-10T18:08:56Z- sync is 0.03, coherence is 2.00 2021-02-10T18:08:56Z- AHRS_M2 msg: 1612980536.83 epoch sec; seqNo:2001 2021-02-10T18:08:56Z- AHRS_M2 msg: 1.45 phi; -0.06 theta; -0.16 psi 2021-02-10T18:08:56Z- waiting for 1612980539.44, time is 1612980536.44 2021-02-10T18:08:56Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:56Z- handleDepth()-Depth_Keller msg: 50.59 epoch sec; seqNo:1612980536836; depth 0.00 2021-02-10T18:08:56Z- waiting for 1612980539.44, time is 1612980536.44 2021-02-10T18:08:56Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980536.85 epoch sec; seqNo:2012; 4061691.03 north; 594500.13 east 2021-02-10T18:08:56Z- waiting for 1612980539.44, time is 1612980536.44 2021-02-10T18:08:56Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:57Z- AHRS_M2 msg: 1612980537.23 epoch sec; seqNo:2002 2021-02-10T18:08:57Z- AHRS_M2 msg: 1.45 phi; -0.06 theta; -0.16 psi 2021-02-10T18:08:57Z- waiting for 1612980539.44, time is 1612980536.44 2021-02-10T18:08:57Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:57Z- handleDepth()-Depth_Keller msg: 50.60 epoch sec; seqNo:1612980537241; depth 0.00 2021-02-10T18:08:57Z- waiting for 1612980539.44, time is 1612980536.44 2021-02-10T18:08:57Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:57Z- handleDvl() - RDI_Pathfinder msg: 1612980537.26 epoch sec; seqNo:814 2021-02-10T18:08:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.57 , 41.56 , 37.06 , 39.12 2021-02-10T18:08:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.00 , -0.01 2021-02-10T18:08:57Z- waiting for 1612980539.44, time is 1612980537.26 2021-02-10T18:08:57Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980537.27 epoch sec; seqNo:2013; 4061691.43 north; 594501.34 east 2021-02-10T18:08:57Z- waiting for 1612980539.44, time is 1612980537.26 2021-02-10T18:08:57Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:57Z- AHRS_M2 msg: 1612980537.64 epoch sec; seqNo:2003 2021-02-10T18:08:57Z- AHRS_M2 msg: 1.45 phi; -0.06 theta; -0.16 psi 2021-02-10T18:08:57Z- waiting for 1612980539.44, time is 1612980537.26 2021-02-10T18:08:57Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:57Z- handleDepth()-Depth_Keller msg: 50.62 epoch sec; seqNo:1612980537644; depth 0.00 2021-02-10T18:08:57Z- waiting for 1612980539.44, time is 1612980537.26 2021-02-10T18:08:57Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980537.65 epoch sec; seqNo:2014; 4061691.43 north; 594501.34 east 2021-02-10T18:08:57Z- waiting for 1612980539.44, time is 1612980537.26 2021-02-10T18:08:57Z- sync is 0.40, coherence is 2.00 2021-02-10T18:08:58Z- AHRS_M2 msg: 1612980538.05 epoch sec; seqNo:2004 2021-02-10T18:08:58Z- AHRS_M2 msg: 1.45 phi; -0.05 theta; -0.16 psi 2021-02-10T18:08:58Z- waiting for 1612980539.44, time is 1612980537.26 2021-02-10T18:08:58Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:58Z- handleDepth()-Depth_Keller msg: 50.64 epoch sec; seqNo:1612980538055; depth 0.00 2021-02-10T18:08:58Z- waiting for 1612980539.44, time is 1612980537.26 2021-02-10T18:08:58Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980538.07 epoch sec; seqNo:2015; 4061691.43 north; 594501.34 east 2021-02-10T18:08:58Z- waiting for 1612980539.44, time is 1612980537.26 2021-02-10T18:08:58Z- sync is 0.81, coherence is 2.00 2021-02-10T18:08:58Z- AHRS_M2 msg: 1612980538.45 epoch sec; seqNo:2005 2021-02-10T18:08:58Z- AHRS_M2 msg: 1.45 phi; -0.05 theta; -0.16 psi 2021-02-10T18:08:58Z- waiting for 1612980539.44, time is 1612980537.26 2021-02-10T18:08:58Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:58Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1612980538455; depth 0.00 2021-02-10T18:08:58Z- waiting for 1612980539.44, time is 1612980537.26 2021-02-10T18:08:58Z- sync is 1.19, coherence is 2.00 2021-02-10T18:08:58Z- handleDvl() - RDI_Pathfinder msg: 1612980538.47 epoch sec; seqNo:815 2021-02-10T18:08:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 41.18 , 36.88 , 39.12 2021-02-10T18:08:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.00 , -0.00 2021-02-10T18:08:58Z- waiting for 1612980539.44, time is 1612980538.47 2021-02-10T18:08:58Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980538.48 epoch sec; seqNo:2016; 4061691.43 north; 594501.34 east 2021-02-10T18:08:58Z- waiting for 1612980539.44, time is 1612980538.47 2021-02-10T18:08:58Z- sync is 0.01, coherence is 2.00 2021-02-10T18:08:58Z- AHRS_M2 msg: 1612980538.85 epoch sec; seqNo:2006 2021-02-10T18:08:58Z- AHRS_M2 msg: 1.45 phi; -0.05 theta; -0.16 psi 2021-02-10T18:08:58Z- waiting for 1612980539.44, time is 1612980538.47 2021-02-10T18:08:58Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:58Z- handleDepth()-Depth_Keller msg: 50.68 epoch sec; seqNo:1612980538856; depth 0.00 2021-02-10T18:08:58Z- waiting for 1612980539.44, time is 1612980538.47 2021-02-10T18:08:58Z- sync is 0.39, coherence is 2.00 2021-02-10T18:08:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980538.88 epoch sec; seqNo:2017; 4061691.44 north; 594502.57 east 2021-02-10T18:08:58Z- waiting for 1612980539.44, time is 1612980538.47 2021-02-10T18:08:58Z- sync is 0.41, coherence is 2.00 2021-02-10T18:08:59Z- AHRS_M2 msg: 1612980539.26 epoch sec; seqNo:2007 2021-02-10T18:08:59Z- AHRS_M2 msg: 1.45 phi; -0.05 theta; -0.16 psi 2021-02-10T18:08:59Z- waiting for 1612980539.44, time is 1612980538.47 2021-02-10T18:08:59Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:59Z- handleDepth()-Depth_Keller msg: 50.69 epoch sec; seqNo:1612980539265; depth 0.00 2021-02-10T18:08:59Z- waiting for 1612980539.44, time is 1612980538.47 2021-02-10T18:08:59Z- sync is 0.79, coherence is 2.00 2021-02-10T18:08:59Z- handleDvl() - RDI_Pathfinder msg: 1612980539.28 epoch sec; seqNo:816 2021-02-10T18:08:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 41.18 , 37.06 , 38.94 2021-02-10T18:08:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.00 , 0.00 2021-02-10T18:08:59Z- waiting for 1612980539.44, time is 1612980539.28 2021-02-10T18:08:59Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980539.30 epoch sec; seqNo:2018; 4061691.44 north; 594502.57 east 2021-02-10T18:08:59Z- waiting for 1612980539.44, time is 1612980539.28 2021-02-10T18:08:59Z- sync is 0.02, coherence is 2.00 2021-02-10T18:08:59Z- AHRS_M2 msg: 1612980539.66 epoch sec; seqNo:2008 2021-02-10T18:08:59Z- AHRS_M2 msg: 1.45 phi; -0.05 theta; -0.16 psi 2021-02-10T18:08:59Z- waiting for 1612980539.44, time is 1612980539.28 2021-02-10T18:08:59Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:59Z- handleDepth()-Depth_Keller msg: 50.70 epoch sec; seqNo:1612980539669; depth 0.00 2021-02-10T18:08:59Z- waiting for 1612980539.44, time is 1612980539.28 2021-02-10T18:08:59Z- sync is 0.38, coherence is 2.00 2021-02-10T18:08:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980539.68 epoch sec; seqNo:2019; 4061691.44 north; 594502.57 east 2021-02-10T18:08:59Z- waiting for 1612980539.44, time is 1612980539.28 2021-02-10T18:08:59Z- sync is 0.40, coherence is 2.00 2021-02-10T18:09:00Z- AHRS_M2 msg: 1612980540.09 epoch sec; seqNo:2009 2021-02-10T18:09:00Z- AHRS_M2 msg: 1.45 phi; -0.05 theta; -0.16 psi 2021-02-10T18:09:00Z- waiting for 1612980539.44, time is 1612980539.28 2021-02-10T18:09:00Z- sync is 0.81, coherence is 2.00 2021-02-10T18:09:00Z- handleDepth()-Depth_Keller msg: 50.74 epoch sec; seqNo:1612980540098; depth 0.00 2021-02-10T18:09:00Z- waiting for 1612980539.44, time is 1612980539.28 2021-02-10T18:09:00Z- sync is 0.81, coherence is 2.00 2021-02-10T18:09:00Z- handleDvl() - RDI_Pathfinder msg: 1612980540.12 epoch sec; seqNo:817 2021-02-10T18:09:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.57 , 41.00 , 37.06 , 38.94 2021-02-10T18:09:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.00 , 0.01 2021-02-10T18:09:00Z- waiting for 1612980539.44, time is 1612980540.12 2021-02-10T18:09:00Z- sync is 0.03, coherence is 2.00 2021-02-10T18:09:00Z- LcmTrn::updateTrn() >>>> pose time 1612980540.09, meas time 1612980540.12 <<<< 2021-02-10T18:09:00Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980540.12 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:09:00Z- TerrainNav::motionUpdate() - currEstimate = (4061691, 594502.57, 50.74) 2021-02-10T18:09:00Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:09:00Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:09:00Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:09:00Z- TNavBF::mmse selected from filter -1 2021-02-10T18:09:00Z- variances([0], [2], and psi_berg) = 784.201921 833.073946 0.000000 2021-02-10T18:09:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:09:00Z- LcmTrn::cycle() - MLE : 4061665.94 594548.07 50.74 2021-02-10T18:09:00Z- LcmTrn::cycle() - MMSE : 4061691.44 594502.57 50.74 2021-02-10T18:09:00Z- LcmTrn::cycle() - COVAR: 784.20 833.07 60.02 0.00 2021-02-10T18:09:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980540.13 epoch sec; seqNo:2020; 4061691.45 north; 594503.79 east 2021-02-10T18:09:00Z- waiting for 1612980543.12, time is 1612980540.12 2021-02-10T18:09:00Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:00Z- AHRS_M2 msg: 1612980540.47 epoch sec; seqNo:2010 2021-02-10T18:09:00Z- AHRS_M2 msg: 1.45 phi; -0.04 theta; -0.16 psi 2021-02-10T18:09:00Z- waiting for 1612980543.12, time is 1612980540.12 2021-02-10T18:09:00Z- sync is 0.34, coherence is 2.00 2021-02-10T18:09:00Z- handleDepth()-Depth_Keller msg: 50.75 epoch sec; seqNo:1612980540473; depth 0.00 2021-02-10T18:09:00Z- waiting for 1612980543.12, time is 1612980540.12 2021-02-10T18:09:00Z- sync is 0.34, coherence is 2.00 2021-02-10T18:09:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980540.49 epoch sec; seqNo:2021; 4061691.45 north; 594503.79 east 2021-02-10T18:09:00Z- waiting for 1612980543.12, time is 1612980540.12 2021-02-10T18:09:00Z- sync is 0.37, coherence is 2.00 2021-02-10T18:09:00Z- AHRS_M2 msg: 1612980540.87 epoch sec; seqNo:2011 2021-02-10T18:09:00Z- AHRS_M2 msg: 1.45 phi; -0.04 theta; -0.16 psi 2021-02-10T18:09:00Z- waiting for 1612980543.12, time is 1612980540.12 2021-02-10T18:09:00Z- sync is 0.75, coherence is 2.00 2021-02-10T18:09:00Z- handleDepth()-Depth_Keller msg: 50.76 epoch sec; seqNo:1612980540876; depth 0.00 2021-02-10T18:09:00Z- waiting for 1612980543.12, time is 1612980540.12 2021-02-10T18:09:00Z- sync is 0.75, coherence is 2.00 2021-02-10T18:09:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980540.88 epoch sec; seqNo:2022; 4061691.83 north; 594503.78 east 2021-02-10T18:09:00Z- waiting for 1612980543.12, time is 1612980540.12 2021-02-10T18:09:00Z- sync is 0.76, coherence is 2.00 2021-02-10T18:09:01Z- AHRS_M2 msg: 1612980541.28 epoch sec; seqNo:2012 2021-02-10T18:09:01Z- AHRS_M2 msg: 1.45 phi; -0.04 theta; -0.16 psi 2021-02-10T18:09:01Z- waiting for 1612980543.12, time is 1612980540.12 2021-02-10T18:09:01Z- sync is 1.15, coherence is 2.00 2021-02-10T18:09:01Z- handleDepth()-Depth_Keller msg: 50.78 epoch sec; seqNo:1612980541280; depth 0.00 2021-02-10T18:09:01Z- waiting for 1612980543.12, time is 1612980540.12 2021-02-10T18:09:01Z- sync is 1.15, coherence is 2.00 2021-02-10T18:09:01Z- handleDvl() - RDI_Pathfinder msg: 1612980541.29 epoch sec; seqNo:818 2021-02-10T18:09:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.57 , 41.00 , 37.25 , 38.56 2021-02-10T18:09:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.01 , 0.03 2021-02-10T18:09:01Z- waiting for 1612980543.12, time is 1612980541.29 2021-02-10T18:09:01Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980541.30 epoch sec; seqNo:2023; 4061691.85 north; 594505.00 east 2021-02-10T18:09:01Z- waiting for 1612980543.12, time is 1612980541.29 2021-02-10T18:09:01Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:01Z- AHRS_M2 msg: 1612980541.68 epoch sec; seqNo:2013 2021-02-10T18:09:01Z- AHRS_M2 msg: 1.45 phi; -0.03 theta; -0.16 psi 2021-02-10T18:09:01Z- waiting for 1612980543.12, time is 1612980541.29 2021-02-10T18:09:01Z- sync is 0.39, coherence is 2.00 2021-02-10T18:09:01Z- handleDepth()-Depth_Keller msg: 50.80 epoch sec; seqNo:1612980541685; depth 0.00 2021-02-10T18:09:01Z- waiting for 1612980543.12, time is 1612980541.29 2021-02-10T18:09:01Z- sync is 0.39, coherence is 2.00 2021-02-10T18:09:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980541.70 epoch sec; seqNo:2024; 4061691.85 north; 594505.00 east 2021-02-10T18:09:01Z- waiting for 1612980543.12, time is 1612980541.29 2021-02-10T18:09:01Z- sync is 0.40, coherence is 2.00 2021-02-10T18:09:02Z- AHRS_M2 msg: 1612980542.10 epoch sec; seqNo:2014 2021-02-10T18:09:02Z- AHRS_M2 msg: 1.45 phi; -0.03 theta; -0.16 psi 2021-02-10T18:09:02Z- waiting for 1612980543.12, time is 1612980541.29 2021-02-10T18:09:02Z- sync is 0.81, coherence is 2.00 2021-02-10T18:09:02Z- handleDepth()-Depth_Keller