2021-10-10T02:55:07Z* LcmTrn::LcmTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg
2021-10-10T02:55:07Z* LcmTrn::init() - using configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg
2021-10-10T02:55:07Z* ahrs config: AHRS_M2, platform_orientation, platform_pitch_angle, platform_roll_angle
2021-10-10T02:55:07Z* dvl config: RDI_Pathfinder, Beam1Range, Beam2Range, Beam3Range, Beam4Range, BottomVelocityFlag
2021-10-10T02:55:07Z* nav config: DeadReckonUsingMultipleVelocitySources, latitude, longitude
2021-10-10T02:55:07Z* depth config: Depth_Keller, depth, sea_water_pressure
2021-10-10T02:55:07Z* trn config: TRN, trn_mle, trn_mmse, trn_var, trn_reinits, trn_filterstate
2021-10-10T02:55:07Z* LCM timeout=5.00 sec
2021-10-10T02:55:07Z* TRN settings:
2021-10-10T02:55:07Z* 	period=3.00 sec
2021-10-10T02:55:07Z* 	coherence=2.00 sec
2021-10-10T02:55:07Z* 	map = PortTiles
	cfg = mappingAUV_specs.cfg
	part= particles.cfg
	logdir= lrauv
2021-10-10T02:55:07Z* 	maptype = 2
	filtertype = 3
	weighting = 0
2021-10-10T02:55:07Z* 	lowgrade_filter = 1
	allow reinit = 1
2021-10-10T02:55:07Z* 	cmd_estimate = cmd_estimate
	cmd_reinit = cmd_reinit
2021-10-10T02:55:07Z* LcmTrn::initTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg
2021-10-10T02:55:07Z* LcmTrn::initTrn() - map: /home/tethysadmin/Downloads/trnmaps/PortTiles
2021-10-10T02:55:07Z* LcmTrn::initTrn() - cfg: /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg
2021-10-10T02:55:07Z* LcmTrn::initTrn() - part: /home/tethysadmin/Downloads/trncfgs/particles.cfg
2021-10-10T02:55:07Z* TerrainMapOctree::tileDataName = /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv
2021-10-10T02:55:07Z* TerrainMapOctree::numTiles_ = 9.
2021-10-10T02:55:07Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo 4061250.0 594250.0 .
2021-10-10T02:55:07Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile2.bo 4061250.0 594750.0 .
2021-10-10T02:55:07Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile3.bo 4061250.0 595250.0 .
2021-10-10T02:55:07Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo 4061750.0 594250.0 .
2021-10-10T02:55:07Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile5.bo 4061750.0 594750.0 .
2021-10-10T02:55:07Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile6.bo 4061750.0 595250.0 .
2021-10-10T02:55:07Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile7.bo 4062250.0 594250.0 .
2021-10-10T02:55:07Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile8.bo 4062250.0 594750.0 .
2021-10-10T02:55:07Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile9.bo 4062250.0 595250.0 .
2021-10-10T02:55:07Z* TerrainMapOctree::loaded 9 useable tiles from /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv.
2021-10-10T02:55:07Z* TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo took 0.497098 seconds.
2021-10-10T02:55:07Z* TRN log directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.53
2021-10-10T02:55:07Z* symlink /home/tethysadmin/Downloads/trnlogs/latestTRN to /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.53 OK
2021-10-10T02:55:07Z* parseSensorSpecs parsing sensor of type 1.
2021-10-10T02:55:07Z* Sensor 0 is of type 1.
2021-10-10T02:55:07Z* parseSensorSpecs parsing sensor of type 2.
2021-10-10T02:55:07Z* Sensor 1 is of type 2.
2021-10-10T02:55:07Z* parseSensorSpecs parsing sensor of type 5.
2021-10-10T02:55:07Z* Sensor 2 is of type 5.
2021-10-10T02:55:07Z- File created[/home/tethysadmin/Downloads/trnlogs/latestTRN/trn.log.0000] returned[0x55940178d0]
2021-10-10T02:55:07Z- TNavConfig::setParticlesFile: value is now particles.cfg
2021-10-10T02:55:07Z- TNavConfig::setMapFile: value is now /home/tethysadmin/Downloads/trnmaps/PortTiles
2021-10-10T02:55:07Z- TNavConfig::setVehicleSpecsFile: value is now /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg
2021-10-10T02:55:07Z- TNavConfig::setParticlesFile: value is now /home/tethysadmin/Downloads/trncfgs/particles.cfg
2021-10-10T02:55:07Z- TNavConfig::setLogDir: value is now /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.53
2021-10-10T02:55:07Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg
2021-10-10T02:55:07Z- parseSensorSpecs parsing sensor of type 1.
2021-10-10T02:55:07Z- Sensor 0 is of type 1.
2021-10-10T02:55:07Z- parseSensorSpecs parsing sensor of type 2.
2021-10-10T02:55:07Z- Sensor 1 is of type 2.
2021-10-10T02:55:07Z- parseSensorSpecs parsing sensor of type 5.
2021-10-10T02:55:07Z- Sensor 2 is of type 5.
2021-10-10T02:55:07Z- Random noise maker initialized with 1633834507
2021-10-10T02:55:07Z- setDistribToSave(0)
2021-10-10T02:55:07Z- setDistribToSave set to 0
2021-10-10T02:55:07Z- Vehicle name: mappingAUV
Number of sensors: 3

2021-10-10T02:55:07Z- Sensor #1: 
2021-10-10T02:55:07Z- Sensor name:  rdiDVL
2021-10-10T02:55:07Z- Sensor type: 1
2021-10-10T02:55:07Z- Number of beams per measurement: 4
2021-10-10T02:55:07Z- Sensor #1 to vehicle transformation information: 
2021-10-10T02:55:07Z- Rotation angles (phi, theta, psi): 
 (0.000000 ,0.000000, 0.000000)
2021-10-10T02:55:07Z- Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)
2021-10-10T02:55:07Z- 
2021-10-10T02:55:07Z- Sensor #2: 
2021-10-10T02:55:07Z- Sensor name:  resonSeabat8101
2021-10-10T02:55:07Z- Sensor type: 2
2021-10-10T02:55:07Z- Number of beams per measurement: 11
2021-10-10T02:55:07Z- Sensor #2 to vehicle transformation information: 
2021-10-10T02:55:07Z- Rotation angles (phi, theta, psi): 
 (0.000000 ,0.000000, 0.000000)
2021-10-10T02:55:07Z- Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)
2021-10-10T02:55:07Z- 
2021-10-10T02:55:07Z- Sensor #3: 
2021-10-10T02:55:07Z- Sensor name:  imagenexdeltat
2021-10-10T02:55:07Z- Sensor type: 5
2021-10-10T02:55:07Z- Number of beams per measurement: 120
2021-10-10T02:55:07Z- Sensor #3 to vehicle transformation information: 
2021-10-10T02:55:07Z- Rotation angles (phi, theta, psi): 
 (0.000000 ,0.000000, 0.000000)
2021-10-10T02:55:07Z- Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)
2021-10-10T02:55:07Z- 
2021-10-10T02:55:07Z- TNavBF::nParticles: 10000	numFilters: 2	PMF Grid Resolution: 1.0	PMF Grid Size: 100
2021-10-10T02:55:07Z- TerrainNav::TNavFilter initialized with type 3
2021-10-10T02:55:07Z- TerrainNav::initVariables finished.
2021-10-10T02:55:07Z- TerrainNav::Constructor finished.
2021-10-10T02:55:07Z- TNavBF::setModifiedWeighting umw: 4 
2021-10-10T02:55:07Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20
2021-10-10T02:55:07Z- TNavBF::numFilters: 1 
2021-10-10T02:55:07Z- TerrainNav::modified weighting set to 0
2021-10-10T02:55:07Z- LcmTrn::initLcm() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg
2021-10-10T02:55:07Z- LcmTrn::run()
2021-10-10T02:55:08Z- AHRS_M2 msg: 1633834505.53 epoch sec; seqNo:5
2021-10-10T02:55:08Z- AHRS_M2 msg: -0.02 phi; -0.05 theta; 5.95 psi
2021-10-10T02:55:08Z- handleDepth()-Depth_Keller msg: 1633834505548 epoch sec; seqNo:5; depth 0.03
2021-10-10T02:55:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834505.56 epoch sec; seqNo:5; 4061463.69 north; 594224.36 east
2021-10-10T02:55:08Z- AHRS_M2 msg: 1633834505.95 epoch sec; seqNo:6
2021-10-10T02:55:08Z- AHRS_M2 msg: 0.09 phi; -0.03 theta; 5.93 psi
2021-10-10T02:55:08Z- handleDepth()-Depth_Keller msg: 1633834505963 epoch sec; seqNo:6; depth 0.05
2021-10-10T02:55:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834505.97 epoch sec; seqNo:6; 4061463.69 north; 594224.36 east
2021-10-10T02:55:08Z- AHRS_M2 msg: 1633834506.34 epoch sec; seqNo:7
2021-10-10T02:55:08Z- AHRS_M2 msg: 0.11 phi; 0.01 theta; 5.96 psi
2021-10-10T02:55:08Z- handleDepth()-Depth_Keller msg: 1633834506351 epoch sec; seqNo:7; depth 0.06
2021-10-10T02:55:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834506.36 epoch sec; seqNo:7; 4061463.69 north; 594224.36 east
2021-10-10T02:55:09Z- AHRS_M2 msg: 1633834506.75 epoch sec; seqNo:8
2021-10-10T02:55:09Z- AHRS_M2 msg: 0.07 phi; -0.02 theta; 6.00 psi
2021-10-10T02:55:09Z- handleDepth()-Depth_Keller msg: 1633834506751 epoch sec; seqNo:8; depth 0.04
2021-10-10T02:55:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834506.76 epoch sec; seqNo:8; 4061463.31 north; 594224.37 east
2021-10-10T02:55:09Z- AHRS_M2 msg: 1633834507.15 epoch sec; seqNo:9
2021-10-10T02:55:09Z- AHRS_M2 msg: 0.06 phi; -0.08 theta; 6.03 psi
2021-10-10T02:55:09Z- handleDepth()-Depth_Keller msg: 1633834507158 epoch sec; seqNo:9; depth 0.05
2021-10-10T02:55:09Z- handleDvl() - RDI_Pathfinder msg: 1633834507.18 epoch sec; seqNo:2
2021-10-10T02:55:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 104.45 , 89.51 , 97.66 , 97.66
2021-10-10T02:55:09Z- handleDvl() - RDI_Pathfinder msg: velocities -0.72 , 0.35 , 0.11
2021-10-10T02:55:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834507.19 epoch sec; seqNo:9; 4061463.31 north; 594224.37 east
2021-10-10T02:55:10Z- AHRS_M2 msg: 1633834507.55 epoch sec; seqNo:10
2021-10-10T02:55:10Z- AHRS_M2 msg: 0.11 phi; -0.18 theta; 6.05 psi
2021-10-10T02:55:10Z- handleDepth()-Depth_Keller msg: 1633834507563 epoch sec; seqNo:10; depth 0.08
2021-10-10T02:55:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834507.59 epoch sec; seqNo:10; 4061462.93 north; 594224.37 east
2021-10-10T02:55:10Z- AHRS_M2 msg: 1633834507.96 epoch sec; seqNo:11
2021-10-10T02:55:10Z- AHRS_M2 msg: 0.15 phi; -0.21 theta; 6.00 psi
2021-10-10T02:55:10Z- handleDepth()-Depth_Keller msg: 1633834507967 epoch sec; seqNo:11; depth 0.11
2021-10-10T02:55:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834507.98 epoch sec; seqNo:11; 4061462.56 north; 594224.37 east
2021-10-10T02:55:10Z- AHRS_M2 msg: 1633834508.36 epoch sec; seqNo:12
2021-10-10T02:55:10Z- AHRS_M2 msg: 0.09 phi; -0.07 theta; 5.92 psi
2021-10-10T02:55:10Z- handleDepth()-Depth_Keller msg: 1633834508372 epoch sec; seqNo:12; depth 0.12
2021-10-10T02:55:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834508.38 epoch sec; seqNo:12; 4061462.57 north; 594225.59 east
2021-10-10T02:55:11Z- AHRS_M2 msg: 1633834508.77 epoch sec; seqNo:13
2021-10-10T02:55:11Z- AHRS_M2 msg: -0.00 phi; 0.06 theta; 5.93 psi
2021-10-10T02:55:11Z- handleDepth()-Depth_Keller msg: 1633834508772 epoch sec; seqNo:13; depth 0.12
2021-10-10T02:55:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834508.78 epoch sec; seqNo:13; 4061462.19 north; 594225.60 east
2021-10-10T02:55:11Z- AHRS_M2 msg: 1633834509.17 epoch sec; seqNo:14
2021-10-10T02:55:11Z- AHRS_M2 msg: -0.04 phi; 0.02 theta; 5.95 psi
2021-10-10T02:55:11Z- handleDepth()-Depth_Keller msg: 1633834509178 epoch sec; seqNo:14; depth 0.12
2021-10-10T02:55:11Z- handleDvl() - RDI_Pathfinder msg: 1633834509.21 epoch sec; seqNo:3
2021-10-10T02:55:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 98.74 , 0.00 , 97.39 , 97.39
2021-10-10T02:55:11Z- handleDvl() - RDI_Pathfinder msg: velocities -0.00 , -0.07 , -0.37
2021-10-10T02:55:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834509.22 epoch sec; seqNo:14; 4061462.19 north; 594225.60 east
2021-10-10T02:55:12Z- AHRS_M2 msg: 1633834509.57 epoch sec; seqNo:15
2021-10-10T02:55:12Z- AHRS_M2 msg: -0.03 phi; -0.10 theta; 5.96 psi
2021-10-10T02:55:12Z- handleDepth()-Depth_Keller msg: 1633834509577 epoch sec; seqNo:15; depth 0.16
2021-10-10T02:55:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834509.59 epoch sec; seqNo:15; 4061462.19 north; 594225.60 east
2021-10-10T02:55:12Z- AHRS_M2 msg: 1633834509.98 epoch sec; seqNo:16
2021-10-10T02:55:12Z- AHRS_M2 msg: 0.01 phi; -0.16 theta; 5.96 psi
2021-10-10T02:55:12Z- handleDepth()-Depth_Keller msg: 1633834509982 epoch sec; seqNo:16; depth 0.16
2021-10-10T02:55:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834509.99 epoch sec; seqNo:16; 4061462.19 north; 594225.60 east
2021-10-10T02:55:12Z- AHRS_M2 msg: 1633834510.38 epoch sec; seqNo:17
2021-10-10T02:55:12Z- AHRS_M2 msg: 0.03 phi; -0.19 theta; 5.95 psi
2021-10-10T02:55:12Z- handleDepth()-Depth_Keller msg: 1633834510396 epoch sec; seqNo:17; depth 0.16
2021-10-10T02:55:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834510.42 epoch sec; seqNo:17; 4061462.19 north; 594225.60 east
2021-10-10T02:55:13Z- LcmTrn::handleMessages() - handling 41 messages took 0.72 ms and 127 calls...
2021-10-10T02:55:13Z- waiting for 2.00, time is 1633834510.42
2021-10-10T02:55:13Z- LcmTrn::updateTrn() >>>> pose time 1633834510.42, meas time 1633834509.21 <<<<
2021-10-10T02:55:13Z- TerrainNav::Measurement type 1 from time = 1633834509.21 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:55:13Z- TerrainNav::motionUpdate() - currEstimate = (4061462, 594225.60, 0.16)
2021-10-10T02:55:13Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:55:13Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:55:13Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:55:13Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:55:13Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:55:13Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:55:13Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:55:13Z- AHRS_M2 msg: 1633834510.79 epoch sec; seqNo:18
2021-10-10T02:55:13Z- AHRS_M2 msg: 0.02 phi; -0.16 theta; 5.91 psi
2021-10-10T02:55:13Z- handleDepth()-Depth_Keller msg: 1633834510789 epoch sec; seqNo:18; depth 0.16
2021-10-10T02:55:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834510.82 epoch sec; seqNo:18; 4061462.19 north; 594225.60 east
2021-10-10T02:55:13Z- AHRS_M2 msg: 1633834511.20 epoch sec; seqNo:19
2021-10-10T02:55:13Z- AHRS_M2 msg: -0.03 phi; -0.21 theta; 5.92 psi
2021-10-10T02:55:13Z- handleDepth()-Depth_Keller msg: 1633834511202 epoch sec; seqNo:19; depth 0.13
2021-10-10T02:55:13Z- handleDvl() - RDI_Pathfinder msg: 1633834511.22 epoch sec; seqNo:4
2021-10-10T02:55:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 95.96 , 93.24 , 86.45 , 106.82
2021-10-10T02:55:13Z- handleDvl() - RDI_Pathfinder msg: velocities -0.35 , -0.28 , 0.06
2021-10-10T02:55:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834511.23 epoch sec; seqNo:19; 4061462.19 north; 594225.60 east
2021-10-10T02:55:14Z- AHRS_M2 msg: 1633834511.60 epoch sec; seqNo:20
2021-10-10T02:55:14Z- AHRS_M2 msg: 0.03 phi; -0.25 theta; 5.92 psi
2021-10-10T02:55:14Z- handleDepth()-Depth_Keller msg: 1633834511602 epoch sec; seqNo:20; depth 0.14
2021-10-10T02:55:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834511.62 epoch sec; seqNo:20; 4061461.81 north; 594225.60 east
2021-10-10T02:55:14Z- AHRS_M2 msg: 1633834512.00 epoch sec; seqNo:21
2021-10-10T02:55:14Z- AHRS_M2 msg: 0.11 phi; -0.23 theta; 5.91 psi
2021-10-10T02:55:14Z- handleDepth()-Depth_Keller msg: 1633834512008 epoch sec; seqNo:21; depth 0.13
2021-10-10T02:55:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834512.02 epoch sec; seqNo:21; 4061461.81 north; 594225.60 east
2021-10-10T02:55:14Z- AHRS_M2 msg: 1633834512.40 epoch sec; seqNo:22
2021-10-10T02:55:14Z- AHRS_M2 msg: 0.12 phi; -0.24 theta; 5.91 psi
2021-10-10T02:55:14Z- handleDepth()-Depth_Keller msg: 1633834512406 epoch sec; seqNo:22; depth 0.16
2021-10-10T02:55:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834512.41 epoch sec; seqNo:22; 4061461.43 north; 594225.61 east
2021-10-10T02:55:15Z- AHRS_M2 msg: 1633834512.80 epoch sec; seqNo:23
2021-10-10T02:55:15Z- AHRS_M2 msg: 0.08 phi; -0.23 theta; 5.91 psi
2021-10-10T02:55:15Z- handleDepth()-Depth_Keller msg: 1633834512818 epoch sec; seqNo:23; depth 0.15
2021-10-10T02:55:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834512.83 epoch sec; seqNo:23; 4061461.42 north; 594224.39 east
2021-10-10T02:55:15Z- AHRS_M2 msg: 1633834513.21 epoch sec; seqNo:24
2021-10-10T02:55:15Z- AHRS_M2 msg: 0.02 phi; -0.20 theta; 5.89 psi
2021-10-10T02:55:15Z- handleDepth()-Depth_Keller msg: 1633834513216 epoch sec; seqNo:24; depth 0.17
2021-10-10T02:55:15Z- handleDvl() - RDI_Pathfinder msg: 1633834513.24 epoch sec; seqNo:5
2021-10-10T02:55:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 105.67 , 90.73 , 88.02 , 111.10
2021-10-10T02:55:15Z- handleDvl() - RDI_Pathfinder msg: velocities -0.26 , 0.05 , -0.37
2021-10-10T02:55:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834513.26 epoch sec; seqNo:24; 4061461.43 north; 594225.61 east
2021-10-10T02:55:16Z- AHRS_M2 msg: 1633834513.61 epoch sec; seqNo:25
2021-10-10T02:55:16Z- AHRS_M2 msg: -0.04 phi; -0.16 theta; 5.86 psi
2021-10-10T02:55:16Z- handleDepth()-Depth_Keller msg: 1633834513622 epoch sec; seqNo:25; depth 0.16
2021-10-10T02:55:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834513.64 epoch sec; seqNo:25; 4061461.43 north; 594225.61 east
2021-10-10T02:55:16Z- AHRS_M2 msg: 1633834514.02 epoch sec; seqNo:26
2021-10-10T02:55:16Z- AHRS_M2 msg: -0.07 phi; -0.15 theta; 5.87 psi
2021-10-10T02:55:16Z- handleDepth()-Depth_Keller msg: 1633834514027 epoch sec; seqNo:26; depth 0.14
2021-10-10T02:55:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834514.04 epoch sec; seqNo:26; 4061461.05 north; 594225.61 east
2021-10-10T02:55:16Z- AHRS_M2 msg: 1633834514.42 epoch sec; seqNo:27
2021-10-10T02:55:16Z- AHRS_M2 msg: -0.03 phi; -0.14 theta; 5.90 psi
2021-10-10T02:55:16Z- handleDepth()-Depth_Keller msg: 1633834514431 epoch sec; seqNo:27; depth 0.15
2021-10-10T02:55:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834514.44 epoch sec; seqNo:27; 4061461.05 north; 594225.61 east
2021-10-10T02:55:17Z- AHRS_M2 msg: 1633834514.83 epoch sec; seqNo:28
2021-10-10T02:55:17Z- AHRS_M2 msg: 0.01 phi; -0.10 theta; 5.89 psi
2021-10-10T02:55:17Z- handleDepth()-Depth_Keller msg: 1633834514836 epoch sec; seqNo:28; depth 0.18
2021-10-10T02:55:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834514.86 epoch sec; seqNo:28; 4061461.05 north; 594225.61 east
2021-10-10T02:55:17Z- AHRS_M2 msg: 1633834515.23 epoch sec; seqNo:29
2021-10-10T02:55:17Z- AHRS_M2 msg: -0.03 phi; -0.10 theta; 5.89 psi
2021-10-10T02:55:17Z- handleDepth()-Depth_Keller msg: 1633834515239 epoch sec; seqNo:29; depth 0.16
2021-10-10T02:55:17Z- handleDvl() - RDI_Pathfinder msg: 1633834515.27 epoch sec; seqNo:6
2021-10-10T02:55:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.25 , 95.89 , 0.00 , 102.68
2021-10-10T02:55:17Z- handleDvl() - RDI_Pathfinder msg: velocities -0.21 , -0.31 , 0.19
2021-10-10T02:55:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834515.28 epoch sec; seqNo:29; 4061461.05 north; 594225.61 east
2021-10-10T02:55:18Z- LcmTrn::handleMessages() - handling 39 messages took 0.65 ms and 126 calls...
