2021-10-09T23:42:51Z* LcmTrn::LcmTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-09T23:42:51Z* LcmTrn::init() - using configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-09T23:42:51Z* ahrs config: AHRS_M2, platform_orientation, platform_pitch_angle, platform_roll_angle 2021-10-09T23:42:51Z* dvl config: RDI_Pathfinder, Beam1Range, Beam2Range, Beam3Range, Beam4Range, BottomVelocityFlag 2021-10-09T23:42:51Z* nav config: DeadReckonUsingMultipleVelocitySources, latitude, longitude 2021-10-09T23:42:51Z* depth config: Depth_Keller, depth, sea_water_pressure 2021-10-09T23:42:51Z* trn config: TRN, trn_mle, trn_mmse, trn_var, trn_reinits, trn_filterstate 2021-10-09T23:42:51Z* LCM timeout=5.00 sec 2021-10-09T23:42:51Z* TRN settings: 2021-10-09T23:42:51Z* period=3.00 sec 2021-10-09T23:42:51Z* coherence=2.00 sec 2021-10-09T23:42:51Z* map = PortTiles cfg = mappingAUV_specs.cfg part= particles.cfg logdir= lrauv 2021-10-09T23:42:51Z* maptype = 2 filtertype = 3 weighting = 0 2021-10-09T23:42:51Z* lowgrade_filter = 1 allow reinit = 1 2021-10-09T23:42:51Z* cmd_estimate = cmd_estimate cmd_reinit = cmd_reinit 2021-10-09T23:42:51Z* LcmTrn::initTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-09T23:42:51Z* LcmTrn::initTrn() - map: /home/tethysadmin/Downloads/trnmaps/PortTiles 2021-10-09T23:42:51Z* LcmTrn::initTrn() - cfg: /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-09T23:42:51Z* LcmTrn::initTrn() - part: /home/tethysadmin/Downloads/trncfgs/particles.cfg 2021-10-09T23:42:51Z* TerrainMapOctree::tileDataName = /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv 2021-10-09T23:42:51Z* TerrainMapOctree::numTiles_ = 9. 2021-10-09T23:42:51Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo 4061250.0 594250.0 . 2021-10-09T23:42:51Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile2.bo 4061250.0 594750.0 . 2021-10-09T23:42:51Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile3.bo 4061250.0 595250.0 . 2021-10-09T23:42:51Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo 4061750.0 594250.0 . 2021-10-09T23:42:51Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile5.bo 4061750.0 594750.0 . 2021-10-09T23:42:51Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile6.bo 4061750.0 595250.0 . 2021-10-09T23:42:51Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile7.bo 4062250.0 594250.0 . 2021-10-09T23:42:51Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile8.bo 4062250.0 594750.0 . 2021-10-09T23:42:51Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile9.bo 4062250.0 595250.0 . 2021-10-09T23:42:51Z* TerrainMapOctree::loaded 9 useable tiles from /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv. 2021-10-09T23:42:51Z* TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo took 0.494073 seconds. 2021-10-09T23:42:51Z* TRN log directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.52 2021-10-09T23:42:51Z* symlink /home/tethysadmin/Downloads/trnlogs/latestTRN to /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.52 OK 2021-10-09T23:42:51Z* parseSensorSpecs parsing sensor of type 1. 2021-10-09T23:42:51Z* Sensor 0 is of type 1. 2021-10-09T23:42:51Z* parseSensorSpecs parsing sensor of type 2. 2021-10-09T23:42:51Z* Sensor 1 is of type 2. 2021-10-09T23:42:51Z* parseSensorSpecs parsing sensor of type 5. 2021-10-09T23:42:51Z* Sensor 2 is of type 5. 2021-10-09T23:42:52Z- File created[/home/tethysadmin/Downloads/trnlogs/latestTRN/trn.log.0000] returned[0x5575c6a8d0] 2021-10-09T23:42:52Z- TNavConfig::setParticlesFile: value is now particles.cfg 2021-10-09T23:42:52Z- TNavConfig::setMapFile: value is now /home/tethysadmin/Downloads/trnmaps/PortTiles 2021-10-09T23:42:52Z- TNavConfig::setVehicleSpecsFile: value is now /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-09T23:42:52Z- TNavConfig::setParticlesFile: value is now /home/tethysadmin/Downloads/trncfgs/particles.cfg 2021-10-09T23:42:52Z- TNavConfig::setLogDir: value is now /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.52 2021-10-09T23:42:52Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-09T23:42:52Z- parseSensorSpecs parsing sensor of type 1. 2021-10-09T23:42:52Z- Sensor 0 is of type 1. 2021-10-09T23:42:52Z- parseSensorSpecs parsing sensor of type 2. 2021-10-09T23:42:52Z- Sensor 1 is of type 2. 2021-10-09T23:42:52Z- parseSensorSpecs parsing sensor of type 5. 2021-10-09T23:42:52Z- Sensor 2 is of type 5. 2021-10-09T23:42:52Z- Random noise maker initialized with 1633822972 2021-10-09T23:42:52Z- setDistribToSave(0) 2021-10-09T23:42:52Z- setDistribToSave set to 0 2021-10-09T23:42:52Z- Vehicle name: mappingAUV Number of sensors: 3 2021-10-09T23:42:52Z- Sensor #1: 2021-10-09T23:42:52Z- Sensor name: rdiDVL 2021-10-09T23:42:52Z- Sensor type: 1 2021-10-09T23:42:52Z- Number of beams per measurement: 4 2021-10-09T23:42:52Z- Sensor #1 to vehicle transformation information: 2021-10-09T23:42:52Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-09T23:42:52Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-09T23:42:52Z- 2021-10-09T23:42:52Z- Sensor #2: 2021-10-09T23:42:52Z- Sensor name: resonSeabat8101 2021-10-09T23:42:52Z- Sensor type: 2 2021-10-09T23:42:52Z- Number of beams per measurement: 11 2021-10-09T23:42:52Z- Sensor #2 to vehicle transformation information: 2021-10-09T23:42:52Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-09T23:42:52Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-09T23:42:52Z- 2021-10-09T23:42:52Z- Sensor #3: 2021-10-09T23:42:52Z- Sensor name: imagenexdeltat 2021-10-09T23:42:52Z- Sensor type: 5 2021-10-09T23:42:52Z- Number of beams per measurement: 120 2021-10-09T23:42:52Z- Sensor #3 to vehicle transformation information: 2021-10-09T23:42:52Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-09T23:42:52Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-09T23:42:52Z- 2021-10-09T23:42:52Z- TNavBF::nParticles: 10000 numFilters: 2 PMF Grid Resolution: 1.0 PMF Grid Size: 100 2021-10-09T23:42:52Z- TerrainNav::TNavFilter initialized with type 3 2021-10-09T23:42:52Z- TerrainNav::initVariables finished. 2021-10-09T23:42:52Z- TerrainNav::Constructor finished. 2021-10-09T23:42:52Z- TNavBF::setModifiedWeighting umw: 4 2021-10-09T23:42:52Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20 2021-10-09T23:42:52Z- TNavBF::numFilters: 1 2021-10-09T23:42:52Z- TerrainNav::modified weighting set to 0 2021-10-09T23:42:52Z- LcmTrn::initLcm() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-09T23:42:52Z- LcmTrn::run() 2021-10-09T23:42:52Z- AHRS_M2 msg: 1633822972.09 epoch sec; seqNo:5 2021-10-09T23:42:52Z- AHRS_M2 msg: 0.09 phi; -0.24 theta; 5.41 psi 2021-10-09T23:42:52Z- handleDepth()-Depth_Keller msg: 1633822972100 epoch sec; seqNo:5; depth 0.14 2021-10-09T23:42:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:42:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:42:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:42:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:42:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:42:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:42:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:42:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:42:52Z- handleDvl() - RDI_Pathfinder msg: 1633822972.10 epoch sec; seqNo:3 2021-10-09T23:42:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:42:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.00 , 0.00 , 0.00 2021-10-09T23:42:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822972.11 epoch sec; seqNo:5; 4061379.90 north; 594322.93 east 2021-10-09T23:42:52Z- AHRS_M2 msg: 1633822972.49 epoch sec; seqNo:6 2021-10-09T23:42:52Z- AHRS_M2 msg: 0.03 phi; -0.16 theta; 5.41 psi 2021-10-09T23:42:52Z- handleDepth()-Depth_Keller msg: 1633822972498 epoch sec; seqNo:6; depth 0.13 2021-10-09T23:42:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822972.51 epoch sec; seqNo:6; 4061379.53 north; 594322.93 east 2021-10-09T23:42:52Z- AHRS_M2 msg: 1633822972.90 epoch sec; seqNo:7 2021-10-09T23:42:52Z- AHRS_M2 msg: 0.01 phi; -0.11 theta; 5.46 psi 2021-10-09T23:42:52Z- handleDepth()-Depth_Keller msg: 1633822972904 epoch sec; seqNo:7; depth 0.10 2021-10-09T23:42:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822972.91 epoch sec; seqNo:7; 4061379.53 north; 594322.93 east 2021-10-09T23:42:53Z- AHRS_M2 msg: 1633822973.30 epoch sec; seqNo:8 2021-10-09T23:42:53Z- AHRS_M2 msg: 0.14 phi; -0.11 theta; 5.46 psi 2021-10-09T23:42:53Z- handleDepth()-Depth_Keller msg: 1633822973308 epoch sec; seqNo:8; depth 0.08 2021-10-09T23:42:53Z- handleDvl() - RDI_Pathfinder msg: 1633822973.34 epoch sec; seqNo:4 2021-10-09T23:42:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 98.88 , 92.09 , 86.65 , 104.32 2021-10-09T23:42:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.13 , -0.35 , -0.30 2021-10-09T23:42:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822973.35 epoch sec; seqNo:8; 4061379.53 north; 594322.93 east 2021-10-09T23:42:53Z- AHRS_M2 msg: 1633822973.70 epoch sec; seqNo:9 2021-10-09T23:42:53Z- AHRS_M2 msg: 0.20 phi; -0.12 theta; 5.42 psi 2021-10-09T23:42:53Z- handleDepth()-Depth_Keller msg: 1633822973715 epoch sec; seqNo:9; depth 0.11 2021-10-09T23:42:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822973.74 epoch sec; seqNo:9; 4061379.53 north; 594322.93 east 2021-10-09T23:42:54Z- AHRS_M2 msg: 1633822974.11 epoch sec; seqNo:10 2021-10-09T23:42:54Z- AHRS_M2 msg: 0.13 phi; -0.12 theta; 5.41 psi 2021-10-09T23:42:54Z- handleDepth()-Depth_Keller msg: 1633822974119 epoch sec; seqNo:10; depth 0.10 2021-10-09T23:42:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822974.13 epoch sec; seqNo:10; 4061379.13 north; 594321.71 east 2021-10-09T23:42:54Z- AHRS_M2 msg: 1633822974.51 epoch sec; seqNo:11 2021-10-09T23:42:54Z- AHRS_M2 msg: -0.01 phi; -0.11 theta; 5.43 psi 2021-10-09T23:42:54Z- handleDepth()-Depth_Keller msg: 1633822974532 epoch sec; seqNo:11; depth 0.11 2021-10-09T23:42:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:42:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:42:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:42:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:42:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:42:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:42:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:42:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:42:54Z- handleDvl() - RDI_Pathfinder msg: 1633822974.53 epoch sec; seqNo:5 2021-10-09T23:42:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:42:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.13 , -0.35 , -0.30 2021-10-09T23:42:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822974.54 epoch sec; seqNo:11; 4061379.13 north; 594321.71 east 2021-10-09T23:42:54Z- AHRS_M2 msg: 1633822974.92 epoch sec; seqNo:12 2021-10-09T23:42:54Z- AHRS_M2 msg: -0.12 phi; -0.06 theta; 5.46 psi 2021-10-09T23:42:54Z- handleDepth()-Depth_Keller msg: 1633822974927 epoch sec; seqNo:12; depth 0.08 2021-10-09T23:42:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822974.94 epoch sec; seqNo:12; 4061379.13 north; 594321.71 east 2021-10-09T23:42:55Z- AHRS_M2 msg: 1633822975.32 epoch sec; seqNo:13 2021-10-09T23:42:55Z- AHRS_M2 msg: -0.15 phi; -0.04 theta; 5.44 psi 2021-10-09T23:42:55Z- handleDepth()-Depth_Keller msg: 1633822975332 epoch sec; seqNo:13; depth 0.06 2021-10-09T23:42:55Z- handleDvl() - RDI_Pathfinder msg: 1633822975.36 epoch sec; seqNo:6 2021-10-09T23:42:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.53 , 97.53 , 97.53 , 100.25 2021-10-09T23:42:55Z- handleDvl() - RDI_Pathfinder msg: velocities -0.26 , -0.14 , 0.04 2021-10-09T23:42:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822975.37 epoch sec; seqNo:13; 4061379.13 north; 594321.71 east 2021-10-09T23:42:55Z- AHRS_M2 msg: 1633822975.72 epoch sec; seqNo:14 2021-10-09T23:42:55Z- AHRS_M2 msg: -0.12 phi; -0.02 theta; 5.48 psi 2021-10-09T23:42:55Z- handleDepth()-Depth_Keller msg: 1633822975730 epoch sec; seqNo:14; depth 0.04 2021-10-09T23:42:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:42:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:42:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:42:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:42:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:42:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:42:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:42:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:42:55Z- handleDvl() - RDI_Pathfinder msg: 1633822975.73 epoch sec; seqNo:7 2021-10-09T23:42:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:42:55Z- handleDvl() - RDI_Pathfinder msg: velocities -0.26 , -0.14 , 0.04 2021-10-09T23:42:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822975.75 epoch sec; seqNo:14; 4061379.13 north; 594321.71 east 2021-10-09T23:42:56Z- AHRS_M2 msg: 1633822976.13 epoch sec; seqNo:15 2021-10-09T23:42:56Z- AHRS_M2 msg: 0.01 phi; -0.01 theta; 5.47 psi 2021-10-09T23:42:56Z- handleDepth()-Depth_Keller msg: 1633822976140 epoch sec; seqNo:15; depth 0.06 2021-10-09T23:42:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822976.15 epoch sec; seqNo:15; 4061378.75 north; 594321.72 east 2021-10-09T23:42:56Z- AHRS_M2 msg: 1633822976.53 epoch sec; seqNo:16 2021-10-09T23:42:56Z- AHRS_M2 msg: 0.04 phi; -0.03 theta; 5.44 psi 2021-10-09T23:42:56Z- handleDepth()-Depth_Keller msg: 1633822976539 epoch sec; seqNo:16; depth 0.06 2021-10-09T23:42:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822976.56 epoch sec; seqNo:16; 4061378.75 north; 594321.72 east 2021-10-09T23:42:56Z- AHRS_M2 msg: 1633822976.94 epoch sec; seqNo:17 2021-10-09T23:42:56Z- AHRS_M2 msg: 0.07 phi; -0.00 theta; 5.50 psi 2021-10-09T23:42:56Z- handleDepth()-Depth_Keller msg: 1633822976947 epoch sec; seqNo:17; depth 0.03 2021-10-09T23:42:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:42:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:42:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:42:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:42:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:42:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:42:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:42:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:42:56Z- handleDvl() - RDI_Pathfinder msg: 1633822976.95 epoch sec; seqNo:8 2021-10-09T23:42:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:42:56Z- handleDvl() - RDI_Pathfinder msg: velocities -0.26 , -0.14 , 0.04 2021-10-09T23:42:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822976.96 epoch sec; seqNo:17; 4061378.75 north; 594321.72 east 2021-10-09T23:42:57Z- LcmTrn::handleMessages() - handling 45 messages took 0.68 ms and 132 calls... 2021-10-09T23:42:57Z- waiting for 2.00, time is 1633822976.96 2021-10-09T23:42:57Z- LcmTrn::updateTrn() equating pose 1633822976.96 and meas times 1633822976.96 2021-10-09T23:42:57Z- LcmTrn::updateTrn() >>>> pose time 1633822976.96, meas time 1633822976.96 <<<< 2021-10-09T23:42:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633822976.96, ping # 0. 