msg: 50.81 epoch sec; seqNo:1612980542107; depth 0.00 2021-02-10T18:09:02Z- waiting for 1612980543.12, time is 1612980541.29 2021-02-10T18:09:02Z- sync is 0.81, coherence is 2.00 2021-02-10T18:09:02Z- handleDvl() - RDI_Pathfinder msg: 1612980542.12 epoch sec; seqNo:819 2021-02-10T18:09:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.74 , 41.01 , 37.44 , 38.46 2021-02-10T18:09:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , 0.04 2021-02-10T18:09:02Z- waiting for 1612980543.12, time is 1612980542.12 2021-02-10T18:09:02Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980542.13 epoch sec; seqNo:2025; 4061691.85 north; 594505.00 east 2021-02-10T18:09:02Z- waiting for 1612980543.12, time is 1612980542.12 2021-02-10T18:09:02Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:02Z- AHRS_M2 msg: 1612980542.49 epoch sec; seqNo:2015 2021-02-10T18:09:02Z- AHRS_M2 msg: 1.45 phi; -0.03 theta; -0.16 psi 2021-02-10T18:09:02Z- waiting for 1612980543.12, time is 1612980542.12 2021-02-10T18:09:02Z- sync is 0.37, coherence is 2.00 2021-02-10T18:09:02Z- handleDepth()-Depth_Keller msg: 50.84 epoch sec; seqNo:1612980542492; depth 0.00 2021-02-10T18:09:02Z- waiting for 1612980543.12, time is 1612980542.12 2021-02-10T18:09:02Z- sync is 0.37, coherence is 2.00 2021-02-10T18:09:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980542.50 epoch sec; seqNo:2026; 4061691.86 north; 594506.22 east 2021-02-10T18:09:02Z- waiting for 1612980543.12, time is 1612980542.12 2021-02-10T18:09:02Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:02Z- AHRS_M2 msg: 1612980542.89 epoch sec; seqNo:2016 2021-02-10T18:09:02Z- AHRS_M2 msg: 1.45 phi; -0.03 theta; -0.16 psi 2021-02-10T18:09:02Z- waiting for 1612980543.12, time is 1612980542.12 2021-02-10T18:09:02Z- sync is 0.77, coherence is 2.00 2021-02-10T18:09:02Z- handleDepth()-Depth_Keller msg: 50.84 epoch sec; seqNo:1612980542896; depth 0.00 2021-02-10T18:09:02Z- waiting for 1612980543.12, time is 1612980542.12 2021-02-10T18:09:02Z- sync is 0.77, coherence is 2.00 2021-02-10T18:09:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980542.90 epoch sec; seqNo:2027; 4061691.86 north; 594506.22 east 2021-02-10T18:09:02Z- waiting for 1612980543.12, time is 1612980542.12 2021-02-10T18:09:02Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:03Z- AHRS_M2 msg: 1612980543.30 epoch sec; seqNo:2017 2021-02-10T18:09:03Z- AHRS_M2 msg: 1.45 phi; -0.02 theta; -0.16 psi 2021-02-10T18:09:03Z- waiting for 1612980543.12, time is 1612980542.12 2021-02-10T18:09:03Z- sync is 1.18, coherence is 2.00 2021-02-10T18:09:03Z- handleDepth()-Depth_Keller msg: 50.86 epoch sec; seqNo:1612980543302; depth 0.00 2021-02-10T18:09:03Z- waiting for 1612980543.12, time is 1612980542.12 2021-02-10T18:09:03Z- sync is 1.18, coherence is 2.00 2021-02-10T18:09:03Z- handleDvl() - RDI_Pathfinder msg: 1612980543.32 epoch sec; seqNo:820 2021-02-10T18:09:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.57 , 40.81 , 37.63 , 38.38 2021-02-10T18:09:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.01 , 0.05 2021-02-10T18:09:03Z- waiting for 1612980543.12, time is 1612980543.32 2021-02-10T18:09:03Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:03Z- LcmTrn::updateTrn() >>>> pose time 1612980543.30, meas time 1612980543.32 <<<< 2021-02-10T18:09:03Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980543.32 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:09:03Z- TerrainNav::motionUpdate() - currEstimate = (4061692, 594506.22, 50.86) 2021-02-10T18:09:03Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:09:03Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:09:03Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:09:03Z- TNavBF::mmse selected from filter -1 2021-02-10T18:09:03Z- variances([0], [2], and psi_berg) = 784.044327 833.073702 0.000000 2021-02-10T18:09:03Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:09:03Z- LcmTrn::cycle() - MLE : 4061666.36 594551.72 50.86 2021-02-10T18:09:03Z- LcmTrn::cycle() - MMSE : 4061691.86 594506.22 50.86 2021-02-10T18:09:03Z- LcmTrn::cycle() - COVAR: 784.04 833.07 60.20 0.00 2021-02-10T18:09:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980543.33 epoch sec; seqNo:2028; 4061691.86 north; 594506.22 east 2021-02-10T18:09:03Z- waiting for 1612980546.32, time is 1612980543.32 2021-02-10T18:09:03Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:03Z- AHRS_M2 msg: 1612980543.70 epoch sec; seqNo:2018 2021-02-10T18:09:03Z- AHRS_M2 msg: 1.45 phi; -0.02 theta; -0.16 psi 2021-02-10T18:09:03Z- waiting for 1612980546.32, time is 1612980543.32 2021-02-10T18:09:03Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:03Z- handleDepth()-Depth_Keller msg: 50.88 epoch sec; seqNo:1612980543710; depth 0.00 2021-02-10T18:09:03Z- waiting for 1612980546.32, time is 1612980543.32 2021-02-10T18:09:03Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980543.73 epoch sec; seqNo:2029; 4061691.86 north; 594506.22 east 2021-02-10T18:09:03Z- waiting for 1612980546.32, time is 1612980543.32 2021-02-10T18:09:03Z- sync is 0.41, coherence is 2.00 2021-02-10T18:09:04Z- AHRS_M2 msg: 1612980544.11 epoch sec; seqNo:2019 2021-02-10T18:09:04Z- AHRS_M2 msg: 1.45 phi; -0.02 theta; -0.16 psi 2021-02-10T18:09:04Z- waiting for 1612980546.32, time is 1612980543.32 2021-02-10T18:09:04Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:04Z- handleDepth()-Depth_Keller msg: 50.89 epoch sec; seqNo:1612980544112; depth 0.00 2021-02-10T18:09:04Z- waiting for 1612980546.32, time is 1612980543.32 2021-02-10T18:09:04Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:04Z- handleDvl() - RDI_Pathfinder msg: 1612980544.13 epoch sec; seqNo:821 2021-02-10T18:09:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.74 , 40.84 , 37.61 , 38.63 2021-02-10T18:09:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.01 , 0.04 2021-02-10T18:09:04Z- waiting for 1612980546.32, time is 1612980544.13 2021-02-10T18:09:04Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980544.14 epoch sec; seqNo:2030; 4061691.87 north; 594507.44 east 2021-02-10T18:09:04Z- waiting for 1612980546.32, time is 1612980544.13 2021-02-10T18:09:04Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:04Z- AHRS_M2 msg: 1612980544.51 epoch sec; seqNo:2020 2021-02-10T18:09:04Z- AHRS_M2 msg: 1.45 phi; -0.02 theta; -0.16 psi 2021-02-10T18:09:04Z- waiting for 1612980546.32, time is 1612980544.13 2021-02-10T18:09:04Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:04Z- handleDepth()-Depth_Keller msg: 50.90 epoch sec; seqNo:1612980544517; depth 0.00 2021-02-10T18:09:04Z- waiting for 1612980546.32, time is 1612980544.13 2021-02-10T18:09:04Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980544.53 epoch sec; seqNo:2031; 4061692.25 north; 594507.44 east 2021-02-10T18:09:04Z- waiting for 1612980546.32, time is 1612980544.13 2021-02-10T18:09:04Z- sync is 0.40, coherence is 2.00 2021-02-10T18:09:04Z- AHRS_M2 msg: 1612980544.91 epoch sec; seqNo:2021 2021-02-10T18:09:04Z- AHRS_M2 msg: 1.45 phi; -0.01 theta; -0.16 psi 2021-02-10T18:09:04Z- waiting for 1612980546.32, time is 1612980544.13 2021-02-10T18:09:04Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:04Z- handleDepth()-Depth_Keller msg: 50.91 epoch sec; seqNo:1612980544917; depth 0.00 2021-02-10T18:09:04Z- waiting for 1612980546.32, time is 1612980544.13 2021-02-10T18:09:04Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980544.93 epoch sec; seqNo:2032; 4061692.25 north; 594507.44 east 2021-02-10T18:09:04Z- waiting for 1612980546.32, time is 1612980544.13 2021-02-10T18:09:04Z- sync is 0.80, coherence is 2.00 2021-02-10T18:09:05Z- AHRS_M2 msg: 1612980545.32 epoch sec; seqNo:2022 2021-02-10T18:09:05Z- AHRS_M2 msg: 1.45 phi; -0.01 theta; -0.16 psi 2021-02-10T18:09:05Z- waiting for 1612980546.32, time is 1612980544.13 2021-02-10T18:09:05Z- sync is 1.18, coherence is 2.00 2021-02-10T18:09:05Z- handleDepth()-Depth_Keller msg: 50.92 epoch sec; seqNo:1612980545341; depth 0.00 2021-02-10T18:09:05Z- waiting for 1612980546.32, time is 1612980544.13 2021-02-10T18:09:05Z- sync is 1.18, coherence is 2.00 2021-02-10T18:09:05Z- handleDvl() - RDI_Pathfinder msg: 1612980545.35 epoch sec; seqNo:822 2021-02-10T18:09:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 40.81 , 37.81 , 38.38 2021-02-10T18:09:05Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.02 , 0.03 2021-02-10T18:09:05Z- waiting for 1612980546.32, time is 1612980545.35 2021-02-10T18:09:05Z- sync is 0.04, coherence is 2.00 2021-02-10T18:09:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980545.36 epoch sec; seqNo:2033; 4061692.27 north; 594508.66 east 2021-02-10T18:09:05Z- waiting for 1612980546.32, time is 1612980545.35 2021-02-10T18:09:05Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:05Z- AHRS_M2 msg: 1612980545.73 epoch sec; seqNo:2023 2021-02-10T18:09:05Z- AHRS_M2 msg: 1.46 phi; -0.01 theta; -0.16 psi 2021-02-10T18:09:05Z- waiting for 1612980546.32, time is 1612980545.35 2021-02-10T18:09:05Z- sync is 0.37, coherence is 2.00 2021-02-10T18:09:05Z- handleDepth()-Depth_Keller msg: 50.93 epoch sec; seqNo:1612980545731; depth 0.00 2021-02-10T18:09:05Z- waiting for 1612980546.32, time is 1612980545.35 2021-02-10T18:09:05Z- sync is 0.37, coherence is 2.00 2021-02-10T18:09:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980545.75 epoch sec; seqNo:2034; 4061692.27 north; 594508.66 east 2021-02-10T18:09:05Z- waiting for 1612980546.32, time is 1612980545.35 2021-02-10T18:09:05Z- sync is 0.39, coherence is 2.00 2021-02-10T18:09:06Z- AHRS_M2 msg: 1612980546.13 epoch sec; seqNo:2024 2021-02-10T18:09:06Z- AHRS_M2 msg: 1.46 phi; -0.01 theta; -0.16 psi 2021-02-10T18:09:06Z- waiting for 1612980546.32, time is 1612980545.35 2021-02-10T18:09:06Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:06Z- handleDepth()-Depth_Keller msg: 50.95 epoch sec; seqNo:1612980546132; depth 0.00 2021-02-10T18:09:06Z- waiting for 1612980546.32, time is 1612980545.35 2021-02-10T18:09:06Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:06Z- handleDvl() - RDI_Pathfinder msg: 1612980546.14 epoch sec; seqNo:823 2021-02-10T18:09:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 41.00 , 37.81 , 38.38 2021-02-10T18:09:06Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.03 , 0.02 2021-02-10T18:09:06Z- waiting for 1612980546.32, time is 1612980546.14 2021-02-10T18:09:06Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980546.17 epoch sec; seqNo:2035; 4061692.27 north; 594508.66 east 2021-02-10T18:09:06Z- waiting for 1612980546.32, time is 1612980546.14 2021-02-10T18:09:06Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:06Z- AHRS_M2 msg: 1612980546.53 epoch sec; seqNo:2025 2021-02-10T18:09:06Z- AHRS_M2 msg: 1.46 phi; -0.00 theta; -0.16 psi 2021-02-10T18:09:06Z- waiting for 1612980546.32, time is 1612980546.14 2021-02-10T18:09:06Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:06Z- handleDepth()-Depth_Keller msg: 50.93 epoch sec; seqNo:1612980546532; depth 0.00 2021-02-10T18:09:06Z- waiting for 1612980546.32, time is 1612980546.14 2021-02-10T18:09:06Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980546.54 epoch sec; seqNo:2036; 4061692.28 north; 594509.88 east 2021-02-10T18:09:06Z- waiting for 1612980546.32, time is 1612980546.14 2021-02-10T18:09:06Z- sync is 0.40, coherence is 2.00 2021-02-10T18:09:06Z- AHRS_M2 msg: 1612980546.93 epoch sec; seqNo:2026 2021-02-10T18:09:06Z- AHRS_M2 msg: 1.46 phi; -0.00 theta; -0.15 psi 2021-02-10T18:09:06Z- waiting for 1612980546.32, time is 1612980546.14 2021-02-10T18:09:06Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:06Z- handleDepth()-Depth_Keller msg: 50.94 epoch sec; seqNo:1612980546947; depth 0.00 2021-02-10T18:09:06Z- waiting for 1612980546.32, time is 1612980546.14 2021-02-10T18:09:06Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980546.96 epoch sec; seqNo:2037; 4061692.28 north; 594509.88 east 2021-02-10T18:09:06Z- waiting for 1612980546.32, time is 1612980546.14 2021-02-10T18:09:06Z- sync is 0.82, coherence is 2.00 2021-02-10T18:09:07Z- AHRS_M2 msg: 1612980547.34 epoch sec; seqNo:2027 2021-02-10T18:09:07Z- AHRS_M2 msg: 1.46 phi; -0.00 theta; -0.16 psi 2021-02-10T18:09:07Z- waiting for 1612980546.32, time is 1612980546.14 2021-02-10T18:09:07Z- sync is 1.20, coherence is 2.00 2021-02-10T18:09:07Z- handleDepth()-Depth_Keller msg: 50.93 epoch sec; seqNo:1612980547344; depth 0.00 2021-02-10T18:09:07Z- waiting for 1612980546.32, time is 1612980546.14 2021-02-10T18:09:07Z- sync is 1.20, coherence is 2.00 2021-02-10T18:09:07Z- handleDvl() - RDI_Pathfinder msg: 1612980547.37 epoch sec; seqNo:824 2021-02-10T18:09:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 40.81 , 37.81 , 38.19 