2021-10-10T02:55:18Z- waiting for 1633834513.42, time is 1633834515.28
2021-10-10T02:55:18Z- LcmTrn::updateTrn() equating pose 1633834515.28 and meas times 1633834515.28
2021-10-10T02:55:18Z- LcmTrn::updateTrn() >>>> pose time 1633834515.28, meas time 1633834515.28 <<<<
2021-10-10T02:55:18Z- TerrainNav::Measurement type 1 from time = 1633834515.28 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:55:18Z- TerrainNav::motionUpdate() - currEstimate = (4061461, 594225.61, 0.16)
2021-10-10T02:55:18Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:55:18Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:55:18Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:55:18Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:55:18Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:55:18Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:55:18Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:55:18Z- AHRS_M2 msg: 1633834515.63 epoch sec; seqNo:30
2021-10-10T02:55:18Z- AHRS_M2 msg: -0.03 phi; -0.19 theta; 5.90 psi
2021-10-10T02:55:18Z- handleDepth()-Depth_Keller msg: 1633834515638 epoch sec; seqNo:30; depth 0.14
2021-10-10T02:55:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834515.65 epoch sec; seqNo:30; 4061460.67 north; 594225.62 east
2021-10-10T02:55:18Z- AHRS_M2 msg: 1633834516.04 epoch sec; seqNo:31
2021-10-10T02:55:18Z- AHRS_M2 msg: 0.03 phi; -0.25 theta; 5.89 psi
2021-10-10T02:55:18Z- handleDepth()-Depth_Keller msg: 1633834516048 epoch sec; seqNo:31; depth 0.15
2021-10-10T02:55:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834516.06 epoch sec; seqNo:31; 4061460.66 north; 594224.40 east
2021-10-10T02:55:18Z- AHRS_M2 msg: 1633834516.44 epoch sec; seqNo:32
2021-10-10T02:55:18Z- AHRS_M2 msg: 0.08 phi; -0.17 theta; 5.86 psi
2021-10-10T02:55:18Z- handleDepth()-Depth_Keller msg: 1633834516445 epoch sec; seqNo:32; depth 0.19
2021-10-10T02:55:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834516.46 epoch sec; seqNo:32; 4061460.66 north; 594224.40 east
2021-10-10T02:55:19Z- AHRS_M2 msg: 1633834516.85 epoch sec; seqNo:33
2021-10-10T02:55:19Z- AHRS_M2 msg: 0.04 phi; -0.04 theta; 5.84 psi
2021-10-10T02:55:19Z- handleDepth()-Depth_Keller msg: 1633834516850 epoch sec; seqNo:33; depth 0.12
2021-10-10T02:55:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834516.86 epoch sec; seqNo:33; 4061460.28 north; 594224.40 east
2021-10-10T02:55:19Z- AHRS_M2 msg: 1633834517.25 epoch sec; seqNo:34
2021-10-10T02:55:19Z- AHRS_M2 msg: -0.00 phi; 0.04 theta; 5.81 psi
2021-10-10T02:55:19Z- handleDepth()-Depth_Keller msg: 1633834517260 epoch sec; seqNo:34; depth 0.07
2021-10-10T02:55:19Z- handleDvl() - RDI_Pathfinder msg: 1633834517.30 epoch sec; seqNo:7
2021-10-10T02:55:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 99.96 , 97.25 , 0.00 , 109.47
2021-10-10T02:55:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.21 , -0.17 , -0.51
2021-10-10T02:55:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834517.31 epoch sec; seqNo:34; 4061460.28 north; 594224.40 east
2021-10-10T02:55:20Z- AHRS_M2 msg: 1633834517.65 epoch sec; seqNo:35
2021-10-10T02:55:20Z- AHRS_M2 msg: 0.03 phi; 0.08 theta; 5.80 psi
2021-10-10T02:55:20Z- handleDepth()-Depth_Keller msg: 1633834517663 epoch sec; seqNo:35; depth 0.04
2021-10-10T02:55:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834517.68 epoch sec; seqNo:35; 4061460.28 north; 594224.40 east
2021-10-10T02:55:20Z- AHRS_M2 msg: 1633834518.06 epoch sec; seqNo:36
2021-10-10T02:55:20Z- AHRS_M2 msg: 0.06 phi; 0.06 theta; 5.87 psi
2021-10-10T02:55:20Z- handleDepth()-Depth_Keller msg: 1633834518062 epoch sec; seqNo:36; depth 0.05
2021-10-10T02:55:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834518.08 epoch sec; seqNo:36; 4061460.28 north; 594224.40 east
2021-10-10T02:55:20Z- AHRS_M2 msg: 1633834518.46 epoch sec; seqNo:37
2021-10-10T02:55:20Z- AHRS_M2 msg: 0.09 phi; -0.06 theta; 5.95 psi
2021-10-10T02:55:20Z- handleDepth()-Depth_Keller msg: 1633834518466 epoch sec; seqNo:37; depth 0.02
2021-10-10T02:55:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834518.48 epoch sec; seqNo:37; 4061460.66 north; 594224.40 east
2021-10-10T02:55:21Z- AHRS_M2 msg: 1633834518.87 epoch sec; seqNo:38
2021-10-10T02:55:21Z- AHRS_M2 msg: 0.10 phi; -0.19 theta; 5.89 psi
2021-10-10T02:55:21Z- handleDepth()-Depth_Keller msg: 1633834518870 epoch sec; seqNo:38; depth 0.04
2021-10-10T02:55:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834518.88 epoch sec; seqNo:38; 4061460.66 north; 594224.40 east
2021-10-10T02:55:21Z- AHRS_M2 msg: 1633834519.27 epoch sec; seqNo:39
2021-10-10T02:55:21Z- AHRS_M2 msg: 0.13 phi; -0.18 theta; 5.77 psi
2021-10-10T02:55:21Z- handleDepth()-Depth_Keller msg: 1633834519279 epoch sec; seqNo:39; depth 0.06
2021-10-10T02:55:21Z- handleDvl() - RDI_Pathfinder msg: 1633834519.30 epoch sec; seqNo:8
2021-10-10T02:55:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.57 , 98.06 , 98.06 , 98.06
2021-10-10T02:55:21Z- handleDvl() - RDI_Pathfinder msg: velocities -1.07 , 0.02 , 0.03
2021-10-10T02:55:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834519.32 epoch sec; seqNo:39; 4061460.28 north; 594224.40 east
2021-10-10T02:55:22Z- AHRS_M2 msg: 1633834519.67 epoch sec; seqNo:40
2021-10-10T02:55:22Z- AHRS_M2 msg: 0.14 phi; -0.11 theta; 5.74 psi
2021-10-10T02:55:22Z- handleDepth()-Depth_Keller msg: 1633834519678 epoch sec; seqNo:40; depth 0.08
2021-10-10T02:55:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834519.70 epoch sec; seqNo:40; 4061459.90 north; 594224.40 east
2021-10-10T02:55:22Z- AHRS_M2 msg: 1633834520.08 epoch sec; seqNo:41
2021-10-10T02:55:22Z- AHRS_M2 msg: 0.12 phi; -0.08 theta; 5.70 psi
2021-10-10T02:55:22Z- handleDepth()-Depth_Keller msg: 1633834520081 epoch sec; seqNo:41; depth 0.10
2021-10-10T02:55:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834520.09 epoch sec; seqNo:41; 4061459.54 north; 594225.63 east
2021-10-10T02:55:22Z- AHRS_M2 msg: 1633834520.48 epoch sec; seqNo:42
2021-10-10T02:55:22Z- AHRS_M2 msg: 0.05 phi; -0.06 theta; 5.65 psi
2021-10-10T02:55:22Z- handleDepth()-Depth_Keller msg: 1633834520492 epoch sec; seqNo:42; depth 0.13
2021-10-10T02:55:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834520.50 epoch sec; seqNo:42; 4061459.16 north; 594225.63 east
2021-10-10T02:55:23Z- LcmTrn::handleMessages() - handling 41 messages took 0.80 ms and 125 calls...
2021-10-10T02:55:23Z- waiting for 1633834518.28, time is 1633834520.50
2021-10-10T02:55:23Z- LcmTrn::updateTrn() >>>> pose time 1633834520.50, meas time 1633834519.30 <<<<
2021-10-10T02:55:23Z- TerrainNav:: Throwing out all beams because more than two are equal to 98.064 at t=1633834519.30, ping # 0.
2021-10-10T02:55:23Z- TerrainNav::Measurement type 1 from time = 1633834519.30 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0
2021-10-10T02:55:23Z- TerrainNav::motionUpdate() - currEstimate = (4061459, 594225.63, 0.13)
2021-10-10T02:55:23Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:55:23Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:55:23Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:55:23Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:55:23Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:55:23Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:55:23Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:55:23Z- AHRS_M2 msg: 1633834520.89 epoch sec; seqNo:43
2021-10-10T02:55:23Z- AHRS_M2 msg: -0.04 phi; -0.04 theta; 5.67 psi
2021-10-10T02:55:23Z- handleDepth()-Depth_Keller msg: 1633834520900 epoch sec; seqNo:43; depth 0.15
2021-10-10T02:55:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834520.93 epoch sec; seqNo:43; 4061458.78 north; 594225.64 east
2021-10-10T02:55:23Z- AHRS_M2 msg: 1633834521.29 epoch sec; seqNo:44
2021-10-10T02:55:23Z- AHRS_M2 msg: -0.09 phi; -0.02 theta; 5.65 psi
2021-10-10T02:55:23Z- handleDepth()-Depth_Keller msg: 1633834521296 epoch sec; seqNo:44; depth 0.15
2021-10-10T02:55:23Z- handleDvl() - RDI_Pathfinder msg: 1633834521.33 epoch sec; seqNo:9
2021-10-10T02:55:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 98.68 , 89.17 , 91.89 , 97.32
2021-10-10T02:55:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.32 , -0.40 , 0.44
2021-10-10T02:55:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834521.34 epoch sec; seqNo:44; 4061458.78 north; 594225.64 east
2021-10-10T02:55:24Z- AHRS_M2 msg: 1633834521.69 epoch sec; seqNo:45
2021-10-10T02:55:24Z- AHRS_M2 msg: -0.11 phi; -0.09 theta; 5.59 psi
2021-10-10T02:55:24Z- handleDepth()-Depth_Keller msg: 1633834521697 epoch sec; seqNo:45; depth 0.14
2021-10-10T02:55:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834521.71 epoch sec; seqNo:45; 4061458.78 north; 594225.64 east
2021-10-10T02:55:24Z- AHRS_M2 msg: 1633834522.10 epoch sec; seqNo:46
2021-10-10T02:55:24Z- AHRS_M2 msg: -0.12 phi; -0.21 theta; 5.54 psi
2021-10-10T02:55:24Z- handleDepth()-Depth_Keller msg: 1633834522107 epoch sec; seqNo:46; depth 0.17
2021-10-10T02:55:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834522.12 epoch sec; seqNo:46; 4061458.78 north; 594225.64 east
2021-10-10T02:55:24Z- AHRS_M2 msg: 1633834522.50 epoch sec; seqNo:47
2021-10-10T02:55:24Z- AHRS_M2 msg: -0.13 phi; -0.23 theta; 5.56 psi
2021-10-10T02:55:24Z- handleDepth()-Depth_Keller msg: 1633834522507 epoch sec; seqNo:47; depth 0.16
2021-10-10T02:55:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834522.52 epoch sec; seqNo:47; 4061458.77 north; 594224.42 east
2021-10-10T02:55:25Z- AHRS_M2 msg: 1633834522.91 epoch sec; seqNo:48
2021-10-10T02:55:25Z- AHRS_M2 msg: -0.08 phi; -0.18 theta; 5.58 psi
2021-10-10T02:55:25Z- handleDepth()-Depth_Keller msg: 1633834522912 epoch sec; seqNo:48; depth 0.14
2021-10-10T02:55:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834522.94 epoch sec; seqNo:48; 4061458.77 north; 594224.42 east
2021-10-10T02:55:25Z- AHRS_M2 msg: 1633834523.31 epoch sec; seqNo:49
2021-10-10T02:55:25Z- AHRS_M2 msg: 0.02 phi; -0.17 theta; 5.60 psi
2021-10-10T02:55:25Z- handleDepth()-Depth_Keller msg: 1633834523319 epoch sec; seqNo:49; depth 0.13
2021-10-10T02:55:25Z- handleDvl() - RDI_Pathfinder msg: 1633834523.35 epoch sec; seqNo:10
2021-10-10T02:55:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.87 , 103.09 , 86.79 , 111.24
2021-10-10T02:55:25Z- handleDvl() - RDI_Pathfinder msg: velocities -0.54 , -0.65 , -0.54
2021-10-10T02:55:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834523.36 epoch sec; seqNo:49; 4061458.39 north; 594224.42 east
2021-10-10T02:55:26Z- AHRS_M2 msg: 1633834523.71 epoch sec; seqNo:50
2021-10-10T02:55:26Z- AHRS_M2 msg: 0.09 phi; -0.15 theta; 5.57 psi
2021-10-10T02:55:26Z- handleDepth()-Depth_Keller msg: 1633834523717 epoch sec; seqNo:50; depth 0.13
2021-10-10T02:55:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834523.73 epoch sec; seqNo:50; 4061458.01 north; 594224.42 east
2021-10-10T02:55:26Z- AHRS_M2 msg: 1633834524.12 epoch sec; seqNo:51
2021-10-10T02:55:26Z- AHRS_M2 msg: 0.06 phi; -0.10 theta; 5.55 psi
2021-10-10T02:55:26Z- handleDepth()-Depth_Keller msg: 1633834524123 epoch sec; seqNo:51; depth 0.10
2021-10-10T02:55:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834524.14 epoch sec; seqNo:51; 4061458.01 north; 594224.42 east
2021-10-10T02:55:26Z- AHRS_M2 msg: 1633834524.52 epoch sec; seqNo:52
2021-10-10T02:55:26Z- AHRS_M2 msg: 0.04 phi; -0.08 theta; 5.54 psi
2021-10-10T02:55:26Z- handleDepth()-Depth_Keller msg: 1633834524530 epoch sec; seqNo:52; depth 0.08
2021-10-10T02:55:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834524.55 epoch sec; seqNo:52; 4061457.63 north; 594224.43 east
2021-10-10T02:55:27Z- AHRS_M2 msg: 1633834524.93 epoch sec; seqNo:53
2021-10-10T02:55:27Z- AHRS_M2 msg: 0.07 phi; -0.09 theta; 5.52 psi
2021-10-10T02:55:27Z- handleDepth()-Depth_Keller msg: 1633834524937 epoch sec; seqNo:53; depth 0.09
2021-10-10T02:55:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834524.97 epoch sec; seqNo:53; 4061457.25 north; 594224.43 east
2021-10-10T02:55:27Z- AHRS_M2 msg: 1633834525.34 epoch sec; seqNo:54
2021-10-10T02:55:27Z- AHRS_M2 msg: 0.06 phi; -0.05 theta; 5.50 psi
2021-10-10T02:55:27Z- handleDepth()-Depth_Keller msg: 1633834525348 epoch sec; seqNo:54; depth 0.09
2021-10-10T02:55:27Z- handleDvl() - RDI_Pathfinder msg: 1633834525.39 epoch sec; seqNo:11
2021-10-10T02:55:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 95.96 , 91.89 , 90.53 , 95.96
2021-10-10T02:55:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.16 , -0.49 , 0.29
2021-10-10T02:55:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834525.42 epoch sec; seqNo:54; 4061457.25 north; 594224.43 east
2021-10-10T02:55:28Z- LcmTrn::handleMessages() - handling 39 messages took 0.76 ms and 124 calls...