2021-10-09T23:42:57Z- TerrainNav::Measurement type 1 from time = 1633822976.96 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T23:42:57Z- TerrainNav::motionUpdate() - currEstimate = (4061379, 594321.72, 0.03) 2021-10-09T23:42:57Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T23:42:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:42:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:42:57Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T23:42:57Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T23:42:57Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T23:42:57Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T23:42:57Z- AHRS_M2 msg: 1633822977.34 epoch sec; seqNo:18 2021-10-09T23:42:57Z- AHRS_M2 msg: 0.13 phi; 0.01 theta; 5.54 psi 2021-10-09T23:42:57Z- handleDepth()-Depth_Keller msg: 1633822977351 epoch sec; seqNo:18; depth 0.06 2021-10-09T23:42:57Z- handleDvl() - RDI_Pathfinder msg: 1633822977.37 epoch sec; seqNo:9 2021-10-09T23:42:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.33 , 90.53 , 93.25 , 97.33 2021-10-09T23:42:57Z- handleDvl() - RDI_Pathfinder msg: velocities -0.32 , -0.48 , -0.07 2021-10-09T23:42:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822977.40 epoch sec; seqNo:18; 4061378.38 north; 594321.72 east 2021-10-09T23:42:57Z- AHRS_M2 msg: 1633822977.75 epoch sec; seqNo:19 2021-10-09T23:42:57Z- AHRS_M2 msg: 0.08 phi; -0.03 theta; 5.54 psi 2021-10-09T23:42:57Z- handleDepth()-Depth_Keller msg: 1633822977753 epoch sec; seqNo:19; depth 0.07 2021-10-09T23:42:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822977.77 epoch sec; seqNo:19; 4061378.00 north; 594321.73 east 2021-10-09T23:42:58Z- AHRS_M2 msg: 1633822978.15 epoch sec; seqNo:20 2021-10-09T23:42:58Z- AHRS_M2 msg: -0.03 phi; -0.09 theta; 5.52 psi 2021-10-09T23:42:58Z- handleDepth()-Depth_Keller msg: 1633822978165 epoch sec; seqNo:20; depth 0.06 2021-10-09T23:42:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:42:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:42:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:42:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:42:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:42:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:42:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:42:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:42:58Z- handleDvl() - RDI_Pathfinder msg: 1633822978.17 epoch sec; seqNo:10 2021-10-09T23:42:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:42:58Z- handleDvl() - RDI_Pathfinder msg: velocities -0.32 , -0.48 , -0.07 2021-10-09T23:42:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822978.17 epoch sec; seqNo:20; 4061378.00 north; 594321.73 east 2021-10-09T23:42:58Z- AHRS_M2 msg: 1633822978.55 epoch sec; seqNo:21 2021-10-09T23:42:58Z- AHRS_M2 msg: -0.11 phi; -0.09 theta; 5.52 psi 2021-10-09T23:42:58Z- handleDepth()-Depth_Keller msg: 1633822978557 epoch sec; seqNo:21; depth 0.06 2021-10-09T23:42:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822978.57 epoch sec; seqNo:21; 4061377.62 north; 594321.73 east 2021-10-09T23:42:58Z- AHRS_M2 msg: 1633822978.96 epoch sec; seqNo:22 2021-10-09T23:42:58Z- AHRS_M2 msg: -0.13 phi; -0.01 theta; 5.53 psi 2021-10-09T23:42:58Z- handleDepth()-Depth_Keller msg: 1633822978961 epoch sec; seqNo:22; depth 0.06 2021-10-09T23:42:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822978.97 epoch sec; seqNo:22; 4061377.62 north; 594321.73 east 2021-10-09T23:42:59Z- AHRS_M2 msg: 1633822979.36 epoch sec; seqNo:23 2021-10-09T23:42:59Z- AHRS_M2 msg: -0.13 phi; 0.05 theta; 5.50 psi 2021-10-09T23:42:59Z- handleDepth()-Depth_Keller msg: 1633822979372 epoch sec; seqNo:23; depth 0.05 2021-10-09T23:42:59Z- handleDvl() - RDI_Pathfinder msg: 1633822979.39 epoch sec; seqNo:11 2021-10-09T23:42:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.81 , 96.24 , 90.81 , 100.32 2021-10-09T23:42:59Z- handleDvl() - RDI_Pathfinder msg: velocities -0.01 , -0.05 , -0.09 2021-10-09T23:42:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822979.40 epoch sec; seqNo:23; 4061377.62 north; 594321.73 east 2021-10-09T23:42:59Z- AHRS_M2 msg: 1633822979.77 epoch sec; seqNo:24 2021-10-09T23:42:59Z- AHRS_M2 msg: -0.07 phi; 0.05 theta; 5.51 psi 2021-10-09T23:42:59Z- handleDepth()-Depth_Keller msg: 1633822979781 epoch sec; seqNo:24; depth 0.04 2021-10-09T23:42:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822979.80 epoch sec; seqNo:24; 4061377.62 north; 594321.73 east 2021-10-09T23:43:00Z- AHRS_M2 msg: 1633822980.17 epoch sec; seqNo:25 2021-10-09T23:43:00Z- AHRS_M2 msg: 0.05 phi; -0.04 theta; 5.56 psi 2021-10-09T23:43:00Z- handleDepth()-Depth_Keller msg: 1633822980173 epoch sec; seqNo:25; depth 0.02 2021-10-09T23:43:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822980.18 epoch sec; seqNo:25; 4061377.62 north; 594321.73 east 2021-10-09T23:43:00Z- AHRS_M2 msg: 1633822980.57 epoch sec; seqNo:26 2021-10-09T23:43:00Z- AHRS_M2 msg: 0.17 phi; -0.13 theta; 5.59 psi 2021-10-09T23:43:00Z- handleDepth()-Depth_Keller msg: 1633822980578 epoch sec; seqNo:26; depth 0.05 2021-10-09T23:43:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:00Z- handleDvl() - RDI_Pathfinder msg: 1633822980.58 epoch sec; seqNo:12 2021-10-09T23:43:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:00Z- handleDvl() - RDI_Pathfinder msg: velocities -0.01 , -0.05 , -0.09 2021-10-09T23:43:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822980.59 epoch sec; seqNo:26; 4061377.62 north; 594321.73 east 2021-10-09T23:43:00Z- AHRS_M2 msg: 1633822980.98 epoch sec; seqNo:27 2021-10-09T23:43:00Z- AHRS_M2 msg: 0.21 phi; -0.15 theta; 5.60 psi 2021-10-09T23:43:00Z- handleDepth()-Depth_Keller msg: 1633822980988 epoch sec; seqNo:27; depth 0.07 2021-10-09T23:43:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822981.00 epoch sec; seqNo:27; 4061377.62 north; 594321.73 east 2021-10-09T23:43:01Z- AHRS_M2 msg: 1633822981.38 epoch sec; seqNo:28 2021-10-09T23:43:01Z- AHRS_M2 msg: 0.15 phi; -0.05 theta; 5.62 psi 2021-10-09T23:43:01Z- handleDepth()-Depth_Keller msg: 1633822981397 epoch sec; seqNo:28; depth 0.07 2021-10-09T23:43:01Z- handleDvl() - RDI_Pathfinder msg: 1633822981.42 epoch sec; seqNo:13 2021-10-09T23:43:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 108.47 , 0.00 , 97.60 , 101.67 2021-10-09T23:43:01Z- handleDvl() - RDI_Pathfinder msg: velocities -0.74 , 0.20 , -0.47 2021-10-09T23:43:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822981.43 epoch sec; seqNo:28; 4061377.24 north; 594321.73 east 2021-10-09T23:43:01Z- AHRS_M2 msg: 1633822981.78 epoch sec; seqNo:29 2021-10-09T23:43:01Z- AHRS_M2 msg: 0.04 phi; 0.05 theta; 5.59 psi 2021-10-09T23:43:01Z- handleDepth()-Depth_Keller msg: 1633822981789 epoch sec; seqNo:29; depth 0.08 2021-10-09T23:43:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:01Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:01Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:01Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:01Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:01Z- handleDvl() - RDI_Pathfinder msg: 1633822981.79 epoch sec; seqNo:14 2021-10-09T23:43:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:01Z- handleDvl() - RDI_Pathfinder msg: velocities -0.74 , 0.20 , -0.47 2021-10-09T23:43:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822981.81 epoch sec; seqNo:29; 4061377.25 north; 594322.95 east 2021-10-09T23:43:02Z- LcmTrn::handleMessages() - handling 42 messages took 0.75 ms and 127 calls... 2021-10-09T23:43:02Z- waiting for 1633822979.96, time is 1633822981.81 2021-10-09T23:43:02Z- LcmTrn::updateTrn() equating pose 1633822981.81 and meas times 1633822981.81 2021-10-09T23:43:02Z- LcmTrn::updateTrn() >>>> pose time 1633822981.81, meas time 1633822981.81 <<<< 2021-10-09T23:43:02Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633822981.81, ping # 0. 2021-10-09T23:43:02Z- TerrainNav::Measurement type 1 from time = 1633822981.81 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T23:43:02Z- TerrainNav::motionUpdate() - currEstimate = (4061377, 594322.95, 0.08) 2021-10-09T23:43:02Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T23:43:02Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:02Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:02Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T23:43:02Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T23:43:02Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T23:43:02Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T23:43:02Z- AHRS_M2 msg: 1633822982.19 epoch sec; seqNo:30 2021-10-09T23:43:02Z- AHRS_M2 msg: -0.14 phi; 0.05 theta; 5.56 psi 2021-10-09T23:43:02Z- handleDepth()-Depth_Keller msg: 1633822982199 epoch sec; seqNo:30; depth 0.07 2021-10-09T23:43:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822982.21 epoch sec; seqNo:30; 4061376.87 north; 594322.96 east 2021-10-09T23:43:02Z- AHRS_M2 msg: 1633822982.59 epoch sec; seqNo:31 2021-10-09T23:43:02Z- AHRS_M2 msg: -0.24 phi; -0.01 theta; 5.61 psi 2021-10-09T23:43:02Z- handleDepth()-Depth_Keller msg: 1633822982599 epoch sec; seqNo:31; depth 0.07 2021-10-09T23:43:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822982.61 epoch sec; seqNo:31; 4061376.87 north; 594322.96 east 2021-10-09T23:43:03Z- AHRS_M2 msg: 1633822983.00 epoch sec; seqNo:32 2021-10-09T23:43:03Z- AHRS_M2 msg: -0.18 phi; -0.07 theta; 5.61 psi 2021-10-09T23:43:03Z- handleDepth()-Depth_Keller msg: 1633822983007 epoch sec; seqNo:32; depth 0.08 2021-10-09T23:43:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:03Z- handleDvl() - RDI_Pathfinder msg: 1633822983.02 epoch sec; seqNo:15 2021-10-09T23:43:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:03Z- handleDvl() - RDI_Pathfinder msg: velocities -0.74 , 0.20 , -0.47 2021-10-09T23:43:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822983.02 epoch sec; seqNo:32; 4061376.50 north; 594322.96 east 2021-10-09T23:43:03Z- AHRS_M2 msg: 1633822983.40 epoch sec; seqNo:33 2021-10-09T23:43:03Z- AHRS_M2 msg: -0.08 phi; -0.11 theta; 5.65 psi 2021-10-09T23:43:03Z- handleDepth()-Depth_Keller msg: 1633822983411 epoch sec; seqNo:33; depth 0.07 2021-10-09T23:43:03Z- handleDvl() - RDI_Pathfinder msg: 1633822983.44 epoch sec; seqNo:16 2021-10-09T23:43:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 111.46 , 98.00 , 98.00 2021-10-09T23:43:03Z- handleDvl() - RDI_Pathfinder msg: velocities -0.65 , 0.12 , -0.13 2021-10-09T23:43:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822983.45 epoch sec; seqNo:33; 4061376.50 north; 594322.96 east 2021-10-09T23:43:03Z- AHRS_M2 msg: 1633822983.81 epoch sec; seqNo:34 2021-10-09T23:43:03Z- AHRS_M2 msg: 0.09 phi; -0.12 theta; 5.68 psi 2021-10-09T23:43:03Z- handleDepth()-Depth_Keller msg: 1633822983816 epoch sec; seqNo:34; depth 0.06 2021-10-09T23:43:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822983.83 epoch sec; seqNo:34; 4061376.12 north; 594322.97 east 2021-10-09T23:43:04Z- AHRS_M2 msg: 1633822984.21 epoch sec; seqNo:35 2021-10-09T23:43:04Z- AHRS_M2 msg: 0.18 phi; -0.04 theta; 5.67 psi 2021-10-09T23:43:04Z- handleDepth()-Depth_Keller msg: 1633822984220 epoch sec; seqNo:35; depth 0.08 2021-10-09T23:43:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:04Z- handleDvl() - RDI_Pathfinder msg: 1633822984.22 epoch sec; seqNo:17 2021-10-09T23:43:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:04Z- handleDvl() - RDI_Pathfinder msg: velocities -0.65 , 0.12 , -0.13 2021-10-09T23:43:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822984.23 epoch sec; seqNo:35; 4061376.13 north; 594324.19 east 2021-10-09T23:43:04Z- AHRS_M2 msg: 1633822984.61 epoch sec; seqNo:36 2021-10-09T23:43:04Z- AHRS_M2 msg: 0.16 phi; -0.01 theta; 5.66 psi 2021-10-09T23:43:04Z- handleDepth()-Depth_Keller msg: 1633822984619 epoch sec; seqNo:36; depth 0.08 2021-10-09T23:43:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822984.65 epoch sec; seqNo:36; 4061375.75 north; 594324.19 east 2021-10-09T23:43:05Z- AHRS_M2 msg: 1633822985.02 epoch sec; seqNo:37 2021-10-09T23:43:05Z- AHRS_M2 msg: 0.09 phi; -0.06 theta; 5.65 psi 2021-10-09T23:43:05Z- handleDepth()-Depth_Keller msg: 1633822985020 epoch sec; seqNo:37; depth 0.05 2021-10-09T23:43:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822985.03 epoch sec; seqNo:37; 4061375.75 north; 594324.19 east 2021-10-09T23:43:05Z- AHRS_M2 msg: 1633822985.42 epoch sec; seqNo:38 2021-10-09T23:43:05Z- AHRS_M2 msg: 0.01 phi; -0.05 theta; 5.66 psi 2021-10-09T23:43:05Z- handleDepth()-Depth_Keller msg: 1633822985425 epoch sec; seqNo:38; depth 0.05 2021-10-09T23:43:05Z- handleDvl() - RDI_Pathfinder msg: 1633822985.44 epoch sec; seqNo:18 2021-10-09T23:43:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 106.97 , 0.00 , 98.00 , 98.00 2021-10-09T23:43:05Z- handleDvl() - RDI_Pathfinder msg: velocities -0.03 , -0.10 , 0.17 2021-10-09T23:43:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822985.47 epoch sec; seqNo:38; 4061375.75 north; 594324.19 east 2021-10-09T23:43:05Z- AHRS_M2 msg: 1633822985.83 epoch sec; seqNo:39 2021-10-09T23:43:05Z- AHRS_M2 msg: -0.00 phi; -0.05 theta; 5.67 psi 2021-10-09T23:43:05Z- handleDepth()-Depth_Keller msg: 1633822985830 epoch sec; seqNo:39; depth 0.03 2021-10-09T23:43:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822985.85 epoch sec; seqNo:39; 4061375.37 north; 594324.20 east 2021-10-09T23:43:06Z- AHRS_M2 msg: 1633822986.24 epoch sec; seqNo:40 2021-10-09T23:43:06Z- AHRS_M2 msg: -0.01 phi; -0.03 theta; 5.69 psi 2021-10-09T23:43:06Z- handleDepth()-Depth_Keller msg: 1633822986257 epoch sec; seqNo:40; depth 0.05 2021-10-09T23:43:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822986.27 epoch sec; seqNo:40; 4061375.37 north; 594324.20 east 2021-10-09T23:43:06Z- AHRS_M2 msg: 1633822986.63 epoch sec; seqNo:41 2021-10-09T23:43:06Z- AHRS_M2 msg: 0.02 phi; 0.01 theta; 5.75 psi 2021-10-09T23:43:06Z- handleDepth()-Depth_Keller msg: 1633822986640 epoch sec; seqNo:41; depth 0.05 2021-10-09T23:43:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:06Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:06Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:06Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:06Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:06Z- handleDvl() - RDI_Pathfinder msg: 1633822986.64 epoch sec; seqNo:19 2021-10-09T23:43:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:06Z- handleDvl() - RDI_Pathfinder msg: velocities -0.03 , -0.10 , 0.17 2021-10-09T23:43:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822986.65 epoch sec; seqNo:41; 4061375.37 north; 594324.20 east 2021-10-09T23:43:07Z- AHRS_M2 msg: 1633822987.04 epoch sec; seqNo:42 2021-10-09T23:43:07Z- AHRS_M2 msg: 0.06 phi; -0.01 theta; 5.77 psi 2021-10-09T23:43:07Z- handleDepth()-Depth_Keller msg: 1633822987043 epoch sec; seqNo:42; depth 0.07 2021-10-09T23:43:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822987.05 epoch sec; seqNo:42; 4061375.37 north; 594324.20 east 2021-10-09T23:43:07Z- LcmTrn::handleMessages() - handling 44 messages took 0.72 ms and 130 calls... 2021-10-09T23:43:07Z- waiting for 1633822984.81, time is 1633822987.05 2021-10-09T23:43:07Z- LcmTrn::updateTrn() >>>> pose time 1633822987.05, meas time 1633822986.64 <<<< 2021-10-09T23:43:07Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633822986.64, ping # 0. 