2021-02-10T18:09:07Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , 0.04 , -0.00 2021-02-10T18:09:07Z- waiting for 1612980546.32, time is 1612980547.37 2021-02-10T18:09:07Z- sync is 0.03, coherence is 2.00 2021-02-10T18:09:07Z- LcmTrn::updateTrn() >>>> pose time 1612980547.34, meas time 1612980547.37 <<<< 2021-02-10T18:09:07Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980547.37 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:09:07Z- TerrainNav::motionUpdate() - currEstimate = (4061692, 594509.88, 50.93) 2021-02-10T18:09:07Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:09:07Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:09:07Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:09:07Z- TNavBF::mmse selected from filter -1 2021-02-10T18:09:07Z- variances([0], [2], and psi_berg) = 783.887181 833.073459 0.000000 2021-02-10T18:09:07Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:09:07Z- LcmTrn::cycle() - MLE : 4061666.78 594556.38 50.93 2021-02-10T18:09:07Z- LcmTrn::cycle() - MMSE : 4061692.28 594509.88 50.93 2021-02-10T18:09:07Z- LcmTrn::cycle() - COVAR: 783.89 833.07 60.39 0.00 2021-02-10T18:09:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980547.38 epoch sec; seqNo:2038; 4061692.29 north; 594511.10 east 2021-02-10T18:09:07Z- waiting for 1612980550.37, time is 1612980547.37 2021-02-10T18:09:07Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:07Z- AHRS_M2 msg: 1612980547.74 epoch sec; seqNo:2028 2021-02-10T18:09:07Z- AHRS_M2 msg: 1.46 phi; 0.00 theta; -0.15 psi 2021-02-10T18:09:07Z- waiting for 1612980550.37, time is 1612980547.37 2021-02-10T18:09:07Z- sync is 0.37, coherence is 2.00 2021-02-10T18:09:07Z- handleDepth()-Depth_Keller msg: 50.94 epoch sec; seqNo:1612980547749; depth 0.00 2021-02-10T18:09:07Z- waiting for 1612980550.37, time is 1612980547.37 2021-02-10T18:09:07Z- sync is 0.37, coherence is 2.00 2021-02-10T18:09:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980547.76 epoch sec; seqNo:2039; 4061692.29 north; 594511.10 east 2021-02-10T18:09:07Z- waiting for 1612980550.37, time is 1612980547.37 2021-02-10T18:09:07Z- sync is 0.39, coherence is 2.00 2021-02-10T18:09:08Z- AHRS_M2 msg: 1612980548.15 epoch sec; seqNo:2029 2021-02-10T18:09:08Z- AHRS_M2 msg: 1.46 phi; 0.00 theta; -0.15 psi 2021-02-10T18:09:08Z- waiting for 1612980550.37, time is 1612980547.37 2021-02-10T18:09:08Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:08Z- handleDepth()-Depth_Keller msg: 50.94 epoch sec; seqNo:1612980548156; depth 0.00 2021-02-10T18:09:08Z- waiting for 1612980550.37, time is 1612980547.37 2021-02-10T18:09:08Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:08Z- handleDvl() - RDI_Pathfinder msg: 1612980548.17 epoch sec; seqNo:825 2021-02-10T18:09:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.57 , 40.81 , 38.00 , 38.00 2021-02-10T18:09:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.02 , -0.02 2021-02-10T18:09:08Z- waiting for 1612980550.37, time is 1612980548.17 2021-02-10T18:09:08Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980548.18 epoch sec; seqNo:2040; 4061692.29 north; 594511.10 east 2021-02-10T18:09:08Z- waiting for 1612980550.37, time is 1612980548.17 2021-02-10T18:09:08Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:08Z- AHRS_M2 msg: 1612980548.55 epoch sec; seqNo:2030 2021-02-10T18:09:08Z- AHRS_M2 msg: 1.47 phi; 0.00 theta; -0.16 psi 2021-02-10T18:09:08Z- waiting for 1612980550.37, time is 1612980548.17 2021-02-10T18:09:08Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:08Z- handleDepth()-Depth_Keller msg: 50.93 epoch sec; seqNo:1612980548553; depth 0.00 2021-02-10T18:09:08Z- waiting for 1612980550.37, time is 1612980548.17 2021-02-10T18:09:08Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980548.57 epoch sec; seqNo:2041; 4061692.29 north; 594511.10 east 2021-02-10T18:09:08Z- waiting for 1612980550.37, time is 1612980548.17 2021-02-10T18:09:08Z- sync is 0.40, coherence is 2.00 2021-02-10T18:09:08Z- AHRS_M2 msg: 1612980548.95 epoch sec; seqNo:2031 2021-02-10T18:09:08Z- AHRS_M2 msg: 1.47 phi; 0.01 theta; -0.15 psi 2021-02-10T18:09:08Z- waiting for 1612980550.37, time is 1612980548.17 2021-02-10T18:09:08Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:08Z- handleDepth()-Depth_Keller msg: 50.94 epoch sec; seqNo:1612980548956; depth 0.00 2021-02-10T18:09:08Z- waiting for 1612980550.37, time is 1612980548.17 2021-02-10T18:09:08Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980548.96 epoch sec; seqNo:2042; 4061692.68 north; 594512.32 east 2021-02-10T18:09:08Z- waiting for 1612980550.37, time is 1612980548.17 2021-02-10T18:09:08Z- sync is 0.80, coherence is 2.00 2021-02-10T18:09:09Z- AHRS_M2 msg: 1612980549.36 epoch sec; seqNo:2032 2021-02-10T18:09:09Z- AHRS_M2 msg: 1.47 phi; 0.01 theta; -0.15 psi 2021-02-10T18:09:09Z- waiting for 1612980550.37, time is 1612980548.17 2021-02-10T18:09:09Z- sync is 1.19, coherence is 2.00 2021-02-10T18:09:09Z- handleDepth()-Depth_Keller msg: 50.93 epoch sec; seqNo:1612980549370; depth 0.00 2021-02-10T18:09:09Z- waiting for 1612980550.37, time is 1612980548.17 2021-02-10T18:09:09Z- sync is 1.19, coherence is 2.00 2021-02-10T18:09:09Z- handleDvl() - RDI_Pathfinder msg: 1612980549.38 epoch sec; seqNo:826 2021-02-10T18:09:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.57 , 40.50 , 37.95 , 37.78 2021-02-10T18:09:09Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.03 , -0.04 2021-02-10T18:09:09Z- waiting for 1612980550.37, time is 1612980549.38 2021-02-10T18:09:09Z- sync is 0.03, coherence is 2.00 2021-02-10T18:09:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980549.40 epoch sec; seqNo:2043; 4061692.68 north; 594512.32 east 2021-02-10T18:09:09Z- waiting for 1612980550.37, time is 1612980549.38 2021-02-10T18:09:09Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:09Z- AHRS_M2 msg: 1612980549.76 epoch sec; seqNo:2033 2021-02-10T18:09:09Z- AHRS_M2 msg: 1.47 phi; 0.01 theta; -0.15 psi 2021-02-10T18:09:09Z- waiting for 1612980550.37, time is 1612980549.38 2021-02-10T18:09:09Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:09Z- handleDepth()-Depth_Keller msg: 50.92 epoch sec; seqNo:1612980549766; depth 0.00 2021-02-10T18:09:09Z- waiting for 1612980550.37, time is 1612980549.38 2021-02-10T18:09:09Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980549.78 epoch sec; seqNo:2044; 4061692.68 north; 594512.32 east 2021-02-10T18:09:09Z- waiting for 1612980550.37, time is 1612980549.38 2021-02-10T18:09:09Z- sync is 0.40, coherence is 2.00 2021-02-10T18:09:10Z- AHRS_M2 msg: 1612980550.16 epoch sec; seqNo:2034 2021-02-10T18:09:10Z- AHRS_M2 msg: 1.47 phi; 0.01 theta; -0.15 psi 2021-02-10T18:09:10Z- waiting for 1612980550.37, time is 1612980549.38 2021-02-10T18:09:10Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:10Z- handleDepth()-Depth_Keller msg: 50.91 epoch sec; seqNo:1612980550168; depth 0.00 2021-02-10T18:09:10Z- waiting for 1612980550.37, time is 1612980549.38 2021-02-10T18:09:10Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:10Z- handleDvl() - RDI_Pathfinder msg: 1612980550.19 epoch sec; seqNo:827 2021-02-10T18:09:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.57 , 40.50 , 37.95 , 37.95 2021-02-10T18:09:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.02 , -0.04 2021-02-10T18:09:10Z- waiting for 1612980550.37, time is 1612980550.19 2021-02-10T18:09:10Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980550.20 epoch sec; seqNo:2045; 4061692.70 north; 594513.54 east 2021-02-10T18:09:10Z- waiting for 1612980550.37, time is 1612980550.19 2021-02-10T18:09:10Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:10Z- AHRS_M2 msg: 1612980550.57 epoch sec; seqNo:2035 2021-02-10T18:09:10Z- AHRS_M2 msg: 1.47 phi; 0.01 theta; -0.16 psi 2021-02-10T18:09:10Z- waiting for 1612980550.37, time is 1612980550.19 2021-02-10T18:09:10Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:10Z- handleDepth()-Depth_Keller msg: 50.91 epoch sec; seqNo:1612980550577; depth 0.00 2021-02-10T18:09:10Z- waiting for 1612980550.37, time is 1612980550.19 2021-02-10T18:09:10Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980550.59 epoch sec; seqNo:2046; 4061692.70 north; 594513.54 east 2021-02-10T18:09:10Z- waiting for 1612980550.37, time is 1612980550.19 2021-02-10T18:09:10Z- sync is 0.40, coherence is 2.00 2021-02-10T18:09:10Z- AHRS_M2 msg: 1612980550.97 epoch sec; seqNo:2036 2021-02-10T18:09:10Z- AHRS_M2 msg: 1.47 phi; 0.01 theta; -0.16 psi 2021-02-10T18:09:10Z- waiting for 1612980550.37, time is 1612980550.19 2021-02-10T18:09:10Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:10Z- handleDepth()-Depth_Keller msg: 50.89 epoch sec; seqNo:1612980550976; depth 0.00 2021-02-10T18:09:10Z- waiting for 1612980550.37, time is 1612980550.19 2021-02-10T18:09:10Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980550.98 epoch sec; seqNo:2047; 4061692.70 north; 594513.54 east 2021-02-10T18:09:10Z- waiting for 1612980550.37, time is 1612980550.19 2021-02-10T18:09:10Z- sync is 0.80, coherence is 2.00 2021-02-10T18:09:11Z- AHRS_M2 msg: 1612980551.38 epoch sec; seqNo:2037 2021-02-10T18:09:11Z- AHRS_M2 msg: 1.47 phi; 0.01 theta; -0.16 psi 2021-02-10T18:09:11Z- waiting for 1612980550.37, time is 1612980550.19 2021-02-10T18:09:11Z- sync is 1.19, coherence is 2.00 2021-02-10T18:09:11Z- handleDepth()-Depth_Keller msg: 50.89 epoch sec; seqNo:1612980551393; depth 0.00 2021-02-10T18:09:11Z- waiting for 1612980550.37, time is 1612980550.19 2021-02-10T18:09:11Z- sync is 1.19, coherence is 2.00 2021-02-10T18:09:11Z- handleDvl() - RDI_Pathfinder msg: 1612980551.40 epoch sec; seqNo:828 2021-02-10T18:09:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.57 , 41.01 , 37.95 , 37.61 2021-02-10T18:09:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.02 , -0.04 2021-02-10T18:09:11Z- waiting for 1612980550.37, time is 1612980551.40 2021-02-10T18:09:11Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:11Z- LcmTrn::updateTrn() >>>> pose time 1612980551.38, meas time 1612980551.40 <<<< 2021-02-10T18:09:11Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980551.40 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:09:11Z- TerrainNav::motionUpdate() - currEstimate = (4061693, 594513.54, 50.89) 2021-02-10T18:09:11Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:09:11Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:09:11Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:09:11Z- TNavBF::mmse selected from filter -1 2021-02-10T18:09:11Z- variances([0], [2], and psi_berg) = 783.730479 833.073217 0.000000 2021-02-10T18:09:11Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:09:11Z- LcmTrn::cycle() - MLE : 4061667.20 594560.04 50.89 2021-02-10T18:09:11Z- LcmTrn::cycle() - MMSE : 4061692.70 594513.54 50.89 2021-02-10T18:09:11Z- LcmTrn::cycle() - COVAR: 783.73 833.07 60.58 0.00 2021-02-10T18:09:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980551.41 epoch sec; seqNo:2048; 4061692.71 north; 594514.76 east 2021-02-10T18:09:11Z- waiting for 1612980554.40, time is 1612980551.40 2021-02-10T18:09:11Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:11Z- AHRS_M2 msg: 1612980551.78 epoch sec; seqNo:2038 2021-02-10T18:09:11Z- AHRS_M2 msg: 1.47 phi; 0.02 theta; -0.16 psi 2021-02-10T18:09:11Z- waiting for 1612980554.40, time is 1612980551.40 2021-02-10T18:09:11Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:11Z- handleDepth()-Depth_Keller msg: 50.88 epoch sec; seqNo:1612980551788; depth 0.00 2021-02-10T18:09:11Z- waiting for 1612980554.40, time is 1612980551.40 2021-02-10T18:09:11Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980551.81 epoch sec; seqNo:2049; 4061692.71 north; 594514.76 east 2021-02-10T18:09:11Z- waiting for 1612980554.40, time is 1612980551.40 2021-02-10T18:09:11Z- sync is 0.40, coherence is 2.00 2021-02-10T18:09:12Z- AHRS_M2 msg: 1612980552.18 epoch sec; seqNo:2039 2021-02-10T18:09:12Z- AHRS_M2 msg: 1.47 phi; 0.02 theta; -0.16 psi 2021-02-10T18:09:12Z- waiting for 1612980554.40, time is 1612980551.40 2021-02-10T18:09:12Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:12Z- handleDepth()-Depth_Keller msg: 50.88 epoch sec; seqNo:1612980552188; depth 0.00 2021-02-10T18:09:12Z- waiting for 1612980554.40, time is 1612980551.40 2021-02-10T18:09:12Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:12Z- handleDvl() - RDI_Pathfinder msg: 1612980552.20 epoch sec; seqNo:829 2021-02-10T18:09:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.74 , 41.01 , 37.95 , 37.61 2021-02-10T18:09:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.01 , -0.02 2021-02-10T18:09:12Z- waiting for 1612980554.40, time is 1612980552.20 2021-02-10T18:09:12Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980552.22 