2021-10-10T02:55:28Z- waiting for 1633834523.50, time is 1633834525.42
2021-10-10T02:55:28Z- LcmTrn::updateTrn() equating pose 1633834525.42 and meas times 1633834525.42
2021-10-10T02:55:28Z- LcmTrn::updateTrn() >>>> pose time 1633834525.42, meas time 1633834525.42 <<<<
2021-10-10T02:55:28Z- TerrainNav::Measurement type 1 from time = 1633834525.42 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:55:28Z- TerrainNav::motionUpdate() - currEstimate = (4061457, 594224.43, 0.09)
2021-10-10T02:55:28Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:55:28Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:55:28Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:55:28Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:55:28Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:55:28Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:55:28Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:55:28Z- AHRS_M2 msg: 1633834525.73 epoch sec; seqNo:55
2021-10-10T02:55:28Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 5.48 psi
2021-10-10T02:55:28Z- handleDepth()-Depth_Keller msg: 1633834525744 epoch sec; seqNo:55; depth 0.07
2021-10-10T02:55:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834525.77 epoch sec; seqNo:55; 4061456.87 north; 594224.44 east
2021-10-10T02:55:28Z- AHRS_M2 msg: 1633834526.14 epoch sec; seqNo:56
2021-10-10T02:55:28Z- AHRS_M2 msg: -0.09 phi; -0.03 theta; 5.49 psi
2021-10-10T02:55:28Z- handleDepth()-Depth_Keller msg: 1633834526144 epoch sec; seqNo:56; depth 0.04
2021-10-10T02:55:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834526.16 epoch sec; seqNo:56; 4061456.87 north; 594224.44 east
2021-10-10T02:55:28Z- AHRS_M2 msg: 1633834526.54 epoch sec; seqNo:57
2021-10-10T02:55:28Z- AHRS_M2 msg: -0.08 phi; 0.02 theta; 5.50 psi
2021-10-10T02:55:29Z- handleDepth()-Depth_Keller msg: 1633834526548 epoch sec; seqNo:57; depth 0.04
2021-10-10T02:55:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834526.56 epoch sec; seqNo:57; 4061456.86 north; 594223.22 east
2021-10-10T02:55:29Z- AHRS_M2 msg: 1633834526.95 epoch sec; seqNo:58
2021-10-10T02:55:29Z- AHRS_M2 msg: -0.03 phi; 0.04 theta; 5.52 psi
2021-10-10T02:55:29Z- handleDepth()-Depth_Keller msg: 1633834526953 epoch sec; seqNo:58; depth 0.03
2021-10-10T02:55:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834526.98 epoch sec; seqNo:58; 4061456.86 north; 594223.22 east
2021-10-10T02:55:29Z- AHRS_M2 msg: 1633834527.35 epoch sec; seqNo:59
2021-10-10T02:55:29Z- AHRS_M2 msg: 0.01 phi; -0.10 theta; 5.49 psi
2021-10-10T02:55:29Z- handleDepth()-Depth_Keller msg: 1633834527356 epoch sec; seqNo:59; depth 0.04
2021-10-10T02:55:29Z- handleDvl() - RDI_Pathfinder msg: 1633834527.40 epoch sec; seqNo:12
2021-10-10T02:55:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.93 , 97.72 , 97.72 , 97.72
2021-10-10T02:55:29Z- handleDvl() - RDI_Pathfinder msg: velocities -0.45 , -0.25 , 0.51
2021-10-10T02:55:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834527.42 epoch sec; seqNo:59; 4061456.48 north; 594223.22 east
2021-10-10T02:55:30Z- AHRS_M2 msg: 1633834527.75 epoch sec; seqNo:60
2021-10-10T02:55:30Z- AHRS_M2 msg: 0.04 phi; -0.20 theta; 5.45 psi
2021-10-10T02:55:30Z- handleDepth()-Depth_Keller msg: 1633834527760 epoch sec; seqNo:60; depth 0.08
2021-10-10T02:55:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834527.78 epoch sec; seqNo:60; 4061456.48 north; 594223.22 east
2021-10-10T02:55:30Z- AHRS_M2 msg: 1633834528.16 epoch sec; seqNo:61
2021-10-10T02:55:30Z- AHRS_M2 msg: 0.10 phi; -0.17 theta; 5.43 psi
2021-10-10T02:55:30Z- handleDepth()-Depth_Keller msg: 1633834528166 epoch sec; seqNo:61; depth 0.08
2021-10-10T02:55:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834528.19 epoch sec; seqNo:61; 4061456.10 north; 594223.23 east
2021-10-10T02:55:31Z- AHRS_M2 msg: 1633834528.57 epoch sec; seqNo:62
2021-10-10T02:55:31Z- AHRS_M2 msg: 0.09 phi; -0.09 theta; 5.40 psi
2021-10-10T02:55:31Z- handleDepth()-Depth_Keller msg: 1633834528577 epoch sec; seqNo:62; depth 0.12
2021-10-10T02:55:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834528.59 epoch sec; seqNo:62; 4061455.74 north; 594224.45 east
2021-10-10T02:55:31Z- AHRS_M2 msg: 1633834528.97 epoch sec; seqNo:63
2021-10-10T02:55:31Z- AHRS_M2 msg: 0.02 phi; -0.13 theta; 5.44 psi
2021-10-10T02:55:31Z- handleDepth()-Depth_Keller msg: 1633834528974 epoch sec; seqNo:63; depth 0.14
2021-10-10T02:55:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834528.98 epoch sec; seqNo:63; 4061455.74 north; 594224.45 east
2021-10-10T02:55:31Z- AHRS_M2 msg: 1633834529.38 epoch sec; seqNo:64
2021-10-10T02:55:31Z- AHRS_M2 msg: -0.01 phi; -0.16 theta; 5.43 psi
2021-10-10T02:55:31Z- handleDepth()-Depth_Keller msg: 1633834529380 epoch sec; seqNo:64; depth 0.18
2021-10-10T02:55:31Z- handleDvl() - RDI_Pathfinder msg: 1633834529.40 epoch sec; seqNo:13
2021-10-10T02:55:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 102.95 , 88.02 , 90.73 , 101.59
2021-10-10T02:55:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.58 , -0.54 , -0.16
2021-10-10T02:55:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834529.43 epoch sec; seqNo:64; 4061455.72 north; 594223.23 east
2021-10-10T02:55:32Z- AHRS_M2 msg: 1633834529.77 epoch sec; seqNo:65
2021-10-10T02:55:32Z- AHRS_M2 msg: -0.04 phi; -0.18 theta; 5.38 psi
2021-10-10T02:55:32Z- handleDepth()-Depth_Keller msg: 1633834529784 epoch sec; seqNo:65; depth 0.19
2021-10-10T02:55:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834529.80 epoch sec; seqNo:65; 4061455.72 north; 594223.23 east
2021-10-10T02:55:32Z- AHRS_M2 msg: 1633834530.18 epoch sec; seqNo:66
2021-10-10T02:55:32Z- AHRS_M2 msg: -0.10 phi; -0.23 theta; 5.34 psi
2021-10-10T02:55:32Z- handleDepth()-Depth_Keller msg: 1633834530184 epoch sec; seqNo:66; depth 0.20
2021-10-10T02:55:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834530.20 epoch sec; seqNo:66; 4061455.72 north; 594223.23 east
2021-10-10T02:55:33Z- AHRS_M2 msg: 1633834530.58 epoch sec; seqNo:67
2021-10-10T02:55:33Z- AHRS_M2 msg: -0.13 phi; -0.26 theta; 5.35 psi
2021-10-10T02:55:33Z- handleDepth()-Depth_Keller msg: 1633834530585 epoch sec; seqNo:67; depth 0.21
2021-10-10T02:55:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834530.60 epoch sec; seqNo:67; 4061455.72 north; 594223.23 east
2021-10-10T02:55:33Z- LcmTrn::handleMessages() - handling 41 messages took 0.69 ms and 127 calls...
2021-10-10T02:55:33Z- waiting for 1633834528.42, time is 1633834530.60
2021-10-10T02:55:33Z- LcmTrn::updateTrn() >>>> pose time 1633834530.60, meas time 1633834529.40 <<<<
2021-10-10T02:55:33Z- TerrainNav::Measurement type 1 from time = 1633834529.40 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:55:33Z- TerrainNav::motionUpdate() - currEstimate = (4061456, 594223.23, 0.21)
2021-10-10T02:55:33Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:55:33Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:55:33Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:55:33Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:55:33Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:55:33Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:55:33Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:55:33Z- AHRS_M2 msg: 1633834530.99 epoch sec; seqNo:68
2021-10-10T02:55:33Z- AHRS_M2 msg: -0.14 phi; -0.23 theta; 5.38 psi
2021-10-10T02:55:33Z- handleDepth()-Depth_Keller msg: 1633834531003 epoch sec; seqNo:68; depth 0.24
2021-10-10T02:55:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834531.04 epoch sec; seqNo:68; 4061455.33 north; 594222.01 east
2021-10-10T02:55:33Z- AHRS_M2 msg: 1633834531.39 epoch sec; seqNo:69
2021-10-10T02:55:33Z- AHRS_M2 msg: -0.08 phi; -0.21 theta; 5.39 psi
2021-10-10T02:55:33Z- handleDepth()-Depth_Keller msg: 1633834531405 epoch sec; seqNo:69; depth 0.25
2021-10-10T02:55:33Z- handleDvl() - RDI_Pathfinder msg: 1633834531.42 epoch sec; seqNo:14
2021-10-10T02:55:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.73 , 101.59 , 86.66 , 109.74
2021-10-10T02:55:33Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , -0.49 , -0.26
2021-10-10T02:55:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834531.44 epoch sec; seqNo:69; 4061455.33 north; 594222.01 east
2021-10-10T02:55:34Z- AHRS_M2 msg: 1633834531.79 epoch sec; seqNo:70
2021-10-10T02:55:34Z- AHRS_M2 msg: 0.01 phi; -0.23 theta; 5.37 psi
2021-10-10T02:55:34Z- handleDepth()-Depth_Keller msg: 1633834531796 epoch sec; seqNo:70; depth 0.26
2021-10-10T02:55:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834531.82 epoch sec; seqNo:70; 4061454.95 north; 594222.02 east
2021-10-10T02:55:34Z- AHRS_M2 msg: 1633834532.20 epoch sec; seqNo:71
2021-10-10T02:55:34Z- AHRS_M2 msg: 0.04 phi; -0.28 theta; 5.36 psi
2021-10-10T02:55:34Z- handleDepth()-Depth_Keller msg: 1633834532204 epoch sec; seqNo:71; depth 0.27
2021-10-10T02:55:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834532.21 epoch sec; seqNo:71; 4061454.95 north; 594222.02 east
2021-10-10T02:55:35Z- AHRS_M2 msg: 1633834532.60 epoch sec; seqNo:72
2021-10-10T02:55:35Z- AHRS_M2 msg: 0.01 phi; -0.27 theta; 5.35 psi
2021-10-10T02:55:35Z- handleDepth()-Depth_Keller msg: 1633834532605 epoch sec; seqNo:72; depth 0.28
2021-10-10T02:55:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834532.62 epoch sec; seqNo:72; 4061454.57 north; 594222.02 east
2021-10-10T02:55:35Z- AHRS_M2 msg: 1633834533.02 epoch sec; seqNo:73
2021-10-10T02:55:35Z- AHRS_M2 msg: -0.06 phi; -0.25 theta; 5.34 psi
2021-10-10T02:55:35Z- handleDepth()-Depth_Keller msg: 1633834533035 epoch sec; seqNo:73; depth 0.29
2021-10-10T02:55:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834533.08 epoch sec; seqNo:73; 4061454.57 north; 594222.02 east
2021-10-10T02:55:35Z- AHRS_M2 msg: 1633834533.41 epoch sec; seqNo:74
2021-10-10T02:55:35Z- AHRS_M2 msg: -0.13 phi; -0.22 theta; 5.35 psi
2021-10-10T02:55:35Z- handleDepth()-Depth_Keller msg: 1633834533413 epoch sec; seqNo:74; depth 0.28
2021-10-10T02:55:35Z- handleDvl() - RDI_Pathfinder msg: 1633834533.44 epoch sec; seqNo:15
2021-10-10T02:55:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.03 , 96.03 , 85.16 , 113.68
2021-10-10T02:55:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.12 , -0.40 , -0.11
2021-10-10T02:55:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834533.45 epoch sec; seqNo:74; 4061454.57 north; 594222.02 east
2021-10-10T02:55:36Z- AHRS_M2 msg: 1633834533.81 epoch sec; seqNo:75
2021-10-10T02:55:36Z- AHRS_M2 msg: -0.13 phi; -0.21 theta; 5.36 psi
2021-10-10T02:55:36Z- handleDepth()-Depth_Keller msg: 1633834533817 epoch sec; seqNo:75; depth 0.25
2021-10-10T02:55:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834533.83 epoch sec; seqNo:75; 4061454.19 north; 594222.03 east
2021-10-10T02:55:36Z- AHRS_M2 msg: 1633834534.22 epoch sec; seqNo:76
2021-10-10T02:55:36Z- AHRS_M2 msg: -0.06 phi; -0.26 theta; 5.36 psi
2021-10-10T02:55:36Z- handleDepth()-Depth_Keller msg: 1633834534220 epoch sec; seqNo:76; depth 0.25
2021-10-10T02:55:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834534.23 epoch sec; seqNo:76; 4061454.19 north; 594222.03 east
2021-10-10T02:55:37Z- AHRS_M2 msg: 1633834534.62 epoch sec; seqNo:77
2021-10-10T02:55:37Z- AHRS_M2 msg: 0.01 phi; -0.31 theta; 5.36 psi
2021-10-10T02:55:37Z- handleDepth()-Depth_Keller msg: 1633834534626 epoch sec; seqNo:77; depth 0.27
2021-10-10T02:55:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834534.64 epoch sec; seqNo:77; 4061454.19 north; 594222.03 east
2021-10-10T02:55:37Z- AHRS_M2 msg: 1633834535.07 epoch sec; seqNo:78
2021-10-10T02:55:37Z- AHRS_M2 msg: 0.05 phi; -0.28 theta; 5.35 psi
2021-10-10T02:55:37Z- handleDepth()-Depth_Keller msg: 1633834535079 epoch sec; seqNo:78; depth 0.29
2021-10-10T02:55:37Z- handleDvl() - RDI_Pathfinder msg: 1633834535.10 epoch sec; seqNo:16
2021-10-10T02:55:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.32 , 100.03 , 85.10 , 112.25
2021-10-10T02:55:37Z- handleDvl() - RDI_Pathfinder msg: velocities -0.33 , -0.35 , 0.06
2021-10-10T02:55:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834535.12 epoch sec; seqNo:78; 4061453.82 north; 594222.03 east
2021-10-10T02:55:37Z- AHRS_M2 msg: 1633834535.43 epoch sec; seqNo:79
2021-10-10T02:55:37Z- AHRS_M2 msg: -0.00 phi; -0.23 theta; 5.33 psi
2021-10-10T02:55:37Z- handleDepth()-Depth_Keller msg: 1633834535433 epoch sec; seqNo:79; depth 0.29
2021-10-10T02:55:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834535.46 epoch sec; seqNo:79; 4061453.82 north; 594222.03 east
2021-10-10T02:55:38Z- LcmTrn::handleMessages() - handling 39 messages took 0.60 ms and 127 calls...
2021-10-10T02:55:38Z- waiting for 1633834533.60, time is 1633834535.46
2021-10-10T02:55:38Z- LcmTrn::updateTrn() >>>> pose time 1633834535.46, meas time 1633834535.10 <<<<
2021-10-10T02:55:38Z- TerrainNav::Measurement type 1 from time = 1633834535.10 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:55:38Z- TerrainNav::motionUpdate() - currEstimate = (4061454, 594222.03, 0.29)
2021-10-10T02:55:38Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:55:38Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:55:38Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:55:38Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:55:38Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:55:38Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:55:38Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:55:38Z- AHRS_M2 msg: 1633834535.83 epoch sec; seqNo:80
2021-10-10T02:55:38Z- AHRS_M2 msg: -0.08 phi; -0.21 theta; 5.32 psi
2021-10-10T02:55:38Z- handleDepth()-Depth_Keller msg: 1633834535837 epoch sec; seqNo:80; depth 0.26
2021-10-10T02:55:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834535.85 epoch sec; seqNo:80; 4061453.44 north; 594222.03 east
2021-10-10T02:55:38Z- AHRS_M2 msg: 1633834536.24 epoch sec; seqNo:81
2021-10-10T02:55:38Z- AHRS_M2 msg: -0.09 phi; -0.27 theta; 5.33 psi
2021-10-10T02:55:38Z- handleDepth()-Depth_Keller msg: 1633834536246 epoch sec; seqNo:81; depth 0.23
2021-10-10T02:55:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834536.26 epoch sec; seqNo:81; 4061453.44 north; 594222.03 east
2021-10-10T02:55:39Z- AHRS_M2 msg: 1633834536.64 epoch sec; seqNo:82
2021-10-10T02:55:39Z- AHRS_M2 msg: -0.06 phi; -0.32 theta; 5.35 psi
2021-10-10T02:55:39Z- handleDepth()-Depth_Keller msg: 1633834536652 epoch sec; seqNo:82; depth 0.24
2021-10-10T02:55:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834536.66 epoch sec; seqNo:82; 4061453.06 north; 594222.04 east
2021-10-10T02:55:39Z- AHRS_M2 msg: 1633834537.08 epoch sec; seqNo:83
2021-10-10T02:55:39Z- AHRS_M2 msg: -0.02 phi; -0.31 theta; 5.32 psi
2021-10-10T02:55:39Z- handleDepth()-Depth_Keller msg: 1633834537085 epoch sec; seqNo:83; depth 0.26
2021-10-10T02:55:39Z- handleDvl() - RDI_Pathfinder msg: 1633834537.10 epoch sec; seqNo:17
2021-10-10T02:55:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.25 , 102.68 , 85.03 , 114.90
2021-10-10T02:55:39Z- handleDvl() - RDI_Pathfinder msg: velocities -0.44 , -0.25 , -0.20
2021-10-10T02:55:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834537.14 epoch sec; seqNo:83; 4061453.06 north; 594222.04 east
2021-10-10T02:55:39Z- AHRS_M2 msg: 1633834537.45 epoch sec; seqNo:84
2021-10-10T02:55:39Z- AHRS_M2 msg: -0.02 phi; -0.21 theta; 5.28 psi
2021-10-10T02:55:39Z- handleDepth()-Depth_Keller msg: 1633834537452 epoch sec; seqNo:84; depth 0.26
2021-10-10T02:55:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834537.47 epoch sec; seqNo:84; 4061452.68 north; 594222.04 east
2021-10-10T02:55:40Z- AHRS_M2 msg: 1633834537.85 epoch sec; seqNo:85
2021-10-10T02:55:40Z- AHRS_M2 msg: -0.07 phi; -0.09 theta; 5.28 psi
2021-10-10T02:55:40Z- handleDepth()-Depth_Keller msg: 1633834537858 epoch sec; seqNo:85; depth 0.20
2021-10-10T02:55:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834537.87 epoch sec; seqNo:85; 4061452.68 north; 594222.04 east
2021-10-10T02:55:40Z- AHRS_M2 msg: 1633834538.26 epoch sec; seqNo:86
2021-10-10T02:55:40Z- AHRS_M2 msg: -0.07 phi; -0.08 theta; 5.26 psi
2021-10-10T02:55:40Z- handleDepth()-Depth_Keller msg: 1633834538272 epoch sec; seqNo:86; depth 0.15
2021-10-10T02:55:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834538.28 epoch sec; seqNo:86; 4061452.30 north; 594222.05 east
2021-10-10T02:55:41Z- AHRS_M2 msg: 1633834538.66 epoch sec; seqNo:87
2021-10-10T02:55:41Z- AHRS_M2 msg: -0.02 phi; -0.19 theta; 5.28 psi
2021-10-10T02:55:41Z- handleDepth()-Depth_Keller msg: 1633834538665 epoch sec; seqNo:87; depth 0.13
2021-10-10T02:55:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834538.68 epoch sec; seqNo:87; 4061452.30 north; 594222.05 east
2021-10-10T02:55:41Z- AHRS_M2 msg: 1633834539.08 epoch sec; seqNo:88
2021-10-10T02:55:41Z- AHRS_M2 msg: 0.10 phi; -0.27 theta; 5.29 psi
2021-10-10T02:55:41Z- handleDepth()-Depth_Keller msg: 1633834539088 epoch sec; seqNo:88; depth 0.16
2021-10-10T02:55:41Z- handleDvl() - RDI_Pathfinder msg: 1633834539.12 epoch sec; seqNo:18
2021-10-10T02:55:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.11 , 98.47 , 90.32 , 95.76
2021-10-10T02:55:41Z- handleDvl() - RDI_Pathfinder msg: velocities -0.33 , -0.39 , 0.52
2021-10-10T02:55:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834539.13 epoch sec; seqNo:88; 4061451.92 north; 594222.05 east
2021-10-10T02:55:41Z- AHRS_M2 msg: 1633834539.47 epoch sec; seqNo:89
2021-10-10T02:55:41Z- AHRS_M2 msg: 0.18 phi; -0.20 theta; 5.27 psi
2021-10-10T02:55:41Z- handleDepth()-Depth_Keller msg: 1633834539474 epoch sec; seqNo:89; depth 0.15
2021-10-10T02:55:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834539.49 epoch sec; seqNo:89; 4061451.92 north; 594222.05 east
2021-10-10T02:55:42Z- AHRS_M2 msg: 1633834539.87 epoch sec; seqNo:90
2021-10-10T02:55:42Z- AHRS_M2 msg: 0.13 phi; -0.09 theta; 5.29 psi
2021-10-10T02:55:42Z- handleDepth()-Depth_Keller msg: 1633834539879 epoch sec; seqNo:90; depth 0.12
2021-10-10T02:55:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834539.89 epoch sec; seqNo:90; 4061451.54 north; 594222.05 east
2021-10-10T02:55:42Z- AHRS_M2 msg: 1633834540.28 epoch sec; seqNo:91
2021-10-10T02:55:42Z- AHRS_M2 msg: -0.01 phi; 0.01 theta; 5.27 psi
2021-10-10T02:55:42Z- handleDepth()-Depth_Keller msg: 1633834540284 epoch sec; seqNo:91; depth 0.08
2021-10-10T02:55:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834540.30 epoch sec; seqNo:91; 4061451.54 north; 594222.05 east
2021-10-10T02:55:43Z- AHRS_M2 msg: 1633834540.68 epoch sec; seqNo:92
2021-10-10T02:55:43Z- AHRS_M2 msg: -0.14 phi; 0.08 theta; 5.20 psi
2021-10-10T02:55:43Z- LcmTrn::handleMessages() - handling 39 messages took 0.67 ms and 125 calls...