2021-10-09T23:43:07Z- TerrainNav::Measurement type 1 from time = 1633822986.64 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T23:43:07Z- TerrainNav::motionUpdate() - currEstimate = (4061375, 594324.20, 0.07) 2021-10-09T23:43:07Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T23:43:07Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:07Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:07Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T23:43:07Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T23:43:07Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T23:43:07Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T23:43:07Z- AHRS_M2 msg: 1633822987.44 epoch sec; seqNo:43 2021-10-09T23:43:07Z- AHRS_M2 msg: 0.02 phi; -0.06 theta; 5.71 psi 2021-10-09T23:43:07Z- handleDepth()-Depth_Keller msg: 1633822987446 epoch sec; seqNo:43; depth 0.06 2021-10-09T23:43:07Z- handleDvl() - RDI_Pathfinder msg: 1633822987.47 epoch sec; seqNo:20 2021-10-09T23:43:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 94.33 , 94.33 , 97.05 , 95.69 2021-10-09T23:43:07Z- handleDvl() - RDI_Pathfinder msg: velocities -0.18 , -0.09 , 0.04 2021-10-09T23:43:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822987.48 epoch sec; seqNo:43; 4061375.37 north; 594324.20 east 2021-10-09T23:43:07Z- AHRS_M2 msg: 1633822987.84 epoch sec; seqNo:44 2021-10-09T23:43:07Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 5.72 psi 2021-10-09T23:43:07Z- handleDepth()-Depth_Keller msg: 1633822987852 epoch sec; seqNo:44; depth 0.07 2021-10-09T23:43:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:07Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:07Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:07Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:07Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:07Z- handleDvl() - RDI_Pathfinder msg: 1633822987.85 epoch sec; seqNo:21 2021-10-09T23:43:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:07Z- handleDvl() - RDI_Pathfinder msg: velocities -0.18 , -0.09 , 0.04 2021-10-09T23:43:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822987.88 epoch sec; seqNo:44; 4061375.37 north; 594324.20 east 2021-10-09T23:43:08Z- AHRS_M2 msg: 1633822988.25 epoch sec; seqNo:45 2021-10-09T23:43:08Z- AHRS_M2 msg: -0.01 phi; 0.08 theta; 5.76 psi 2021-10-09T23:43:08Z- handleDepth()-Depth_Keller msg: 1633822988259 epoch sec; seqNo:45; depth 0.06 2021-10-09T23:43:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822988.27 epoch sec; seqNo:45; 4061375.37 north; 594324.20 east 2021-10-09T23:43:08Z- AHRS_M2 msg: 1633822988.65 epoch sec; seqNo:46 2021-10-09T23:43:08Z- AHRS_M2 msg: 0.01 phi; 0.12 theta; 5.77 psi 2021-10-09T23:43:08Z- handleDepth()-Depth_Keller msg: 1633822988657 epoch sec; seqNo:46; depth 0.07 2021-10-09T23:43:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822988.67 epoch sec; seqNo:46; 4061374.99 north; 594324.20 east 2021-10-09T23:43:09Z- AHRS_M2 msg: 1633822989.06 epoch sec; seqNo:47 2021-10-09T23:43:09Z- AHRS_M2 msg: 0.03 phi; -0.03 theta; 5.78 psi 2021-10-09T23:43:09Z- handleDepth()-Depth_Keller msg: 1633822989067 epoch sec; seqNo:47; depth 0.04 2021-10-09T23:43:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:09Z- handleDvl() - RDI_Pathfinder msg: 1633822989.07 epoch sec; seqNo:22 2021-10-09T23:43:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:09Z- handleDvl() - RDI_Pathfinder msg: velocities -0.18 , -0.09 , 0.04 2021-10-09T23:43:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822989.08 epoch sec; seqNo:47; 4061374.99 north; 594324.20 east 2021-10-09T23:43:09Z- AHRS_M2 msg: 1633822989.46 epoch sec; seqNo:48 2021-10-09T23:43:09Z- AHRS_M2 msg: 0.07 phi; -0.16 theta; 5.76 psi 2021-10-09T23:43:09Z- handleDepth()-Depth_Keller msg: 1633822989478 epoch sec; seqNo:48; depth 0.05 2021-10-09T23:43:09Z- handleDvl() - RDI_Pathfinder msg: 1633822989.50 epoch sec; seqNo:23 2021-10-09T23:43:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.53 , 94.81 , 101.61 , 90.74 2021-10-09T23:43:09Z- handleDvl() - RDI_Pathfinder msg: velocities -0.18 , -0.09 , 0.64 2021-10-09T23:43:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822989.51 epoch sec; seqNo:48; 4061374.99 north; 594324.20 east 2021-10-09T23:43:09Z- AHRS_M2 msg: 1633822989.86 epoch sec; seqNo:49 2021-10-09T23:43:09Z- AHRS_M2 msg: 0.08 phi; -0.09 theta; 5.75 psi 2021-10-09T23:43:09Z- handleDepth()-Depth_Keller msg: 1633822989875 epoch sec; seqNo:49; depth 0.08 2021-10-09T23:43:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822989.90 epoch sec; seqNo:49; 4061374.99 north; 594324.20 east 2021-10-09T23:43:10Z- AHRS_M2 msg: 1633822990.27 epoch sec; seqNo:50 2021-10-09T23:43:10Z- AHRS_M2 msg: 0.12 phi; -0.00 theta; 5.74 psi 2021-10-09T23:43:10Z- handleDepth()-Depth_Keller msg: 1633822990273 epoch sec; seqNo:50; depth 0.07 2021-10-09T23:43:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:10Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:10Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:10Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:10Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:10Z- handleDvl() - RDI_Pathfinder msg: 1633822990.28 epoch sec; seqNo:24 2021-10-09T23:43:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:10Z- handleDvl() - RDI_Pathfinder msg: velocities -0.18 , -0.09 , 0.64 2021-10-09T23:43:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822990.28 epoch sec; seqNo:50; 4061374.61 north; 594324.20 east 2021-10-09T23:43:10Z- AHRS_M2 msg: 1633822990.68 epoch sec; seqNo:51 2021-10-09T23:43:10Z- AHRS_M2 msg: 0.07 phi; -0.01 theta; 5.74 psi 2021-10-09T23:43:10Z- handleDepth()-Depth_Keller msg: 1633822990689 epoch sec; seqNo:51; depth 0.07 2021-10-09T23:43:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822990.70 epoch sec; seqNo:51; 4061374.61 north; 594324.20 east 2021-10-09T23:43:11Z- AHRS_M2 msg: 1633822991.08 epoch sec; seqNo:52 2021-10-09T23:43:11Z- AHRS_M2 msg: 0.05 phi; -0.09 theta; 5.74 psi 2021-10-09T23:43:11Z- handleDepth()-Depth_Keller msg: 1633822991082 epoch sec; seqNo:52; depth 0.09 2021-10-09T23:43:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822991.10 epoch sec; seqNo:52; 4061374.61 north; 594324.20 east 2021-10-09T23:43:11Z- AHRS_M2 msg: 1633822991.48 epoch sec; seqNo:53 2021-10-09T23:43:11Z- AHRS_M2 msg: 0.06 phi; -0.08 theta; 5.73 psi 2021-10-09T23:43:11Z- handleDepth()-Depth_Keller msg: 1633822991492 epoch sec; seqNo:53; depth 0.13 2021-10-09T23:43:11Z- handleDvl() - RDI_Pathfinder msg: 1633822991.52 epoch sec; seqNo:25 2021-10-09T23:43:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 101.54 , 89.31 , 97.46 , 97.46 2021-10-09T23:43:11Z- handleDvl() - RDI_Pathfinder msg: velocities -0.27 , -0.23 , 0.07 2021-10-09T23:43:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822991.53 epoch sec; seqNo:53; 4061374.24 north; 594324.21 east 2021-10-09T23:43:11Z- AHRS_M2 msg: 1633822991.89 epoch sec; seqNo:54 2021-10-09T23:43:11Z- AHRS_M2 msg: 0.03 phi; -0.01 theta; 5.70 psi 2021-10-09T23:43:11Z- handleDepth()-Depth_Keller msg: 1633822991895 epoch sec; seqNo:54; depth 0.12 2021-10-09T23:43:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822991.91 epoch sec; seqNo:54; 4061374.24 north; 594324.21 east 2021-10-09T23:43:12Z- LcmTrn::handleMessages() - handling 42 messages took 0.64 ms and 129 calls... 2021-10-09T23:43:12Z- waiting for 1633822990.05, time is 1633822991.91 2021-10-09T23:43:12Z- LcmTrn::updateTrn() >>>> pose time 1633822991.91, meas time 1633822991.52 <<<< 2021-10-09T23:43:12Z- TerrainNav::Measurement type 1 from time = 1633822991.52 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-09T23:43:12Z- TerrainNav::motionUpdate() - currEstimate = (4061374, 594324.21, 0.12) 2021-10-09T23:43:12Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T23:43:12Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:12Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:12Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T23:43:12Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T23:43:12Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T23:43:12Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T23:43:12Z- AHRS_M2 msg: 1633822992.29 epoch sec; seqNo:55 2021-10-09T23:43:12Z- AHRS_M2 msg: 0.02 phi; -0.03 theta; 5.70 psi 2021-10-09T23:43:12Z- handleDepth()-Depth_Keller msg: 1633822992299 epoch sec; seqNo:55; depth 0.07 2021-10-09T23:43:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822992.32 epoch sec; seqNo:55; 4061374.24 north; 594324.21 east 2021-10-09T23:43:12Z- AHRS_M2 msg: 1633822992.69 epoch sec; seqNo:56 2021-10-09T23:43:12Z- AHRS_M2 msg: 0.08 phi; -0.09 theta; 5.72 psi 2021-10-09T23:43:12Z- handleDepth()-Depth_Keller msg: 1633822992697 epoch sec; seqNo:56; depth 0.06 2021-10-09T23:43:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:12Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:12Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:12Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:12Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:12Z- handleDvl() - RDI_Pathfinder msg: 1633822992.70 epoch sec; seqNo:26 2021-10-09T23:43:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:12Z- handleDvl() - RDI_Pathfinder msg: velocities -0.27 , -0.23 , 0.07 2021-10-09T23:43:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822992.71 epoch sec; seqNo:56; 4061373.86 north; 594324.21 east 2021-10-09T23:43:13Z- AHRS_M2 msg: 1633822993.10 epoch sec; seqNo:57 2021-10-09T23:43:13Z- AHRS_M2 msg: 0.15 phi; -0.11 theta; 5.70 psi 2021-10-09T23:43:13Z- handleDepth()-Depth_Keller msg: 1633822993105 epoch sec; seqNo:57; depth 0.08 2021-10-09T23:43:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822993.12 epoch sec; seqNo:57; 4061373.86 north; 594324.21 east 2021-10-09T23:43:13Z- AHRS_M2 msg: 1633822993.50 epoch sec; seqNo:58 2021-10-09T23:43:13Z- AHRS_M2 msg: 0.11 phi; -0.09 theta; 5.67 psi 2021-10-09T23:43:13Z- handleDepth()-Depth_Keller msg: 1633822993506 epoch sec; seqNo:58; depth 0.07 2021-10-09T23:43:13Z- handleDvl() - RDI_Pathfinder msg: 1633822993.53 epoch sec; seqNo:27 2021-10-09T23:43:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.46 , 97.46 , 92.03 , 97.46 2021-10-09T23:43:13Z- handleDvl() - RDI_Pathfinder msg: velocities -0.50 , -0.06 , 0.07 2021-10-09T23:43:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822993.54 epoch sec; seqNo:58; 4061373.48 north; 594324.22 east 2021-10-09T23:43:13Z- AHRS_M2 msg: 1633822993.90 epoch sec; seqNo:59 2021-10-09T23:43:13Z- AHRS_M2 msg: 0.04 phi; -0.05 theta; 5.68 psi 2021-10-09T23:43:13Z- handleDepth()-Depth_Keller msg: 1633822993921 epoch sec; seqNo:59; depth 0.05 2021-10-09T23:43:13Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:13Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:13Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:13Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:13Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:13Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:13Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:13Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:13Z- handleDvl() - RDI_Pathfinder msg: 1633822993.92 epoch sec; seqNo:28 2021-10-09T23:43:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:13Z- handleDvl() - RDI_Pathfinder msg: velocities -0.50 , -0.06 , 0.07 2021-10-09T23:43:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822993.94 epoch sec; seqNo:59; 4061373.48 north; 594324.22 east 2021-10-09T23:43:14Z- AHRS_M2 msg: 1633822994.31 epoch sec; seqNo:60 2021-10-09T23:43:14Z- AHRS_M2 msg: -0.02 phi; 0.04 theta; 5.66 psi 2021-10-09T23:43:14Z- handleDepth()-Depth_Keller msg: 1633822994319 epoch sec; seqNo:60; depth 0.04 2021-10-09T23:43:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822994.33 epoch sec; seqNo:60; 4061373.10 north; 594324.22 east 2021-10-09T23:43:14Z- AHRS_M2 msg: 1633822994.72 epoch sec; seqNo:61 2021-10-09T23:43:14Z- AHRS_M2 msg: -0.03 phi; 0.09 theta; 5.65 psi 2021-10-09T23:43:14Z- handleDepth()-Depth_Keller msg: 1633822994725 epoch sec; seqNo:61; depth 0.01 2021-10-09T23:43:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822994.73 epoch sec; seqNo:61; 4061373.10 north; 594324.22 east 2021-10-09T23:43:15Z- AHRS_M2 msg: 1633822995.13 epoch sec; seqNo:62 2021-10-09T23:43:15Z- AHRS_M2 msg: 0.05 phi; 0.02 theta; 5.64 psi 2021-10-09T23:43:15Z- handleDepth()-Depth_Keller msg: 1633822995149 epoch sec; seqNo:62; depth 0.05 2021-10-09T23:43:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:15Z- handleDvl() - RDI_Pathfinder msg: 1633822995.16 epoch sec; seqNo:29 2021-10-09T23:43:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:15Z- handleDvl() - RDI_Pathfinder msg: velocities -0.50 , -0.06 , 0.07 2021-10-09T23:43:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822995.19 epoch sec; seqNo:62; 4061372.72 north; 594324.22 east 2021-10-09T23:43:15Z- AHRS_M2 msg: 1633822995.52 epoch sec; seqNo:63 2021-10-09T23:43:15Z- AHRS_M2 msg: 0.07 phi; -0.04 theta; 5.64 psi 2021-10-09T23:43:15Z- handleDepth()-Depth_Keller msg: 1633822995525 epoch sec; seqNo:63; depth 0.05 2021-10-09T23:43:15Z- handleDvl() - RDI_Pathfinder msg: 1633822995.56 epoch sec; seqNo:30 2021-10-09T23:43:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.46 , 97.46 , 96.10 , 92.03 2021-10-09T23:43:15Z- handleDvl() - RDI_Pathfinder msg: velocities -0.19 , -0.26 , 0.59 2021-10-09T23:43:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822995.57 epoch sec; seqNo:63; 4061372.72 north; 594324.22 east 2021-10-09T23:43:15Z- AHRS_M2 msg: 1633822995.92 epoch sec; seqNo:64 2021-10-09T23:43:15Z- AHRS_M2 msg: 0.06 phi; -0.04 theta; 5.63 psi 2021-10-09T23:43:15Z- handleDepth()-Depth_Keller msg: 1633822995935 epoch sec; seqNo:64; depth 0.05 2021-10-09T23:43:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822995.96 epoch sec; seqNo:64; 4061372.72 north; 594324.22 east 2021-10-09T23:43:16Z- AHRS_M2 msg: 1633822996.33 epoch sec; seqNo:65 2021-10-09T23:43:16Z- AHRS_M2 msg: -0.01 phi; -0.02 theta; 5.59 psi 2021-10-09T23:43:16Z- handleDepth()-Depth_Keller msg: 1633822996336 epoch sec; seqNo:65; depth 0.05 2021-10-09T23:43:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:16Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:16Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:16Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:16Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:16Z- handleDvl() - RDI_Pathfinder msg: 1633822996.34 epoch sec; seqNo:31 2021-10-09T23:43:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:16Z- handleDvl() - RDI_Pathfinder msg: velocities -0.19 , -0.26 , 0.59 2021-10-09T23:43:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822996.35 epoch sec; seqNo:65; 4061372.34 north; 594324.23 east 2021-10-09T23:43:16Z- AHRS_M2 msg: 1633822996.74 epoch sec; seqNo:66 2021-10-09T23:43:16Z- AHRS_M2 msg: -0.09 phi; 0.03 theta; 5.60 psi 2021-10-09T23:43:16Z- handleDepth()-Depth_Keller msg: 1633822996757 epoch sec; seqNo:66; depth 0.02 2021-10-09T23:43:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822996.79 epoch sec; seqNo:66; 4061372.34 north; 594324.23 east 2021-10-09T23:43:17Z- LcmTrn::handleMessages() - handling 42 messages took 0.70 ms and 128 calls... 2021-10-09T23:43:17Z- waiting for 1633822994.91, time is 1633822996.79 2021-10-09T23:43:17Z- LcmTrn::updateTrn() >>>> pose time 1633822996.79, meas time 1633822996.34 <<<< 2021-10-09T23:43:17Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633822996.34, ping # 0. 