epoch sec; seqNo:2050; 4061692.71 north; 594514.76 east 2021-02-10T18:09:12Z- waiting for 1612980554.40, time is 1612980552.20 2021-02-10T18:09:12Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:12Z- AHRS_M2 msg: 1612980552.59 epoch sec; seqNo:2040 2021-02-10T18:09:12Z- AHRS_M2 msg: 1.47 phi; 0.02 theta; -0.16 psi 2021-02-10T18:09:12Z- waiting for 1612980554.40, time is 1612980552.20 2021-02-10T18:09:12Z- sync is 0.39, coherence is 2.00 2021-02-10T18:09:12Z- handleDepth()-Depth_Keller msg: 50.88 epoch sec; seqNo:1612980552593; depth 0.00 2021-02-10T18:09:12Z- waiting for 1612980554.40, time is 1612980552.20 2021-02-10T18:09:12Z- sync is 0.39, coherence is 2.00 2021-02-10T18:09:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980552.61 epoch sec; seqNo:2051; 4061692.73 north; 594515.98 east 2021-02-10T18:09:12Z- waiting for 1612980554.40, time is 1612980552.20 2021-02-10T18:09:12Z- sync is 0.41, coherence is 2.00 2021-02-10T18:09:13Z- AHRS_M2 msg: 1612980552.99 epoch sec; seqNo:2041 2021-02-10T18:09:13Z- AHRS_M2 msg: 1.47 phi; 0.02 theta; -0.16 psi 2021-02-10T18:09:13Z- waiting for 1612980554.40, time is 1612980552.20 2021-02-10T18:09:13Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:13Z- handleDepth()-Depth_Keller msg: 50.86 epoch sec; seqNo:1612980553005; depth 0.00 2021-02-10T18:09:13Z- waiting for 1612980554.40, time is 1612980552.20 2021-02-10T18:09:13Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980553.01 epoch sec; seqNo:2052; 4061692.73 north; 594515.98 east 2021-02-10T18:09:13Z- waiting for 1612980554.40, time is 1612980552.20 2021-02-10T18:09:13Z- sync is 0.81, coherence is 2.00 2021-02-10T18:09:13Z- AHRS_M2 msg: 1612980553.40 epoch sec; seqNo:2042 2021-02-10T18:09:13Z- AHRS_M2 msg: 1.47 phi; 0.02 theta; -0.16 psi 2021-02-10T18:09:13Z- waiting for 1612980554.40, time is 1612980552.20 2021-02-10T18:09:13Z- sync is 1.20, coherence is 2.00 2021-02-10T18:09:13Z- handleDepth()-Depth_Keller msg: 50.85 epoch sec; seqNo:1612980553405; depth 0.00 2021-02-10T18:09:13Z- waiting for 1612980554.40, time is 1612980552.20 2021-02-10T18:09:13Z- sync is 1.20, coherence is 2.00 2021-02-10T18:09:13Z- handleDvl() - RDI_Pathfinder msg: 1612980553.42 epoch sec; seqNo:830 2021-02-10T18:09:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.57 , 41.01 , 38.12 , 37.44 2021-02-10T18:09:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.00 , -0.01 2021-02-10T18:09:13Z- waiting for 1612980554.40, time is 1612980553.42 2021-02-10T18:09:13Z- sync is 0.03, coherence is 2.00 2021-02-10T18:09:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980553.43 epoch sec; seqNo:2053; 4061693.10 north; 594515.97 east 2021-02-10T18:09:13Z- waiting for 1612980554.40, time is 1612980553.42 2021-02-10T18:09:13Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:13Z- AHRS_M2 msg: 1612980553.80 epoch sec; seqNo:2043 2021-02-10T18:09:13Z- AHRS_M2 msg: 1.47 phi; 0.02 theta; -0.16 psi 2021-02-10T18:09:13Z- waiting for 1612980554.40, time is 1612980553.42 2021-02-10T18:09:13Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:13Z- handleDepth()-Depth_Keller msg: 50.85 epoch sec; seqNo:1612980553813; depth 0.00 2021-02-10T18:09:13Z- waiting for 1612980554.40, time is 1612980553.42 2021-02-10T18:09:13Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980553.82 epoch sec; seqNo:2054; 4061693.12 north; 594517.19 east 2021-02-10T18:09:13Z- waiting for 1612980554.40, time is 1612980553.42 2021-02-10T18:09:13Z- sync is 0.40, coherence is 2.00 2021-02-10T18:09:14Z- AHRS_M2 msg: 1612980554.20 epoch sec; seqNo:2044 2021-02-10T18:09:14Z- AHRS_M2 msg: 1.47 phi; 0.02 theta; -0.16 psi 2021-02-10T18:09:14Z- waiting for 1612980554.40, time is 1612980553.42 2021-02-10T18:09:14Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:14Z- handleDepth()-Depth_Keller msg: 50.85 epoch sec; seqNo:1612980554219; depth 0.00 2021-02-10T18:09:14Z- waiting for 1612980554.40, time is 1612980553.42 2021-02-10T18:09:14Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:14Z- handleDvl() - RDI_Pathfinder msg: 1612980554.23 epoch sec; seqNo:831 2021-02-10T18:09:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.57 , 41.01 , 38.29 , 37.44 2021-02-10T18:09:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.01 , 0.00 2021-02-10T18:09:14Z- waiting for 1612980554.40, time is 1612980554.23 2021-02-10T18:09:14Z- sync is 0.03, coherence is 2.00 2021-02-10T18:09:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980554.24 epoch sec; seqNo:2055; 4061693.12 north; 594517.19 east 2021-02-10T18:09:14Z- waiting for 1612980554.40, time is 1612980554.23 2021-02-10T18:09:14Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:14Z- AHRS_M2 msg: 1612980554.61 epoch sec; seqNo:2045 2021-02-10T18:09:14Z- AHRS_M2 msg: 1.47 phi; 0.03 theta; -0.16 psi 2021-02-10T18:09:14Z- waiting for 1612980554.40, time is 1612980554.23 2021-02-10T18:09:14Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:14Z- handleDepth()-Depth_Keller msg: 50.84 epoch sec; seqNo:1612980554612; depth 0.00 2021-02-10T18:09:14Z- waiting for 1612980554.40, time is 1612980554.23 2021-02-10T18:09:14Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980554.62 epoch sec; seqNo:2056; 4061693.12 north; 594517.19 east 2021-02-10T18:09:14Z- waiting for 1612980554.40, time is 1612980554.23 2021-02-10T18:09:14Z- sync is 0.39, coherence is 2.00 2021-02-10T18:09:15Z- AHRS_M2 msg: 1612980555.01 epoch sec; seqNo:2046 2021-02-10T18:09:15Z- AHRS_M2 msg: 1.47 phi; 0.03 theta; -0.16 psi 2021-02-10T18:09:15Z- waiting for 1612980554.40, time is 1612980554.23 2021-02-10T18:09:15Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:15Z- handleDepth()-Depth_Keller msg: 50.83 epoch sec; seqNo:1612980555017; depth 0.00 2021-02-10T18:09:15Z- waiting for 1612980554.40, time is 1612980554.23 2021-02-10T18:09:15Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980555.03 epoch sec; seqNo:2057; 4061693.13 north; 594518.41 east 2021-02-10T18:09:15Z- waiting for 1612980554.40, time is 1612980554.23 2021-02-10T18:09:15Z- sync is 0.80, coherence is 2.00 2021-02-10T18:09:15Z- AHRS_M2 msg: 1612980555.41 epoch sec; seqNo:2047 2021-02-10T18:09:15Z- AHRS_M2 msg: 1.47 phi; 0.03 theta; -0.16 psi 2021-02-10T18:09:15Z- waiting for 1612980554.40, time is 1612980554.23 2021-02-10T18:09:15Z- sync is 1.18, coherence is 2.00 2021-02-10T18:09:15Z- handleDepth()-Depth_Keller msg: 50.83 epoch sec; seqNo:1612980555425; depth 0.00 2021-02-10T18:09:15Z- waiting for 1612980554.40, time is 1612980554.23 2021-02-10T18:09:15Z- sync is 1.18, coherence is 2.00 2021-02-10T18:09:15Z- handleDvl() - RDI_Pathfinder msg: 1612980555.44 epoch sec; seqNo:832 2021-02-10T18:09:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.57 , 41.01 , 38.29 , 37.27 2021-02-10T18:09:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.00 , 0.01 2021-02-10T18:09:15Z- waiting for 1612980554.40, time is 1612980555.44 2021-02-10T18:09:15Z- sync is 0.03, coherence is 2.00 2021-02-10T18:09:15Z- LcmTrn::updateTrn() >>>> pose time 1612980555.41, meas time 1612980555.44 <<<< 2021-02-10T18:09:15Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980555.44 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:09:15Z- TerrainNav::motionUpdate() - currEstimate = (4061693, 594518.41, 50.83) 2021-02-10T18:09:15Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:09:15Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:09:15Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:09:15Z- TNavBF::mmse selected from filter -1 2021-02-10T18:09:15Z- variances([0], [2], and psi_berg) = 783.550249 833.072940 0.000000 2021-02-10T18:09:15Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:09:15Z- LcmTrn::cycle() - MLE : 4061668.63 594471.91 50.83 2021-02-10T18:09:15Z- LcmTrn::cycle() - MMSE : 4061693.13 594518.41 50.83 2021-02-10T18:09:15Z- LcmTrn::cycle() - COVAR: 783.55 833.07 60.83 0.00 2021-02-10T18:09:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980555.45 epoch sec; seqNo:2058; 4061693.13 north; 594518.41 east 2021-02-10T18:09:15Z- waiting for 1612980558.44, time is 1612980555.44 2021-02-10T18:09:15Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:15Z- AHRS_M2 msg: 1612980555.82 epoch sec; seqNo:2048 2021-02-10T18:09:15Z- AHRS_M2 msg: 1.47 phi; 0.03 theta; -0.16 psi 2021-02-10T18:09:15Z- waiting for 1612980558.44, time is 1612980555.44 2021-02-10T18:09:15Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:15Z- handleDepth()-Depth_Keller msg: 50.82 epoch sec; seqNo:1612980555828; depth 0.00 2021-02-10T18:09:15Z- waiting for 1612980558.44, time is 1612980555.44 2021-02-10T18:09:15Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980555.84 epoch sec; seqNo:2059; 4061693.13 north; 594518.41 east 2021-02-10T18:09:15Z- waiting for 1612980558.44, time is 1612980555.44 2021-02-10T18:09:15Z- sync is 0.40, coherence is 2.00 2021-02-10T18:09:16Z- AHRS_M2 msg: 1612980556.23 epoch sec; seqNo:2049 2021-02-10T18:09:16Z- AHRS_M2 msg: 1.47 phi; 0.03 theta; -0.16 psi 2021-02-10T18:09:16Z- waiting for 1612980558.44, time is 1612980555.44 2021-02-10T18:09:16Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:16Z- handleDepth()-Depth_Keller msg: 50.82 epoch sec; seqNo:1612980556233; depth 0.00 2021-02-10T18:09:16Z- waiting for 1612980558.44, time is 1612980555.44 2021-02-10T18:09:16Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:16Z- handleDvl() - RDI_Pathfinder msg: 1612980556.24 epoch sec; seqNo:833 2021-02-10T18:09:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.57 , 41.35 , 38.46 , 37.61 2021-02-10T18:09:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.00 , 0.03 2021-02-10T18:09:16Z- waiting for 1612980558.44, time is 1612980556.24 2021-02-10T18:09:16Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980556.25 epoch sec; seqNo:2060; 4061693.14 north; 594519.63 east 2021-02-10T18:09:16Z- waiting for 1612980558.44, time is 1612980556.24 2021-02-10T18:09:16Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:16Z- AHRS_M2 msg: 1612980556.63 epoch sec; seqNo:2050 2021-02-10T18:09:16Z- AHRS_M2 msg: 1.47 phi; 0.03 theta; -0.16 psi 2021-02-10T18:09:16Z- waiting for 1612980558.44, time is 1612980556.24 2021-02-10T18:09:16Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:16Z- handleDepth()-Depth_Keller msg: 50.81 epoch sec; seqNo:1612980556641; depth 0.00 2021-02-10T18:09:16Z- waiting for 1612980558.44, time is 1612980556.24 2021-02-10T18:09:16Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980556.65 epoch sec; seqNo:2061; 4061693.14 north; 594519.63 east 2021-02-10T18:09:16Z- waiting for 1612980558.44, time is 1612980556.24 2021-02-10T18:09:16Z- sync is 0.41, coherence is 2.00 2021-02-10T18:09:17Z- AHRS_M2 msg: 1612980557.03 epoch sec; seqNo:2051 2021-02-10T18:09:17Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.16 psi 2021-02-10T18:09:17Z- waiting for 1612980558.44, time is 1612980556.24 2021-02-10T18:09:17Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:17Z- handleDepth()-Depth_Keller msg: 50.81 epoch sec; seqNo:1612980557036; depth 0.00 2021-02-10T18:09:17Z- waiting for 1612980558.44, time is 1612980556.24 2021-02-10T18:09:17Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980557.06 epoch sec; seqNo:2062; 4061693.14 north; 594519.63 east 2021-02-10T18:09:17Z- waiting for 1612980558.44, time is 1612980556.24 2021-02-10T18:09:17Z- sync is 0.82, coherence is 2.00 2021-02-10T18:09:17Z- AHRS_M2 msg: 1612980557.44 epoch sec; seqNo:2052 2021-02-10T18:09:17Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.16 psi 2021-02-10T18:09:17Z- waiting for 1612980558.44, time is 1612980556.24 2021-02-10T18:09:17Z- sync is 1.19, coherence is 2.00 2021-02-10T18:09:17Z- handleDepth()-Depth_Keller msg: 50.80 epoch sec; seqNo:1612980557440; depth 0.00 2021-02-10T18:09:17Z- waiting for 1612980558.44, time is 1612980556.24 2021-02-10T18:09:17Z- sync is 1.19, coherence is 2.00 2021-02-10T18:09:17Z- handleDvl() - RDI_Pathfinder msg: 1612980557.45 epoch sec; seqNo:834 2021-02-10T18:09:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 41.18 , 38.56 , 37.44 2021-02-10T18:09:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.02 , 0.03 2021-02-10T18:09:17Z- waiting for 1612980558.44, time is 1612980557.45 2021-02-10T18:09:17Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980557.46 epoch sec; seqNo:2063; 4061693.14 north; 594519.63 east 2021-02-10T18:09:17Z- waiting for 1612980558.44, time is 1612980557.45 2021-02-10T18:09:17Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:17Z- AHRS_M2 msg: 1612980557.84 epoch sec; seqNo:2053 2021-02-10T18:09:17Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.16 psi 2021-02-10T18:09:17Z- waiting for 1612980558.44, time is 1612980557.45 