2021-10-10T02:55:43Z- waiting for 1633834538.46, time is 1633834540.68
2021-10-10T02:55:43Z- LcmTrn::updateTrn() >>>> pose time 1633834540.68, meas time 1633834539.12 <<<<
2021-10-10T02:55:43Z- TerrainNav::Measurement type 1 from time = 1633834539.12 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:55:43Z- TerrainNav::motionUpdate() - currEstimate = (4061452, 594222.05, 0.08)
2021-10-10T02:55:43Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:55:43Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:55:43Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:55:43Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:55:43Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:55:43Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:55:43Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:55:43Z- handleDepth()-Depth_Keller msg: 1633834540685 epoch sec; seqNo:92; depth 0.05
2021-10-10T02:55:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834540.69 epoch sec; seqNo:92; 4061451.16 north; 594222.06 east
2021-10-10T02:55:43Z- AHRS_M2 msg: 1633834541.09 epoch sec; seqNo:93
2021-10-10T02:55:43Z- AHRS_M2 msg: -0.23 phi; 0.08 theta; 5.22 psi
2021-10-10T02:55:43Z- handleDepth()-Depth_Keller msg: 1633834541104 epoch sec; seqNo:93; depth -0.01
2021-10-10T02:55:43Z- handleDvl() - RDI_Pathfinder msg: 1633834541.13 epoch sec; seqNo:19
2021-10-10T02:55:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.52 , 97.52 , 97.52 , 97.52
2021-10-10T02:55:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.20 , -0.40 , 0.83
2021-10-10T02:55:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834541.15 epoch sec; seqNo:93; 4061451.16 north; 594222.06 east
2021-10-10T02:55:43Z- AHRS_M2 msg: 1633834541.49 epoch sec; seqNo:94
2021-10-10T02:55:43Z- AHRS_M2 msg: -0.15 phi; 0.01 theta; 5.32 psi
2021-10-10T02:55:43Z- handleDepth()-Depth_Keller msg: 1633834541495 epoch sec; seqNo:94; depth 0.00
2021-10-10T02:55:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834541.51 epoch sec; seqNo:94; 4061451.16 north; 594222.06 east
2021-10-10T02:55:44Z- AHRS_M2 msg: 1633834541.90 epoch sec; seqNo:95
2021-10-10T02:55:44Z- AHRS_M2 msg: 0.00 phi; -0.08 theta; 5.33 psi
2021-10-10T02:55:44Z- handleDepth()-Depth_Keller msg: 1633834541909 epoch sec; seqNo:95; depth 0.04
2021-10-10T02:55:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834541.93 epoch sec; seqNo:95; 4061451.16 north; 594222.06 east
2021-10-10T02:55:44Z- AHRS_M2 msg: 1633834542.30 epoch sec; seqNo:96
2021-10-10T02:55:44Z- AHRS_M2 msg: 0.09 phi; -0.12 theta; 5.29 psi
2021-10-10T02:55:44Z- handleDepth()-Depth_Keller msg: 1633834542304 epoch sec; seqNo:96; depth 0.06
2021-10-10T02:55:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834542.31 epoch sec; seqNo:96; 4061450.78 north; 594222.06 east
2021-10-10T02:55:45Z- AHRS_M2 msg: 1633834542.70 epoch sec; seqNo:97
2021-10-10T02:55:45Z- AHRS_M2 msg: 0.10 phi; -0.09 theta; 5.31 psi
2021-10-10T02:55:45Z- handleDepth()-Depth_Keller msg: 1633834542712 epoch sec; seqNo:97; depth 0.07
2021-10-10T02:55:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834542.72 epoch sec; seqNo:97; 4061450.78 north; 594222.06 east
2021-10-10T02:55:45Z- AHRS_M2 msg: 1633834543.11 epoch sec; seqNo:98
2021-10-10T02:55:45Z- AHRS_M2 msg: 0.08 phi; -0.10 theta; 5.33 psi
2021-10-10T02:55:45Z- handleDepth()-Depth_Keller msg: 1633834543117 epoch sec; seqNo:98; depth 0.08
2021-10-10T02:55:45Z- handleDvl() - RDI_Pathfinder msg: 1633834543.14 epoch sec; seqNo:20
2021-10-10T02:55:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.02 , 90.59 , 89.23 , 101.46
2021-10-10T02:55:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.00 , -0.34 , -0.50
2021-10-10T02:55:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834543.15 epoch sec; seqNo:98; 4061450.77 north; 594220.84 east
2021-10-10T02:55:45Z- AHRS_M2 msg: 1633834543.51 epoch sec; seqNo:99
2021-10-10T02:55:45Z- AHRS_M2 msg: -0.05 phi; -0.17 theta; 5.31 psi
2021-10-10T02:55:45Z- handleDepth()-Depth_Keller msg: 1633834543513 epoch sec; seqNo:99; depth 0.08
2021-10-10T02:55:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834543.53 epoch sec; seqNo:99; 4061450.39 north; 594220.85 east
2021-10-10T02:55:46Z- AHRS_M2 msg: 1633834543.91 epoch sec; seqNo:100
2021-10-10T02:55:46Z- AHRS_M2 msg: -0.13 phi; -0.13 theta; 5.36 psi
2021-10-10T02:55:46Z- handleDepth()-Depth_Keller msg: 1633834543917 epoch sec; seqNo:100; depth 0.07
2021-10-10T02:55:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834543.93 epoch sec; seqNo:100; 4061450.39 north; 594220.85 east
2021-10-10T02:55:46Z- AHRS_M2 msg: 1633834544.32 epoch sec; seqNo:101
2021-10-10T02:55:46Z- AHRS_M2 msg: -0.03 phi; -0.03 theta; 5.37 psi
2021-10-10T02:55:46Z- handleDepth()-Depth_Keller msg: 1633834544328 epoch sec; seqNo:101; depth 0.10
2021-10-10T02:55:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834544.34 epoch sec; seqNo:101; 4061450.39 north; 594220.85 east
2021-10-10T02:55:47Z- AHRS_M2 msg: 1633834544.72 epoch sec; seqNo:102
2021-10-10T02:55:47Z- AHRS_M2 msg: 0.03 phi; -0.02 theta; 5.35 psi
2021-10-10T02:55:47Z- handleDepth()-Depth_Keller msg: 1633834544726 epoch sec; seqNo:102; depth 0.08
2021-10-10T02:55:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834544.74 epoch sec; seqNo:102; 4061450.39 north; 594220.85 east
2021-10-10T02:55:47Z- AHRS_M2 msg: 1633834545.12 epoch sec; seqNo:103
2021-10-10T02:55:47Z- AHRS_M2 msg: 0.06 phi; -0.03 theta; 5.38 psi
2021-10-10T02:55:47Z- handleDepth()-Depth_Keller msg: 1633834545130 epoch sec; seqNo:103; depth 0.10
2021-10-10T02:55:47Z- handleDvl() - RDI_Pathfinder msg: 1633834545.17 epoch sec; seqNo:21
2021-10-10T02:55:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 92.22 , 97.66 , 92.22 , 94.94
2021-10-10T02:55:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.60 , -0.36 , 0.34
2021-10-10T02:55:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834545.18 epoch sec; seqNo:103; 4061450.39 north; 594220.85 east
2021-10-10T02:55:47Z- AHRS_M2 msg: 1633834545.53 epoch sec; seqNo:104
2021-10-10T02:55:47Z- AHRS_M2 msg: 0.08 phi; -0.00 theta; 5.40 psi
2021-10-10T02:55:47Z- handleDepth()-Depth_Keller msg: 1633834545537 epoch sec; seqNo:104; depth 0.09
2021-10-10T02:55:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834545.56 epoch sec; seqNo:104; 4061450.39 north; 594220.85 east
2021-10-10T02:55:48Z- LcmTrn::handleMessages() - handling 41 messages took 0.73 ms and 126 calls...
2021-10-10T02:55:48Z- waiting for 1633834543.68, time is 1633834545.56
2021-10-10T02:55:48Z- LcmTrn::updateTrn() >>>> pose time 1633834545.56, meas time 1633834545.17 <<<<
2021-10-10T02:55:48Z- TerrainNav::Measurement type 1 from time = 1633834545.17 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:55:48Z- TerrainNav::motionUpdate() - currEstimate = (4061450, 594220.85, 0.09)
2021-10-10T02:55:48Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:55:48Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:55:48Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:55:48Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:55:48Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:55:48Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:55:48Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:55:48Z- handleDepth()-Depth_Keller msg: 1633834545991 epoch sec; seqNo:105; depth 0.07
2021-10-10T02:55:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834546.00 epoch sec; seqNo:105; 4061450.38 north; 594219.63 east
2021-10-10T02:55:48Z- AHRS_M2 msg: 1633834546.34 epoch sec; seqNo:105
2021-10-10T02:55:48Z- AHRS_M2 msg: -0.05 phi; -0.09 theta; 5.40 psi
2021-10-10T02:55:48Z- handleDepth()-Depth_Keller msg: 1633834546348 epoch sec; seqNo:106; depth 0.05
2021-10-10T02:55:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834546.36 epoch sec; seqNo:106; 4061450.38 north; 594219.63 east
2021-10-10T02:55:49Z- AHRS_M2 msg: 1633834546.74 epoch sec; seqNo:106
2021-10-10T02:55:49Z- AHRS_M2 msg: -0.09 phi; -0.07 theta; 5.34 psi
2021-10-10T02:55:49Z- handleDepth()-Depth_Keller msg: 1633834546754 epoch sec; seqNo:107; depth 0.05
2021-10-10T02:55:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834546.76 epoch sec; seqNo:107; 4061450.38 north; 594219.63 east
2021-10-10T02:55:49Z- AHRS_M2 msg: 1633834547.14 epoch sec; seqNo:107
2021-10-10T02:55:49Z- AHRS_M2 msg: -0.10 phi; -0.07 theta; 5.33 psi
2021-10-10T02:55:49Z- handleDepth()-Depth_Keller msg: 1633834547156 epoch sec; seqNo:108; depth 0.03
2021-10-10T02:55:49Z- handleDvl() - RDI_Pathfinder msg: 1633834547.18 epoch sec; seqNo:22
2021-10-10T02:55:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.65 , 97.65 , 90.86 , 99.01
2021-10-10T02:55:49Z- handleDvl() - RDI_Pathfinder msg: velocities -0.57 , -0.25 , 0.00
2021-10-10T02:55:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834547.20 epoch sec; seqNo:108; 4061450.00 north; 594219.63 east
2021-10-10T02:55:50Z- AHRS_M2 msg: 1633834547.55 epoch sec; seqNo:108
2021-10-10T02:55:50Z- AHRS_M2 msg: -0.00 phi; -0.07 theta; 5.41 psi
2021-10-10T02:55:50Z- handleDepth()-Depth_Keller msg: 1633834547557 epoch sec; seqNo:109; depth 0.02
2021-10-10T02:55:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834547.57 epoch sec; seqNo:109; 4061450.00 north; 594219.63 east
2021-10-10T02:55:50Z- AHRS_M2 msg: 1633834547.96 epoch sec; seqNo:109
2021-10-10T02:55:50Z- AHRS_M2 msg: 0.11 phi; -0.04 theta; 5.52 psi
2021-10-10T02:55:50Z- handleDepth()-Depth_Keller msg: 1633834547964 epoch sec; seqNo:110; depth 0.04
2021-10-10T02:55:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834547.97 epoch sec; seqNo:110; 4061449.62 north; 594219.63 east
2021-10-10T02:55:50Z- AHRS_M2 msg: 1633834548.36 epoch sec; seqNo:110
2021-10-10T02:55:50Z- AHRS_M2 msg: 0.06 phi; -0.04 theta; 5.52 psi
2021-10-10T02:55:50Z- handleDepth()-Depth_Keller msg: 1633834548373 epoch sec; seqNo:111; depth 0.09
2021-10-10T02:55:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834548.38 epoch sec; seqNo:111; 4061449.62 north; 594219.63 east
2021-10-10T02:55:51Z- AHRS_M2 msg: 1633834548.76 epoch sec; seqNo:111
2021-10-10T02:55:51Z- AHRS_M2 msg: -0.06 phi; 0.02 theta; 5.51 psi
2021-10-10T02:55:51Z- handleDepth()-Depth_Keller msg: 1633834548772 epoch sec; seqNo:112; depth 0.07
2021-10-10T02:55:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834548.78 epoch sec; seqNo:112; 4061449.24 north; 594219.64 east
2021-10-10T02:55:51Z- AHRS_M2 msg: 1633834549.17 epoch sec; seqNo:112
2021-10-10T02:55:51Z- AHRS_M2 msg: -0.10 phi; 0.02 theta; 5.51 psi
2021-10-10T02:55:51Z- handleDepth()-Depth_Keller msg: 1633834549176 epoch sec; seqNo:113; depth 0.05
2021-10-10T02:55:51Z- handleDvl() - RDI_Pathfinder msg: 1633834549.19 epoch sec; seqNo:23
2021-10-10T02:55:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.10 , 89.31 , 92.02 , 97.45
2021-10-10T02:55:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.34 , -0.28 , -0.37
2021-10-10T02:55:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834549.22 epoch sec; seqNo:113; 4061449.24 north; 594219.64 east
2021-10-10T02:55:52Z- AHRS_M2 msg: 1633834549.57 epoch sec; seqNo:113
2021-10-10T02:55:52Z- AHRS_M2 msg: -0.07 phi; -0.02 theta; 5.48 psi
2021-10-10T02:55:52Z- handleDepth()-Depth_Keller msg: 1633834549578 epoch sec; seqNo:114; depth 0.08
2021-10-10T02:55:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834549.59 epoch sec; seqNo:114; 4061449.24 north; 594219.64 east
2021-10-10T02:55:52Z- AHRS_M2 msg: 1633834549.97 epoch sec; seqNo:114
2021-10-10T02:55:52Z- AHRS_M2 msg: -0.05 phi; 0.04 theta; 5.50 psi
2021-10-10T02:55:52Z- handleDepth()-Depth_Keller msg: 1633834549977 epoch sec; seqNo:115; depth 0.09
2021-10-10T02:55:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834550.00 epoch sec; seqNo:115; 4061449.24 north; 594219.64 east
2021-10-10T02:55:52Z- AHRS_M2 msg: 1633834550.38 epoch sec; seqNo:115
2021-10-10T02:55:52Z- AHRS_M2 msg: -0.02 phi; 0.12 theta; 5.53 psi
2021-10-10T02:55:52Z- handleDepth()-Depth_Keller msg: 1633834550381 epoch sec; seqNo:116; depth 0.08
2021-10-10T02:55:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834550.39 epoch sec; seqNo:116; 4061449.24 north; 594219.64 east
2021-10-10T02:55:53Z- LcmTrn::handleMessages() - handling 37 messages took 0.63 ms and 124 calls...
2021-10-10T02:55:53Z- waiting for 1633834548.56, time is 1633834550.39
2021-10-10T02:55:53Z- LcmTrn::updateTrn() >>>> pose time 1633834550.39, meas time 1633834549.19 <<<<
2021-10-10T02:55:53Z- TerrainNav::Measurement type 1 from time = 1633834549.19 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:55:53Z- TerrainNav::motionUpdate() - currEstimate = (4061449, 594219.64, 0.08)
2021-10-10T02:55:53Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:55:53Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:55:53Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:55:53Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:55:53Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:55:53Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:55:53Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:55:53Z- AHRS_M2 msg: 1633834550.78 epoch sec; seqNo:116
2021-10-10T02:55:53Z- AHRS_M2 msg: 0.04 phi; 0.03 theta; 5.59 psi
2021-10-10T02:55:53Z- handleDepth()-Depth_Keller msg: 1633834550787 epoch sec; seqNo:117; depth 0.05
2021-10-10T02:55:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834550.80 epoch sec; seqNo:117; 4061449.24 north; 594219.64 east
2021-10-10T02:55:53Z- AHRS_M2 msg: 1633834551.19 epoch sec; seqNo:117
2021-10-10T02:55:53Z- AHRS_M2 msg: 0.10 phi; -0.17 theta; 5.58 psi
2021-10-10T02:55:53Z- handleDepth()-Depth_Keller msg: 1633834551203 epoch sec; seqNo:118; depth 0.03
2021-10-10T02:55:53Z- handleDvl() - RDI_Pathfinder msg: 1633834551.22 epoch sec; seqNo:24
2021-10-10T02:55:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.65 , 97.65 , 101.73 , 97.65
2021-10-10T02:55:53Z- handleDvl() - RDI_Pathfinder msg: velocities -0.35 , -0.12 , 0.88
2021-10-10T02:55:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834551.23 epoch sec; seqNo:118; 4061449.24 north; 594219.64 east
2021-10-10T02:55:54Z- AHRS_M2 msg: 1633834551.59 epoch sec; seqNo:118
2021-10-10T02:55:54Z- AHRS_M2 msg: 0.17 phi; -0.20 theta; 5.50 psi
2021-10-10T02:55:54Z- handleDepth()-Depth_Keller msg: 1633834551600 epoch sec; seqNo:119; depth 0.09
2021-10-10T02:55:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834551.62 epoch sec; seqNo:119; 4061448.86 north; 594219.64 east
2021-10-10T02:55:54Z- AHRS_M2 msg: 1633834551.99 epoch sec; seqNo:119
2021-10-10T02:55:54Z- AHRS_M2 msg: 0.20 phi; -0.10 theta; 5.51 psi
2021-10-10T02:55:54Z- handleDepth()-Depth_Keller msg: 1633834551997 epoch sec; seqNo:120; depth 0.06
2021-10-10T02:55:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834552.01 epoch sec; seqNo:120; 4061448.48 north; 594219.65 east
2021-10-10T02:55:54Z- AHRS_M2 msg: 1633834552.40 epoch sec; seqNo:120
2021-10-10T02:55:54Z- AHRS_M2 msg: 0.12 phi; -0.05 theta; 5.51 psi
2021-10-10T02:55:54Z- handleDepth()-Depth_Keller msg: 1633834552402 epoch sec; seqNo:121; depth 0.10
2021-10-10T02:55:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834552.41 epoch sec; seqNo:121; 4061448.48 north; 594219.65 east
2021-10-10T02:55:55Z- AHRS_M2 msg: 1633834552.80 epoch sec; seqNo:121
2021-10-10T02:55:55Z- AHRS_M2 msg: -0.03 phi; -0.00 theta; 5.48 psi
2021-10-10T02:55:55Z- handleDepth()-Depth_Keller msg: 1633834552818 epoch sec; seqNo:122; depth 0.16
2021-10-10T02:55:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834552.83 epoch sec; seqNo:122; 4061448.48 north; 594219.65 east
2021-10-10T02:55:55Z- AHRS_M2 msg: 1633834553.21 epoch sec; seqNo:122
2021-10-10T02:55:55Z- AHRS_M2 msg: -0.15 phi; -0.01 theta; 5.47 psi
2021-10-10T02:55:55Z- handleDepth()-Depth_Keller msg: 1633834553212 epoch sec; seqNo:123; depth 0.17
2021-10-10T02:55:55Z- handleDvl() - RDI_Pathfinder msg: 1633834553.24 epoch sec; seqNo:25
2021-10-10T02:55:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 104.04 , 86.38 , 97.25 , 98.60
2021-10-10T02:55:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.26 , -0.39 , -0.10
2021-10-10T02:55:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834553.26 epoch sec; seqNo:123; 4061448.48 north; 594219.65 east
2021-10-10T02:55:56Z- AHRS_M2 msg: 1633834553.61 epoch sec; seqNo:123
2021-10-10T02:55:56Z- AHRS_M2 msg: -0.20 phi; -0.11 theta; 5.45 psi
2021-10-10T02:55:56Z- handleDepth()-Depth_Keller msg: 1633834553613 epoch sec; seqNo:124; depth 0.19
2021-10-10T02:55:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834553.63 epoch sec; seqNo:124; 4061448.11 north; 594219.65 east
2021-10-10T02:55:56Z- AHRS_M2 msg: 1633834554.01 epoch sec; seqNo:124
2021-10-10T02:55:56Z- AHRS_M2 msg: -0.18 phi; -0.22 theta; 5.42 psi
2021-10-10T02:55:56Z- handleDepth()-Depth_Keller msg: 1633834554018 epoch sec; seqNo:125; depth 0.21
2021-10-10T02:55:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834554.03 epoch sec; seqNo:125; 4061448.09 north; 594218.43 east
2021-10-10T02:55:56Z- AHRS_M2 msg: 1633834554.42 epoch sec; seqNo:125
2021-10-10T02:55:56Z- AHRS_M2 msg: -0.11 phi; -0.24 theta; 5.41 psi
2021-10-10T02:55:56Z- handleDepth()-Depth_Keller msg: 1633834554433 epoch sec; seqNo:126; depth 0.22
2021-10-10T02:55:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834554.45 epoch sec; seqNo:126; 4061448.09 north; 594218.43 east
2021-10-10T02:55:57Z- AHRS_M2 msg: 1633834554.82 epoch sec; seqNo:126
2021-10-10T02:55:57Z- AHRS_M2 msg: -0.04 phi; -0.24 theta; 5.44 psi
2021-10-10T02:55:57Z- handleDepth()-Depth_Keller msg: 1633834554828 epoch sec; seqNo:127; depth 0.24
2021-10-10T02:55:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834554.86 epoch sec; seqNo:127; 4061448.09 north; 594218.43 east
2021-10-10T02:55:57Z- AHRS_M2 msg: 1633834555.22 epoch sec; seqNo:127
2021-10-10T02:55:57Z- AHRS_M2 msg: 0.02 phi; -0.24 theta; 5.45 psi
2021-10-10T02:55:57Z- handleDepth()-Depth_Keller msg: 1633834555236 epoch sec; seqNo:128; depth 0.25
2021-10-10T02:55:57Z- handleDvl() - RDI_Pathfinder msg: 1633834555.26 epoch sec; seqNo:26
2021-10-10T02:55:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.66 , 105.60 , 86.58 , 112.39
2021-10-10T02:55:57Z- handleDvl() - RDI_Pathfinder msg: velocities -0.25 , -0.61 , -0.67
2021-10-10T02:55:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834555.28 epoch sec; seqNo:128; 4061447.71 north; 594218.44 east
2021-10-10T02:55:58Z- AHRS_M2 msg: 1633834555.63 epoch sec; seqNo:128
2021-10-10T02:55:58Z- AHRS_M2 msg: 0.05 phi; -0.22 theta; 5.45 psi
2021-10-10T02:55:58Z- handleDepth()-Depth_Keller msg: 1633834555640 epoch sec; seqNo:129; depth 0.26
2021-10-10T02:55:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834555.66 epoch sec; seqNo:129; 4061447.71 north; 594218.44 east
2021-10-10T02:55:58Z- LcmTrn::handleMessages() - handling 42 messages took 0.80 ms and 125 calls...