2021-10-09T23:43:17Z- TerrainNav::Measurement type 1 from time = 1633822996.34 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T23:43:17Z- TerrainNav::motionUpdate() - currEstimate = (4061372, 594324.23, 0.02) 2021-10-09T23:43:17Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T23:43:17Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:17Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:17Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T23:43:17Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T23:43:17Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T23:43:17Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T23:43:17Z- AHRS_M2 msg: 1633822997.18 epoch sec; seqNo:67 2021-10-09T23:43:17Z- AHRS_M2 msg: -0.01 phi; -0.04 theta; 5.62 psi 2021-10-09T23:43:17Z- handleDepth()-Depth_Keller msg: 1633822997197 epoch sec; seqNo:67; depth 0.03 2021-10-09T23:43:17Z- handleDvl() - RDI_Pathfinder msg: 1633822997.24 epoch sec; seqNo:32 2021-10-09T23:43:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.53 , 97.53 , 97.53 , 97.53 2021-10-09T23:43:17Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , -0.05 , 0.06 2021-10-09T23:43:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822997.27 epoch sec; seqNo:67; 4061372.34 north; 594324.23 east 2021-10-09T23:43:17Z- AHRS_M2 msg: 1633822997.54 epoch sec; seqNo:68 2021-10-09T23:43:17Z- AHRS_M2 msg: 0.08 phi; -0.08 theta; 5.61 psi 2021-10-09T23:43:17Z- handleDepth()-Depth_Keller msg: 1633822997548 epoch sec; seqNo:68; depth 0.09 2021-10-09T23:43:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:17Z- handleDvl() - RDI_Pathfinder msg: 1633822997.55 epoch sec; seqNo:33 2021-10-09T23:43:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:17Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , -0.05 , 0.06 2021-10-09T23:43:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822997.59 epoch sec; seqNo:68; 4061372.34 north; 594324.23 east 2021-10-09T23:43:17Z- AHRS_M2 msg: 1633822997.94 epoch sec; seqNo:69 2021-10-09T23:43:17Z- AHRS_M2 msg: 0.07 phi; 0.03 theta; 5.58 psi 2021-10-09T23:43:17Z- handleDepth()-Depth_Keller msg: 1633822997951 epoch sec; seqNo:69; depth 0.08 2021-10-09T23:43:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822997.97 epoch sec; seqNo:69; 4061371.96 north; 594324.23 east 2021-10-09T23:43:18Z- AHRS_M2 msg: 1633822998.35 epoch sec; seqNo:70 2021-10-09T23:43:18Z- AHRS_M2 msg: 0.05 phi; 0.07 theta; 5.61 psi 2021-10-09T23:43:18Z- handleDepth()-Depth_Keller msg: 1633822998356 epoch sec; seqNo:70; depth 0.07 2021-10-09T23:43:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822998.38 epoch sec; seqNo:70; 4061371.96 north; 594324.23 east 2021-10-09T23:43:18Z- AHRS_M2 msg: 1633822998.75 epoch sec; seqNo:71 2021-10-09T23:43:18Z- AHRS_M2 msg: 0.07 phi; 0.03 theta; 5.60 psi 2021-10-09T23:43:18Z- handleDepth()-Depth_Keller msg: 1633822998760 epoch sec; seqNo:71; depth 0.06 2021-10-09T23:43:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:18Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:18Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:18Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:18Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:18Z- handleDvl() - RDI_Pathfinder msg: 1633822998.76 epoch sec; seqNo:34 2021-10-09T23:43:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:18Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , -0.05 , 0.06 2021-10-09T23:43:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822998.80 epoch sec; seqNo:71; 4061371.96 north; 594324.23 east 2021-10-09T23:43:19Z- AHRS_M2 msg: 1633822999.20 epoch sec; seqNo:72 2021-10-09T23:43:19Z- AHRS_M2 msg: -0.03 phi; -0.00 theta; 5.51 psi 2021-10-09T23:43:19Z- handleDepth()-Depth_Keller msg: 1633822999222 epoch sec; seqNo:72; depth 0.08 2021-10-09T23:43:19Z- handleDvl() - RDI_Pathfinder msg: 1633822999.26 epoch sec; seqNo:35 2021-10-09T23:43:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 98.75 , 90.60 , 97.39 , 91.96 2021-10-09T23:43:19Z- handleDvl() - RDI_Pathfinder msg: velocities -0.38 , 0.04 , 0.10 2021-10-09T23:43:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822999.30 epoch sec; seqNo:72; 4061371.96 north; 594324.23 east 2021-10-09T23:43:19Z- handleDepth()-Depth_Keller msg: 1633822999578 epoch sec; seqNo:73; depth 0.05 2021-10-09T23:43:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633822999.61 epoch sec; seqNo:73; 4061371.96 north; 594324.23 east 2021-10-09T23:43:19Z- AHRS_M2 msg: 1633822999.97 epoch sec; seqNo:73 2021-10-09T23:43:19Z- AHRS_M2 msg: -0.08 phi; 0.05 theta; 5.51 psi 2021-10-09T23:43:19Z- handleDepth()-Depth_Keller msg: 1633822999983 epoch sec; seqNo:74; depth 0.02 2021-10-09T23:43:19Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:19Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:19Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:19Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:19Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:19Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:19Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:19Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:19Z- handleDvl() - RDI_Pathfinder msg: 1633822999.99 epoch sec; seqNo:36 2021-10-09T23:43:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:19Z- handleDvl() - RDI_Pathfinder msg: velocities -0.38 , 0.04 , 0.10 2021-10-09T23:43:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823000.00 epoch sec; seqNo:74; 4061371.58 north; 594324.24 east 2021-10-09T23:43:20Z- AHRS_M2 msg: 1633823000.37 epoch sec; seqNo:74 2021-10-09T23:43:20Z- AHRS_M2 msg: 0.23 phi; -0.11 theta; 5.52 psi 2021-10-09T23:43:20Z- handleDepth()-Depth_Keller msg: 1633823000378 epoch sec; seqNo:75; depth 0.02 2021-10-09T23:43:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823000.39 epoch sec; seqNo:75; 4061371.60 north; 594325.46 east 2021-10-09T23:43:20Z- AHRS_M2 msg: 1633823000.78 epoch sec; seqNo:75 2021-10-09T23:43:20Z- AHRS_M2 msg: 0.35 phi; -0.08 theta; 5.46 psi 2021-10-09T23:43:20Z- handleDepth()-Depth_Keller msg: 1633823000781 epoch sec; seqNo:76; depth 0.08 2021-10-09T23:43:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823000.79 epoch sec; seqNo:76; 4061371.60 north; 594325.46 east 2021-10-09T23:43:21Z- AHRS_M2 msg: 1633823001.19 epoch sec; seqNo:76 2021-10-09T23:43:21Z- AHRS_M2 msg: 0.28 phi; -0.02 theta; 5.43 psi 2021-10-09T23:43:21Z- handleDepth()-Depth_Keller msg: 1633823001196 epoch sec; seqNo:77; depth 0.08 2021-10-09T23:43:21Z- handleDvl() - RDI_Pathfinder msg: 1633823001.26 epoch sec; seqNo:37 2021-10-09T23:43:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.60 , 0.00 , 97.60 , 101.67 2021-10-09T23:43:21Z- handleDvl() - RDI_Pathfinder msg: velocities -0.42 , 0.02 , -0.61 2021-10-09T23:43:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823001.29 epoch sec; seqNo:77; 4061371.60 north; 594325.46 east 2021-10-09T23:43:21Z- AHRS_M2 msg: 1633823001.58 epoch sec; seqNo:77 2021-10-09T23:43:21Z- AHRS_M2 msg: 0.07 phi; -0.02 theta; 5.38 psi 2021-10-09T23:43:21Z- handleDepth()-Depth_Keller msg: 1633823001586 epoch sec; seqNo:78; depth 0.10 2021-10-09T23:43:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823001.60 epoch sec; seqNo:78; 4061371.22 north; 594325.46 east 2021-10-09T23:43:21Z- AHRS_M2 msg: 1633823001.98 epoch sec; seqNo:78 2021-10-09T23:43:21Z- AHRS_M2 msg: -0.10 phi; -0.04 theta; 5.37 psi 2021-10-09T23:43:21Z- handleDepth()-Depth_Keller msg: 1633823001992 epoch sec; seqNo:79; depth 0.11 2021-10-09T23:43:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823002.02 epoch sec; seqNo:79; 4061371.22 north; 594325.46 east 2021-10-09T23:43:22Z- LcmTrn::handleMessages() - handling 44 messages took 0.83 ms and 127 calls... 2021-10-09T23:43:22Z- waiting for 1633822999.79, time is 1633823002.02 2021-10-09T23:43:22Z- LcmTrn::updateTrn() >>>> pose time 1633823002.02, meas time 1633823001.26 <<<< 2021-10-09T23:43:22Z- TerrainNav::Measurement type 1 from time = 1633823001.26 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-09T23:43:22Z- TerrainNav::motionUpdate() - currEstimate = (4061371, 594325.46, 0.11) 2021-10-09T23:43:22Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T23:43:22Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:22Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:22Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T23:43:22Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T23:43:22Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T23:43:22Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T23:43:22Z- AHRS_M2 msg: 1633823002.39 epoch sec; seqNo:79 2021-10-09T23:43:22Z- AHRS_M2 msg: -0.18 phi; -0.06 theta; 5.34 psi 2021-10-09T23:43:22Z- handleDepth()-Depth_Keller msg: 1633823002399 epoch sec; seqNo:80; depth 0.10 2021-10-09T23:43:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:22Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:22Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:22Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:22Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:22Z- handleDvl() - RDI_Pathfinder msg: 1633823002.40 epoch sec; seqNo:38 2021-10-09T23:43:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:22Z- handleDvl() - RDI_Pathfinder msg: velocities -0.42 , 0.02 , -0.61 2021-10-09T23:43:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823002.41 epoch sec; seqNo:80; 4061371.22 north; 594325.46 east 2021-10-09T23:43:22Z- AHRS_M2 msg: 1633823002.80 epoch sec; seqNo:80 2021-10-09T23:43:22Z- AHRS_M2 msg: -0.19 phi; -0.10 theta; 5.31 psi 2021-10-09T23:43:22Z- handleDepth()-Depth_Keller msg: 1633823002808 epoch sec; seqNo:81; depth 0.12 2021-10-09T23:43:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823002.82 epoch sec; seqNo:81; 4061370.84 north; 594325.47 east 2021-10-09T23:43:23Z- AHRS_M2 msg: 1633823003.20 epoch sec; seqNo:81 2021-10-09T23:43:23Z- AHRS_M2 msg: -0.12 phi; -0.11 theta; 5.31 psi 2021-10-09T23:43:23Z- handleDepth()-Depth_Keller msg: 1633823003201 epoch sec; seqNo:82; depth 0.16 2021-10-09T23:43:23Z- handleDvl() - RDI_Pathfinder msg: 1633823003.23 epoch sec; seqNo:39 2021-10-09T23:43:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.74 , 104.05 , 93.18 , 97.25 2021-10-09T23:43:23Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , -0.28 , 0.04 2021-10-09T23:43:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823003.24 epoch sec; seqNo:82; 4061370.84 north; 594325.47 east 2021-10-09T23:43:23Z- AHRS_M2 msg: 1633823003.60 epoch sec; seqNo:82 2021-10-09T23:43:23Z- AHRS_M2 msg: -0.04 phi; -0.15 theta; 5.31 psi 2021-10-09T23:43:23Z- handleDepth()-Depth_Keller msg: 1633823003608 epoch sec; seqNo:83; depth 0.18 2021-10-09T23:43:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:23Z- handleDvl() - RDI_Pathfinder msg: 1633823003.61 epoch sec; seqNo:40 2021-10-09T23:43:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:23Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , -0.28 , 0.04 2021-10-09T23:43:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823003.63 epoch sec; seqNo:83; 4061370.84 north; 594325.47 east 2021-10-09T23:43:24Z- AHRS_M2 msg: 1633823004.00 epoch sec; seqNo:83 2021-10-09T23:43:24Z- AHRS_M2 msg: 0.04 phi; -0.21 theta; 5.28 psi 2021-10-09T23:43:24Z- handleDepth()-Depth_Keller msg: 1633823004009 epoch sec; seqNo:84; depth 0.18 2021-10-09T23:43:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823004.02 epoch sec; seqNo:84; 4061370.46 north; 594325.47 east 2021-10-09T23:43:24Z- AHRS_M2 msg: 1633823004.41 epoch sec; seqNo:84 2021-10-09T23:43:24Z- AHRS_M2 msg: 0.08 phi; -0.19 theta; 5.26 psi 2021-10-09T23:43:24Z- handleDepth()-Depth_Keller msg: 1633823004415 epoch sec; seqNo:85; depth 0.20 2021-10-09T23:43:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823004.42 epoch sec; seqNo:85; 4061370.46 north; 594325.47 east 2021-10-09T23:43:24Z- AHRS_M2 msg: 1633823004.81 epoch sec; seqNo:85 2021-10-09T23:43:24Z- AHRS_M2 msg: 0.04 phi; -0.12 theta; 5.25 psi 2021-10-09T23:43:24Z- handleDepth()-Depth_Keller msg: 1633823004820 epoch sec; seqNo:86; depth 0.19 2021-10-09T23:43:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:24Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:24Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:24Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:24Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:24Z- handleDvl() - RDI_Pathfinder msg: 1633823004.82 epoch sec; seqNo:41 2021-10-09T23:43:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:24Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , -0.28 , 0.04 2021-10-09T23:43:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823004.85 epoch sec; seqNo:86; 4061370.46 north; 594325.47 east 2021-10-09T23:43:25Z- AHRS_M2 msg: 1633823005.22 epoch sec; seqNo:86 2021-10-09T23:43:25Z- AHRS_M2 msg: -0.05 phi; -0.11 theta; 5.23 psi 2021-10-09T23:43:25Z- handleDepth()-Depth_Keller msg: 1633823005229 epoch sec; seqNo:87; depth 0.17 2021-10-09T23:43:25Z- handleDvl() - RDI_Pathfinder msg: 1633823005.32 epoch sec; seqNo:42 2021-10-09T23:43:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 101.60 , 90.73 , 86.65 , 108.40 2021-10-09T23:43:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.04 , -0.26 , -0.14 2021-10-09T23:43:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823005.33 epoch sec; seqNo:87; 4061370.08 north; 594325.47 east 2021-10-09T23:43:25Z- AHRS_M2 msg: 1633823005.62 epoch sec; seqNo:87 2021-10-09T23:43:25Z- AHRS_M2 msg: -0.09 phi; -0.22 theta; 5.20 psi 2021-10-09T23:43:25Z- handleDepth()-Depth_Keller msg: 1633823005627 epoch sec; seqNo:88; depth 0.16 2021-10-09T23:43:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823005.64 epoch sec; seqNo:88; 4061370.08 north; 594325.47 east 2021-10-09T23:43:26Z- AHRS_M2 msg: 1633823006.02 epoch sec; seqNo:88 2021-10-09T23:43:26Z- AHRS_M2 msg: -0.06 phi; -0.30 theta; 5.18 psi 2021-10-09T23:43:26Z- handleDepth()-Depth_Keller msg: 1633823006044 epoch sec; seqNo:89; depth 0.18 2021-10-09T23:43:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:26Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:26Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:26Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:26Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:26Z- handleDvl() - RDI_Pathfinder msg: 1633823006.05 epoch sec; seqNo:43 2021-10-09T23:43:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.04 , -0.26 , -0.14 2021-10-09T23:43:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823006.06 epoch sec; seqNo:89; 4061370.08 north; 594325.47 east 2021-10-09T23:43:26Z- AHRS_M2 msg: 1633823006.43 epoch sec; seqNo:89 2021-10-09T23:43:26Z- AHRS_M2 msg: -0.01 phi; -0.22 theta; 5.19 psi 2021-10-09T23:43:26Z- handleDepth()-Depth_Keller msg: 1633823006432 epoch sec; seqNo:90; depth 0.19 2021-10-09T23:43:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823006.44 epoch sec; seqNo:90; 4061370.08 north; 594325.47 east 2021-10-09T23:43:26Z- AHRS_M2 msg: 1633823006.84 epoch sec; seqNo:90 2021-10-09T23:43:26Z- AHRS_M2 msg: 0.05 phi; -0.12 theta; 5.22 psi 2021-10-09T23:43:26Z- handleDepth()-Depth_Keller msg: 1633823006843 epoch sec; seqNo:91; depth 0.15 2021-10-09T23:43:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823006.85 epoch sec; seqNo:91; 4061369.70 north; 594325.48 east 2021-10-09T23:43:27Z- LcmTrn::handleMessages() - handling 42 messages took 0.63 ms and 129 calls... 2021-10-09T23:43:27Z- waiting for 1633823005.02, time is 1633823006.85 2021-10-09T23:43:27Z- LcmTrn::updateTrn() >>>> pose time 1633823006.85, meas time 1633823006.05 <<<< 2021-10-09T23:43:27Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633823006.05, ping # 0. 