2021-02-10T18:09:17Z- sync is 0.39, coherence is 2.00 2021-02-10T18:09:17Z- handleDepth()-Depth_Keller msg: 50.80 epoch sec; seqNo:1612980557846; depth 0.00 2021-02-10T18:09:17Z- waiting for 1612980558.44, time is 1612980557.45 2021-02-10T18:09:17Z- sync is 0.39, coherence is 2.00 2021-02-10T18:09:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980557.86 epoch sec; seqNo:2064; 4061693.16 north; 594520.85 east 2021-02-10T18:09:17Z- waiting for 1612980558.44, time is 1612980557.45 2021-02-10T18:09:17Z- sync is 0.41, coherence is 2.00 2021-02-10T18:09:18Z- AHRS_M2 msg: 1612980558.24 epoch sec; seqNo:2054 2021-02-10T18:09:18Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.16 psi 2021-02-10T18:09:18Z- waiting for 1612980558.44, time is 1612980557.45 2021-02-10T18:09:18Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:18Z- handleDepth()-Depth_Keller msg: 50.81 epoch sec; seqNo:1612980558261; depth 0.00 2021-02-10T18:09:18Z- waiting for 1612980558.44, time is 1612980557.45 2021-02-10T18:09:18Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:18Z- handleDvl() - RDI_Pathfinder msg: 1612980558.27 epoch sec; seqNo:835 2021-02-10T18:09:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 41.37 , 38.94 , 37.44 2021-02-10T18:09:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.00 , 0.03 2021-02-10T18:09:18Z- waiting for 1612980558.44, time is 1612980558.27 2021-02-10T18:09:18Z- sync is 0.03, coherence is 2.00 2021-02-10T18:09:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980558.28 epoch sec; seqNo:2065; 4061693.54 north; 594520.85 east 2021-02-10T18:09:18Z- waiting for 1612980558.44, time is 1612980558.27 2021-02-10T18:09:18Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:18Z- AHRS_M2 msg: 1612980558.65 epoch sec; seqNo:2055 2021-02-10T18:09:18Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.16 psi 2021-02-10T18:09:18Z- waiting for 1612980558.44, time is 1612980558.27 2021-02-10T18:09:18Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:18Z- handleDepth()-Depth_Keller msg: 50.78 epoch sec; seqNo:1612980558661; depth 0.00 2021-02-10T18:09:18Z- waiting for 1612980558.44, time is 1612980558.27 2021-02-10T18:09:18Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980558.67 epoch sec; seqNo:2066; 4061693.54 north; 594520.85 east 2021-02-10T18:09:18Z- waiting for 1612980558.44, time is 1612980558.27 2021-02-10T18:09:18Z- sync is 0.40, coherence is 2.00 2021-02-10T18:09:19Z- AHRS_M2 msg: 1612980559.06 epoch sec; seqNo:2056 2021-02-10T18:09:19Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.16 psi 2021-02-10T18:09:19Z- waiting for 1612980558.44, time is 1612980558.27 2021-02-10T18:09:19Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:19Z- handleDepth()-Depth_Keller msg: 50.77 epoch sec; seqNo:1612980559060; depth 0.00 2021-02-10T18:09:19Z- waiting for 1612980558.44, time is 1612980558.27 2021-02-10T18:09:19Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980559.10 epoch sec; seqNo:2067; 4061693.55 north; 594522.07 east 2021-02-10T18:09:19Z- waiting for 1612980558.44, time is 1612980558.27 2021-02-10T18:09:19Z- sync is 0.83, coherence is 2.00 2021-02-10T18:09:19Z- AHRS_M2 msg: 1612980559.46 epoch sec; seqNo:2057 2021-02-10T18:09:19Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.16 psi 2021-02-10T18:09:19Z- waiting for 1612980558.44, time is 1612980558.27 2021-02-10T18:09:19Z- sync is 1.18, coherence is 2.00 2021-02-10T18:09:19Z- handleDepth()-Depth_Keller msg: 50.76 epoch sec; seqNo:1612980559460; depth 0.00 2021-02-10T18:09:19Z- waiting for 1612980558.44, time is 1612980558.27 2021-02-10T18:09:19Z- sync is 1.18, coherence is 2.00 2021-02-10T18:09:19Z- handleDvl() - RDI_Pathfinder msg: 1612980559.47 epoch sec; seqNo:836 2021-02-10T18:09:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 41.37 , 38.75 , 37.44 2021-02-10T18:09:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.01 , 0.02 2021-02-10T18:09:19Z- waiting for 1612980558.44, time is 1612980559.47 2021-02-10T18:09:19Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:19Z- LcmTrn::updateTrn() >>>> pose time 1612980559.46, meas time 1612980559.47 <<<< 2021-02-10T18:09:19Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980559.47 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:09:19Z- TerrainNav::motionUpdate() - currEstimate = (4061694, 594522.07, 50.76) 2021-02-10T18:09:19Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:09:19Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:09:19Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:09:19Z- TNavBF::mmse selected from filter -1 2021-02-10T18:09:19Z- variances([0], [2], and psi_berg) = 783.394491 833.072701 0.000000 2021-02-10T18:09:19Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:09:19Z- LcmTrn::cycle() - MLE : 4061669.05 594475.57 50.76 2021-02-10T18:09:19Z- LcmTrn::cycle() - MMSE : 4061693.55 594522.07 50.76 2021-02-10T18:09:19Z- LcmTrn::cycle() - COVAR: 783.39 833.07 61.02 0.00 2021-02-10T18:09:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980559.49 epoch sec; seqNo:2068; 4061693.55 north; 594522.07 east 2021-02-10T18:09:19Z- waiting for 1612980562.47, time is 1612980559.47 2021-02-10T18:09:19Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:19Z- AHRS_M2 msg: 1612980559.86 epoch sec; seqNo:2058 2021-02-10T18:09:19Z- AHRS_M2 msg: 1.47 phi; 0.05 theta; -0.16 psi 2021-02-10T18:09:19Z- waiting for 1612980562.47, time is 1612980559.47 2021-02-10T18:09:19Z- sync is 0.39, coherence is 2.00 2021-02-10T18:09:19Z- handleDepth()-Depth_Keller msg: 50.76 epoch sec; seqNo:1612980559869; depth 0.00 2021-02-10T18:09:19Z- waiting for 1612980562.47, time is 1612980559.47 2021-02-10T18:09:19Z- sync is 0.39, coherence is 2.00 2021-02-10T18:09:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980559.88 epoch sec; seqNo:2069; 4061693.55 north; 594522.07 east 2021-02-10T18:09:19Z- waiting for 1612980562.47, time is 1612980559.47 2021-02-10T18:09:19Z- sync is 0.41, coherence is 2.00 2021-02-10T18:09:20Z- AHRS_M2 msg: 1612980560.27 epoch sec; seqNo:2059 2021-02-10T18:09:20Z- AHRS_M2 msg: 1.47 phi; 0.05 theta; -0.16 psi 2021-02-10T18:09:20Z- waiting for 1612980562.47, time is 1612980559.47 2021-02-10T18:09:20Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:20Z- handleDepth()-Depth_Keller msg: 50.76 epoch sec; seqNo:1612980560270; depth 0.00 2021-02-10T18:09:20Z- waiting for 1612980562.47, time is 1612980559.47 2021-02-10T18:09:20Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:20Z- handleDvl() - RDI_Pathfinder msg: 1612980560.28 epoch sec; seqNo:837 2021-02-10T18:09:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 41.37 , 38.94 , 37.63 2021-02-10T18:09:20Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.02 , 0.01 2021-02-10T18:09:20Z- waiting for 1612980562.47, time is 1612980560.28 2021-02-10T18:09:20Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980560.29 epoch sec; seqNo:2070; 4061693.56 north; 594523.29 east 2021-02-10T18:09:20Z- waiting for 1612980562.47, time is 1612980560.28 2021-02-10T18:09:20Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:20Z- AHRS_M2 msg: 1612980560.67 epoch sec; seqNo:2060 2021-02-10T18:09:20Z- AHRS_M2 msg: 1.47 phi; 0.05 theta; -0.16 psi 2021-02-10T18:09:20Z- waiting for 1612980562.47, time is 1612980560.28 2021-02-10T18:09:20Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:20Z- handleDepth()-Depth_Keller msg: 50.75 epoch sec; seqNo:1612980560682; depth 0.00 2021-02-10T18:09:20Z- waiting for 1612980562.47, time is 1612980560.28 2021-02-10T18:09:20Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980560.69 epoch sec; seqNo:2071; 4061693.56 north; 594523.29 east 2021-02-10T18:09:20Z- waiting for 1612980562.47, time is 1612980560.28 2021-02-10T18:09:20Z- sync is 0.41, coherence is 2.00 2021-02-10T18:09:21Z- AHRS_M2 msg: 1612980561.09 epoch sec; seqNo:2061 2021-02-10T18:09:21Z- AHRS_M2 msg: 1.47 phi; 0.05 theta; -0.16 psi 2021-02-10T18:09:21Z- waiting for 1612980562.47, time is 1612980560.28 2021-02-10T18:09:21Z- sync is 0.81, coherence is 2.00 2021-02-10T18:09:21Z- handleDepth()-Depth_Keller msg: 50.74 epoch sec; seqNo:1612980561109; depth 0.00 2021-02-10T18:09:21Z- waiting for 1612980562.47, time is 1612980560.28 2021-02-10T18:09:21Z- sync is 0.81, coherence is 2.00 2021-02-10T18:09:21Z- handleDvl() - RDI_Pathfinder msg: 1612980561.12 epoch sec; seqNo:838 2021-02-10T18:09:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 41.56 , 39.12 , 37.44 2021-02-10T18:09:21Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.04 , -0.00 2021-02-10T18:09:21Z- waiting for 1612980562.47, time is 1612980561.12 2021-02-10T18:09:21Z- sync is 0.03, coherence is 2.00 2021-02-10T18:09:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980561.13 epoch sec; seqNo:2072; 4061693.56 north; 594523.29 east 2021-02-10T18:09:21Z- waiting for 1612980562.47, time is 1612980561.12 2021-02-10T18:09:21Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:21Z- AHRS_M2 msg: 1612980561.48 epoch sec; seqNo:2062 2021-02-10T18:09:21Z- AHRS_M2 msg: 1.47 phi; 0.05 theta; -0.16 psi 2021-02-10T18:09:21Z- waiting for 1612980562.47, time is 1612980561.12 2021-02-10T18:09:21Z- sync is 0.36, coherence is 2.00 2021-02-10T18:09:21Z- handleDepth()-Depth_Keller msg: 50.72 epoch sec; seqNo:1612980561486; depth 0.00 2021-02-10T18:09:21Z- waiting for 1612980562.47, time is 1612980561.12 2021-02-10T18:09:21Z- sync is 0.36, coherence is 2.00 2021-02-10T18:09:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980561.50 epoch sec; seqNo:2073; 4061693.58 north; 594524.51 east 2021-02-10T18:09:21Z- waiting for 1612980562.47, time is 1612980561.12 2021-02-10T18:09:21Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:21Z- AHRS_M2 msg: 1612980561.88 epoch sec; seqNo:2063 2021-02-10T18:09:21Z- AHRS_M2 msg: 1.48 phi; 0.05 theta; -0.16 psi 2021-02-10T18:09:21Z- waiting for 1612980562.47, time is 1612980561.12 2021-02-10T18:09:21Z- sync is 0.76, coherence is 2.00 2021-02-10T18:09:21Z- handleDepth()-Depth_Keller msg: 50.70 epoch sec; seqNo:1612980561886; depth 0.00 2021-02-10T18:09:21Z- waiting for 1612980562.47, time is 1612980561.12 2021-02-10T18:09:21Z- sync is 0.76, coherence is 2.00 2021-02-10T18:09:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980561.89 epoch sec; seqNo:2074; 4061693.58 north; 594524.51 east 2021-02-10T18:09:21Z- waiting for 1612980562.47, time is 1612980561.12 2021-02-10T18:09:21Z- sync is 0.77, coherence is 2.00 2021-02-10T18:09:22Z- AHRS_M2 msg: 1612980562.28 epoch sec; seqNo:2064 2021-02-10T18:09:22Z- AHRS_M2 msg: 1.48 phi; 0.05 theta; -0.16 psi 2021-02-10T18:09:22Z- waiting for 1612980562.47, time is 1612980561.12 2021-02-10T18:09:22Z- sync is 1.16, coherence is 2.00 2021-02-10T18:09:22Z- handleDepth()-Depth_Keller msg: 50.70 epoch sec; seqNo:1612980562294; depth 0.00 2021-02-10T18:09:22Z- waiting for 1612980562.47, time is 1612980561.12 2021-02-10T18:09:22Z- sync is 1.16, coherence is 2.00 2021-02-10T18:09:22Z- handleDvl() - RDI_Pathfinder msg: 1612980562.32 epoch sec; seqNo:839 2021-02-10T18:09:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.94 , 41.37 , 39.31 , 37.44 2021-02-10T18:09:22Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.03 , -0.02 2021-02-10T18:09:22Z- waiting for 1612980562.47, time is 1612980562.32 2021-02-10T18:09:22Z- sync is 0.03, coherence is 2.00 2021-02-10T18:09:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980562.33 epoch sec; seqNo:2075; 4061693.58 north; 594524.51 east 2021-02-10T18:09:22Z- waiting for 1612980562.47, time is 1612980562.32 2021-02-10T18:09:22Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:22Z- AHRS_M2 msg: 1612980562.69 epoch sec; seqNo:2065 2021-02-10T18:09:22Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.16 psi 2021-02-10T18:09:22Z- waiting for 1612980562.47, time is 1612980562.32 2021-02-10T18:09:22Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:22Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1612980562705; depth 0.00 2021-02-10T18:09:22Z- waiting for 1612980562.47, time is 1612980562.32 2021-02-10T18:09:22Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980562.71 epoch sec; seqNo:2076; 4061693.59 north; 594525.73 east 2021-02-10T18:09:22Z- waiting for 1612980562.47, time is 1612980562.32 2021-02-10T18:09:22Z- sync is 0.40, coherence is 2.00 2021-02-10T18:09:23Z- AHRS_M2 msg: 1612980563.11 epoch sec; seqNo:2066 2021-02-10T18:09:23Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.16 psi 2021-02-10T18:09:23Z- waiting for 1612980562.47, time is 1612980562.32 2021-02-10T18:09:23Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:23Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1612980563114; depth 0.00 2021-02-10T18:09:23Z- waiting