2021-10-10T02:55:58Z- waiting for 1633834553.39, time is 1633834555.66
2021-10-10T02:55:58Z- LcmTrn::updateTrn() >>>> pose time 1633834555.66, meas time 1633834555.26 <<<<
2021-10-10T02:55:58Z- TerrainNav::Measurement type 1 from time = 1633834555.26 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:55:58Z- TerrainNav::motionUpdate() - currEstimate = (4061448, 594218.44, 0.26)
2021-10-10T02:55:58Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:55:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:55:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:55:58Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:55:58Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:55:58Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:55:58Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:55:58Z- AHRS_M2 msg: 1633834556.03 epoch sec; seqNo:129
2021-10-10T02:55:58Z- AHRS_M2 msg: 0.03 phi; -0.20 theta; 5.42 psi
2021-10-10T02:55:58Z- handleDepth()-Depth_Keller msg: 1633834556037 epoch sec; seqNo:130; depth 0.24
2021-10-10T02:55:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834556.06 epoch sec; seqNo:130; 4061447.33 north; 594218.44 east
2021-10-10T02:55:58Z- AHRS_M2 msg: 1633834556.44 epoch sec; seqNo:130
2021-10-10T02:55:58Z- AHRS_M2 msg: -0.04 phi; -0.20 theta; 5.40 psi
2021-10-10T02:55:58Z- handleDepth()-Depth_Keller msg: 1633834556444 epoch sec; seqNo:131; depth 0.24
2021-10-10T02:55:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834556.48 epoch sec; seqNo:131; 4061447.33 north; 594218.44 east
2021-10-10T02:55:59Z- AHRS_M2 msg: 1633834556.84 epoch sec; seqNo:131
2021-10-10T02:55:59Z- AHRS_M2 msg: -0.09 phi; -0.19 theta; 5.41 psi
2021-10-10T02:55:59Z- handleDepth()-Depth_Keller msg: 1633834556845 epoch sec; seqNo:132; depth 0.22
2021-10-10T02:55:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834556.86 epoch sec; seqNo:132; 4061446.96 north; 594218.44 east
2021-10-10T02:55:59Z- AHRS_M2 msg: 1633834557.25 epoch sec; seqNo:132
2021-10-10T02:55:59Z- AHRS_M2 msg: -0.07 phi; -0.22 theta; 5.42 psi
2021-10-10T02:55:59Z- handleDepth()-Depth_Keller msg: 1633834557250 epoch sec; seqNo:133; depth 0.23
2021-10-10T02:55:59Z- handleDvl() - RDI_Pathfinder msg: 1633834557.27 epoch sec; seqNo:27
2021-10-10T02:55:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.17 , 95.89 , 0.00 , 108.11
2021-10-10T02:55:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.41 , -0.40 , 0.50
2021-10-10T02:55:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834557.28 epoch sec; seqNo:133; 4061446.94 north; 594217.22 east
2021-10-10T02:56:00Z- AHRS_M2 msg: 1633834557.65 epoch sec; seqNo:133
2021-10-10T02:56:00Z- AHRS_M2 msg: 0.01 phi; -0.29 theta; 5.39 psi
2021-10-10T02:56:00Z- handleDepth()-Depth_Keller msg: 1633834557656 epoch sec; seqNo:134; depth 0.22
2021-10-10T02:56:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834557.68 epoch sec; seqNo:134; 4061446.94 north; 594217.22 east
2021-10-10T02:56:00Z- AHRS_M2 msg: 1633834558.05 epoch sec; seqNo:134
2021-10-10T02:56:00Z- AHRS_M2 msg: 0.09 phi; -0.35 theta; 5.31 psi
2021-10-10T02:56:00Z- handleDepth()-Depth_Keller msg: 1633834558064 epoch sec; seqNo:135; depth 0.26
2021-10-10T02:56:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834558.07 epoch sec; seqNo:135; 4061446.94 north; 594217.22 east
2021-10-10T02:56:00Z- AHRS_M2 msg: 1633834558.46 epoch sec; seqNo:135
2021-10-10T02:56:00Z- AHRS_M2 msg: 0.05 phi; -0.39 theta; 5.28 psi
2021-10-10T02:56:00Z- handleDepth()-Depth_Keller msg: 1633834558464 epoch sec; seqNo:136; depth 0.30
2021-10-10T02:56:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834558.47 epoch sec; seqNo:136; 4061446.56 north; 594217.23 east
2021-10-10T02:56:01Z- AHRS_M2 msg: 1633834558.86 epoch sec; seqNo:136
2021-10-10T02:56:01Z- AHRS_M2 msg: -0.07 phi; -0.40 theta; 5.34 psi
2021-10-10T02:56:01Z- handleDepth()-Depth_Keller msg: 1633834558872 epoch sec; seqNo:137; depth 0.30
2021-10-10T02:56:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834558.88 epoch sec; seqNo:137; 4061446.56 north; 594217.23 east
2021-10-10T02:56:01Z- AHRS_M2 msg: 1633834559.26 epoch sec; seqNo:137
2021-10-10T02:56:01Z- AHRS_M2 msg: -0.12 phi; -0.32 theta; 5.43 psi
2021-10-10T02:56:01Z- handleDepth()-Depth_Keller msg: 1633834559287 epoch sec; seqNo:138; depth 0.28
2021-10-10T02:56:01Z- handleDvl() - RDI_Pathfinder msg: 1633834559.31 epoch sec; seqNo:28
2021-10-10T02:56:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 104.04 , 98.60 , 83.67 , 125.76
2021-10-10T02:56:01Z- handleDvl() - RDI_Pathfinder msg: velocities -0.59 , -0.70 , -0.70
2021-10-10T02:56:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834559.32 epoch sec; seqNo:138; 4061446.18 north; 594217.23 east
2021-10-10T02:56:02Z- AHRS_M2 msg: 1633834559.67 epoch sec; seqNo:138
2021-10-10T02:56:02Z- AHRS_M2 msg: -0.07 phi; -0.21 theta; 5.47 psi
2021-10-10T02:56:02Z- handleDepth()-Depth_Keller msg: 1633834559679 epoch sec; seqNo:139; depth 0.23
2021-10-10T02:56:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834559.69 epoch sec; seqNo:139; 4061445.81 north; 594217.24 east
2021-10-10T02:56:02Z- AHRS_M2 msg: 1633834560.07 epoch sec; seqNo:139
2021-10-10T02:56:02Z- AHRS_M2 msg: 0.01 phi; -0.14 theta; 5.45 psi
2021-10-10T02:56:02Z- handleDepth()-Depth_Keller msg: 1633834560077 epoch sec; seqNo:140; depth 0.21
2021-10-10T02:56:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834560.11 epoch sec; seqNo:140; 4061445.43 north; 594217.24 east
2021-10-10T02:56:02Z- AHRS_M2 msg: 1633834560.48 epoch sec; seqNo:140
2021-10-10T02:56:02Z- AHRS_M2 msg: 0.03 phi; -0.11 theta; 5.44 psi
2021-10-10T02:56:02Z- handleDepth()-Depth_Keller msg: 1633834560484 epoch sec; seqNo:141; depth 0.17
2021-10-10T02:56:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834560.53 epoch sec; seqNo:141; 4061445.43 north; 594217.24 east
2021-10-10T02:56:03Z- LcmTrn::handleMessages() - handling 38 messages took 0.73 ms and 123 calls...
2021-10-10T02:56:03Z- waiting for 1633834558.66, time is 1633834560.53
2021-10-10T02:56:03Z- LcmTrn::updateTrn() >>>> pose time 1633834560.53, meas time 1633834559.31 <<<<
2021-10-10T02:56:03Z- TerrainNav::Measurement type 1 from time = 1633834559.31 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:56:03Z- TerrainNav::motionUpdate() - currEstimate = (4061445, 594217.24, 0.17)
2021-10-10T02:56:03Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:56:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:03Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:56:03Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:56:03Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:56:03Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:56:03Z- AHRS_M2 msg: 1633834560.88 epoch sec; seqNo:141
2021-10-10T02:56:03Z- AHRS_M2 msg: -0.01 phi; -0.13 theta; 5.43 psi
2021-10-10T02:56:03Z- handleDepth()-Depth_Keller msg: 1633834560888 epoch sec; seqNo:142; depth 0.15
2021-10-10T02:56:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834560.92 epoch sec; seqNo:142; 4061445.05 north; 594217.24 east
2021-10-10T02:56:03Z- AHRS_M2 msg: 1633834561.29 epoch sec; seqNo:142
2021-10-10T02:56:03Z- AHRS_M2 msg: -0.05 phi; -0.15 theta; 5.43 psi
2021-10-10T02:56:03Z- handleDepth()-Depth_Keller msg: 1633834561295 epoch sec; seqNo:143; depth 0.12
2021-10-10T02:56:03Z- handleDvl() - RDI_Pathfinder msg: 1633834561.35 epoch sec; seqNo:29
2021-10-10T02:56:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.51 , 97.99 , 89.03 , 99.49
2021-10-10T02:56:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.28 , -0.41 , 0.62
2021-10-10T02:56:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834561.39 epoch sec; seqNo:143; 4061444.67 north; 594217.25 east
2021-10-10T02:56:04Z- AHRS_M2 msg: 1633834561.69 epoch sec; seqNo:143
2021-10-10T02:56:04Z- AHRS_M2 msg: -0.04 phi; -0.15 theta; 5.44 psi
2021-10-10T02:56:04Z- handleDepth()-Depth_Keller msg: 1633834561700 epoch sec; seqNo:144; depth 0.11
2021-10-10T02:56:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834561.73 epoch sec; seqNo:144; 4061444.66 north; 594216.03 east
2021-10-10T02:56:04Z- AHRS_M2 msg: 1633834562.10 epoch sec; seqNo:144
2021-10-10T02:56:04Z- AHRS_M2 msg: -0.02 phi; -0.16 theta; 5.49 psi
2021-10-10T02:56:04Z- handleDepth()-Depth_Keller msg: 1633834562103 epoch sec; seqNo:145; depth 0.11
2021-10-10T02:56:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834562.13 epoch sec; seqNo:145; 4061444.66 north; 594216.03 east
2021-10-10T02:56:04Z- AHRS_M2 msg: 1633834562.50 epoch sec; seqNo:145
2021-10-10T02:56:04Z- AHRS_M2 msg: 0.03 phi; -0.17 theta; 5.55 psi
2021-10-10T02:56:04Z- handleDepth()-Depth_Keller msg: 1633834562516 epoch sec; seqNo:146; depth 0.12
2021-10-10T02:56:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834562.55 epoch sec; seqNo:146; 4061444.66 north; 594216.03 east
2021-10-10T02:56:05Z- AHRS_M2 msg: 1633834562.91 epoch sec; seqNo:146
2021-10-10T02:56:05Z- AHRS_M2 msg: -0.05 phi; -0.15 theta; 5.50 psi
2021-10-10T02:56:05Z- handleDepth()-Depth_Keller msg: 1633834562919 epoch sec; seqNo:147; depth 0.11
2021-10-10T02:56:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834562.93 epoch sec; seqNo:147; 4061444.66 north; 594216.03 east
2021-10-10T02:56:05Z- AHRS_M2 msg: 1633834563.31 epoch sec; seqNo:147
2021-10-10T02:56:05Z- AHRS_M2 msg: -0.10 phi; -0.12 theta; 5.54 psi
2021-10-10T02:56:05Z- handleDepth()-Depth_Keller msg: 1633834563318 epoch sec; seqNo:148; depth 0.08
2021-10-10T02:56:05Z- handleDvl() - RDI_Pathfinder msg: 1633834563.35 epoch sec; seqNo:30
2021-10-10T02:56:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.23 , 93.51 , 88.08 , 103.02
2021-10-10T02:56:05Z- handleDvl() - RDI_Pathfinder msg: velocities -0.62 , -0.05 , -0.38
2021-10-10T02:56:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834563.39 epoch sec; seqNo:148; 4061444.28 north; 594216.03 east
2021-10-10T02:56:06Z- AHRS_M2 msg: 1633834563.71 epoch sec; seqNo:148
2021-10-10T02:56:06Z- AHRS_M2 msg: -0.10 phi; -0.06 theta; 5.59 psi
2021-10-10T02:56:06Z- handleDepth()-Depth_Keller msg: 1633834563725 epoch sec; seqNo:149; depth 0.05
2021-10-10T02:56:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834563.74 epoch sec; seqNo:149; 4061444.28 north; 594216.03 east
2021-10-10T02:56:06Z- AHRS_M2 msg: 1633834564.12 epoch sec; seqNo:149
2021-10-10T02:56:06Z- AHRS_M2 msg: -0.06 phi; 0.04 theta; 5.60 psi
2021-10-10T02:56:06Z- handleDepth()-Depth_Keller msg: 1633834564128 epoch sec; seqNo:150; depth 0.07
2021-10-10T02:56:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834564.15 epoch sec; seqNo:150; 4061443.90 north; 594216.04 east
2021-10-10T02:56:06Z- AHRS_M2 msg: 1633834564.52 epoch sec; seqNo:150
2021-10-10T02:56:06Z- AHRS_M2 msg: -0.02 phi; 0.07 theta; 5.59 psi
2021-10-10T02:56:06Z- handleDepth()-Depth_Keller msg: 1633834564528 epoch sec; seqNo:151; depth 0.05
2021-10-10T02:56:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834564.54 epoch sec; seqNo:151; 4061443.90 north; 594216.04 east
2021-10-10T02:56:07Z- AHRS_M2 msg: 1633834564.93 epoch sec; seqNo:151
2021-10-10T02:56:07Z- AHRS_M2 msg: -0.02 phi; 0.06 theta; 5.54 psi
2021-10-10T02:56:07Z- handleDepth()-Depth_Keller msg: 1633834564934 epoch sec; seqNo:152; depth 0.06
2021-10-10T02:56:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834564.95 epoch sec; seqNo:152; 4061443.53 north; 594217.26 east
2021-10-10T02:56:07Z- AHRS_M2 msg: 1633834565.33 epoch sec; seqNo:152
2021-10-10T02:56:07Z- AHRS_M2 msg: -0.03 phi; 0.01 theta; 5.59 psi
2021-10-10T02:56:07Z- handleDepth()-Depth_Keller msg: 1633834565340 epoch sec; seqNo:153; depth 0.07
2021-10-10T02:56:07Z- handleDvl() - RDI_Pathfinder msg: 1633834565.37 epoch sec; seqNo:31
2021-10-10T02:56:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.44 , 96.23 , 97.58 , 97.58
2021-10-10T02:56:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.44 , -0.53 , 0.42
2021-10-10T02:56:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834565.38 epoch sec; seqNo:153; 4061443.52 north; 594216.04 east
2021-10-10T02:56:08Z- AHRS_M2 msg: 1633834565.73 epoch sec; seqNo:153
2021-10-10T02:56:08Z- AHRS_M2 msg: -0.01 phi; -0.02 theta; 5.63 psi
2021-10-10T02:56:08Z- handleDepth()-Depth_Keller msg: 1633834565736 epoch sec; seqNo:154; depth 0.06
2021-10-10T02:56:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834565.75 epoch sec; seqNo:154; 4061443.52 north; 594216.04 east
2021-10-10T02:56:08Z- LcmTrn::handleMessages() - handling 42 messages took 0.76 ms and 126 calls...