2021-10-09T23:43:27Z- TerrainNav::Measurement type 1 from time = 1633823006.05 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T23:43:27Z- TerrainNav::motionUpdate() - currEstimate = (4061370, 594325.48, 0.15) 2021-10-09T23:43:27Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T23:43:27Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:27Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:27Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T23:43:27Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T23:43:27Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T23:43:27Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T23:43:27Z- AHRS_M2 msg: 1633823007.24 epoch sec; seqNo:91 2021-10-09T23:43:27Z- AHRS_M2 msg: 0.14 phi; -0.11 theta; 5.21 psi 2021-10-09T23:43:27Z- handleDepth()-Depth_Keller msg: 1633823007242 epoch sec; seqNo:92; depth 0.11 2021-10-09T23:43:27Z- handleDvl() - RDI_Pathfinder msg: 1633823007.26 epoch sec; seqNo:44 2021-10-09T23:43:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.46 , 97.46 , 86.59 , 111.05 2021-10-09T23:43:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.09 , -0.27 , 0.08 2021-10-09T23:43:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823007.28 epoch sec; seqNo:92; 4061369.70 north; 594325.48 east 2021-10-09T23:43:27Z- AHRS_M2 msg: 1633823007.64 epoch sec; seqNo:92 2021-10-09T23:43:27Z- AHRS_M2 msg: 0.12 phi; -0.13 theta; 5.15 psi 2021-10-09T23:43:27Z- handleDepth()-Depth_Keller msg: 1633823007653 epoch sec; seqNo:93; depth 0.10 2021-10-09T23:43:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823007.67 epoch sec; seqNo:93; 4061369.70 north; 594325.48 east 2021-10-09T23:43:28Z- AHRS_M2 msg: 1633823008.05 epoch sec; seqNo:93 2021-10-09T23:43:28Z- AHRS_M2 msg: -0.02 phi; -0.15 theta; 5.09 psi 2021-10-09T23:43:28Z- handleDepth()-Depth_Keller msg: 1633823008052 epoch sec; seqNo:94; depth 0.13 2021-10-09T23:43:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823008.06 epoch sec; seqNo:94; 4061369.70 north; 594325.48 east 2021-10-09T23:43:28Z- AHRS_M2 msg: 1633823008.45 epoch sec; seqNo:94 2021-10-09T23:43:28Z- AHRS_M2 msg: -0.16 phi; -0.14 theta; 5.10 psi 2021-10-09T23:43:28Z- handleDepth()-Depth_Keller msg: 1633823008455 epoch sec; seqNo:95; depth 0.12 2021-10-09T23:43:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:28Z- handleDvl() - RDI_Pathfinder msg: 1633823008.46 epoch sec; seqNo:45 2021-10-09T23:43:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.09 , -0.27 , 0.08 2021-10-09T23:43:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823008.47 epoch sec; seqNo:95; 4061369.70 north; 594325.48 east 2021-10-09T23:43:28Z- AHRS_M2 msg: 1633823008.85 epoch sec; seqNo:95 2021-10-09T23:43:28Z- AHRS_M2 msg: -0.17 phi; -0.05 theta; 5.19 psi 2021-10-09T23:43:28Z- handleDepth()-Depth_Keller msg: 1633823008858 epoch sec; seqNo:96; depth 0.11 2021-10-09T23:43:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823008.87 epoch sec; seqNo:96; 4061369.32 north; 594325.48 east 2021-10-09T23:43:29Z- AHRS_M2 msg: 1633823009.26 epoch sec; seqNo:96 2021-10-09T23:43:29Z- AHRS_M2 msg: -0.10 phi; 0.06 theta; 5.21 psi 2021-10-09T23:43:29Z- handleDepth()-Depth_Keller msg: 1633823009266 epoch sec; seqNo:97; depth 0.12 2021-10-09T23:43:29Z- handleDvl() - RDI_Pathfinder msg: 1633823009.29 epoch sec; seqNo:46 2021-10-09T23:43:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.17 , 104.12 , 97.33 , 104.12 2021-10-09T23:43:29Z- handleDvl() - RDI_Pathfinder msg: velocities -0.35 , -0.45 , -0.28 2021-10-09T23:43:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823009.30 epoch sec; seqNo:97; 4061369.32 north; 594325.48 east 2021-10-09T23:43:29Z- AHRS_M2 msg: 1633823009.66 epoch sec; seqNo:97 2021-10-09T23:43:29Z- AHRS_M2 msg: -0.05 phi; 0.13 theta; 5.16 psi 2021-10-09T23:43:29Z- handleDepth()-Depth_Keller msg: 1633823009672 epoch sec; seqNo:98; depth 0.13 2021-10-09T23:43:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:29Z- handleDvl() - RDI_Pathfinder msg: 1633823009.67 epoch sec; seqNo:47 2021-10-09T23:43:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:29Z- handleDvl() - RDI_Pathfinder msg: velocities -0.35 , -0.45 , -0.28 2021-10-09T23:43:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823009.70 epoch sec; seqNo:98; 4061368.95 north; 594325.49 east 2021-10-09T23:43:30Z- AHRS_M2 msg: 1633823010.07 epoch sec; seqNo:98 2021-10-09T23:43:30Z- AHRS_M2 msg: -0.04 phi; 0.12 theta; 5.17 psi 2021-10-09T23:43:30Z- handleDepth()-Depth_Keller msg: 1633823010072 epoch sec; seqNo:99; depth 0.11 2021-10-09T23:43:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823010.08 epoch sec; seqNo:99; 4061368.57 north; 594325.49 east 2021-10-09T23:43:30Z- AHRS_M2 msg: 1633823010.47 epoch sec; seqNo:99 2021-10-09T23:43:30Z- AHRS_M2 msg: -0.04 phi; 0.08 theta; 5.17 psi 2021-10-09T23:43:30Z- handleDepth()-Depth_Keller msg: 1633823010474 epoch sec; seqNo:100; depth 0.09 2021-10-09T23:43:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823010.48 epoch sec; seqNo:100; 4061368.57 north; 594325.49 east 2021-10-09T23:43:30Z- AHRS_M2 msg: 1633823010.87 epoch sec; seqNo:100 2021-10-09T23:43:30Z- AHRS_M2 msg: -0.05 phi; 0.03 theta; 5.12 psi 2021-10-09T23:43:30Z- handleDepth()-Depth_Keller msg: 1633823010878 epoch sec; seqNo:101; depth 0.07 2021-10-09T23:43:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:30Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:30Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:30Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:30Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:30Z- handleDvl() - RDI_Pathfinder msg: 1633823010.88 epoch sec; seqNo:48 2021-10-09T23:43:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:30Z- handleDvl() - RDI_Pathfinder msg: velocities -0.35 , -0.45 , -0.28 2021-10-09T23:43:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823010.89 epoch sec; seqNo:101; 4061368.19 north; 594325.50 east 2021-10-09T23:43:31Z- AHRS_M2 msg: 1633823011.28 epoch sec; seqNo:101 2021-10-09T23:43:31Z- AHRS_M2 msg: -0.08 phi; -0.02 theta; 5.13 psi 2021-10-09T23:43:31Z- handleDepth()-Depth_Keller msg: 1633823011296 epoch sec; seqNo:102; depth 0.05 2021-10-09T23:43:31Z- handleDvl() - RDI_Pathfinder msg: 1633823011.32 epoch sec; seqNo:49 2021-10-09T23:43:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.18 , 95.90 , 102.69 , 90.46 2021-10-09T23:43:31Z- handleDvl() - RDI_Pathfinder msg: velocities -0.46 , -0.44 , 0.06 2021-10-09T23:43:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823011.33 epoch sec; seqNo:102; 4061368.19 north; 594325.50 east 2021-10-09T23:43:31Z- AHRS_M2 msg: 1633823011.68 epoch sec; seqNo:102 2021-10-09T23:43:31Z- AHRS_M2 msg: -0.06 phi; -0.07 theta; 5.18 psi 2021-10-09T23:43:31Z- handleDepth()-Depth_Keller msg: 1633823011685 epoch sec; seqNo:103; depth 0.03 2021-10-09T23:43:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823011.70 epoch sec; seqNo:103; 4061367.81 north; 594325.50 east 2021-10-09T23:43:32Z- AHRS_M2 msg: 1633823012.09 epoch sec; seqNo:103 2021-10-09T23:43:32Z- AHRS_M2 msg: -0.01 phi; -0.12 theta; 5.19 psi 2021-10-09T23:43:32Z- handleDepth()-Depth_Keller msg: 1633823012090 epoch sec; seqNo:104; depth 0.05 2021-10-09T23:43:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:32Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:32Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:32Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:32Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:32Z- handleDvl() - RDI_Pathfinder msg: 1633823012.09 epoch sec; seqNo:50 2021-10-09T23:43:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:32Z- handleDvl() - RDI_Pathfinder msg: velocities -0.46 , -0.44 , 0.06 2021-10-09T23:43:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823012.10 epoch sec; seqNo:104; 4061367.43 north; 594325.50 east 2021-10-09T23:43:32Z- LcmTrn::handleMessages() - handling 46 messages took 0.69 ms and 132 calls... 2021-10-09T23:43:32Z- waiting for 1633823009.85, time is 1633823012.10 2021-10-09T23:43:32Z- LcmTrn::updateTrn() equating pose 1633823012.10 and meas times 1633823012.10 2021-10-09T23:43:32Z- LcmTrn::updateTrn() >>>> pose time 1633823012.10, meas time 1633823012.10 <<<< 2021-10-09T23:43:32Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633823012.10, ping # 0. 2021-10-09T23:43:32Z- TerrainNav::Measurement type 1 from time = 1633823012.10 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T23:43:32Z- TerrainNav::motionUpdate() - currEstimate = (4061367, 594325.50, 0.05) 2021-10-09T23:43:32Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T23:43:32Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:32Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:32Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T23:43:32Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T23:43:32Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T23:43:32Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T23:43:32Z- AHRS_M2 msg: 1633823012.49 epoch sec; seqNo:104 2021-10-09T23:43:32Z- AHRS_M2 msg: -0.02 phi; -0.08 theta; 5.18 psi 2021-10-09T23:43:32Z- handleDepth()-Depth_Keller msg: 1633823012504 epoch sec; seqNo:105; depth 0.05 2021-10-09T23:43:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823012.51 epoch sec; seqNo:105; 4061367.43 north; 594325.50 east 2021-10-09T23:43:32Z- AHRS_M2 msg: 1633823012.89 epoch sec; seqNo:105 2021-10-09T23:43:32Z- AHRS_M2 msg: 0.05 phi; -0.00 theta; 5.22 psi 2021-10-09T23:43:32Z- handleDepth()-Depth_Keller msg: 1633823012904 epoch sec; seqNo:106; depth 0.04 2021-10-09T23:43:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823012.92 epoch sec; seqNo:106; 4061367.05 north; 594325.51 east 2021-10-09T23:43:33Z- AHRS_M2 msg: 1633823013.30 epoch sec; seqNo:106 2021-10-09T23:43:33Z- AHRS_M2 msg: 0.05 phi; 0.02 theta; 5.16 psi 2021-10-09T23:43:33Z- handleDepth()-Depth_Keller msg: 1633823013301 epoch sec; seqNo:107; depth 0.07 2021-10-09T23:43:33Z- handleDvl() - RDI_Pathfinder msg: 1633823013.32 epoch sec; seqNo:51 2021-10-09T23:43:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.53 , 93.45 , 97.53 , 97.53 2021-10-09T23:43:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.12 , -0.26 , -0.14 2021-10-09T23:43:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823013.34 epoch sec; seqNo:107; 4061367.05 north; 594325.51 east 2021-10-09T23:43:33Z- AHRS_M2 msg: 1633823013.70 epoch sec; seqNo:107 2021-10-09T23:43:33Z- AHRS_M2 msg: -0.13 phi; 0.01 theta; 5.10 psi 2021-10-09T23:43:33Z- handleDepth()-Depth_Keller msg: 1633823013711 epoch sec; seqNo:108; depth 0.08 2021-10-09T23:43:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823013.73 epoch sec; seqNo:108; 4061367.05 north; 594325.51 east 2021-10-09T23:43:34Z- AHRS_M2 msg: 1633823014.10 epoch sec; seqNo:108 2021-10-09T23:43:34Z- AHRS_M2 msg: -0.29 phi; 0.02 theta; 5.14 psi 2021-10-09T23:43:34Z- handleDepth()-Depth_Keller msg: 1633823014114 epoch sec; seqNo:109; depth 0.02 2021-10-09T23:43:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823014.12 epoch sec; seqNo:109; 4061366.67 north; 594325.51 east 2021-10-09T23:43:34Z- AHRS_M2 msg: 1633823014.51 epoch sec; seqNo:109 2021-10-09T23:43:34Z- AHRS_M2 msg: -0.28 phi; -0.02 theta; 5.15 psi 2021-10-09T23:43:34Z- handleDepth()-Depth_Keller msg: 1633823014515 epoch sec; seqNo:110; depth 0.00 2021-10-09T23:43:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:34Z- handleDvl() - RDI_Pathfinder msg: 1633823014.52 epoch sec; seqNo:52 2021-10-09T23:43:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.12 , -0.26 , -0.14 2021-10-09T23:43:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823014.54 epoch sec; seqNo:110; 4061366.67 north; 594325.51 east 2021-10-09T23:43:34Z- AHRS_M2 msg: 1633823014.91 epoch sec; seqNo:110 2021-10-09T23:43:34Z- AHRS_M2 msg: -0.14 phi; -0.10 theta; 5.18 psi 2021-10-09T23:43:34Z- handleDepth()-Depth_Keller msg: 1633823014917 epoch sec; seqNo:111; depth 0.04 2021-10-09T23:43:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823014.93 epoch sec; seqNo:111; 4061366.67 north; 594325.51 east 2021-10-09T23:43:35Z- AHRS_M2 msg: 1633823015.32 epoch sec; seqNo:111 2021-10-09T23:43:35Z- AHRS_M2 msg: 0.06 phi; -0.06 theta; 5.23 psi 2021-10-09T23:43:35Z- handleDepth()-Depth_Keller msg: 1633823015321 epoch sec; seqNo:112; depth 0.06 2021-10-09T23:43:35Z- handleDvl() - RDI_Pathfinder msg: 1633823015.34 epoch sec; seqNo:53 2021-10-09T23:43:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 112.41 , 97.46 , 98.82 2021-10-09T23:43:35Z- handleDvl() - RDI_Pathfinder msg: velocities -0.29 , -0.50 , -0.27 2021-10-09T23:43:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823015.35 epoch sec; seqNo:112; 4061366.29 north; 594325.52 east 2021-10-09T23:43:35Z- AHRS_M2 msg: 1633823015.72 epoch sec; seqNo:112 2021-10-09T23:43:35Z- AHRS_M2 msg: 0.13 phi; 0.01 theta; 5.20 psi 2021-10-09T23:43:35Z- handleDepth()-Depth_Keller msg: 1633823015730 epoch sec; seqNo:113; depth 0.09 2021-10-09T23:43:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:35Z- handleDvl() - RDI_Pathfinder msg: 1633823015.73 epoch sec; seqNo:54 2021-10-09T23:43:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:35Z- handleDvl() - RDI_Pathfinder msg: velocities -0.29 , -0.50 , -0.27 2021-10-09T23:43:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823015.75 epoch sec; seqNo:113; 4061366.29 north; 594325.52 east 2021-10-09T23:43:36Z- AHRS_M2 msg: 1633823016.12 epoch sec; seqNo:113 2021-10-09T23:43:36Z- AHRS_M2 msg: 0.02 phi; -0.01 theta; 5.18 psi 2021-10-09T23:43:36Z- handleDepth()-Depth_Keller msg: 1633823016132 epoch sec; seqNo:114; depth 0.08 2021-10-09T23:43:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823016.16 epoch sec; seqNo:114; 4061365.91 north; 594325.52 east 2021-10-09T23:43:36Z- AHRS_M2 msg: 1633823016.53 epoch sec; seqNo:114 2021-10-09T23:43:36Z- AHRS_M2 msg: -0.13 phi; -0.11 theta; 5.21 psi 2021-10-09T23:43:36Z- handleDepth()-Depth_Keller msg: 1633823016536 epoch sec; seqNo:115; depth 0.05 2021-10-09T23:43:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823016.55 epoch sec; seqNo:115; 4061365.91 north; 594325.52 east 2021-10-09T23:43:36Z- AHRS_M2 msg: 1633823016.93 epoch sec; seqNo:115 2021-10-09T23:43:36Z- AHRS_M2 msg: -0.16 phi; -0.15 theta; 5.22 psi 2021-10-09T23:43:36Z- handleDepth()-Depth_Keller msg: 1633823016939 epoch sec; seqNo:116; depth 0.08 2021-10-09T23:43:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:36Z- handleDvl() - RDI_Pathfinder msg: 1633823016.94 epoch sec; seqNo:55 2021-10-09T23:43:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:36Z- handleDvl() - RDI_Pathfinder msg: velocities -0.29 , -0.50 , -0.27 2021-10-09T23:43:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823016.95 epoch sec; seqNo:116; 4061365.54 north; 594325.52 east 2021-10-09T23:43:37Z- LcmTrn::handleMessages() - handling 41 messages took 0.65 ms and 127 calls... 2021-10-09T23:43:37Z- waiting for 1633823015.10, time is 1633823016.95 2021-10-09T23:43:37Z- LcmTrn::updateTrn() equating pose 1633823016.95 and meas times 1633823016.95 2021-10-09T23:43:37Z- LcmTrn::updateTrn() >>>> pose time 1633823016.95, meas time 1633823016.95 <<<< 2021-10-09T23:43:37Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633823016.95, ping # 0. 