for 1612980562.47, time is 1612980562.32 2021-02-10T18:09:23Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:23Z- handleDvl() - RDI_Pathfinder msg: 1612980563.13 epoch sec; seqNo:840 2021-02-10T18:09:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.94 , 41.56 , 39.31 , 37.44 2021-02-10T18:09:23Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.03 , -0.04 2021-02-10T18:09:23Z- waiting for 1612980562.47, time is 1612980563.13 2021-02-10T18:09:23Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:23Z- LcmTrn::updateTrn() >>>> pose time 1612980563.11, meas time 1612980563.13 <<<< 2021-02-10T18:09:23Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980563.13 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:09:23Z- TerrainNav::motionUpdate() - currEstimate = (4061694, 594525.73, 50.66) 2021-02-10T18:09:23Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:09:23Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:09:23Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:09:23Z- TNavBF::mmse selected from filter -1 2021-02-10T18:09:23Z- variances([0], [2], and psi_berg) = 783.239580 833.072464 0.000000 2021-02-10T18:09:23Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:09:23Z- LcmTrn::cycle() - MLE : 4061669.09 594479.23 50.66 2021-02-10T18:09:23Z- LcmTrn::cycle() - MMSE : 4061693.59 594525.73 50.66 2021-02-10T18:09:23Z- LcmTrn::cycle() - COVAR: 783.24 833.07 61.20 0.00 2021-02-10T18:09:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980563.14 epoch sec; seqNo:2077; 4061693.97 north; 594525.73 east 2021-02-10T18:09:23Z- waiting for 1612980566.13, time is 1612980563.13 2021-02-10T18:09:23Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:23Z- AHRS_M2 msg: 1612980563.50 epoch sec; seqNo:2067 2021-02-10T18:09:23Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.16 psi 2021-02-10T18:09:23Z- waiting for 1612980566.13, time is 1612980563.13 2021-02-10T18:09:23Z- sync is 0.37, coherence is 2.00 2021-02-10T18:09:23Z- handleDepth()-Depth_Keller msg: 50.63 epoch sec; seqNo:1612980563500; depth 0.00 2021-02-10T18:09:23Z- waiting for 1612980566.13, time is 1612980563.13 2021-02-10T18:09:23Z- sync is 0.37, coherence is 2.00 2021-02-10T18:09:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980563.52 epoch sec; seqNo:2078; 4061693.97 north; 594525.73 east 2021-02-10T18:09:23Z- waiting for 1612980566.13, time is 1612980563.13 2021-02-10T18:09:23Z- sync is 0.39, coherence is 2.00 2021-02-10T18:09:23Z- AHRS_M2 msg: 1612980563.90 epoch sec; seqNo:2068 2021-02-10T18:09:23Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.15 psi 2021-02-10T18:09:23Z- waiting for 1612980566.13, time is 1612980563.13 2021-02-10T18:09:23Z- sync is 0.77, coherence is 2.00 2021-02-10T18:09:23Z- handleDepth()-Depth_Keller msg: 50.60 epoch sec; seqNo:1612980563904; depth 0.00 2021-02-10T18:09:23Z- waiting for 1612980566.13, time is 1612980563.13 2021-02-10T18:09:23Z- sync is 0.77, coherence is 2.00 2021-02-10T18:09:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980563.91 epoch sec; seqNo:2079; 4061693.98 north; 594526.95 east 2021-02-10T18:09:23Z- waiting for 1612980566.13, time is 1612980563.13 2021-02-10T18:09:23Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:24Z- AHRS_M2 msg: 1612980564.30 epoch sec; seqNo:2069 2021-02-10T18:09:24Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.15 psi 2021-02-10T18:09:24Z- waiting for 1612980566.13, time is 1612980563.13 2021-02-10T18:09:24Z- sync is 1.18, coherence is 2.00 2021-02-10T18:09:24Z- handleDepth()-Depth_Keller msg: 50.60 epoch sec; seqNo:1612980564315; depth 0.00 2021-02-10T18:09:24Z- waiting for 1612980566.13, time is 1612980563.13 2021-02-10T18:09:24Z- sync is 1.18, coherence is 2.00 2021-02-10T18:09:24Z- handleDvl() - RDI_Pathfinder msg: 1612980564.33 epoch sec; seqNo:841 2021-02-10T18:09:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 41.37 , 39.31 , 37.44 2021-02-10T18:09:24Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.03 , -0.04 2021-02-10T18:09:24Z- waiting for 1612980566.13, time is 1612980564.33 2021-02-10T18:09:24Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980564.34 epoch sec; seqNo:2080; 4061693.98 north; 594526.95 east 2021-02-10T18:09:24Z- waiting for 1612980566.13, time is 1612980564.33 2021-02-10T18:09:24Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:24Z- AHRS_M2 msg: 1612980564.71 epoch sec; seqNo:2070 2021-02-10T18:09:24Z- AHRS_M2 msg: 1.49 phi; 0.06 theta; -0.15 psi 2021-02-10T18:09:24Z- waiting for 1612980566.13, time is 1612980564.33 2021-02-10T18:09:24Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:24Z- handleDepth()-Depth_Keller msg: 50.57 epoch sec; seqNo:1612980564717; depth 0.00 2021-02-10T18:09:24Z- waiting for 1612980566.13, time is 1612980564.33 2021-02-10T18:09:24Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980564.73 epoch sec; seqNo:2081; 4061693.98 north; 594526.95 east 2021-02-10T18:09:24Z- waiting for 1612980566.13, time is 1612980564.33 2021-02-10T18:09:24Z- sync is 0.41, coherence is 2.00 2021-02-10T18:09:25Z- AHRS_M2 msg: 1612980565.12 epoch sec; seqNo:2071 2021-02-10T18:09:25Z- AHRS_M2 msg: 1.49 phi; 0.06 theta; -0.15 psi 2021-02-10T18:09:25Z- waiting for 1612980566.13, time is 1612980564.33 2021-02-10T18:09:25Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:25Z- handleDepth()-Depth_Keller msg: 50.54 epoch sec; seqNo:1612980565119; depth 0.00 2021-02-10T18:09:25Z- waiting for 1612980566.13, time is 1612980564.33 2021-02-10T18:09:25Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:25Z- handleDvl() - RDI_Pathfinder msg: 1612980565.13 epoch sec; seqNo:842 2021-02-10T18:09:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 41.56 , 39.31 , 37.44 2021-02-10T18:09:25Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.03 , -0.04 2021-02-10T18:09:25Z- waiting for 1612980566.13, time is 1612980565.13 2021-02-10T18:09:25Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980565.16 epoch sec; seqNo:2082; 4061694.00 north; 594528.17 east 2021-02-10T18:09:25Z- waiting for 1612980566.13, time is 1612980565.13 2021-02-10T18:09:25Z- sync is 0.03, coherence is 2.00 2021-02-10T18:09:25Z- AHRS_M2 msg: 1612980565.52 epoch sec; seqNo:2072 2021-02-10T18:09:25Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.15 psi 2021-02-10T18:09:25Z- waiting for 1612980566.13, time is 1612980565.13 2021-02-10T18:09:25Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:25Z- handleDepth()-Depth_Keller msg: 50.52 epoch sec; seqNo:1612980565520; depth 0.00 2021-02-10T18:09:25Z- waiting for 1612980566.13, time is 1612980565.13 2021-02-10T18:09:25Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980565.53 epoch sec; seqNo:2083; 4061694.00 north; 594528.17 east 2021-02-10T18:09:25Z- waiting for 1612980566.13, time is 1612980565.13 2021-02-10T18:09:25Z- sync is 0.40, coherence is 2.00 2021-02-10T18:09:25Z- AHRS_M2 msg: 1612980565.92 epoch sec; seqNo:2073 2021-02-10T18:09:25Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.16 psi 2021-02-10T18:09:25Z- waiting for 1612980566.13, time is 1612980565.13 2021-02-10T18:09:25Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:25Z- handleDepth()-Depth_Keller msg: 50.51 epoch sec; seqNo:1612980565926; depth 0.00 2021-02-10T18:09:25Z- waiting for 1612980566.13, time is 1612980565.13 2021-02-10T18:09:25Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980565.93 epoch sec; seqNo:2084; 4061694.00 north; 594528.17 east 2021-02-10T18:09:25Z- waiting for 1612980566.13, time is 1612980565.13 2021-02-10T18:09:25Z- sync is 0.80, coherence is 2.00 2021-02-10T18:09:26Z- AHRS_M2 msg: 1612980566.32 epoch sec; seqNo:2074 2021-02-10T18:09:26Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.16 psi 2021-02-10T18:09:26Z- waiting for 1612980566.13, time is 1612980565.13 2021-02-10T18:09:26Z- sync is 1.19, coherence is 2.00 2021-02-10T18:09:26Z- handleDepth()-Depth_Keller msg: 50.48 epoch sec; seqNo:1612980566328; depth 0.00 2021-02-10T18:09:26Z- waiting for 1612980566.13, time is 1612980565.13 2021-02-10T18:09:26Z- sync is 1.19, coherence is 2.00 2021-02-10T18:09:26Z- handleDvl() - RDI_Pathfinder msg: 1612980566.35 epoch sec; seqNo:843 2021-02-10T18:09:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.94 , 41.56 , 39.50 , 37.25 2021-02-10T18:09:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.03 , -0.03 2021-02-10T18:09:26Z- waiting for 1612980566.13, time is 1612980566.35 2021-02-10T18:09:26Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:26Z- LcmTrn::updateTrn() >>>> pose time 1612980566.32, meas time 1612980566.35 <<<< 2021-02-10T18:09:26Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980566.35 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:09:26Z- TerrainNav::motionUpdate() - currEstimate = (4061694, 594528.17, 50.48) 2021-02-10T18:09:26Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:09:26Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:09:26Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:09:26Z- TNavBF::mmse selected from filter -1 2021-02-10T18:09:26Z- variances([0], [2], and psi_berg) = 783.112694 833.072271 0.000000 2021-02-10T18:09:26Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:09:26Z- LcmTrn::cycle() - MLE : 4061669.50 594481.67 50.48 2021-02-10T18:09:26Z- LcmTrn::cycle() - MMSE : 4061694.00 594528.17 50.48 2021-02-10T18:09:26Z- LcmTrn::cycle() - COVAR: 783.11 833.07 61.33 0.00 2021-02-10T18:09:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980566.36 epoch sec; seqNo:2085; 4061694.01 north; 594529.39 east 2021-02-10T18:09:26Z- waiting for 1612980569.35, time is 1612980566.35 2021-02-10T18:09:26Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:26Z- AHRS_M2 msg: 1612980566.73 epoch sec; seqNo:2075 2021-02-10T18:09:26Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.16 psi 2021-02-10T18:09:26Z- waiting for 1612980569.35, time is 1612980566.35 2021-02-10T18:09:26Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:26Z- handleDepth()-Depth_Keller msg: 50.46 epoch sec; seqNo:1612980566732; depth 0.00 2021-02-10T18:09:26Z- waiting for 1612980569.35, time is 1612980566.35 2021-02-10T18:09:26Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980566.74 epoch sec; seqNo:2086; 4061694.01 north; 594529.39 east 2021-02-10T18:09:26Z- waiting for 1612980569.35, time is 1612980566.35 2021-02-10T18:09:26Z- sync is 0.40, coherence is 2.00 2021-02-10T18:09:27Z- AHRS_M2 msg: 1612980567.14 epoch sec; seqNo:2076 2021-02-10T18:09:27Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.16 psi 2021-02-10T18:09:27Z- waiting for 1612980569.35, time is 1612980566.35 2021-02-10T18:09:27Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:27Z- handleDepth()-Depth_Keller msg: 50.43 epoch sec; seqNo:1612980567141; depth 0.00 2021-02-10T18:09:27Z- waiting for 1612980569.35, time is 1612980566.35 2021-02-10T18:09:27Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:27Z- handleDvl() - RDI_Pathfinder msg: 1612980567.15 epoch sec; seqNo:844 2021-02-10T18:09:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.94 , 41.56 , 39.50 , 37.44 2021-02-10T18:09:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.03 , -0.02 2021-02-10T18:09:27Z- waiting for 1612980569.35, time is 1612980567.15 2021-02-10T18:09:27Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980567.16 epoch sec; seqNo:2087; 4061694.01 north; 594529.39 east 2021-02-10T18:09:27Z- waiting for 1612980569.35, time is 1612980567.15 2021-02-10T18:09:27Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:27Z- AHRS_M2 msg: 1612980567.54 epoch sec; seqNo:2077 2021-02-10T18:09:27Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.16 psi 2021-02-10T18:09:27Z- waiting for 1612980569.35, time is 1612980567.15 2021-02-10T18:09:27Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:27Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1612980567548; depth 0.00 2021-02-10T18:09:27Z- waiting for 1612980569.35, time is 1612980567.15 2021-02-10T18:09:27Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980567.56 epoch sec; seqNo:2088; 4061694.02 north; 594530.61 east 2021-02-10T18:09:27Z- waiting for 1612980569.35, time is 1612980567.15 2021-02-10T18:09:27Z- sync is 0.41, coherence is 2.00 2021-02-10T18:09:27Z- AHRS_M2 msg: 1612980567.94 epoch sec; seqNo:2078 2021-02-10T18:09:27Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.17 psi 2021-02-10T18:09:27Z- waiting for 1612980569.35, time is 1612980567.15 2021-02-10T18:09:27Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:27Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1612980567949; depth 0.00 2021-02-10T18:09:27Z- waiting for 1612980569.35, time is 1612980567.15 2021-02-10T18:09:27Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980567.97 