2021-10-10T02:56:08Z- waiting for 1633834563.53, time is 1633834565.75
2021-10-10T02:56:08Z- LcmTrn::updateTrn() >>>> pose time 1633834565.75, meas time 1633834565.37 <<<<
2021-10-10T02:56:08Z- TerrainNav::Measurement type 1 from time = 1633834565.37 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:56:08Z- TerrainNav::motionUpdate() - currEstimate = (4061444, 594216.04, 0.06)
2021-10-10T02:56:08Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:56:08Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:08Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:08Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:56:08Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:56:08Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:56:08Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:56:08Z- AHRS_M2 msg: 1633834566.14 epoch sec; seqNo:154
2021-10-10T02:56:08Z- AHRS_M2 msg: 0.02 phi; 0.01 theta; 5.63 psi
2021-10-10T02:56:08Z- handleDepth()-Depth_Keller msg: 1633834566148 epoch sec; seqNo:155; depth 0.07
2021-10-10T02:56:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834566.16 epoch sec; seqNo:155; 4061443.52 north; 594216.04 east
2021-10-10T02:56:08Z- AHRS_M2 msg: 1633834566.54 epoch sec; seqNo:155
2021-10-10T02:56:08Z- AHRS_M2 msg: 0.02 phi; -0.01 theta; 5.67 psi
2021-10-10T02:56:09Z- handleDepth()-Depth_Keller msg: 1633834566547 epoch sec; seqNo:156; depth 0.04
2021-10-10T02:56:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834566.57 epoch sec; seqNo:156; 4061443.52 north; 594216.04 east
2021-10-10T02:56:09Z- AHRS_M2 msg: 1633834566.95 epoch sec; seqNo:156
2021-10-10T02:56:09Z- AHRS_M2 msg: 0.03 phi; -0.06 theta; 5.71 psi
2021-10-10T02:56:09Z- handleDepth()-Depth_Keller msg: 1633834566952 epoch sec; seqNo:157; depth 0.03
2021-10-10T02:56:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834566.96 epoch sec; seqNo:157; 4061443.51 north; 594214.82 east
2021-10-10T02:56:09Z- AHRS_M2 msg: 1633834567.35 epoch sec; seqNo:157
2021-10-10T02:56:09Z- AHRS_M2 msg: -0.01 phi; -0.06 theta; 5.68 psi
2021-10-10T02:56:09Z- handleDepth()-Depth_Keller msg: 1633834567361 epoch sec; seqNo:158; depth 0.04
2021-10-10T02:56:09Z- handleDvl() - RDI_Pathfinder msg: 1633834567.38 epoch sec; seqNo:32
2021-10-10T02:56:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.23 , 93.51 , 97.58 , 97.58
2021-10-10T02:56:09Z- handleDvl() - RDI_Pathfinder msg: velocities -0.49 , 0.04 , 0.38
2021-10-10T02:56:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834567.39 epoch sec; seqNo:158; 4061443.52 north; 594216.04 east
2021-10-10T02:56:10Z- AHRS_M2 msg: 1633834567.75 epoch sec; seqNo:158
2021-10-10T02:56:10Z- AHRS_M2 msg: -0.08 phi; -0.04 theta; 5.66 psi
2021-10-10T02:56:10Z- handleDepth()-Depth_Keller msg: 1633834567764 epoch sec; seqNo:159; depth 0.05
2021-10-10T02:56:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834567.79 epoch sec; seqNo:159; 4061443.14 north; 594216.04 east
2021-10-10T02:56:10Z- AHRS_M2 msg: 1633834568.16 epoch sec; seqNo:159
2021-10-10T02:56:10Z- AHRS_M2 msg: -0.09 phi; -0.05 theta; 5.67 psi
2021-10-10T02:56:10Z- handleDepth()-Depth_Keller msg: 1633834568161 epoch sec; seqNo:160; depth 0.04
2021-10-10T02:56:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834568.17 epoch sec; seqNo:160; 4061443.14 north; 594216.04 east
2021-10-10T02:56:11Z- AHRS_M2 msg: 1633834568.57 epoch sec; seqNo:160
2021-10-10T02:56:11Z- AHRS_M2 msg: -0.03 phi; -0.05 theta; 5.67 psi
2021-10-10T02:56:11Z- handleDepth()-Depth_Keller msg: 1633834568576 epoch sec; seqNo:161; depth 0.08
2021-10-10T02:56:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834568.59 epoch sec; seqNo:161; 4061443.14 north; 594216.04 east
2021-10-10T02:56:11Z- AHRS_M2 msg: 1633834568.96 epoch sec; seqNo:161
2021-10-10T02:56:11Z- AHRS_M2 msg: 0.03 phi; -0.01 theta; 5.68 psi
2021-10-10T02:56:11Z- handleDepth()-Depth_Keller msg: 1633834568970 epoch sec; seqNo:162; depth 0.11
2021-10-10T02:56:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834569.00 epoch sec; seqNo:162; 4061442.76 north; 594216.05 east
2021-10-10T02:56:11Z- AHRS_M2 msg: 1633834569.37 epoch sec; seqNo:162
2021-10-10T02:56:11Z- AHRS_M2 msg: 0.04 phi; -0.03 theta; 5.67 psi
2021-10-10T02:56:11Z- handleDepth()-Depth_Keller msg: 1633834569373 epoch sec; seqNo:163; depth 0.10
2021-10-10T02:56:11Z- handleDvl() - RDI_Pathfinder msg: 1633834569.39 epoch sec; seqNo:33
2021-10-10T02:56:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.66 , 97.45 , 97.45 , 97.45
2021-10-10T02:56:11Z- handleDvl() - RDI_Pathfinder msg: velocities -0.20 , -0.55 , -0.37
2021-10-10T02:56:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834569.42 epoch sec; seqNo:163; 4061442.76 north; 594216.05 east
2021-10-10T02:56:12Z- AHRS_M2 msg: 1633834569.77 epoch sec; seqNo:163
2021-10-10T02:56:12Z- AHRS_M2 msg: 0.00 phi; -0.05 theta; 5.68 psi
2021-10-10T02:56:12Z- handleDepth()-Depth_Keller msg: 1633834569777 epoch sec; seqNo:164; depth 0.08
2021-10-10T02:56:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834569.79 epoch sec; seqNo:164; 4061442.38 north; 594216.05 east
2021-10-10T02:56:12Z- AHRS_M2 msg: 1633834570.18 epoch sec; seqNo:164
2021-10-10T02:56:12Z- AHRS_M2 msg: -0.04 phi; 0.01 theta; 5.72 psi
2021-10-10T02:56:12Z- handleDepth()-Depth_Keller msg: 1633834570188 epoch sec; seqNo:165; depth 0.08
2021-10-10T02:56:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834570.20 epoch sec; seqNo:165; 4061442.38 north; 594216.05 east
2021-10-10T02:56:13Z- AHRS_M2 msg: 1633834570.58 epoch sec; seqNo:165
2021-10-10T02:56:13Z- AHRS_M2 msg: -0.07 phi; 0.05 theta; 5.73 psi
2021-10-10T02:56:13Z- handleDepth()-Depth_Keller msg: 1633834570587 epoch sec; seqNo:166; depth 0.06
2021-10-10T02:56:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834570.61 epoch sec; seqNo:166; 4061442.00 north; 594216.06 east
2021-10-10T02:56:13Z- LcmTrn::handleMessages() - handling 38 messages took 0.66 ms and 124 calls...
2021-10-10T02:56:13Z- waiting for 1633834568.75, time is 1633834570.61
2021-10-10T02:56:13Z- LcmTrn::updateTrn() >>>> pose time 1633834570.61, meas time 1633834569.39 <<<<
2021-10-10T02:56:13Z- TerrainNav:: Throwing out all beams because more than two are equal to 97.449 at t=1633834569.39, ping # 0.
2021-10-10T02:56:13Z- TerrainNav::Measurement type 1 from time = 1633834569.39 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0
2021-10-10T02:56:13Z- TerrainNav::motionUpdate() - currEstimate = (4061442, 594216.06, 0.06)
2021-10-10T02:56:13Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:56:13Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:13Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:13Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:56:13Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:56:13Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:56:13Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:56:13Z- AHRS_M2 msg: 1633834570.98 epoch sec; seqNo:166
2021-10-10T02:56:13Z- AHRS_M2 msg: -0.09 phi; -0.04 theta; 5.71 psi
2021-10-10T02:56:13Z- handleDepth()-Depth_Keller msg: 1633834570996 epoch sec; seqNo:167; depth 0.04
2021-10-10T02:56:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834571.01 epoch sec; seqNo:167; 4061441.99 north; 594214.84 east
2021-10-10T02:56:13Z- AHRS_M2 msg: 1633834571.39 epoch sec; seqNo:167
2021-10-10T02:56:13Z- AHRS_M2 msg: -0.04 phi; -0.12 theta; 5.72 psi
2021-10-10T02:56:13Z- handleDepth()-Depth_Keller msg: 1633834571400 epoch sec; seqNo:168; depth 0.04
2021-10-10T02:56:13Z- handleDvl() - RDI_Pathfinder msg: 1633834571.42 epoch sec; seqNo:34
2021-10-10T02:56:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.52 , 97.52 , 97.52 , 92.08
2021-10-10T02:56:13Z- handleDvl() - RDI_Pathfinder msg: velocities -0.08 , -0.27 , 0.20
2021-10-10T02:56:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834571.45 epoch sec; seqNo:168; 4061441.61 north; 594214.84 east
2021-10-10T02:56:14Z- AHRS_M2 msg: 1633834571.79 epoch sec; seqNo:168
2021-10-10T02:56:14Z- AHRS_M2 msg: 0.06 phi; -0.07 theta; 5.73 psi
2021-10-10T02:56:14Z- handleDepth()-Depth_Keller msg: 1633834571798 epoch sec; seqNo:169; depth 0.05
2021-10-10T02:56:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834571.81 epoch sec; seqNo:169; 4061441.61 north; 594214.84 east
2021-10-10T02:56:14Z- AHRS_M2 msg: 1633834572.20 epoch sec; seqNo:169
2021-10-10T02:56:14Z- AHRS_M2 msg: 0.04 phi; -0.05 theta; 5.68 psi
2021-10-10T02:56:14Z- handleDepth()-Depth_Keller msg: 1633834572201 epoch sec; seqNo:170; depth 0.07
2021-10-10T02:56:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834572.22 epoch sec; seqNo:170; 4061441.61 north; 594214.84 east
2021-10-10T02:56:15Z- AHRS_M2 msg: 1633834572.60 epoch sec; seqNo:170
2021-10-10T02:56:15Z- AHRS_M2 msg: -0.03 phi; -0.04 theta; 5.69 psi
2021-10-10T02:56:15Z- handleDepth()-Depth_Keller msg: 1633834572608 epoch sec; seqNo:171; depth 0.06
2021-10-10T02:56:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834572.62 epoch sec; seqNo:171; 4061441.61 north; 594214.84 east
2021-10-10T02:56:15Z- AHRS_M2 msg: 1633834573.01 epoch sec; seqNo:171
2021-10-10T02:56:15Z- AHRS_M2 msg: -0.03 phi; -0.00 theta; 5.72 psi
2021-10-10T02:56:15Z- handleDepth()-Depth_Keller msg: 1633834573025 epoch sec; seqNo:172; depth 0.09
2021-10-10T02:56:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834573.08 epoch sec; seqNo:172; 4061441.61 north; 594214.84 east
2021-10-10T02:56:15Z- AHRS_M2 msg: 1633834573.41 epoch sec; seqNo:172
2021-10-10T02:56:15Z- AHRS_M2 msg: 0.00 phi; 0.03 theta; 5.73 psi
2021-10-10T02:56:15Z- handleDepth()-Depth_Keller msg: 1633834573420 epoch sec; seqNo:173; depth 0.11
2021-10-10T02:56:15Z- handleDvl() - RDI_Pathfinder msg: 1633834573.44 epoch sec; seqNo:35
2021-10-10T02:56:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 94.73 , 92.02 , 92.02 , 97.45
2021-10-10T02:56:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.31 , -0.79 , -0.44
2021-10-10T02:56:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834573.47 epoch sec; seqNo:173; 4061441.23 north; 594214.85 east
2021-10-10T02:56:16Z- AHRS_M2 msg: 1633834573.81 epoch sec; seqNo:173
2021-10-10T02:56:16Z- AHRS_M2 msg: 0.02 phi; 0.02 theta; 5.76 psi
2021-10-10T02:56:16Z- handleDepth()-Depth_Keller msg: 1633834573817 epoch sec; seqNo:174; depth 0.11
2021-10-10T02:56:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834573.84 epoch sec; seqNo:174; 4061441.23 north; 594214.85 east
2021-10-10T02:56:16Z- AHRS_M2 msg: 1633834574.22 epoch sec; seqNo:174
2021-10-10T02:56:16Z- AHRS_M2 msg: -0.01 phi; 0.06 theta; 5.79 psi
2021-10-10T02:56:16Z- handleDepth()-Depth_Keller msg: 1633834574228 epoch sec; seqNo:175; depth 0.09
2021-10-10T02:56:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834574.25 epoch sec; seqNo:175; 4061441.22 north; 594213.62 east
2021-10-10T02:56:17Z- AHRS_M2 msg: 1633834574.62 epoch sec; seqNo:175
2021-10-10T02:56:17Z- AHRS_M2 msg: -0.10 phi; 0.07 theta; 5.77 psi
2021-10-10T02:56:17Z- handleDepth()-Depth_Keller msg: 1633834574632 epoch sec; seqNo:176; depth 0.05
2021-10-10T02:56:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834574.64 epoch sec; seqNo:176; 4061441.22 north; 594213.62 east
2021-10-10T02:56:17Z- AHRS_M2 msg: 1633834575.06 epoch sec; seqNo:176
2021-10-10T02:56:17Z- AHRS_M2 msg: -0.12 phi; -0.04 theta; 5.79 psi
2021-10-10T02:56:17Z- handleDepth()-Depth_Keller msg: 1633834575081 epoch sec; seqNo:177; depth 0.03
2021-10-10T02:56:17Z- handleDvl() - RDI_Pathfinder msg: 1633834575.10 epoch sec; seqNo:36
2021-10-10T02:56:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.58 , 97.65 , 99.01 , 97.65
2021-10-10T02:56:17Z- handleDvl() - RDI_Pathfinder msg: velocities -0.47 , -0.35 , 0.84
2021-10-10T02:56:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834575.11 epoch sec; seqNo:177; 4061440.84 north; 594213.63 east
2021-10-10T02:56:17Z- AHRS_M2 msg: 1633834575.43 epoch sec; seqNo:177
2021-10-10T02:56:17Z- AHRS_M2 msg: -0.08 phi; -0.14 theta; 5.80 psi
2021-10-10T02:56:17Z- handleDepth()-Depth_Keller msg: 1633834575447 epoch sec; seqNo:178; depth 0.04
2021-10-10T02:56:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834575.46 epoch sec; seqNo:178; 4061440.84 north; 594213.63 east
2021-10-10T02:56:18Z- AHRS_M2 msg: 1633834575.83 epoch sec; seqNo:178
2021-10-10T02:56:18Z- AHRS_M2 msg: 0.01 phi; -0.09 theta; 5.79 psi
2021-10-10T02:56:18Z- LcmTrn::handleMessages() - handling 40 messages took 0.71 ms and 125 calls...
2021-10-10T02:56:18Z- waiting for 1633834573.61, time is 1633834575.83
2021-10-10T02:56:18Z- LcmTrn::updateTrn() >>>> pose time 1633834575.83, meas time 1633834575.10 <<<<
2021-10-10T02:56:18Z- TerrainNav::Measurement type 1 from time = 1633834575.10 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:56:18Z- TerrainNav::motionUpdate() - currEstimate = (4061441, 594213.63, 0.04)
2021-10-10T02:56:18Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:56:18Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:18Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:18Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:56:18Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:56:18Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:56:18Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:56:18Z- handleDepth()-Depth_Keller msg: 1633834575837 epoch sec; seqNo:179; depth 0.04
2021-10-10T02:56:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834575.85 epoch sec; seqNo:179; 4061440.46 north; 594213.63 east
2021-10-10T02:56:18Z- AHRS_M2 msg: 1633834576.24 epoch sec; seqNo:179
2021-10-10T02:56:18Z- AHRS_M2 msg: 0.12 phi; -0.09 theta; 5.79 psi
2021-10-10T02:56:18Z- handleDepth()-Depth_Keller msg: 1633834576248 epoch sec; seqNo:180; depth 0.08
2021-10-10T02:56:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834576.26 epoch sec; seqNo:180; 4061440.08 north; 594213.64 east
2021-10-10T02:56:19Z- AHRS_M2 msg: 1633834576.64 epoch sec; seqNo:180
2021-10-10T02:56:19Z- AHRS_M2 msg: 0.09 phi; -0.07 theta; 5.78 psi
2021-10-10T02:56:19Z- handleDepth()-Depth_Keller msg: 1633834576652 epoch sec; seqNo:181; depth 0.10
2021-10-10T02:56:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834576.66 epoch sec; seqNo:181; 4061440.08 north; 594213.64 east
2021-10-10T02:56:19Z- AHRS_M2 msg: 1633834577.08 epoch sec; seqNo:181
2021-10-10T02:56:19Z- AHRS_M2 msg: 0.04 phi; -0.01 theta; 5.79 psi
2021-10-10T02:56:19Z- handleDepth()-Depth_Keller msg: 1633834577084 epoch sec; seqNo:182; depth 0.09
2021-10-10T02:56:19Z- handleDvl() - RDI_Pathfinder msg: 1633834577.11 epoch sec; seqNo:37
2021-10-10T02:56:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 102.81 , 89.23 , 90.59 , 100.10
2021-10-10T02:56:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.02 , -0.47 , -0.43
2021-10-10T02:56:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834577.13 epoch sec; seqNo:182; 4061439.70 north; 594213.64 east
2021-10-10T02:56:19Z- AHRS_M2 msg: 1633834577.45 epoch sec; seqNo:182
2021-10-10T02:56:19Z- AHRS_M2 msg: -0.01 phi; 0.01 theta; 5.79 psi
2021-10-10T02:56:19Z- handleDepth()-Depth_Keller msg: 1633834577453 epoch sec; seqNo:183; depth 0.10
2021-10-10T02:56:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834577.48 epoch sec; seqNo:183; 4061439.70 north; 594213.64 east
2021-10-10T02:56:20Z- AHRS_M2 msg: 1633834577.85 epoch sec; seqNo:183
2021-10-10T02:56:20Z- AHRS_M2 msg: -0.09 phi; -0.02 theta; 5.80 psi
2021-10-10T02:56:20Z- handleDepth()-Depth_Keller msg: 1633834577856 epoch sec; seqNo:184; depth 0.08
2021-10-10T02:56:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834577.87 epoch sec; seqNo:184; 4061439.70 north; 594213.64 east
2021-10-10T02:56:20Z- AHRS_M2 msg: 1633834578.26 epoch sec; seqNo:184
2021-10-10T02:56:20Z- AHRS_M2 msg: -0.09 phi; -0.07 theta; 5.79 psi
2021-10-10T02:56:20Z- handleDepth()-Depth_Keller msg: 1633834578268 epoch sec; seqNo:185; depth 0.07
2021-10-10T02:56:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834578.28 epoch sec; seqNo:185; 4061439.69 north; 594212.42 east
2021-10-10T02:56:21Z- AHRS_M2 msg: 1633834578.66 epoch sec; seqNo:185
2021-10-10T02:56:21Z- AHRS_M2 msg: -0.04 phi; -0.11 theta; 5.76 psi
2021-10-10T02:56:21Z- handleDepth()-Depth_Keller msg: 1633834578673 epoch sec; seqNo:186; depth 0.10
2021-10-10T02:56:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834578.68 epoch sec; seqNo:186; 4061439.31 north; 594212.43 east
2021-10-10T02:56:21Z- AHRS_M2 msg: 1633834579.09 epoch sec; seqNo:186
2021-10-10T02:56:21Z- AHRS_M2 msg: -0.07 phi; -0.09 theta; 5.74 psi
2021-10-10T02:56:21Z- handleDepth()-Depth_Keller msg: 1633834579096 epoch sec; seqNo:187; depth 0.10
2021-10-10T02:56:21Z- handleDvl() - RDI_Pathfinder msg: 1633834579.12 epoch sec; seqNo:38
2021-10-10T02:56:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 92.08 , 97.52 , 97.52 , 97.52
2021-10-10T02:56:21Z- handleDvl() - RDI_Pathfinder msg: velocities -0.34 , -0.33 , -0.12
2021-10-10T02:56:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834579.15 epoch sec; seqNo:187; 4061439.31 north; 594212.43 east
2021-10-10T02:56:21Z- handleDepth()-Depth_Keller msg: 1633834579492 epoch sec; seqNo:188; depth 0.07
2021-10-10T02:56:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834579.51 epoch sec; seqNo:188; 4061439.31 north; 594212.43 east
2021-10-10T02:56:22Z- AHRS_M2 msg: 1633834579.88 epoch sec; seqNo:187
2021-10-10T02:56:22Z- AHRS_M2 msg: 0.16 phi; -0.06 theta; 5.78 psi
2021-10-10T02:56:22Z- handleDepth()-Depth_Keller msg: 1633834579886 epoch sec; seqNo:189; depth 0.08
2021-10-10T02:56:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834579.89 epoch sec; seqNo:189; 4061438.93 north; 594212.43 east
2021-10-10T02:56:22Z- AHRS_M2 msg: 1633834580.28 epoch sec; seqNo:188
2021-10-10T02:56:22Z- AHRS_M2 msg: 0.21 phi; -0.07 theta; 5.76 psi
2021-10-10T02:56:22Z- handleDepth()-Depth_Keller msg: 1633834580290 epoch sec; seqNo:190; depth 0.09
2021-10-10T02:56:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834580.30 epoch sec; seqNo:190; 4061438.93 north; 594212.43 east
2021-10-10T02:56:23Z- AHRS_M2 msg: 1633834580.68 epoch sec; seqNo:189
2021-10-10T02:56:23Z- AHRS_M2 msg: 0.16 phi; -0.04 theta; 5.75 psi
2021-10-10T02:56:23Z- handleDepth()-Depth_Keller msg: 1633834580688 epoch sec; seqNo:191; depth 0.09
2021-10-10T02:56:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834580.70 epoch sec; seqNo:191; 4061438.55 north; 594212.43 east
2021-10-10T02:56:23Z- LcmTrn::handleMessages() - handling 39 messages took 0.61 ms and 126 calls...