2021-10-09T23:43:37Z- TerrainNav::Measurement type 1 from time = 1633823016.95 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T23:43:37Z- TerrainNav::motionUpdate() - currEstimate = (4061366, 594325.52, 0.08) 2021-10-09T23:43:37Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T23:43:37Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:37Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:37Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T23:43:37Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T23:43:37Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T23:43:37Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T23:43:37Z- AHRS_M2 msg: 1633823017.34 epoch sec; seqNo:116 2021-10-09T23:43:37Z- AHRS_M2 msg: -0.08 phi; -0.11 theta; 5.23 psi 2021-10-09T23:43:37Z- handleDepth()-Depth_Keller msg: 1633823017351 epoch sec; seqNo:117; depth 0.10 2021-10-09T23:43:37Z- handleDvl() - RDI_Pathfinder msg: 1633823017.37 epoch sec; seqNo:56 2021-10-09T23:43:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 98.00 , 103.98 , 98.00 , 100.99 2021-10-09T23:43:37Z- handleDvl() - RDI_Pathfinder msg: velocities -0.55 , -0.35 , -0.13 2021-10-09T23:43:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823017.38 epoch sec; seqNo:117; 4061365.16 north; 594325.53 east 2021-10-09T23:43:37Z- AHRS_M2 msg: 1633823017.75 epoch sec; seqNo:117 2021-10-09T23:43:37Z- AHRS_M2 msg: 0.08 phi; -0.08 theta; 5.30 psi 2021-10-09T23:43:37Z- handleDepth()-Depth_Keller msg: 1633823017751 epoch sec; seqNo:118; depth 0.07 2021-10-09T23:43:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823017.77 epoch sec; seqNo:118; 4061365.16 north; 594325.53 east 2021-10-09T23:43:38Z- AHRS_M2 msg: 1633823018.15 epoch sec; seqNo:118 2021-10-09T23:43:38Z- AHRS_M2 msg: 0.11 phi; -0.08 theta; 5.29 psi 2021-10-09T23:43:38Z- handleDepth()-Depth_Keller msg: 1633823018151 epoch sec; seqNo:119; depth 0.09 2021-10-09T23:43:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:38Z- handleDvl() - RDI_Pathfinder msg: 1633823018.15 epoch sec; seqNo:57 2021-10-09T23:43:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:38Z- handleDvl() - RDI_Pathfinder msg: velocities -0.55 , -0.35 , -0.13 2021-10-09T23:43:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823018.16 epoch sec; seqNo:119; 4061364.78 north; 594325.53 east 2021-10-09T23:43:38Z- AHRS_M2 msg: 1633823018.55 epoch sec; seqNo:119 2021-10-09T23:43:38Z- AHRS_M2 msg: 0.07 phi; -0.06 theta; 5.28 psi 2021-10-09T23:43:38Z- handleDepth()-Depth_Keller msg: 1633823018554 epoch sec; seqNo:120; depth 0.09 2021-10-09T23:43:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823018.56 epoch sec; seqNo:120; 4061364.78 north; 594325.53 east 2021-10-09T23:43:38Z- AHRS_M2 msg: 1633823018.95 epoch sec; seqNo:120 2021-10-09T23:43:38Z- AHRS_M2 msg: -0.02 phi; -0.03 theta; 5.26 psi 2021-10-09T23:43:38Z- handleDepth()-Depth_Keller msg: 1633823018957 epoch sec; seqNo:121; depth 0.08 2021-10-09T23:43:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823018.97 epoch sec; seqNo:121; 4061364.40 north; 594325.54 east 2021-10-09T23:43:39Z- AHRS_M2 msg: 1633823019.36 epoch sec; seqNo:121 2021-10-09T23:43:39Z- AHRS_M2 msg: -0.11 phi; -0.09 theta; 5.27 psi 2021-10-09T23:43:39Z- handleDepth()-Depth_Keller msg: 1633823019364 epoch sec; seqNo:122; depth 0.05 2021-10-09T23:43:39Z- handleDvl() - RDI_Pathfinder msg: 1633823019.39 epoch sec; seqNo:58 2021-10-09T23:43:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 103.92 , 88.97 , 93.05 , 99.84 2021-10-09T23:43:39Z- handleDvl() - RDI_Pathfinder msg: velocities -0.27 , -0.21 , 0.17 2021-10-09T23:43:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823019.40 epoch sec; seqNo:122; 4061364.40 north; 594325.54 east 2021-10-09T23:43:39Z- AHRS_M2 msg: 1633823019.76 epoch sec; seqNo:122 2021-10-09T23:43:39Z- AHRS_M2 msg: -0.13 phi; -0.15 theta; 5.32 psi 2021-10-09T23:43:39Z- handleDepth()-Depth_Keller msg: 1633823019771 epoch sec; seqNo:123; depth 0.04 2021-10-09T23:43:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823019.79 epoch sec; seqNo:123; 4061364.02 north; 594325.54 east 2021-10-09T23:43:40Z- AHRS_M2 msg: 1633823020.17 epoch sec; seqNo:123 2021-10-09T23:43:40Z- AHRS_M2 msg: -0.10 phi; -0.12 theta; 5.30 psi 2021-10-09T23:43:40Z- handleDepth()-Depth_Keller msg: 1633823020170 epoch sec; seqNo:124; depth 0.05 2021-10-09T23:43:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823020.18 epoch sec; seqNo:124; 4061364.02 north; 594325.54 east 2021-10-09T23:43:40Z- AHRS_M2 msg: 1633823020.57 epoch sec; seqNo:124 2021-10-09T23:43:40Z- AHRS_M2 msg: -0.08 phi; -0.07 theta; 5.30 psi 2021-10-09T23:43:40Z- handleDepth()-Depth_Keller msg: 1633823020573 epoch sec; seqNo:125; depth 0.05 2021-10-09T23:43:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:40Z- handleDvl() - RDI_Pathfinder msg: 1633823020.58 epoch sec; seqNo:59 2021-10-09T23:43:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:40Z- handleDvl() - RDI_Pathfinder msg: velocities -0.27 , -0.21 , 0.17 2021-10-09T23:43:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823020.58 epoch sec; seqNo:125; 4061364.03 north; 594326.76 east 2021-10-09T23:43:40Z- AHRS_M2 msg: 1633823020.97 epoch sec; seqNo:125 2021-10-09T23:43:40Z- AHRS_M2 msg: -0.02 phi; -0.01 theta; 5.32 psi 2021-10-09T23:43:40Z- handleDepth()-Depth_Keller msg: 1633823020977 epoch sec; seqNo:126; depth 0.03 2021-10-09T23:43:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823020.99 epoch sec; seqNo:126; 4061363.65 north; 594326.77 east 2021-10-09T23:43:41Z- AHRS_M2 msg: 1633823021.38 epoch sec; seqNo:126 2021-10-09T23:43:41Z- AHRS_M2 msg: 0.01 phi; 0.06 theta; 5.31 psi 2021-10-09T23:43:41Z- handleDepth()-Depth_Keller msg: 1633823021389 epoch sec; seqNo:127; depth 0.04 2021-10-09T23:43:41Z- handleDvl() - RDI_Pathfinder msg: 1633823021.41 epoch sec; seqNo:60 2021-10-09T23:43:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.46 , 96.10 , 90.66 , 100.18 2021-10-09T23:43:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.00 , -0.37 , -0.36 2021-10-09T23:43:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823021.42 epoch sec; seqNo:127; 4061363.64 north; 594325.55 east 2021-10-09T23:43:41Z- AHRS_M2 msg: 1633823021.78 epoch sec; seqNo:127 2021-10-09T23:43:41Z- AHRS_M2 msg: 0.04 phi; 0.10 theta; 5.32 psi 2021-10-09T23:43:41Z- handleDepth()-Depth_Keller msg: 1633823021788 epoch sec; seqNo:128; depth 0.04 2021-10-09T23:43:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:41Z- handleDvl() - RDI_Pathfinder msg: 1633823021.79 epoch sec; seqNo:61 2021-10-09T23:43:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.00 , -0.37 , -0.36 2021-10-09T23:43:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823021.82 epoch sec; seqNo:128; 4061363.64 north; 594325.55 east 2021-10-09T23:43:42Z- AHRS_M2 msg: 1633823022.18 epoch sec; seqNo:128 2021-10-09T23:43:42Z- AHRS_M2 msg: 0.06 phi; 0.04 theta; 5.31 psi 2021-10-09T23:43:42Z- handleDepth()-Depth_Keller msg: 1633823022189 epoch sec; seqNo:129; depth 0.05 2021-10-09T23:43:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823022.20 epoch sec; seqNo:129; 4061363.26 north; 594325.55 east 2021-10-09T23:43:42Z- LcmTrn::handleMessages() - handling 45 messages took 0.69 ms and 131 calls... 2021-10-09T23:43:42Z- waiting for 1633823019.95, time is 1633823022.20 2021-10-09T23:43:42Z- LcmTrn::updateTrn() >>>> pose time 1633823022.20, meas time 1633823021.79 <<<< 2021-10-09T23:43:42Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633823021.79, ping # 0. 2021-10-09T23:43:42Z- TerrainNav::Measurement type 1 from time = 1633823021.79 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T23:43:42Z- TerrainNav::motionUpdate() - currEstimate = (4061363, 594325.55, 0.05) 2021-10-09T23:43:42Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T23:43:42Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:42Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:42Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T23:43:42Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T23:43:42Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T23:43:42Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T23:43:42Z- AHRS_M2 msg: 1633823022.59 epoch sec; seqNo:129 2021-10-09T23:43:42Z- AHRS_M2 msg: 0.03 phi; -0.08 theta; 5.28 psi 2021-10-09T23:43:42Z- handleDepth()-Depth_Keller msg: 1633823022595 epoch sec; seqNo:130; depth 0.07 2021-10-09T23:43:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823022.60 epoch sec; seqNo:130; 4061363.26 north; 594325.55 east 2021-10-09T23:43:43Z- AHRS_M2 msg: 1633823022.99 epoch sec; seqNo:130 2021-10-09T23:43:43Z- AHRS_M2 msg: -0.04 phi; -0.12 theta; 5.31 psi 2021-10-09T23:43:43Z- handleDepth()-Depth_Keller msg: 1633823022997 epoch sec; seqNo:131; depth 0.06 2021-10-09T23:43:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:43Z- handleDvl() - RDI_Pathfinder msg: 1633823023.00 epoch sec; seqNo:62 2021-10-09T23:43:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.00 , -0.37 , -0.36 2021-10-09T23:43:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823023.02 epoch sec; seqNo:131; 4061363.26 north; 594325.55 east 2021-10-09T23:43:43Z- AHRS_M2 msg: 1633823023.40 epoch sec; seqNo:131 2021-10-09T23:43:43Z- AHRS_M2 msg: -0.04 phi; -0.12 theta; 5.35 psi 2021-10-09T23:43:43Z- handleDepth()-Depth_Keller msg: 1633823023404 epoch sec; seqNo:132; depth 0.04 2021-10-09T23:43:43Z- handleDvl() - RDI_Pathfinder msg: 1633823023.43 epoch sec; seqNo:63 2021-10-09T23:43:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 100.18 , 90.67 , 97.46 , 97.46 2021-10-09T23:43:43Z- handleDvl() - RDI_Pathfinder msg: velocities -0.80 , -0.17 , 0.01 2021-10-09T23:43:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823023.44 epoch sec; seqNo:132; 4061362.88 north; 594325.55 east 2021-10-09T23:43:43Z- AHRS_M2 msg: 1633823023.81 epoch sec; seqNo:132 2021-10-09T23:43:43Z- AHRS_M2 msg: -0.00 phi; -0.05 theta; 5.36 psi 2021-10-09T23:43:43Z- handleDepth()-Depth_Keller msg: 1633823023809 epoch sec; seqNo:133; depth 0.05 2021-10-09T23:43:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823023.82 epoch sec; seqNo:133; 4061362.52 north; 594326.78 east 2021-10-09T23:43:44Z- AHRS_M2 msg: 1633823024.21 epoch sec; seqNo:133 2021-10-09T23:43:44Z- AHRS_M2 msg: 0.01 phi; 0.08 theta; 5.32 psi 2021-10-09T23:43:44Z- handleDepth()-Depth_Keller msg: 1633823024215 epoch sec; seqNo:134; depth 0.07 2021-10-09T23:43:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:44Z- handleDvl() - RDI_Pathfinder msg: 1633823024.22 epoch sec; seqNo:64 2021-10-09T23:43:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:44Z- handleDvl() - RDI_Pathfinder msg: velocities -0.80 , -0.17 , 0.01 2021-10-09T23:43:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823024.23 epoch sec; seqNo:134; 4061362.52 north; 594326.78 east 2021-10-09T23:43:44Z- AHRS_M2 msg: 1633823024.61 epoch sec; seqNo:134 2021-10-09T23:43:44Z- AHRS_M2 msg: -0.09 phi; 0.05 theta; 5.28 psi 2021-10-09T23:43:44Z- handleDepth()-Depth_Keller msg: 1633823024612 epoch sec; seqNo:135; depth 0.06 2021-10-09T23:43:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823024.63 epoch sec; seqNo:135; 4061362.14 north; 594326.78 east 2021-10-09T23:43:45Z- AHRS_M2 msg: 1633823025.01 epoch sec; seqNo:135 2021-10-09T23:43:45Z- AHRS_M2 msg: -0.17 phi; -0.03 theta; 5.31 psi 2021-10-09T23:43:45Z- handleDepth()-Depth_Keller msg: 1633823025023 epoch sec; seqNo:136; depth 0.03 2021-10-09T23:43:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823025.03 epoch sec; seqNo:136; 4061361.76 north; 594326.79 east 2021-10-09T23:43:45Z- AHRS_M2 msg: 1633823025.42 epoch sec; seqNo:136 2021-10-09T23:43:45Z- AHRS_M2 msg: -0.16 phi; 0.01 theta; 5.33 psi 2021-10-09T23:43:45Z- handleDepth()-Depth_Keller msg: 1633823025428 epoch sec; seqNo:137; depth 0.07 2021-10-09T23:43:45Z- handleDvl() - RDI_Pathfinder msg: 1633823025.45 epoch sec; seqNo:65 2021-10-09T23:43:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.46 , 97.46 , 101.54 , 97.46 2021-10-09T23:43:45Z- handleDvl() - RDI_Pathfinder msg: velocities -0.26 , -0.39 , 0.49 2021-10-09T23:43:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823025.48 epoch sec; seqNo:137; 4061361.76 north; 594326.79 east 2021-10-09T23:43:45Z- AHRS_M2 msg: 1633823025.83 epoch sec; seqNo:137 2021-10-09T23:43:45Z- AHRS_M2 msg: -0.11 phi; 0.01 theta; 5.35 psi 2021-10-09T23:43:45Z- handleDepth()-Depth_Keller msg: 1633823025835 epoch sec; seqNo:138; depth 0.06 2021-10-09T23:43:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823025.85 epoch sec; seqNo:138; 4061361.76 north; 594326.79 east 2021-10-09T23:43:46Z- AHRS_M2 msg: 1633823026.22 epoch sec; seqNo:138 2021-10-09T23:43:46Z- AHRS_M2 msg: -0.02 phi; -0.07 theta; 5.40 psi 2021-10-09T23:43:46Z- handleDepth()-Depth_Keller msg: 1633823026229 epoch sec; seqNo:139; depth 0.05 2021-10-09T23:43:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823026.28 epoch sec; seqNo:139; 4061361.38 north; 594326.79 east 2021-10-09T23:43:46Z- AHRS_M2 msg: 1633823026.63 epoch sec; seqNo:139 2021-10-09T23:43:46Z- AHRS_M2 msg: 0.07 phi; -0.05 theta; 5.43 psi 2021-10-09T23:43:46Z- handleDepth()-Depth_Keller msg: 1633823026633 epoch sec; seqNo:140; depth 0.09 2021-10-09T23:43:46Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:46Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:46Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:46Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:46Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:46Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:46Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:46Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:46Z- handleDvl() - RDI_Pathfinder msg: 1633823026.63 epoch sec; seqNo:66 2021-10-09T23:43:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:46Z- handleDvl() - RDI_Pathfinder msg: velocities -0.26 , -0.39 , 0.49 2021-10-09T23:43:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823026.64 epoch sec; seqNo:140; 4061361.00 north; 594326.79 east 2021-10-09T23:43:47Z- AHRS_M2 msg: 1633823027.03 epoch sec; seqNo:140 2021-10-09T23:43:47Z- AHRS_M2 msg: 0.11 phi; -0.03 theta; 5.43 psi 2021-10-09T23:43:47Z- handleDepth()-Depth_Keller msg: 1633823027037 epoch sec; seqNo:141; depth 0.06 2021-10-09T23:43:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823027.05 epoch sec; seqNo:141; 4061361.00 north; 594326.79 east 2021-10-09T23:43:47Z- LcmTrn::handleMessages() - handling 41 messages took 0.71 ms and 126 calls... 2021-10-09T23:43:47Z- waiting for 1633823025.20, time is 1633823027.05 2021-10-09T23:43:47Z- LcmTrn::updateTrn() >>>> pose time 1633823027.05, meas time 1633823026.63 <<<< 2021-10-09T23:43:47Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633823026.63, ping # 0. 