epoch sec; seqNo:2089; 4061694.02 north; 594530.61 east 2021-02-10T18:09:27Z- waiting for 1612980569.35, time is 1612980567.15 2021-02-10T18:09:27Z- sync is 0.82, coherence is 2.00 2021-02-10T18:09:28Z- AHRS_M2 msg: 1612980568.34 epoch sec; seqNo:2079 2021-02-10T18:09:28Z- AHRS_M2 msg: 1.48 phi; 0.06 theta; -0.17 psi 2021-02-10T18:09:28Z- waiting for 1612980569.35, time is 1612980567.15 2021-02-10T18:09:28Z- sync is 1.19, coherence is 2.00 2021-02-10T18:09:28Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1612980568348; depth 0.00 2021-02-10T18:09:28Z- waiting for 1612980569.35, time is 1612980567.15 2021-02-10T18:09:28Z- sync is 1.19, coherence is 2.00 2021-02-10T18:09:28Z- handleDvl() - RDI_Pathfinder msg: 1612980568.39 epoch sec; seqNo:845 2021-02-10T18:09:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.75 , 41.74 , 39.69 , 37.63 2021-02-10T18:09:28Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.02 , -0.00 2021-02-10T18:09:28Z- waiting for 1612980569.35, time is 1612980568.39 2021-02-10T18:09:28Z- sync is 0.04, coherence is 2.00 2021-02-10T18:09:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980568.40 epoch sec; seqNo:2090; 4061694.02 north; 594530.61 east 2021-02-10T18:09:28Z- waiting for 1612980569.35, time is 1612980568.39 2021-02-10T18:09:28Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:28Z- AHRS_M2 msg: 1612980568.75 epoch sec; seqNo:2080 2021-02-10T18:09:28Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.17 psi 2021-02-10T18:09:28Z- waiting for 1612980569.35, time is 1612980568.39 2021-02-10T18:09:28Z- sync is 0.36, coherence is 2.00 2021-02-10T18:09:28Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1612980568757; depth 0.00 2021-02-10T18:09:28Z- waiting for 1612980569.35, time is 1612980568.39 2021-02-10T18:09:28Z- sync is 0.36, coherence is 2.00 2021-02-10T18:09:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980568.77 epoch sec; seqNo:2091; 4061694.04 north; 594531.83 east 2021-02-10T18:09:28Z- waiting for 1612980569.35, time is 1612980568.39 2021-02-10T18:09:28Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:29Z- AHRS_M2 msg: 1612980569.15 epoch sec; seqNo:2081 2021-02-10T18:09:29Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.17 psi 2021-02-10T18:09:29Z- waiting for 1612980569.35, time is 1612980568.39 2021-02-10T18:09:29Z- sync is 0.76, coherence is 2.00 2021-02-10T18:09:29Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1612980569158; depth 0.00 2021-02-10T18:09:29Z- waiting for 1612980569.35, time is 1612980568.39 2021-02-10T18:09:29Z- sync is 0.76, coherence is 2.00 2021-02-10T18:09:29Z- handleDvl() - RDI_Pathfinder msg: 1612980569.17 epoch sec; seqNo:846 2021-02-10T18:09:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.94 , 42.12 , 39.50 , 37.44 2021-02-10T18:09:29Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.01 , 0.00 2021-02-10T18:09:29Z- waiting for 1612980569.35, time is 1612980569.17 2021-02-10T18:09:29Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980569.18 epoch sec; seqNo:2092; 4061694.42 north; 594531.82 east 2021-02-10T18:09:29Z- waiting for 1612980569.35, time is 1612980569.17 2021-02-10T18:09:29Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:29Z- AHRS_M2 msg: 1612980569.56 epoch sec; seqNo:2082 2021-02-10T18:09:29Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.17 psi 2021-02-10T18:09:29Z- waiting for 1612980569.35, time is 1612980569.17 2021-02-10T18:09:29Z- sync is 0.39, coherence is 2.00 2021-02-10T18:09:29Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1612980569560; depth 0.00 2021-02-10T18:09:29Z- waiting for 1612980569.35, time is 1612980569.17 2021-02-10T18:09:29Z- sync is 0.39, coherence is 2.00 2021-02-10T18:09:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980569.58 epoch sec; seqNo:2093; 4061694.42 north; 594531.82 east 2021-02-10T18:09:29Z- waiting for 1612980569.35, time is 1612980569.17 2021-02-10T18:09:29Z- sync is 0.41, coherence is 2.00 2021-02-10T18:09:29Z- AHRS_M2 msg: 1612980569.96 epoch sec; seqNo:2083 2021-02-10T18:09:29Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.17 psi 2021-02-10T18:09:29Z- waiting for 1612980569.35, time is 1612980569.17 2021-02-10T18:09:29Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:29Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1612980569964; depth 0.00 2021-02-10T18:09:29Z- waiting for 1612980569.35, time is 1612980569.17 2021-02-10T18:09:29Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980569.97 epoch sec; seqNo:2094; 4061694.43 north; 594533.04 east 2021-02-10T18:09:29Z- waiting for 1612980569.35, time is 1612980569.17 2021-02-10T18:09:29Z- sync is 0.80, coherence is 2.00 2021-02-10T18:09:30Z- AHRS_M2 msg: 1612980570.36 epoch sec; seqNo:2084 2021-02-10T18:09:30Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.17 psi 2021-02-10T18:09:30Z- waiting for 1612980569.35, time is 1612980569.17 2021-02-10T18:09:30Z- sync is 1.20, coherence is 2.00 2021-02-10T18:09:30Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1612980570368; depth 0.00 2021-02-10T18:09:30Z- waiting for 1612980569.35, time is 1612980569.17 2021-02-10T18:09:30Z- sync is 1.20, coherence is 2.00 2021-02-10T18:09:30Z- handleDvl() - RDI_Pathfinder msg: 1612980570.38 epoch sec; seqNo:847 2021-02-10T18:09:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.94 , 41.93 , 39.69 , 37.44 2021-02-10T18:09:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.01 , 0.01 2021-02-10T18:09:30Z- waiting for 1612980569.35, time is 1612980570.38 2021-02-10T18:09:30Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:30Z- LcmTrn::updateTrn() >>>> pose time 1612980570.36, meas time 1612980570.38 <<<< 2021-02-10T18:09:30Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980570.38 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:09:30Z- TerrainNav::motionUpdate() - currEstimate = (4061694, 594533.04, 50.23) 2021-02-10T18:09:30Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:09:30Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:09:30Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:09:30Z- TNavBF::mmse selected from filter -1 2021-02-10T18:09:30Z- variances([0], [2], and psi_berg) = 782.934445 833.072000 0.000000 2021-02-10T18:09:30Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:09:30Z- LcmTrn::cycle() - MLE : 4061669.93 594487.54 50.23 2021-02-10T18:09:30Z- LcmTrn::cycle() - MMSE : 4061694.43 594533.04 50.23 2021-02-10T18:09:30Z- LcmTrn::cycle() - COVAR: 782.93 833.07 61.58 0.00 2021-02-10T18:09:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980570.39 epoch sec; seqNo:2095; 4061694.43 north; 594533.04 east 2021-02-10T18:09:30Z- waiting for 1612980573.38, time is 1612980570.38 2021-02-10T18:09:30Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:30Z- AHRS_M2 msg: 1612980570.77 epoch sec; seqNo:2085 2021-02-10T18:09:30Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.17 psi 2021-02-10T18:09:30Z- waiting for 1612980573.38, time is 1612980570.38 2021-02-10T18:09:30Z- sync is 0.39, coherence is 2.00 2021-02-10T18:09:30Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1612980570783; depth 0.00 2021-02-10T18:09:30Z- waiting for 1612980573.38, time is 1612980570.38 2021-02-10T18:09:30Z- sync is 0.39, coherence is 2.00 2021-02-10T18:09:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980570.80 epoch sec; seqNo:2096; 4061694.43 north; 594533.04 east 2021-02-10T18:09:30Z- waiting for 1612980573.38, time is 1612980570.38 2021-02-10T18:09:30Z- sync is 0.42, coherence is 2.00 2021-02-10T18:09:31Z- AHRS_M2 msg: 1612980571.17 epoch sec; seqNo:2086 2021-02-10T18:09:31Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.17 psi 2021-02-10T18:09:31Z- waiting for 1612980573.38, time is 1612980570.38 2021-02-10T18:09:31Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:31Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1612980571181; depth 0.00 2021-02-10T18:09:31Z- waiting for 1612980573.38, time is 1612980570.38 2021-02-10T18:09:31Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:31Z- handleDvl() - RDI_Pathfinder msg: 1612980571.20 epoch sec; seqNo:848 2021-02-10T18:09:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.94 , 41.93 , 39.69 , 37.44 2021-02-10T18:09:31Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.01 , 0.01 2021-02-10T18:09:31Z- waiting for 1612980573.38, time is 1612980571.20 2021-02-10T18:09:31Z- sync is 0.03, coherence is 2.00 2021-02-10T18:09:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980571.21 epoch sec; seqNo:2097; 4061694.44 north; 594534.26 east 2021-02-10T18:09:31Z- waiting for 1612980573.38, time is 1612980571.20 2021-02-10T18:09:31Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:31Z- AHRS_M2 msg: 1612980571.58 epoch sec; seqNo:2087 2021-02-10T18:09:31Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.17 psi 2021-02-10T18:09:31Z- waiting for 1612980573.38, time is 1612980571.20 2021-02-10T18:09:31Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:31Z- handleDepth()-Depth_Keller msg: 50.17 epoch sec; seqNo:1612980571580; depth 0.00 2021-02-10T18:09:31Z- waiting for 1612980573.38, time is 1612980571.20 2021-02-10T18:09:31Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980571.59 epoch sec; seqNo:2098; 4061694.44 north; 594534.26 east 2021-02-10T18:09:31Z- waiting for 1612980573.38, time is 1612980571.20 2021-02-10T18:09:31Z- sync is 0.39, coherence is 2.00 2021-02-10T18:09:31Z- AHRS_M2 msg: 1612980571.98 epoch sec; seqNo:2088 2021-02-10T18:09:31Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.17 psi 2021-02-10T18:09:31Z- waiting for 1612980573.38, time is 1612980571.20 2021-02-10T18:09:31Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:31Z- handleDepth()-Depth_Keller msg: 50.16 epoch sec; seqNo:1612980571985; depth 0.00 2021-02-10T18:09:31Z- waiting for 1612980573.38, time is 1612980571.20 2021-02-10T18:09:31Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980571.99 epoch sec; seqNo:2099; 4061694.44 north; 594534.26 east 2021-02-10T18:09:31Z- waiting for 1612980573.38, time is 1612980571.20 2021-02-10T18:09:31Z- sync is 0.80, coherence is 2.00 2021-02-10T18:09:32Z- AHRS_M2 msg: 1612980572.38 epoch sec; seqNo:2089 2021-02-10T18:09:32Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.17 psi 2021-02-10T18:09:32Z- waiting for 1612980573.38, time is 1612980571.20 2021-02-10T18:09:32Z- sync is 1.18, coherence is 2.00 2021-02-10T18:09:32Z- handleDepth()-Depth_Keller msg: 50.13 epoch sec; seqNo:1612980572397; depth 0.00 2021-02-10T18:09:32Z- waiting for 1612980573.38, time is 1612980571.20 2021-02-10T18:09:32Z- sync is 1.18, coherence is 2.00 2021-02-10T18:09:32Z- handleDvl() - RDI_Pathfinder msg: 1612980572.41 epoch sec; seqNo:849 2021-02-10T18:09:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.94 , 41.93 , 39.69 , 37.44 2021-02-10T18:09:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.01 , 0.00 2021-02-10T18:09:32Z- waiting for 1612980573.38, time is 1612980572.41 2021-02-10T18:09:32Z- sync is 0.03, coherence is 2.00 2021-02-10T18:09:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980572.42 epoch sec; seqNo:2100; 4061694.46 north; 594535.48 east 2021-02-10T18:09:32Z- waiting for 1612980573.38, time is 1612980572.41 2021-02-10T18:09:32Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:32Z- AHRS_M2 msg: 1612980572.79 epoch sec; seqNo:2090 2021-02-10T18:09:32Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.16 psi 2021-02-10T18:09:32Z- waiting for 1612980573.38, time is 1612980572.41 2021-02-10T18:09:32Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:32Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1612980572792; depth 0.00 2021-02-10T18:09:32Z- waiting for 1612980573.38, time is 1612980572.41 2021-02-10T18:09:32Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980572.82 epoch sec; seqNo:2101; 4061694.46 north; 594535.48 east 2021-02-10T18:09:32Z- waiting for 1612980573.38, time is 1612980572.41 2021-02-10T18:09:32Z- sync is 0.41, coherence is 2.00 2021-02-10T18:09:33Z- AHRS_M2 msg: 1612980573.19 epoch sec; seqNo:2091 2021-02-10T18:09:33Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.16 psi 2021-02-10T18:09:33Z- waiting for 1612980573.38, time is 1612980572.41 2021-02-10T18:09:33Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:33Z- handleDepth()-Depth_Keller msg: 50.08 epoch sec; seqNo:1612980573196; depth 0.00 2021-02-10T18:09:33Z- waiting for 1612980573.38, time is 1612980572.41 2021-02-10T18:09:33Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:33Z- handleDvl() - RDI_Pathfinder msg: 1612980573.21 epoch sec; seqNo:850 2021-02-10T18:09:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.13 , 42.12 , 39.87 , 37.63 2021-02-10T18:09:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.00 , -0.00 2021-02-10T18:09:33Z- waiting for 1612980573.38, time is 1612980573.21 2021-02-10T18:09:33Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980573.23 epoch sec; seqNo:2102; 4061694.46 north; 594535.48 east 2021-02-10T18:09:33Z- waiting for 1612980573.38, time is 1612980573.21 2021-02-10T18:09:33Z- sync is 0.03, coherence is 2.00 2021-02-10T18:09:33Z- AHRS_M2 msg: 1612980573.60 epoch sec; seqNo:2092 2021-02-10T18:09:33Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.16 psi 2021-02-10T18:09:33Z- waiting for 1612980573.38, time is 1612980573.21 2021-02-10T18:09:33Z- sync is 0.39, coherence is 2.00 2021-02-10T18:09:33Z- handleDepth()-Depth_Keller msg: 50.07 epoch sec; seqNo:1612980573600; depth 0.00 2021-02-10T18:09:33Z- waiting for 1612980573.38, time is 1612980573.21 2021-02-10T18:09:33Z- sync is 0.39, coherence is 2.00 2021-02-10T18:09:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980573.61 epoch sec; seqNo:2103; 4061694.47 north; 594536.71 east 2021-02-10T18:09:33Z- waiting for 1612980573.38, time is 1612980573.21 2021-02-10T18:09:33Z- sync is 0.40, coherence is 2.00 2021-02-10T18:09:34Z- AHRS_M2 msg: 1612980574.00 epoch sec; seqNo:2093 2021-02-10T18:09:34Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.16 psi 2021-02-10T18:09:34Z- waiting for 1612980573.38, time is 1612980573.21 2021-02-10T18:09:34Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:34Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1612980574006; depth 0.00 2021-02-10T18:09:34Z- waiting for 1612980573.38, time is 1612980573.21 2021-02-10T18:09:34Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980574.01 epoch sec; seqNo:2104; 4061694.85 north; 594536.70 east 2021-02-10T18:09:34Z- waiting for 1612980573.38, time is 1612980573.21 2021-02-10T18:09:34Z- sync is 0.81, coherence is 2.00 2021-02-10T18:09:34Z- AHRS_M2 msg: 1612980574.40 epoch sec; seqNo:2094 2021-02-10T18:09:34Z- AHRS_M2 msg: 1.48 phi; 0.07 theta; -0.16 psi 2021-02-10T18:09:34Z- waiting for 1612980573.38, time is 1612980573.21 2021-02-10T18:09:34Z- sync is 1.20, coherence is 2.00 2021-02-10T18:09:34Z- handleDepth()-Depth_Keller msg: 50.01 epoch sec; seqNo:1612980574413; depth 0.00 2021-02-10T18:09:34Z- waiting for 1612980573.38, time is 1612980573.21 2021-02-10T18:09:34Z- sync is 1.20, coherence is 2.00 2021-02-10T18:09:34Z- handleDvl() - RDI_Pathfinder msg: 1612980574.43 epoch sec; seqNo:851 2021-02-10T18:09:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.13 , 41.93 , 39.69 , 37.63 2021-02-10T18:09:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.01 , -0.01 2021-02-10T18:09:34Z- waiting for 1612980573.38, time is 1612980574.43 2021-02-10T18:09:34Z- sync is 0.03, coherence is 2.00 2021-02-10T18:09:34Z- LcmTrn::updateTrn() >>>> pose time 1612980574.40, meas time 1612980574.43 <<<< 2021-02-10T18:09:34Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1612980574.43 sec, ping # 0; waiting for more recent INS data... 2021-02-10T18:09:34Z- TerrainNav::motionUpdate() - currEstimate = (4061695, 594536.70, 50.01) 2021-02-10T18:09:34Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-02-10T18:09:34Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-02-10T18:09:34Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-02-10T18:09:34Z- TNavBF::mmse selected from filter -1 2021-02-10T18:09:34Z- variances([0], [2], and psi_berg) = 782.780389 833.071766 0.000000 2021-02-10T18:09:34Z- LcmTrn::cycle() - reinits:0 filterstate:0 2021-02-10T18:09:34Z- LcmTrn::cycle() - MLE : 4061670.35 594491.20 50.01 2021-02-10T18:09:34Z- LcmTrn::cycle() - MMSE : 4061694.85 594536.70 50.01 2021-02-10T18:09:34Z- LcmTrn::cycle() - COVAR: 782.78 833.07 61.76 0.00 2021-02-10T18:09:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980574.44 epoch sec; seqNo:2105; 4061694.85 north; 594536.70 east 2021-02-10T18:09:34Z- waiting for 1612980577.43, time is 1612980574.43 2021-02-10T18:09:34Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:34Z- AHRS_M2 msg: 1612980574.81 epoch sec; seqNo:2095 2021-02-10T18:09:34Z- AHRS_M2 msg: 1.49 phi; 0.07 theta; -0.16 psi 2021-02-10T18:09:34Z- waiting for 1612980577.43, time is 1612980574.43 2021-02-10T18:09:34Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:34Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1612980574813; depth 0.00 2021-02-10T18:09:34Z- waiting for 1612980577.43, time is 1612980574.43 2021-02-10T18:09:34Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980574.82 epoch sec; seqNo:2106; 4061694.85 north; 594536.70 east 2021-02-10T18:09:34Z- waiting for 1612980577.43, time is 1612980574.43 2021-02-10T18:09:34Z- sync is 0.39, coherence is 2.00 2021-02-10T18:09:35Z- AHRS_M2 msg: 1612980575.21 epoch sec; seqNo:2096 2021-02-10T18:09:35Z- AHRS_M2 msg: 1.49 phi; 0.07 theta; -0.16 psi 2021-02-10T18:09:35Z- waiting for 1612980577.43, time is 1612980574.43 2021-02-10T18:09:35Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:35Z- handleDepth()-Depth_Keller msg: 49.96 epoch sec; seqNo:1612980575221; depth 0.00 2021-02-10T18:09:35Z- waiting for 1612980577.43, time is 1612980574.43 2021-02-10T18:09:35Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:35Z- handleDvl() - RDI_Pathfinder msg: 1612980575.23 epoch sec; seqNo:852 2021-02-10T18:09:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.13 , 42.12 , 39.87 , 37.81 2021-02-10T18:09:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.02 , -0.02 2021-02-10T18:09:35Z- waiting for 1612980577.43, time is 1612980575.23 2021-02-10T18:09:35Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980575.24 epoch sec; seqNo:2107; 4061694.86 north; 594537.92 east 2021-02-10T18:09:35Z- waiting for 1612980577.43, time is 1612980575.23 2021-02-10T18:09:35Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:35Z- AHRS_M2 msg: 1612980575.62 epoch sec; seqNo:2097 2021-02-10T18:09:35Z- AHRS_M2 msg: 1.49 phi; 0.07 theta; -0.17 psi 2021-02-10T18:09:35Z- waiting for 1612980577.43, time is 1612980575.23 2021-02-10T18:09:35Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:35Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1612980575629; depth 0.00 2021-02-10T18:09:35Z- waiting for 1612980577.43, time is 1612980575.23 2021-02-10T18:09:35Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980575.64 epoch sec; seqNo:2108; 4061694.86 north; 594537.92 east 2021-02-10T18:09:35Z- waiting for 1612980577.43, time is 1612980575.23 2021-02-10T18:09:35Z- sync is 0.41, coherence is 2.00 2021-02-10T18:09:36Z- AHRS_M2 msg: 1612980576.02 epoch sec; seqNo:2098 2021-02-10T18:09:36Z- AHRS_M2 msg: 1.49 phi; 0.07 theta; -0.17 psi 2021-02-10T18:09:36Z- waiting for 1612980577.43, time is 1612980575.23 2021-02-10T18:09:36Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:36Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1612980576025; depth 0.00 2021-02-10T18:09:36Z- waiting for 1612980577.43, time is 1612980575.23 2021-02-10T18:09:36Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980576.05 epoch sec; seqNo:2109; 4061694.86 north; 594537.92 east 2021-02-10T18:09:36Z- waiting for 1612980577.43, time is 1612980575.23 2021-02-10T18:09:36Z- sync is 0.81, coherence is 2.00 2021-02-10T18:09:36Z- AHRS_M2 msg: 1612980576.42 epoch sec; seqNo:2099 2021-02-10T18:09:36Z- AHRS_M2 msg: 1.49 phi; 0.06 theta; -0.17 psi 2021-02-10T18:09:36Z- waiting for 1612980577.43, time is 1612980575.23 2021-02-10T18:09:36Z- sync is 1.19, coherence is 2.00 2021-02-10T18:09:36Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1612980576428; depth 0.00 2021-02-10T18:09:36Z- waiting for 1612980577.43, time is 1612980575.23 2021-02-10T18:09:36Z- sync is 1.19, coherence is 2.00 2021-02-10T18:09:36Z- handleDvl() - RDI_Pathfinder msg: 1612980576.44 epoch sec; seqNo:853 2021-02-10T18:09:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.13 , 42.12 , 39.69 , 37.81 2021-02-10T18:09:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , -0.02 2021-02-10T18:09:36Z- waiting for 1612980577.43, time is 1612980576.44 2021-02-10T18:09:36Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980576.45 epoch sec; seqNo:2110; 4061694.88 north; 594539.14 east 2021-02-10T18:09:36Z- waiting for 1612980577.43, time is 1612980576.44 2021-02-10T18:09:36Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:36Z- AHRS_M2 msg: 1612980576.83 epoch sec; seqNo:2100 2021-02-10T18:09:36Z- AHRS_M2 msg: 1.49 phi; 0.06 theta; -0.17 psi 2021-02-10T18:09:36Z- waiting for 1612980577.43, time is 1612980576.44 2021-02-10T18:09:36Z- sync is 0.39, coherence is 2.00 2021-02-10T18:09:36Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1612980576841; depth 0.00 2021-02-10T18:09:36Z- waiting for 1612980577.43, time is 1612980576.44 2021-02-10T18:09:36Z- sync is 0.39, coherence is 2.00 2021-02-10T18:09:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980576.85 epoch sec; seqNo:2111; 4061694.88 north; 594539.14 east 2021-02-10T18:09:36Z- waiting for 1612980577.43, time is 1612980576.44 2021-02-10T18:09:36Z- sync is 0.41, coherence is 2.00 2021-02-10T18:09:37Z- AHRS_M2 msg: 1612980577.23 epoch sec; seqNo:2101 2021-02-10T18:09:37Z- AHRS_M2 msg: 1.49 phi; 0.06 theta; -0.17 psi 2021-02-10T18:09:37Z- waiting for 1612980577.43, time is 1612980576.44 2021-02-10T18:09:37Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:37Z- handleDepth()-Depth_Keller msg: 49.86 epoch sec; seqNo:1612980577241; depth 0.00 2021-02-10T18:09:37Z- waiting for 1612980577.43, time is 1612980576.44 2021-02-10T18:09:37Z- sync is 0.79, coherence is 2.00 2021-02-10T18:09:37Z- handleDvl() - RDI_Pathfinder msg: 1612980577.26 epoch sec; seqNo:854 2021-02-10T18:09:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.32 , 42.12 , 39.69 , 38.00 2021-02-10T18:09:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.03 , -0.02 2021-02-10T18:09:37Z- waiting for 1612980577.43, time is 1612980577.26 2021-02-10T18:09:37Z- sync is 0.03, coherence is 2.00 2021-02-10T18:09:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980577.27 epoch sec; seqNo:2112; 4061694.88 north; 594539.14 east 2021-02-10T18:09:37Z- waiting for 1612980577.43, time is 1612980577.26 2021-02-10T18:09:37Z- sync is 0.01, coherence is 2.00 2021-02-10T18:09:37Z- AHRS_M2 msg: 1612980577.64 epoch sec; seqNo:2102 2021-02-10T18:09:37Z- AHRS_M2 msg: 1.49 phi; 0.06 theta; -0.17 psi 2021-02-10T18:09:37Z- waiting for 1612980577.43, time is 1612980577.26 2021-02-10T18:09:37Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:37Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1612980577645; depth 0.00 2021-02-10T18:09:37Z- waiting for 1612980577.43, time is 1612980577.26 2021-02-10T18:09:37Z- sync is 0.38, coherence is 2.00 2021-02-10T18:09:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980577.66 epoch sec; seqNo:2113; 4061694.89 north; 594540.36 east 2021-02-10T18:09:37Z- waiting for 1612980577.43, time is 1612980577.26 2021-02-10T18:09:37Z- sync is 0.40, coherence is 2.00 2021-02-10T18:09:38Z- AHRS_M2 msg: 1612980578.04 epoch sec; seqNo:2103 2021-02-10T18:09:38Z- AHRS_M2 msg: 1.49 phi; 0.06 theta; -0.17 psi 2021-02-10T18:09:38Z- waiting for 1612980577.43, time is 1612980577.26 2021-02-10T18:09:38Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:38Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1612980578044; depth 0.00 2021-02-10T18:09:38Z- waiting for 1612980577.43, time is 1612980577.26 2021-02-10T18:09:38Z- sync is 0.78, coherence is 2.00 2021-02-10T18:09:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1612980578.06 epoch sec; seqNo:2114; 4061694.89 north; 594540.36 east 2021-02-10T18:09:38Z- waiting for 1612980577.43, time is 1612980577.26 2021-02-10T18:09:38Z- sync is 0.80, coherence is 2.00 2021-02-10T18:09:38Z- AHRS_M2 msg: 1612980578.44 epoch sec; seqNo:2104 2021-02-10T18:09:38Z- AHRS_M2 msg: 1.49 phi; 0.06 theta; -0.17 psi 2021-02-10T18:09:38Z- waiting for 1612980577.43, time is 1612980577.26 2021-02-10T18:09:38Z- sync is 1.18, coherence is 2.00 2021-02-10T18:09:38Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1612980578449; depth 0.00 2021-02-10T18:09:38Z- waiting for 1612980577.43, time is 1612980577.26 2021-02-10T18:09:38Z- sync is 1.18, coherence is 2.00 2021-02-10T18:09:38Z- handleDvl() - RDI_Pathfinder msg: 1612980578.46 epoch sec; seqNo:855 2021-02-10T18:09:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.13 , 42.31 , 39.50 , 38.00 2021-02-10T18:09:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.03 , -0.00 2021-02-10T18:09:38Z- waiting for 1612980577.43, time is 1612980578.46 2021-02-10T18:09:38Z- sync is 0.02, coherence is 2.00 2021-02-10T18:09:38Z- LcmTrn::updateTrn() >>>> pose time 1612980578.44, meas time 1612980578.46 <<<<