2021-10-10T02:56:23Z- waiting for 1633834578.83, time is 1633834580.70
2021-10-10T02:56:23Z- LcmTrn::updateTrn() >>>> pose time 1633834580.70, meas time 1633834579.12 <<<<
2021-10-10T02:56:23Z- TerrainNav:: Throwing out all beams because more than two are equal to 97.517 at t=1633834579.12, ping # 0.
2021-10-10T02:56:23Z- TerrainNav::Measurement type 1 from time = 1633834579.12 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0
2021-10-10T02:56:23Z- TerrainNav::motionUpdate() - currEstimate = (4061439, 594212.43, 0.09)
2021-10-10T02:56:23Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:56:23Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:23Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:23Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:56:23Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:56:23Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:56:23Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:56:23Z- AHRS_M2 msg: 1633834581.09 epoch sec; seqNo:190
2021-10-10T02:56:23Z- AHRS_M2 msg: -0.01 phi; -0.01 theta; 5.74 psi
2021-10-10T02:56:23Z- handleDepth()-Depth_Keller msg: 1633834581096 epoch sec; seqNo:192; depth 0.08
2021-10-10T02:56:23Z- handleDvl() - RDI_Pathfinder msg: 1633834581.12 epoch sec; seqNo:39
2021-10-10T02:56:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 111.03 , 0.00 , 97.45 , 100.17
2021-10-10T02:56:23Z- handleDvl() - RDI_Pathfinder msg: velocities -0.44 , -0.24 , 0.49
2021-10-10T02:56:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834581.14 epoch sec; seqNo:192; 4061438.55 north; 594212.43 east
2021-10-10T02:56:23Z- AHRS_M2 msg: 1633834581.49 epoch sec; seqNo:191
2021-10-10T02:56:23Z- AHRS_M2 msg: -0.12 phi; -0.04 theta; 5.77 psi
2021-10-10T02:56:23Z- handleDepth()-Depth_Keller msg: 1633834581506 epoch sec; seqNo:193; depth 0.04
2021-10-10T02:56:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834581.52 epoch sec; seqNo:193; 4061438.18 north; 594212.44 east
2021-10-10T02:56:24Z- AHRS_M2 msg: 1633834581.89 epoch sec; seqNo:192
2021-10-10T02:56:24Z- AHRS_M2 msg: -0.14 phi; -0.14 theta; 5.80 psi
2021-10-10T02:56:24Z- handleDepth()-Depth_Keller msg: 1633834581897 epoch sec; seqNo:194; depth 0.03
2021-10-10T02:56:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834581.92 epoch sec; seqNo:194; 4061438.18 north; 594212.44 east
2021-10-10T02:56:24Z- AHRS_M2 msg: 1633834582.30 epoch sec; seqNo:193
2021-10-10T02:56:24Z- AHRS_M2 msg: -0.11 phi; -0.22 theta; 5.71 psi
2021-10-10T02:56:24Z- handleDepth()-Depth_Keller msg: 1633834582301 epoch sec; seqNo:195; depth 0.03
2021-10-10T02:56:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834582.31 epoch sec; seqNo:195; 4061437.80 north; 594212.44 east
2021-10-10T02:56:25Z- AHRS_M2 msg: 1633834582.70 epoch sec; seqNo:194
2021-10-10T02:56:25Z- AHRS_M2 msg: -0.09 phi; -0.15 theta; 5.64 psi
2021-10-10T02:56:25Z- handleDepth()-Depth_Keller msg: 1633834582715 epoch sec; seqNo:196; depth 0.05
2021-10-10T02:56:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834582.72 epoch sec; seqNo:196; 4061437.42 north; 594212.45 east
2021-10-10T02:56:25Z- AHRS_M2 msg: 1633834583.10 epoch sec; seqNo:195
2021-10-10T02:56:25Z- AHRS_M2 msg: -0.03 phi; 0.01 theta; 5.69 psi
2021-10-10T02:56:25Z- handleDepth()-Depth_Keller msg: 1633834583116 epoch sec; seqNo:197; depth 0.07
2021-10-10T02:56:25Z- handleDvl() - RDI_Pathfinder msg: 1633834583.14 epoch sec; seqNo:40
2021-10-10T02:56:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.52 , 100.98 , 87.54 , 106.96
2021-10-10T02:56:25Z- handleDvl() - RDI_Pathfinder msg: velocities -0.28 , -0.49 , -1.30
2021-10-10T02:56:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834583.16 epoch sec; seqNo:197; 4061437.42 north; 594212.45 east
2021-10-10T02:56:25Z- AHRS_M2 msg: 1633834583.51 epoch sec; seqNo:196
2021-10-10T02:56:25Z- AHRS_M2 msg: 0.00 phi; 0.05 theta; 5.69 psi
2021-10-10T02:56:25Z- handleDepth()-Depth_Keller msg: 1633834583513 epoch sec; seqNo:198; depth 0.12
2021-10-10T02:56:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834583.53 epoch sec; seqNo:198; 4061437.04 north; 594212.45 east
2021-10-10T02:56:26Z- AHRS_M2 msg: 1633834583.91 epoch sec; seqNo:197
2021-10-10T02:56:26Z- AHRS_M2 msg: -0.01 phi; -0.03 theta; 5.67 psi
2021-10-10T02:56:26Z- handleDepth()-Depth_Keller msg: 1633834583919 epoch sec; seqNo:199; depth 0.13
2021-10-10T02:56:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834583.93 epoch sec; seqNo:199; 4061437.04 north; 594212.45 east
2021-10-10T02:56:26Z- AHRS_M2 msg: 1633834584.32 epoch sec; seqNo:198
2021-10-10T02:56:26Z- AHRS_M2 msg: -0.06 phi; -0.06 theta; 5.68 psi
2021-10-10T02:56:26Z- handleDepth()-Depth_Keller msg: 1633834584323 epoch sec; seqNo:200; depth 0.14
2021-10-10T02:56:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834584.34 epoch sec; seqNo:200; 4061436.66 north; 594212.45 east
2021-10-10T02:56:27Z- AHRS_M2 msg: 1633834584.72 epoch sec; seqNo:199
2021-10-10T02:56:27Z- AHRS_M2 msg: -0.05 phi; -0.04 theta; 5.69 psi
2021-10-10T02:56:27Z- handleDepth()-Depth_Keller msg: 1633834584725 epoch sec; seqNo:201; depth 0.13
2021-10-10T02:56:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834584.73 epoch sec; seqNo:201; 4061436.66 north; 594212.45 east
2021-10-10T02:56:27Z- AHRS_M2 msg: 1633834585.12 epoch sec; seqNo:200
2021-10-10T02:56:27Z- AHRS_M2 msg: -0.04 phi; -0.12 theta; 5.67 psi
2021-10-10T02:56:27Z- handleDepth()-Depth_Keller msg: 1633834585136 epoch sec; seqNo:202; depth 0.12
2021-10-10T02:56:27Z- handleDvl() - RDI_Pathfinder msg: 1633834585.15 epoch sec; seqNo:41
2021-10-10T02:56:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 92.02 , 94.73 , 92.02 , 97.45
2021-10-10T02:56:27Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , -0.39 , 0.42
2021-10-10T02:56:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834585.18 epoch sec; seqNo:202; 4061436.28 north; 594212.46 east
2021-10-10T02:56:27Z- AHRS_M2 msg: 1633834585.53 epoch sec; seqNo:201
2021-10-10T02:56:27Z- AHRS_M2 msg: -0.03 phi; -0.19 theta; 5.68 psi
2021-10-10T02:56:27Z- handleDepth()-Depth_Keller msg: 1633834585541 epoch sec; seqNo:203; depth 0.11
2021-10-10T02:56:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834585.56 epoch sec; seqNo:203; 4061436.28 north; 594212.46 east
2021-10-10T02:56:28Z- LcmTrn::handleMessages() - handling 39 messages took 0.75 ms and 124 calls...
2021-10-10T02:56:28Z- waiting for 1633834583.70, time is 1633834585.56
2021-10-10T02:56:28Z- LcmTrn::updateTrn() >>>> pose time 1633834585.56, meas time 1633834585.15 <<<<
2021-10-10T02:56:28Z- TerrainNav::Measurement type 1 from time = 1633834585.15 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:56:28Z- TerrainNav::motionUpdate() - currEstimate = (4061436, 594212.46, 0.11)
2021-10-10T02:56:28Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:56:28Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:28Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:28Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:56:28Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:56:28Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:56:28Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:56:28Z- AHRS_M2 msg: 1633834585.93 epoch sec; seqNo:202
2021-10-10T02:56:28Z- AHRS_M2 msg: -0.05 phi; -0.17 theta; 5.72 psi
2021-10-10T02:56:28Z- handleDepth()-Depth_Keller msg: 1633834585940 epoch sec; seqNo:204; depth 0.10
2021-10-10T02:56:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834585.98 epoch sec; seqNo:204; 4061435.90 north; 594212.46 east
2021-10-10T02:56:28Z- AHRS_M2 msg: 1633834586.34 epoch sec; seqNo:203
2021-10-10T02:56:28Z- AHRS_M2 msg: -0.04 phi; -0.11 theta; 5.72 psi
2021-10-10T02:56:28Z- handleDepth()-Depth_Keller msg: 1633834586343 epoch sec; seqNo:205; depth 0.08
2021-10-10T02:56:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834586.36 epoch sec; seqNo:205; 4061435.90 north; 594212.46 east
2021-10-10T02:56:29Z- AHRS_M2 msg: 1633834586.74 epoch sec; seqNo:204
2021-10-10T02:56:29Z- AHRS_M2 msg: 0.01 phi; -0.14 theta; 5.71 psi
2021-10-10T02:56:29Z- handleDepth()-Depth_Keller msg: 1633834586754 epoch sec; seqNo:206; depth 0.07
2021-10-10T02:56:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834586.76 epoch sec; seqNo:206; 4061435.51 north; 594211.25 east
2021-10-10T02:56:29Z- AHRS_M2 msg: 1633834587.14 epoch sec; seqNo:205
2021-10-10T02:56:29Z- AHRS_M2 msg: 0.06 phi; -0.16 theta; 5.72 psi
2021-10-10T02:56:29Z- handleDepth()-Depth_Keller msg: 1633834587152 epoch sec; seqNo:207; depth 0.07
2021-10-10T02:56:29Z- handleDvl() - RDI_Pathfinder msg: 1633834587.18 epoch sec; seqNo:42
2021-10-10T02:56:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 92.22 , 97.65 , 97.65 , 96.29
2021-10-10T02:56:29Z- handleDvl() - RDI_Pathfinder msg: velocities -0.11 , -0.28 , -0.15
2021-10-10T02:56:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834587.20 epoch sec; seqNo:207; 4061435.51 north; 594211.25 east
2021-10-10T02:56:30Z- AHRS_M2 msg: 1633834587.55 epoch sec; seqNo:206
2021-10-10T02:56:30Z- AHRS_M2 msg: 0.10 phi; -0.09 theta; 5.73 psi
2021-10-10T02:56:30Z- handleDepth()-Depth_Keller msg: 1633834587560 epoch sec; seqNo:208; depth 0.09
2021-10-10T02:56:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834587.58 epoch sec; seqNo:208; 4061435.51 north; 594211.25 east
2021-10-10T02:56:30Z- AHRS_M2 msg: 1633834587.96 epoch sec; seqNo:207
2021-10-10T02:56:30Z- AHRS_M2 msg: 0.07 phi; 0.01 theta; 5.76 psi
2021-10-10T02:56:30Z- handleDepth()-Depth_Keller msg: 1633834587960 epoch sec; seqNo:209; depth 0.10
2021-10-10T02:56:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834587.97 epoch sec; seqNo:209; 4061435.51 north; 594211.25 east
2021-10-10T02:56:30Z- AHRS_M2 msg: 1633834588.36 epoch sec; seqNo:208
2021-10-10T02:56:30Z- AHRS_M2 msg: 0.03 phi; 0.07 theta; 5.79 psi
2021-10-10T02:56:30Z- handleDepth()-Depth_Keller msg: 1633834588360 epoch sec; seqNo:210; depth 0.06
2021-10-10T02:56:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834588.38 epoch sec; seqNo:210; 4061435.13 north; 594211.25 east
2021-10-10T02:56:31Z- AHRS_M2 msg: 1633834588.76 epoch sec; seqNo:209
2021-10-10T02:56:31Z- AHRS_M2 msg: -0.01 phi; 0.09 theta; 5.81 psi
2021-10-10T02:56:31Z- handleDepth()-Depth_Keller msg: 1633834588772 epoch sec; seqNo:211; depth 0.06
2021-10-10T02:56:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834588.79 epoch sec; seqNo:211; 4061435.13 north; 594211.25 east
2021-10-10T02:56:31Z- AHRS_M2 msg: 1633834589.16 epoch sec; seqNo:210
2021-10-10T02:56:31Z- AHRS_M2 msg: -0.07 phi; 0.01 theta; 5.81 psi
2021-10-10T02:56:31Z- handleDepth()-Depth_Keller msg: 1633834589176 epoch sec; seqNo:212; depth 0.03
2021-10-10T02:56:31Z- handleDvl() - RDI_Pathfinder msg: 1633834589.20 epoch sec; seqNo:43
2021-10-10T02:56:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.52 , 92.08 , 98.88 , 97.52
2021-10-10T02:56:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.00 , -0.41 , 0.72
2021-10-10T02:56:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834589.22 epoch sec; seqNo:212; 4061435.13 north; 594211.25 east
2021-10-10T02:56:32Z- AHRS_M2 msg: 1633834589.57 epoch sec; seqNo:211
2021-10-10T02:56:32Z- AHRS_M2 msg: -0.10 phi; -0.11 theta; 5.79 psi
2021-10-10T02:56:32Z- handleDepth()-Depth_Keller msg: 1633834589580 epoch sec; seqNo:213; depth 0.03
2021-10-10T02:56:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834589.59 epoch sec; seqNo:213; 4061435.13 north; 594211.25 east
2021-10-10T02:56:32Z- AHRS_M2 msg: 1633834589.97 epoch sec; seqNo:212
2021-10-10T02:56:32Z- AHRS_M2 msg: -0.08 phi; -0.13 theta; 5.76 psi
2021-10-10T02:56:32Z- handleDepth()-Depth_Keller msg: 1633834589987 epoch sec; seqNo:214; depth 0.05
2021-10-10T02:56:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834590.00 epoch sec; seqNo:214; 4061434.75 north; 594211.25 east
2021-10-10T02:56:32Z- AHRS_M2 msg: 1633834590.38 epoch sec; seqNo:213
2021-10-10T02:56:32Z- AHRS_M2 msg: -0.05 phi; -0.08 theta; 5.76 psi
2021-10-10T02:56:32Z- handleDepth()-Depth_Keller msg: 1633834590388 epoch sec; seqNo:215; depth 0.06
2021-10-10T02:56:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834590.41 epoch sec; seqNo:215; 4061434.75 north; 594211.25 east
2021-10-10T02:56:33Z- AHRS_M2 msg: 1633834590.78 epoch sec; seqNo:214
2021-10-10T02:56:33Z- AHRS_M2 msg: 0.04 phi; -0.07 theta; 5.74 psi
2021-10-10T02:56:33Z- handleDepth()-Depth_Keller msg: 1633834590785 epoch sec; seqNo:216; depth 0.09
2021-10-10T02:56:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834590.79 epoch sec; seqNo:216; 4061434.75 north; 594211.25 east
2021-10-10T02:56:33Z- LcmTrn::handleMessages() - handling 41 messages took 0.78 ms and 125 calls...