2021-10-09T23:43:47Z- TerrainNav::Measurement type 1 from time = 1633823026.63 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T23:43:47Z- TerrainNav::motionUpdate() - currEstimate = (4061361, 594326.79, 0.06) 2021-10-09T23:43:47Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T23:43:47Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:47Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:47Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T23:43:47Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T23:43:47Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T23:43:47Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T23:43:47Z- AHRS_M2 msg: 1633823027.44 epoch sec; seqNo:141 2021-10-09T23:43:47Z- AHRS_M2 msg: 0.10 phi; -0.09 theta; 5.43 psi 2021-10-09T23:43:47Z- handleDepth()-Depth_Keller msg: 1633823027451 epoch sec; seqNo:142; depth 0.06 2021-10-09T23:43:47Z- handleDvl() - RDI_Pathfinder msg: 1633823027.47 epoch sec; seqNo:67 2021-10-09T23:43:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.25 , 97.25 , 91.82 , 97.25 2021-10-09T23:43:47Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , -0.03 , -0.28 2021-10-09T23:43:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823027.49 epoch sec; seqNo:142; 4061361.00 north; 594326.79 east 2021-10-09T23:43:47Z- AHRS_M2 msg: 1633823027.84 epoch sec; seqNo:142 2021-10-09T23:43:47Z- AHRS_M2 msg: 0.07 phi; -0.10 theta; 5.42 psi 2021-10-09T23:43:47Z- handleDepth()-Depth_Keller msg: 1633823027851 epoch sec; seqNo:143; depth 0.07 2021-10-09T23:43:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:47Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:47Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:47Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:47Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:47Z- handleDvl() - RDI_Pathfinder msg: 1633823027.85 epoch sec; seqNo:68 2021-10-09T23:43:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:47Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , -0.03 , -0.28 2021-10-09T23:43:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823027.88 epoch sec; seqNo:143; 4061361.00 north; 594326.79 east 2021-10-09T23:43:48Z- AHRS_M2 msg: 1633823028.24 epoch sec; seqNo:143 2021-10-09T23:43:48Z- AHRS_M2 msg: -0.02 phi; -0.07 theta; 5.40 psi 2021-10-09T23:43:48Z- handleDepth()-Depth_Keller msg: 1633823028256 epoch sec; seqNo:144; depth 0.07 2021-10-09T23:43:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823028.27 epoch sec; seqNo:144; 4061361.00 north; 594326.79 east 2021-10-09T23:43:48Z- AHRS_M2 msg: 1633823028.65 epoch sec; seqNo:144 2021-10-09T23:43:48Z- AHRS_M2 msg: -0.08 phi; -0.09 theta; 5.40 psi 2021-10-09T23:43:48Z- handleDepth()-Depth_Keller msg: 1633823028653 epoch sec; seqNo:145; depth 0.06 2021-10-09T23:43:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823028.66 epoch sec; seqNo:145; 4061361.00 north; 594326.79 east 2021-10-09T23:43:49Z- AHRS_M2 msg: 1633823029.06 epoch sec; seqNo:145 2021-10-09T23:43:49Z- AHRS_M2 msg: -0.04 phi; -0.12 theta; 5.45 psi 2021-10-09T23:43:49Z- handleDepth()-Depth_Keller msg: 1633823029062 epoch sec; seqNo:146; depth 0.07 2021-10-09T23:43:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:49Z- handleDvl() - RDI_Pathfinder msg: 1633823029.07 epoch sec; seqNo:69 2021-10-09T23:43:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:49Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , -0.03 , -0.28 2021-10-09T23:43:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823029.08 epoch sec; seqNo:146; 4061360.62 north; 594326.80 east 2021-10-09T23:43:49Z- AHRS_M2 msg: 1633823029.46 epoch sec; seqNo:146 2021-10-09T23:43:49Z- AHRS_M2 msg: 0.04 phi; -0.08 theta; 5.51 psi 2021-10-09T23:43:49Z- handleDepth()-Depth_Keller msg: 1633823029467 epoch sec; seqNo:147; depth 0.07 2021-10-09T23:43:49Z- handleDvl() - RDI_Pathfinder msg: 1633823029.49 epoch sec; seqNo:70 2021-10-09T23:43:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.53 , 97.53 , 92.10 , 97.53 2021-10-09T23:43:49Z- handleDvl() - RDI_Pathfinder msg: velocities -0.31 , -0.35 , -0.25 2021-10-09T23:43:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823029.51 epoch sec; seqNo:147; 4061360.62 north; 594326.80 east 2021-10-09T23:43:49Z- AHRS_M2 msg: 1633823029.86 epoch sec; seqNo:147 2021-10-09T23:43:49Z- AHRS_M2 msg: 0.08 phi; -0.07 theta; 5.53 psi 2021-10-09T23:43:49Z- handleDepth()-Depth_Keller msg: 1633823029867 epoch sec; seqNo:148; depth 0.06 2021-10-09T23:43:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823029.88 epoch sec; seqNo:148; 4061360.25 north; 594326.80 east 2021-10-09T23:43:50Z- AHRS_M2 msg: 1633823030.27 epoch sec; seqNo:148 2021-10-09T23:43:50Z- AHRS_M2 msg: 0.09 phi; -0.04 theta; 5.52 psi 2021-10-09T23:43:50Z- handleDepth()-Depth_Keller msg: 1633823030271 epoch sec; seqNo:149; depth 0.05 2021-10-09T23:43:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:50Z- handleDvl() - RDI_Pathfinder msg: 1633823030.27 epoch sec; seqNo:71 2021-10-09T23:43:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:50Z- handleDvl() - RDI_Pathfinder msg: velocities -0.31 , -0.35 , -0.25 2021-10-09T23:43:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823030.28 epoch sec; seqNo:149; 4061360.25 north; 594326.80 east 2021-10-09T23:43:50Z- AHRS_M2 msg: 1633823030.67 epoch sec; seqNo:149 2021-10-09T23:43:50Z- AHRS_M2 msg: 0.12 phi; -0.01 theta; 5.51 psi 2021-10-09T23:43:50Z- handleDepth()-Depth_Keller msg: 1633823030684 epoch sec; seqNo:150; depth 0.06 2021-10-09T23:43:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823030.69 epoch sec; seqNo:150; 4061360.25 north; 594326.80 east 2021-10-09T23:43:51Z- AHRS_M2 msg: 1633823031.07 epoch sec; seqNo:150 2021-10-09T23:43:51Z- AHRS_M2 msg: 0.05 phi; -0.04 theta; 5.49 psi 2021-10-09T23:43:51Z- handleDepth()-Depth_Keller msg: 1633823031083 epoch sec; seqNo:151; depth 0.06 2021-10-09T23:43:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823031.09 epoch sec; seqNo:151; 4061359.87 north; 594326.81 east 2021-10-09T23:43:51Z- AHRS_M2 msg: 1633823031.48 epoch sec; seqNo:151 2021-10-09T23:43:51Z- AHRS_M2 msg: -0.03 phi; -0.05 theta; 5.52 psi 2021-10-09T23:43:51Z- handleDepth()-Depth_Keller msg: 1633823031487 epoch sec; seqNo:152; depth 0.04 2021-10-09T23:43:51Z- handleDvl() - RDI_Pathfinder msg: 1633823031.54 epoch sec; seqNo:72 2021-10-09T23:43:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 102.89 , 89.31 , 94.74 , 94.74 2021-10-09T23:43:51Z- handleDvl() - RDI_Pathfinder msg: velocities -0.16 , -0.13 , 0.03 2021-10-09T23:43:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823031.58 epoch sec; seqNo:152; 4061359.87 north; 594326.81 east 2021-10-09T23:43:51Z- AHRS_M2 msg: 1633823031.89 epoch sec; seqNo:152 2021-10-09T23:43:51Z- AHRS_M2 msg: -0.02 phi; -0.01 theta; 5.54 psi 2021-10-09T23:43:51Z- handleDepth()-Depth_Keller msg: 1633823031891 epoch sec; seqNo:153; depth 0.06 2021-10-09T23:43:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823031.92 epoch sec; seqNo:153; 4061359.87 north; 594326.81 east 2021-10-09T23:43:52Z- AHRS_M2 msg: 1633823032.28 epoch sec; seqNo:153 2021-10-09T23:43:52Z- AHRS_M2 msg: 0.03 phi; 0.03 theta; 5.55 psi 2021-10-09T23:43:52Z- handleDepth()-Depth_Keller msg: 1633823032292 epoch sec; seqNo:154; depth 0.06 2021-10-09T23:43:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823032.32 epoch sec; seqNo:154; 4061359.49 north; 594326.81 east 2021-10-09T23:43:52Z- LcmTrn::handleMessages() - handling 45 messages took 0.78 ms and 129 calls... 2021-10-09T23:43:52Z- waiting for 1633823030.05, time is 1633823032.32 2021-10-09T23:43:52Z- LcmTrn::updateTrn() >>>> pose time 1633823032.32, meas time 1633823031.54 <<<< 2021-10-09T23:43:52Z- TerrainNav::Measurement type 1 from time = 1633823031.54 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-09T23:43:52Z- TerrainNav::motionUpdate() - currEstimate = (4061359, 594326.81, 0.06) 2021-10-09T23:43:52Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T23:43:52Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:52Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:52Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T23:43:52Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T23:43:52Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T23:43:52Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T23:43:52Z- AHRS_M2 msg: 1633823032.69 epoch sec; seqNo:154 2021-10-09T23:43:52Z- AHRS_M2 msg: 0.13 phi; -0.03 theta; 5.57 psi 2021-10-09T23:43:52Z- handleDepth()-Depth_Keller msg: 1633823032695 epoch sec; seqNo:155; depth 0.06 2021-10-09T23:43:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:52Z- handleDvl() - RDI_Pathfinder msg: 1633823032.70 epoch sec; seqNo:73 2021-10-09T23:43:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:52Z- handleDvl() - RDI_Pathfinder msg: velocities -0.16 , -0.13 , 0.03 2021-10-09T23:43:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823032.78 epoch sec; seqNo:155; 4061359.49 north; 594326.81 east 2021-10-09T23:43:53Z- AHRS_M2 msg: 1633823033.09 epoch sec; seqNo:155 2021-10-09T23:43:53Z- AHRS_M2 msg: 0.25 phi; -0.09 theta; 5.57 psi 2021-10-09T23:43:53Z- handleDepth()-Depth_Keller msg: 1633823033108 epoch sec; seqNo:156; depth 0.08 2021-10-09T23:43:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823033.15 epoch sec; seqNo:156; 4061359.49 north; 594326.81 east 2021-10-09T23:43:53Z- AHRS_M2 msg: 1633823033.50 epoch sec; seqNo:156 2021-10-09T23:43:53Z- AHRS_M2 msg: 0.27 phi; -0.07 theta; 5.55 psi 2021-10-09T23:43:53Z- handleDepth()-Depth_Keller msg: 1633823033511 epoch sec; seqNo:157; depth 0.09 2021-10-09T23:43:53Z- handleDvl() - RDI_Pathfinder msg: 1633823033.56 epoch sec; seqNo:74 2021-10-09T23:43:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 101.61 , 88.02 , 97.53 , 97.53 2021-10-09T23:43:53Z- handleDvl() - RDI_Pathfinder msg: velocities -0.36 , -0.17 , 0.29 2021-10-09T23:43:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823033.62 epoch sec; seqNo:157; 4061359.11 north; 594326.82 east 2021-10-09T23:43:53Z- AHRS_M2 msg: 1633823033.90 epoch sec; seqNo:157 2021-10-09T23:43:53Z- AHRS_M2 msg: 0.16 phi; -0.03 theta; 5.53 psi 2021-10-09T23:43:53Z- handleDepth()-Depth_Keller msg: 1633823033926 epoch sec; seqNo:158; depth 0.04 2021-10-09T23:43:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:53Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:53Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:53Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:53Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:53Z- handleDvl() - RDI_Pathfinder msg: 1633823033.94 epoch sec; seqNo:75 2021-10-09T23:43:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:53Z- handleDvl() - RDI_Pathfinder msg: velocities -0.36 , -0.17 , 0.29 2021-10-09T23:43:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823033.95 epoch sec; seqNo:158; 4061359.11 north; 594326.82 east 2021-10-09T23:43:54Z- AHRS_M2 msg: 1633823034.30 epoch sec; seqNo:158 2021-10-09T23:43:54Z- AHRS_M2 msg: -0.02 phi; -0.03 theta; 5.51 psi 2021-10-09T23:43:54Z- handleDepth()-Depth_Keller msg: 1633823034311 epoch sec; seqNo:159; depth 0.02 2021-10-09T23:43:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823034.35 epoch sec; seqNo:159; 4061359.11 north; 594326.82 east 2021-10-09T23:43:54Z- AHRS_M2 msg: 1633823034.71 epoch sec; seqNo:159 2021-10-09T23:43:54Z- AHRS_M2 msg: -0.09 phi; 0.05 theta; 5.53 psi 2021-10-09T23:43:54Z- handleDepth()-Depth_Keller msg: 1633823034723 epoch sec; seqNo:160; depth 0.02 2021-10-09T23:43:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823034.74 epoch sec; seqNo:160; 4061358.73 north; 594326.82 east 2021-10-09T23:43:55Z- AHRS_M2 msg: 1633823035.14 epoch sec; seqNo:160 2021-10-09T23:43:55Z- AHRS_M2 msg: -0.03 phi; 0.03 theta; 5.57 psi 2021-10-09T23:43:55Z- handleDepth()-Depth_Keller msg: 1633823035166 epoch sec; seqNo:161; depth 0.04 2021-10-09T23:43:55Z- handleDvl() - RDI_Pathfinder msg: 1633823035.23 epoch sec; seqNo:76 2021-10-09T23:43:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.46 , 96.10 , 97.46 , 97.46 2021-10-09T23:43:55Z- handleDvl() - RDI_Pathfinder msg: velocities -0.35 , -0.29 , 0.28 2021-10-09T23:43:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823035.25 epoch sec; seqNo:161; 4061358.73 north; 594326.82 east 2021-10-09T23:43:55Z- AHRS_M2 msg: 1633823035.52 epoch sec; seqNo:161 2021-10-09T23:43:55Z- AHRS_M2 msg: -0.00 phi; -0.08 theta; 5.56 psi 2021-10-09T23:43:55Z- handleDepth()-Depth_Keller msg: 1633823035524 epoch sec; seqNo:162; depth 0.05 2021-10-09T23:43:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823035.55 epoch sec; seqNo:162; 4061358.35 north; 594326.82 east 2021-10-09T23:43:55Z- AHRS_M2 msg: 1633823035.92 epoch sec; seqNo:162 2021-10-09T23:43:55Z- AHRS_M2 msg: 0.02 phi; -0.13 theta; 5.50 psi 2021-10-09T23:43:55Z- handleDepth()-Depth_Keller msg: 1633823035932 epoch sec; seqNo:163; depth 0.03 2021-10-09T23:43:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823035.94 epoch sec; seqNo:163; 4061358.35 north; 594326.82 east 2021-10-09T23:43:56Z- AHRS_M2 msg: 1633823036.33 epoch sec; seqNo:163 2021-10-09T23:43:56Z- AHRS_M2 msg: 0.04 phi; -0.07 theta; 5.48 psi 2021-10-09T23:43:56Z- handleDepth()-Depth_Keller msg: 1633823036335 epoch sec; seqNo:164; depth 0.06 2021-10-09T23:43:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:56Z- handleDvl() - RDI_Pathfinder msg: 1633823036.34 epoch sec; seqNo:77 2021-10-09T23:43:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:56Z- handleDvl() - RDI_Pathfinder msg: velocities -0.35 , -0.29 , 0.28 2021-10-09T23:43:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823036.35 epoch sec; seqNo:164; 4061357.97 north; 594326.83 east 2021-10-09T23:43:56Z- AHRS_M2 msg: 1633823036.73 epoch sec; seqNo:164 2021-10-09T23:43:56Z- AHRS_M2 msg: 0.06 phi; 0.00 theta; 5.50 psi 2021-10-09T23:43:56Z- handleDepth()-Depth_Keller msg: 1633823036743 epoch sec; seqNo:165; depth 0.08 2021-10-09T23:43:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823036.75 epoch sec; seqNo:165; 4061357.97 north; 594326.83 east 2021-10-09T23:43:57Z- AHRS_M2 msg: 1633823037.17 epoch sec; seqNo:165 2021-10-09T23:43:57Z- AHRS_M2 msg: 0.08 phi; -0.03 theta; 5.49 psi 2021-10-09T23:43:57Z- handleDepth()-Depth_Keller msg: 1633823037183 epoch sec; seqNo:166; depth 0.05 2021-10-09T23:43:57Z- handleDvl() - RDI_Pathfinder msg: 1633823037.21 epoch sec; seqNo:78 2021-10-09T23:43:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 98.75 , 97.39 , 97.39 , 100.11 2021-10-09T23:43:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , -0.07 , -0.05 2021-10-09T23:43:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823037.22 epoch sec; seqNo:166; 4061357.97 north; 594326.83 east 2021-10-09T23:43:57Z- LcmTrn::handleMessages() - handling 42 messages took 0.70 ms and 128 calls... 2021-10-09T23:43:57Z- waiting for 1633823035.32, time is 1633823037.22 2021-10-09T23:43:57Z- LcmTrn::updateTrn() equating pose 1633823037.22 and meas times 1633823037.22 2021-10-09T23:43:57Z- LcmTrn::updateTrn() >>>> pose time 1633823037.22, meas time 1633823037.22 <<<< 2021-10-09T23:43:57Z- TerrainNav::Measurement type 1 from time = 1633823037.22 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-09T23:43:57Z- TerrainNav::motionUpdate() - currEstimate = (4061358, 594326.83, 0.05) 2021-10-09T23:43:57Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T23:43:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:43:57Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T23:43:57Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T23:43:57Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T23:43:57Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T23:43:57Z- AHRS_M2 msg: 1633823037.54 epoch sec; seqNo:166 2021-10-09T23:43:57Z- AHRS_M2 msg: 0.07 phi; -0.09 theta; 5.47 psi 2021-10-09T23:43:57Z- handleDepth()-Depth_Keller msg: 1633823037545 epoch sec; seqNo:167; depth 0.08 2021-10-09T23:43:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:57Z- handleDvl() - RDI_Pathfinder msg: 1633823037.55 epoch sec; seqNo:79 2021-10-09T23:43:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , -0.07 , -0.05 2021-10-09T23:43:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823037.56 epoch sec; seqNo:167; 4061357.97 north; 594326.83 east 2021-10-09T23:43:57Z- AHRS_M2 msg: 1633823037.94 epoch sec; seqNo:167 2021-10-09T23:43:57Z- AHRS_M2 msg: -0.02 phi; -0.05 theta; 5.48 psi 2021-10-09T23:43:57Z- handleDepth()-Depth_Keller msg: 1633823037955 epoch sec; seqNo:168; depth 0.09 2021-10-09T23:43:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823037.96 epoch sec; seqNo:168; 4061357.97 north; 594326.83 east 2021-10-09T23:43:58Z- AHRS_M2 msg: 1633823038.35 epoch sec; seqNo:168 2021-10-09T23:43:58Z- AHRS_M2 msg: -0.08 phi; -0.01 theta; 5.50 psi 2021-10-09T23:43:58Z- handleDepth()-Depth_Keller msg: 1633823038354 epoch sec; seqNo:169; depth 0.06 2021-10-09T23:43:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823038.36 epoch sec; seqNo:169; 4061357.97 north; 594326.83 east 2021-10-09T23:43:58Z- AHRS_M2 msg: 1633823038.75 epoch sec; seqNo:169 2021-10-09T23:43:58Z- AHRS_M2 msg: -0.05 phi; -0.03 theta; 5.50 psi 2021-10-09T23:43:58Z- handleDepth()-Depth_Keller msg: 1633823038769 epoch sec; seqNo:170; depth 0.04 2021-10-09T23:43:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:58Z- handleDvl() - RDI_Pathfinder msg: 1633823038.77 epoch sec; seqNo:80 2021-10-09T23:43:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , -0.07 , -0.05 2021-10-09T23:43:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823038.78 epoch sec; seqNo:170; 4061357.97 north; 594326.83 east 2021-10-09T23:43:59Z- AHRS_M2 msg: 1633823039.18 epoch sec; seqNo:170 2021-10-09T23:43:59Z- AHRS_M2 msg: 0.04 phi; -0.01 theta; 5.53 psi 2021-10-09T23:43:59Z- handleDepth()-Depth_Keller msg: 1633823039190 epoch sec; seqNo:171; depth 0.04 2021-10-09T23:43:59Z- handleDvl() - RDI_Pathfinder msg: 1633823039.21 epoch sec; seqNo:81 2021-10-09T23:43:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.33 , 95.97 , 94.61 , 97.33 2021-10-09T23:43:59Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , -0.24 , -0.14 2021-10-09T23:43:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823039.22 epoch sec; seqNo:171; 4061357.59 north; 594326.83 east 2021-10-09T23:43:59Z- AHRS_M2 msg: 1633823039.57 epoch sec; seqNo:171 2021-10-09T23:43:59Z- AHRS_M2 msg: 0.09 phi; 0.01 theta; 5.55 psi 2021-10-09T23:43:59Z- handleDepth()-Depth_Keller msg: 1633823039569 epoch sec; seqNo:172; depth 0.06 2021-10-09T23:43:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823039.59 epoch sec; seqNo:172; 4061357.59 north; 594326.83 east 2021-10-09T23:43:59Z- AHRS_M2 msg: 1633823039.96 epoch sec; seqNo:172 2021-10-09T23:43:59Z- AHRS_M2 msg: 0.05 phi; -0.02 theta; 5.52 psi 2021-10-09T23:43:59Z- handleDepth()-Depth_Keller msg: 1633823039972 epoch sec; seqNo:173; depth 0.06 2021-10-09T23:43:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:43:59Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:43:59Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:43:59Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:43:59Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:43:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:43:59Z- handleDvl() - RDI_Pathfinder msg: 1633823039.97 epoch sec; seqNo:82 2021-10-09T23:43:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:43:59Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , -0.24 , -0.14 2021-10-09T23:43:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823039.98 epoch sec; seqNo:173; 4061357.59 north; 594326.83 east 2021-10-09T23:44:00Z- AHRS_M2 msg: 1633823040.37 epoch sec; seqNo:173 2021-10-09T23:44:00Z- AHRS_M2 msg: -0.01 phi; -0.02 theta; 5.52 psi 2021-10-09T23:44:00Z- handleDepth()-Depth_Keller msg: 1633823040372 epoch sec; seqNo:174; depth 0.06 2021-10-09T23:44:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823040.39 epoch sec; seqNo:174; 4061357.21 north; 594326.84 east 2021-10-09T23:44:00Z- AHRS_M2 msg: 1633823040.77 epoch sec; seqNo:174 2021-10-09T23:44:00Z- AHRS_M2 msg: -0.04 phi; 0.03 theta; 5.52 psi 2021-10-09T23:44:00Z- handleDepth()-Depth_Keller msg: 1633823040780 epoch sec; seqNo:175; depth 0.07 2021-10-09T23:44:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823040.79 epoch sec; seqNo:175; 4061357.21 north; 594326.84 east 2021-10-09T23:44:01Z- AHRS_M2 msg: 1633823041.19 epoch sec; seqNo:175 2021-10-09T23:44:01Z- AHRS_M2 msg: -0.01 phi; 0.04 theta; 5.59 psi 2021-10-09T23:44:01Z- handleDepth()-Depth_Keller msg: 1633823041199 epoch sec; seqNo:176; depth 0.06 2021-10-09T23:44:01Z- handleDvl() - RDI_Pathfinder msg: 1633823041.28 epoch sec; seqNo:83 2021-10-09T23:44:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.46 , 97.46 , 94.74 , 97.46 2021-10-09T23:44:01Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , -0.48 , 0.23 2021-10-09T23:44:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823041.30 epoch sec; seqNo:176; 4061356.84 north; 594326.84 east 2021-10-09T23:44:01Z- AHRS_M2 msg: 1633823041.58 epoch sec; seqNo:176 2021-10-09T23:44:01Z- AHRS_M2 msg: 0.10 phi; -0.06 theta; 5.63 psi 2021-10-09T23:44:01Z- handleDepth()-Depth_Keller msg: 1633823041592 epoch sec; seqNo:177; depth 0.04 2021-10-09T23:44:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823041.62 epoch sec; seqNo:177; 4061356.84 north; 594326.84 east 2021-10-09T23:44:01Z- AHRS_M2 msg: 1633823041.98 epoch sec; seqNo:177 2021-10-09T23:44:01Z- AHRS_M2 msg: 0.18 phi; -0.12 theta; 5.57 psi 2021-10-09T23:44:02Z- handleDepth()-Depth_Keller msg: 1633823041995 epoch sec; seqNo:178; depth 0.06 2021-10-09T23:44:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823042.02 epoch sec; seqNo:178; 4061356.84 north; 594326.84 east 2021-10-09T23:44:02Z- LcmTrn::handleMessages() - handling 41 messages took 0.66 ms and 127 calls... 2021-10-09T23:44:02Z- waiting for 1633823040.22, time is 1633823042.02 2021-10-09T23:44:02Z- LcmTrn::updateTrn() >>>> pose time 1633823042.02, meas time 1633823041.28 <<<< 2021-10-09T23:44:02Z- TerrainNav:: Throwing out all beams because more than two are equal to 97.458 at t=1633823041.28, ping # 0. 2021-10-09T23:44:02Z- TerrainNav::Measurement type 1 from time = 1633823041.28 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T23:44:02Z- TerrainNav::motionUpdate() - currEstimate = (4061357, 594326.84, 0.06) 2021-10-09T23:44:02Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T23:44:02Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:44:02Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:44:02Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T23:44:02Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T23:44:02Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T23:44:02Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T23:44:02Z- AHRS_M2 msg: 1633823042.39 epoch sec; seqNo:178 2021-10-09T23:44:02Z- AHRS_M2 msg: 0.14 phi; -0.06 theta; 5.51 psi 2021-10-09T23:44:02Z- handleDepth()-Depth_Keller msg: 1633823042396 epoch sec; seqNo:179; depth 0.07 2021-10-09T23:44:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:44:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:44:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:44:02Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:44:02Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:44:02Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:44:02Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:44:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:44:02Z- handleDvl() - RDI_Pathfinder msg: 1633823042.40 epoch sec; seqNo:84 2021-10-09T23:44:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:44:02Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , -0.48 , 0.23 2021-10-09T23:44:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823042.43 epoch sec; seqNo:179; 4061356.46 north; 594326.85 east 2021-10-09T23:44:02Z- AHRS_M2 msg: 1633823042.79 epoch sec; seqNo:179 2021-10-09T23:44:02Z- AHRS_M2 msg: 0.02 phi; 0.01 theta; 5.49 psi 2021-10-09T23:44:02Z- handleDepth()-Depth_Keller msg: 1633823042799 epoch sec; seqNo:180; depth 0.04 2021-10-09T23:44:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823042.82 epoch sec; seqNo:180; 4061356.08 north; 594326.85 east 2021-10-09T23:44:03Z- AHRS_M2 msg: 1633823043.20 epoch sec; seqNo:180 2021-10-09T23:44:03Z- AHRS_M2 msg: -0.09 phi; 0.02 theta; 5.50 psi 2021-10-09T23:44:03Z- handleDepth()-Depth_Keller msg: 1633823043204 epoch sec; seqNo:181; depth 0.02 2021-10-09T23:44:03Z- handleDvl() - RDI_Pathfinder msg: 1633823043.24 epoch sec; seqNo:85 2021-10-09T23:44:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 102.89 , 0.00 , 97.46 , 98.82 2021-10-09T23:44:03Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , -0.27 , -0.03 2021-10-09T23:44:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823043.27 epoch sec; seqNo:181; 4061356.08 north; 594326.85 east 2021-10-09T23:44:03Z- AHRS_M2 msg: 1633823043.60 epoch sec; seqNo:181 2021-10-09T23:44:03Z- AHRS_M2 msg: -0.10 phi; 0.01 theta; 5.50 psi 2021-10-09T23:44:03Z- handleDepth()-Depth_Keller msg: 1633823043608 epoch sec; seqNo:182; depth 0.02 2021-10-09T23:44:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:44:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:44:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:44:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:44:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:44:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:44:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:44:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:44:03Z- handleDvl() - RDI_Pathfinder msg: 1633823043.61 epoch sec; seqNo:86 2021-10-09T23:44:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:44:03Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , -0.27 , -0.03 2021-10-09T23:44:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823043.64 epoch sec; seqNo:182; 4061356.08 north; 594326.85 east 2021-10-09T23:44:04Z- AHRS_M2 msg: 1633823044.00 epoch sec; seqNo:182 2021-10-09T23:44:04Z- AHRS_M2 msg: -0.06 phi; -0.07 theta; 5.48 psi 2021-10-09T23:44:04Z- handleDepth()-Depth_Keller msg: 1633823044011 epoch sec; seqNo:183; depth 0.03 2021-10-09T23:44:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823044.02 epoch sec; seqNo:183; 4061355.70 north; 594326.85 east 2021-10-09T23:44:04Z- AHRS_M2 msg: 1633823044.41 epoch sec; seqNo:183 2021-10-09T23:44:04Z- AHRS_M2 msg: -0.02 phi; -0.07 theta; 5.49 psi 2021-10-09T23:44:04Z- handleDepth()-Depth_Keller msg: 1633823044416 epoch sec; seqNo:184; depth 0.05 2021-10-09T23:44:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823044.43 epoch sec; seqNo:184; 4061355.70 north; 594326.85 east 2021-10-09T23:44:04Z- AHRS_M2 msg: 1633823044.81 epoch sec; seqNo:184 2021-10-09T23:44:04Z- AHRS_M2 msg: 0.02 phi; -0.01 theta; 5.49 psi 2021-10-09T23:44:04Z- handleDepth()-Depth_Keller msg: 1633823044829 epoch sec; seqNo:185; depth 0.06 2021-10-09T23:44:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:44:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:44:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:44:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:44:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:44:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:44:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:44:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:44:04Z- handleDvl() - RDI_Pathfinder msg: 1633823044.83 epoch sec; seqNo:87 2021-10-09T23:44:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:44:04Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , -0.27 , -0.03 2021-10-09T23:44:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823044.84 epoch sec; seqNo:185; 4061355.70 north; 594326.85 east 2021-10-09T23:44:05Z- AHRS_M2 msg: 1633823045.22 epoch sec; seqNo:185 2021-10-09T23:44:05Z- AHRS_M2 msg: 0.01 phi; -0.01 theta; 5.44 psi 2021-10-09T23:44:05Z- handleDepth()-Depth_Keller msg: 1633823045221 epoch sec; seqNo:186; depth 0.06 2021-10-09T23:44:05Z- handleDvl() - RDI_Pathfinder msg: 1633823045.25 epoch sec; seqNo:88 2021-10-09T23:44:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.19 , 93.11 , 90.40 , 97.19 2021-10-09T23:44:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.06 , -0.12 , -0.05 2021-10-09T23:44:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823045.26 epoch sec; seqNo:186; 4061355.70 north; 594326.85 east 2021-10-09T23:44:05Z- AHRS_M2 msg: 1633823045.62 epoch sec; seqNo:186 2021-10-09T23:44:05Z- AHRS_M2 msg: -0.04 phi; -0.04 theta; 5.43 psi 2021-10-09T23:44:05Z- handleDepth()-Depth_Keller msg: 1633823045625 epoch sec; seqNo:187; depth 0.06 2021-10-09T23:44:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823045.64 epoch sec; seqNo:187; 4061355.32 north; 594326.86 east 2021-10-09T23:44:06Z- AHRS_M2 msg: 1633823046.03 epoch sec; seqNo:187 2021-10-09T23:44:06Z- AHRS_M2 msg: -0.01 phi; -0.05 theta; 5.43 psi 2021-10-09T23:44:06Z- handleDepth()-Depth_Keller msg: 1633823046032 epoch sec; seqNo:188; depth 0.07 2021-10-09T23:44:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:44:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:44:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T23:44:06Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T23:44:06Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T23:44:06Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T23:44:06Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T23:44:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T23:44:06Z- handleDvl() - RDI_Pathfinder msg: 1633823046.03 epoch sec; seqNo:89 2021-10-09T23:44:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T23:44:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.06 , -0.12 , -0.05 2021-10-09T23:44:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823046.05 epoch sec; seqNo:188; 4061355.32 north; 594326.86 east 2021-10-09T23:44:06Z- AHRS_M2 msg: 1633823046.43 epoch sec; seqNo:188 2021-10-09T23:44:06Z- AHRS_M2 msg: 0.01 phi; -0.08 theta; 5.47 psi 2021-10-09T23:44:06Z- handleDepth()-Depth_Keller msg: 1633823046435 epoch sec; seqNo:189; depth 0.05 2021-10-09T23:44:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823046.46 epoch sec; seqNo:189; 4061355.32 north; 594326.86 east 2021-10-09T23:44:06Z- AHRS_M2 msg: 1633823046.83 epoch sec; seqNo:189 2021-10-09T23:44:06Z- AHRS_M2 msg: 0.07 phi; -0.11 theta; 5.48 psi 2021-10-09T23:44:06Z- handleDepth()-Depth_Keller msg: 1633823046840 epoch sec; seqNo:190; depth 0.08 2021-10-09T23:44:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823046.86 epoch sec; seqNo:190; 4061355.32 north; 594326.86 east 2021-10-09T23:44:07Z- AHRS_M2 msg: 1633823047.24 epoch sec; seqNo:190 2021-10-09T23:44:07Z- AHRS_M2 msg: 0.12 phi; -0.01 theta; 5.46 psi 2021-10-09T23:44:07Z- handleDepth()-Depth_Keller msg: 1633823047244 epoch sec; seqNo:191; depth 0.08 2021-10-09T23:44:07Z- handleDvl() - RDI_Pathfinder msg: 1633823047.28 epoch sec; seqNo:90 2021-10-09T23:44:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.67 , 97.67 , 97.67 , 100.38 2021-10-09T23:44:07Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , -0.20 , -0.22 2021-10-09T23:44:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823047.35 epoch sec; seqNo:191; 4061355.32 north; 594326.86 east 2021-10-09T23:44:07Z- LcmTrn::handleMessages() - handling 46 messages took 0.78 ms and 130 calls... 2021-10-09T23:44:07Z- waiting for 1633823045.02, time is 1633823047.35 2021-10-09T23:44:07Z- LcmTrn::updateTrn() equating pose 1633823047.35 and meas times 1633823047.35 2021-10-09T23:44:07Z- LcmTrn::updateTrn() >>>> pose time 1633823047.35, meas time 1633823047.35 <<<< 2021-10-09T23:44:07Z- TerrainNav:: Throwing out all beams because more than two are equal to 97.666 at t=1633823047.35, ping # 0. 2021-10-09T23:44:07Z- TerrainNav::Measurement type 1 from time = 1633823047.35 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T23:44:07Z- TerrainNav::motionUpdate() - currEstimate = (4061355, 594326.86, 0.08) 2021-10-09T23:44:07Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T23:44:07Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:44:07Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T23:44:07Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T23:44:07Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T23:44:07Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T23:44:07Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T23:44:07Z- AHRS_M2 msg: 1633823047.64 epoch sec; seqNo:191 2021-10-09T23:44:07Z- AHRS_M2 msg: 0.13 phi; 0.04 theta; 5.43 psi 2021-10-09T23:44:07Z- handleDepth()-Depth_Keller msg: 1633823047648 epoch sec; seqNo:192; depth 0.07 2021-10-09T23:44:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633823047.69 epoch sec; seqNo:192; 4061355.32 north; 594326.86 east