2021-10-10T02:56:33Z- waiting for 1633834588.56, time is 1633834590.79
2021-10-10T02:56:33Z- LcmTrn::updateTrn() >>>> pose time 1633834590.79, meas time 1633834589.20 <<<<
2021-10-10T02:56:33Z- TerrainNav::Measurement type 1 from time = 1633834589.20 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:56:33Z- TerrainNav::motionUpdate() - currEstimate = (4061435, 594211.25, 0.09)
2021-10-10T02:56:33Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:56:33Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:33Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:33Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:56:33Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:56:33Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:56:33Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:56:33Z- AHRS_M2 msg: 1633834591.19 epoch sec; seqNo:215
2021-10-10T02:56:33Z- AHRS_M2 msg: 0.06 phi; -0.05 theta; 5.74 psi
2021-10-10T02:56:33Z- handleDepth()-Depth_Keller msg: 1633834591192 epoch sec; seqNo:217; depth 0.09
2021-10-10T02:56:33Z- handleDvl() - RDI_Pathfinder msg: 1633834591.21 epoch sec; seqNo:44
2021-10-10T02:56:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.66 , 96.09 , 90.66 , 96.09
2021-10-10T02:56:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.21 , -0.42 , -0.24
2021-10-10T02:56:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834591.23 epoch sec; seqNo:217; 4061434.75 north; 594211.25 east
2021-10-10T02:56:34Z- AHRS_M2 msg: 1633834591.59 epoch sec; seqNo:216
2021-10-10T02:56:34Z- AHRS_M2 msg: 0.07 phi; -0.05 theta; 5.75 psi
2021-10-10T02:56:34Z- handleDepth()-Depth_Keller msg: 1633834591592 epoch sec; seqNo:218; depth 0.12
2021-10-10T02:56:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834591.62 epoch sec; seqNo:218; 4061434.74 north; 594210.03 east
2021-10-10T02:56:34Z- AHRS_M2 msg: 1633834591.99 epoch sec; seqNo:217
2021-10-10T02:56:34Z- AHRS_M2 msg: 0.02 phi; -0.05 theta; 5.75 psi
2021-10-10T02:56:34Z- handleDepth()-Depth_Keller msg: 1633834592004 epoch sec; seqNo:219; depth 0.14
2021-10-10T02:56:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834592.01 epoch sec; seqNo:219; 4061434.74 north; 594210.03 east
2021-10-10T02:56:34Z- AHRS_M2 msg: 1633834592.40 epoch sec; seqNo:218
2021-10-10T02:56:34Z- AHRS_M2 msg: -0.05 phi; -0.03 theta; 5.78 psi
2021-10-10T02:56:34Z- handleDepth()-Depth_Keller msg: 1633834592408 epoch sec; seqNo:220; depth 0.09
2021-10-10T02:56:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834592.42 epoch sec; seqNo:220; 4061434.74 north; 594210.03 east
2021-10-10T02:56:35Z- AHRS_M2 msg: 1633834592.80 epoch sec; seqNo:219
2021-10-10T02:56:35Z- AHRS_M2 msg: -0.04 phi; -0.10 theta; 5.77 psi
2021-10-10T02:56:35Z- handleDepth()-Depth_Keller msg: 1633834592814 epoch sec; seqNo:221; depth 0.11
2021-10-10T02:56:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834592.82 epoch sec; seqNo:221; 4061434.74 north; 594210.03 east
2021-10-10T02:56:35Z- AHRS_M2 msg: 1633834593.20 epoch sec; seqNo:220
2021-10-10T02:56:35Z- AHRS_M2 msg: 0.03 phi; -0.23 theta; 5.71 psi
2021-10-10T02:56:35Z- handleDepth()-Depth_Keller msg: 1633834593212 epoch sec; seqNo:222; depth 0.12
2021-10-10T02:56:35Z- handleDvl() - RDI_Pathfinder msg: 1633834593.24 epoch sec; seqNo:45
2021-10-10T02:56:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 92.29 , 96.36 , 93.65 , 97.72
2021-10-10T02:56:35Z- handleDvl() - RDI_Pathfinder msg: velocities -0.62 , -0.21 , 0.65
2021-10-10T02:56:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834593.25 epoch sec; seqNo:222; 4061434.36 north; 594210.04 east
2021-10-10T02:56:36Z- AHRS_M2 msg: 1633834593.61 epoch sec; seqNo:221
2021-10-10T02:56:36Z- AHRS_M2 msg: 0.06 phi; -0.30 theta; 5.69 psi
2021-10-10T02:56:36Z- handleDepth()-Depth_Keller msg: 1633834593613 epoch sec; seqNo:223; depth 0.12
2021-10-10T02:56:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834593.63 epoch sec; seqNo:223; 4061433.98 north; 594210.04 east
2021-10-10T02:56:36Z- AHRS_M2 msg: 1633834594.01 epoch sec; seqNo:222
2021-10-10T02:56:36Z- AHRS_M2 msg: 0.05 phi; -0.27 theta; 5.73 psi
2021-10-10T02:56:36Z- handleDepth()-Depth_Keller msg: 1633834594024 epoch sec; seqNo:224; depth 0.09
2021-10-10T02:56:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834594.03 epoch sec; seqNo:224; 4061433.60 north; 594210.05 east
2021-10-10T02:56:36Z- AHRS_M2 msg: 1633834594.42 epoch sec; seqNo:223
2021-10-10T02:56:36Z- AHRS_M2 msg: 0.10 phi; -0.15 theta; 5.74 psi
2021-10-10T02:56:36Z- handleDepth()-Depth_Keller msg: 1633834594423 epoch sec; seqNo:225; depth 0.06
2021-10-10T02:56:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834594.43 epoch sec; seqNo:225; 4061433.22 north; 594210.05 east
2021-10-10T02:56:37Z- AHRS_M2 msg: 1633834594.82 epoch sec; seqNo:224
2021-10-10T02:56:37Z- AHRS_M2 msg: 0.21 phi; -0.05 theta; 5.71 psi
2021-10-10T02:56:37Z- handleDepth()-Depth_Keller msg: 1633834594838 epoch sec; seqNo:226; depth 0.10
2021-10-10T02:56:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834594.85 epoch sec; seqNo:226; 4061433.22 north; 594210.05 east
2021-10-10T02:56:37Z- AHRS_M2 msg: 1633834595.24 epoch sec; seqNo:225
2021-10-10T02:56:37Z- AHRS_M2 msg: 0.09 phi; -0.02 theta; 5.69 psi
2021-10-10T02:56:37Z- handleDepth()-Depth_Keller msg: 1633834595244 epoch sec; seqNo:227; depth 0.08
2021-10-10T02:56:37Z- handleDvl() - RDI_Pathfinder msg: 1633834595.29 epoch sec; seqNo:46
2021-10-10T02:56:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 101.66 , 97.58 , 97.58 , 101.66
2021-10-10T02:56:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.25 , -0.26 , 0.19
2021-10-10T02:56:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834595.32 epoch sec; seqNo:227; 4061433.22 north; 594210.05 east
2021-10-10T02:56:38Z- AHRS_M2 msg: 1633834595.63 epoch sec; seqNo:226
2021-10-10T02:56:38Z- AHRS_M2 msg: -0.07 phi; -0.04 theta; 5.69 psi
2021-10-10T02:56:38Z- handleDepth()-Depth_Keller msg: 1633834595640 epoch sec; seqNo:228; depth 0.06
2021-10-10T02:56:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834595.66 epoch sec; seqNo:228; 4061433.22 north; 594210.05 east
2021-10-10T02:56:38Z- LcmTrn::handleMessages() - handling 39 messages took 0.83 ms and 122 calls...
2021-10-10T02:56:38Z- waiting for 1633834593.79, time is 1633834595.66
2021-10-10T02:56:38Z- LcmTrn::updateTrn() >>>> pose time 1633834595.66, meas time 1633834595.29 <<<<
2021-10-10T02:56:38Z- TerrainNav::Measurement type 1 from time = 1633834595.29 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:56:38Z- TerrainNav::motionUpdate() - currEstimate = (4061433, 594210.05, 0.06)
2021-10-10T02:56:38Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:56:38Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:38Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:38Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:56:38Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:56:38Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:56:38Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:56:38Z- AHRS_M2 msg: 1633834596.04 epoch sec; seqNo:227
2021-10-10T02:56:38Z- AHRS_M2 msg: -0.21 phi; -0.03 theta; 5.69 psi
2021-10-10T02:56:38Z- handleDepth()-Depth_Keller msg: 1633834596044 epoch sec; seqNo:229; depth 0.06
2021-10-10T02:56:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834596.06 epoch sec; seqNo:229; 4061433.22 north; 594210.05 east
2021-10-10T02:56:38Z- AHRS_M2 msg: 1633834596.44 epoch sec; seqNo:228
2021-10-10T02:56:38Z- AHRS_M2 msg: -0.25 phi; 0.01 theta; 5.74 psi
2021-10-10T02:56:38Z- handleDepth()-Depth_Keller msg: 1633834596453 epoch sec; seqNo:230; depth 0.04
2021-10-10T02:56:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834596.48 epoch sec; seqNo:230; 4061433.22 north; 594210.05 east
2021-10-10T02:56:39Z- AHRS_M2 msg: 1633834596.84 epoch sec; seqNo:229
2021-10-10T02:56:39Z- AHRS_M2 msg: -0.21 phi; -0.03 theta; 5.75 psi
2021-10-10T02:56:39Z- handleDepth()-Depth_Keller msg: 1633834596852 epoch sec; seqNo:231; depth 0.03
2021-10-10T02:56:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834596.87 epoch sec; seqNo:231; 4061433.22 north; 594210.05 east
2021-10-10T02:56:39Z- AHRS_M2 msg: 1633834597.25 epoch sec; seqNo:230
2021-10-10T02:56:39Z- AHRS_M2 msg: 0.08 phi; -0.08 theta; 5.71 psi
2021-10-10T02:56:39Z- handleDepth()-Depth_Keller msg: 1633834597259 epoch sec; seqNo:232; depth 0.06
2021-10-10T02:56:39Z- handleDvl() - RDI_Pathfinder msg: 1633834597.31 epoch sec; seqNo:47
2021-10-10T02:56:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.31 , 113.47 , 99.89 , 94.46
2021-10-10T02:56:39Z- handleDvl() - RDI_Pathfinder msg: velocities -0.36 , -0.30 , -0.10
2021-10-10T02:56:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834597.35 epoch sec; seqNo:232; 4061433.22 north; 594210.05 east
2021-10-10T02:56:40Z- AHRS_M2 msg: 1633834597.66 epoch sec; seqNo:231
2021-10-10T02:56:40Z- AHRS_M2 msg: 0.14 phi; -0.06 theta; 5.72 psi
2021-10-10T02:56:40Z- handleDepth()-Depth_Keller msg: 1633834597671 epoch sec; seqNo:233; depth 0.07
2021-10-10T02:56:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834597.70 epoch sec; seqNo:233; 4061432.84 north; 594210.06 east
2021-10-10T02:56:40Z- AHRS_M2 msg: 1633834598.05 epoch sec; seqNo:232
2021-10-10T02:56:40Z- AHRS_M2 msg: 0.15 phi; -0.05 theta; 5.73 psi
2021-10-10T02:56:40Z- handleDepth()-Depth_Keller msg: 1633834598060 epoch sec; seqNo:234; depth 0.10
2021-10-10T02:56:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834598.09 epoch sec; seqNo:234; 4061432.84 north; 594210.06 east
2021-10-10T02:56:40Z- AHRS_M2 msg: 1633834598.46 epoch sec; seqNo:233
2021-10-10T02:56:40Z- AHRS_M2 msg: 0.12 phi; -0.06 theta; 5.75 psi
2021-10-10T02:56:40Z- handleDepth()-Depth_Keller msg: 1633834598463 epoch sec; seqNo:235; depth 0.09
2021-10-10T02:56:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834598.50 epoch sec; seqNo:235; 4061432.47 north; 594210.06 east
2021-10-10T02:56:41Z- AHRS_M2 msg: 1633834598.86 epoch sec; seqNo:234
2021-10-10T02:56:41Z- AHRS_M2 msg: 0.12 phi; -0.10 theta; 5.73 psi
2021-10-10T02:56:41Z- handleDepth()-Depth_Keller msg: 1633834598867 epoch sec; seqNo:236; depth 0.07
2021-10-10T02:56:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834598.88 epoch sec; seqNo:236; 4061432.47 north; 594210.06 east
2021-10-10T02:56:41Z- AHRS_M2 msg: 1633834599.27 epoch sec; seqNo:235
2021-10-10T02:56:41Z- AHRS_M2 msg: 0.06 phi; -0.15 theta; 5.67 psi
2021-10-10T02:56:41Z- handleDepth()-Depth_Keller msg: 1633834599272 epoch sec; seqNo:237; depth 0.09
2021-10-10T02:56:41Z- handleDvl() - RDI_Pathfinder msg: 1633834599.30 epoch sec; seqNo:48
2021-10-10T02:56:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 105.39 , 87.74 , 93.17 , 97.25
2021-10-10T02:56:41Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , -0.48 , 0.22
2021-10-10T02:56:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834599.31 epoch sec; seqNo:237; 4061432.07 north; 594208.84 east
2021-10-10T02:56:42Z- AHRS_M2 msg: 1633834599.67 epoch sec; seqNo:236
2021-10-10T02:56:42Z- AHRS_M2 msg: -0.03 phi; -0.12 theta; 5.69 psi
2021-10-10T02:56:42Z- handleDepth()-Depth_Keller msg: 1633834599673 epoch sec; seqNo:238; depth 0.09
2021-10-10T02:56:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834599.70 epoch sec; seqNo:238; 4061432.07 north; 594208.84 east
2021-10-10T02:56:42Z- AHRS_M2 msg: 1633834600.07 epoch sec; seqNo:237
2021-10-10T02:56:42Z- AHRS_M2 msg: -0.10 phi; -0.07 theta; 5.71 psi
2021-10-10T02:56:42Z- handleDepth()-Depth_Keller msg: 1633834600084 epoch sec; seqNo:239; depth 0.08
2021-10-10T02:56:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834600.09 epoch sec; seqNo:239; 4061431.69 north; 594208.85 east
2021-10-10T02:56:42Z- AHRS_M2 msg: 1633834600.48 epoch sec; seqNo:238
2021-10-10T02:56:42Z- AHRS_M2 msg: -0.12 phi; -0.09 theta; 5.68 psi
2021-10-10T02:56:42Z- handleDepth()-Depth_Keller msg: 1633834600487 epoch sec; seqNo:240; depth 0.06
2021-10-10T02:56:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834600.50 epoch sec; seqNo:240; 4061431.69 north; 594208.85 east
2021-10-10T02:56:43Z- AHRS_M2 msg: 1633834600.88 epoch sec; seqNo:239
2021-10-10T02:56:43Z- AHRS_M2 msg: -0.07 phi; -0.12 theta; 5.67 psi
2021-10-10T02:56:43Z- handleDepth()-Depth_Keller msg: 1633834600894 epoch sec; seqNo:241; depth 0.05
2021-10-10T02:56:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834600.90 epoch sec; seqNo:241; 4061431.32 north; 594208.85 east
2021-10-10T02:56:43Z- LcmTrn::handleMessages() - handling 41 messages took 0.72 ms and 126 calls...
2021-10-10T02:56:43Z- waiting for 1633834598.66, time is 1633834600.90
2021-10-10T02:56:43Z- LcmTrn::updateTrn() >>>> pose time 1633834600.90, meas time 1633834599.30 <<<<
2021-10-10T02:56:43Z- TerrainNav::Measurement type 1 from time = 1633834599.30 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:56:43Z- TerrainNav::motionUpdate() - currEstimate = (4061431, 594208.85, 0.05)
2021-10-10T02:56:43Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:56:43Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:43Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:43Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:56:43Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:56:43Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:56:43Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:56:43Z- AHRS_M2 msg: 1633834601.28 epoch sec; seqNo:240
2021-10-10T02:56:43Z- AHRS_M2 msg: 0.02 phi; -0.14 theta; 5.66 psi
2021-10-10T02:56:43Z- handleDepth()-Depth_Keller msg: 1633834601296 epoch sec; seqNo:242; depth 0.06
2021-10-10T02:56:43Z- handleDvl() - RDI_Pathfinder msg: 1633834601.33 epoch sec; seqNo:49
2021-10-10T02:56:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.65 , 96.16 , 92.08 , 96.16
2021-10-10T02:56:43Z- handleDvl() - RDI_Pathfinder msg: velocities -0.19 , -0.17 , -0.30
2021-10-10T02:56:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834601.34 epoch sec; seqNo:242; 4061431.32 north; 594208.85 east
2021-10-10T02:56:44Z- AHRS_M2 msg: 1633834601.70 epoch sec; seqNo:241
2021-10-10T02:56:44Z- AHRS_M2 msg: 0.03 phi; -0.10 theta; 5.62 psi
2021-10-10T02:56:44Z- handleDepth()-Depth_Keller msg: 1633834601704 epoch sec; seqNo:243; depth 0.09
2021-10-10T02:56:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834601.72 epoch sec; seqNo:243; 4061431.32 north; 594208.85 east
2021-10-10T02:56:44Z- AHRS_M2 msg: 1633834602.09 epoch sec; seqNo:242
2021-10-10T02:56:44Z- AHRS_M2 msg: 0.04 phi; 0.04 theta; 5.65 psi
2021-10-10T02:56:44Z- handleDepth()-Depth_Keller msg: 1633834602105 epoch sec; seqNo:244; depth 0.08
2021-10-10T02:56:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834602.12 epoch sec; seqNo:244; 4061430.94 north; 594208.86 east
2021-10-10T02:56:44Z- AHRS_M2 msg: 1633834602.50 epoch sec; seqNo:243
2021-10-10T02:56:44Z- AHRS_M2 msg: 0.02 phi; 0.16 theta; 5.67 psi
2021-10-10T02:56:44Z- handleDepth()-Depth_Keller msg: 1633834602516 epoch sec; seqNo:245; depth 0.10
2021-10-10T02:56:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834602.53 epoch sec; seqNo:245; 4061430.94 north; 594208.86 east
2021-10-10T02:56:45Z- AHRS_M2 msg: 1633834602.90 epoch sec; seqNo:244
2021-10-10T02:56:45Z- AHRS_M2 msg: -0.02 phi; 0.14 theta; 5.66 psi
2021-10-10T02:56:45Z- handleDepth()-Depth_Keller msg: 1633834602905 epoch sec; seqNo:246; depth 0.10
2021-10-10T02:56:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834602.91 epoch sec; seqNo:246; 4061430.94 north; 594208.86 east
2021-10-10T02:56:45Z- AHRS_M2 msg: 1633834603.31 epoch sec; seqNo:245
2021-10-10T02:56:45Z- AHRS_M2 msg: -0.05 phi; 0.08 theta; 5.68 psi
2021-10-10T02:56:45Z- handleDepth()-Depth_Keller msg: 1633834603312 epoch sec; seqNo:247; depth 0.10
2021-10-10T02:56:45Z- handleDvl() - RDI_Pathfinder msg: 1633834603.33 epoch sec; seqNo:50
2021-10-10T02:56:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.79 , 97.79 , 100.51 , 97.79
2021-10-10T02:56:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.74 , 1.04
2021-10-10T02:56:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834603.36 epoch sec; seqNo:247; 4061430.94 north; 594208.86 east
2021-10-10T02:56:46Z- AHRS_M2 msg: 1633834603.71 epoch sec; seqNo:246
2021-10-10T02:56:46Z- AHRS_M2 msg: -0.04 phi; -0.01 theta; 5.72 psi
2021-10-10T02:56:46Z- handleDepth()-Depth_Keller msg: 1633834603720 epoch sec; seqNo:248; depth 0.12
2021-10-10T02:56:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834603.73 epoch sec; seqNo:248; 4061430.92 north; 594207.64 east
2021-10-10T02:56:46Z- AHRS_M2 msg: 1633834604.11 epoch sec; seqNo:247
2021-10-10T02:56:46Z- AHRS_M2 msg: -0.05 phi; -0.15 theta; 5.70 psi
2021-10-10T02:56:46Z- handleDepth()-Depth_Keller msg: 1633834604137 epoch sec; seqNo:249; depth 0.11
2021-10-10T02:56:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834604.15 epoch sec; seqNo:249; 4061431.30 north; 594207.63 east
2021-10-10T02:56:46Z- AHRS_M2 msg: 1633834604.52 epoch sec; seqNo:248
2021-10-10T02:56:46Z- AHRS_M2 msg: -0.05 phi; -0.26 theta; 5.67 psi
2021-10-10T02:56:46Z- handleDepth()-Depth_Keller msg: 1633834604523 epoch sec; seqNo:250; depth 0.11
2021-10-10T02:56:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834604.53 epoch sec; seqNo:250; 4061431.30 north; 594207.63 east
2021-10-10T02:56:47Z- AHRS_M2 msg: 1633834604.92 epoch sec; seqNo:249
2021-10-10T02:56:47Z- AHRS_M2 msg: -0.07 phi; -0.25 theta; 5.66 psi
2021-10-10T02:56:47Z- handleDepth()-Depth_Keller msg: 1633834604928 epoch sec; seqNo:251; depth 0.11
2021-10-10T02:56:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834604.94 epoch sec; seqNo:251; 4061431.30 north; 594207.63 east
2021-10-10T02:56:47Z- AHRS_M2 msg: 1633834605.33 epoch sec; seqNo:250
2021-10-10T02:56:47Z- AHRS_M2 msg: -0.09 phi; -0.18 theta; 5.62 psi
2021-10-10T02:56:47Z- handleDepth()-Depth_Keller msg: 1633834605330 epoch sec; seqNo:252; depth 0.09
2021-10-10T02:56:47Z- handleDvl() - RDI_Pathfinder msg: 1633834605.35 epoch sec; seqNo:51
2021-10-10T02:56:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.25 , 98.60 , 0.00 , 109.47
2021-10-10T02:56:47Z- handleDvl() - RDI_Pathfinder msg: velocities -1.28 , 0.05 , -0.90
2021-10-10T02:56:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834605.36 epoch sec; seqNo:252; 4061430.92 north; 594207.64 east
2021-10-10T02:56:48Z- AHRS_M2 msg: 1633834605.73 epoch sec; seqNo:251
2021-10-10T02:56:48Z- AHRS_M2 msg: -0.10 phi; -0.07 theta; 5.59 psi
2021-10-10T02:56:48Z- handleDepth()-Depth_Keller msg: 1633834605736 epoch sec; seqNo:253; depth 0.07
2021-10-10T02:56:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834605.76 epoch sec; seqNo:253; 4061430.54 north; 594207.64 east
2021-10-10T02:56:48Z- LcmTrn::handleMessages() - handling 39 messages took 0.65 ms and 125 calls...
2021-10-10T02:56:48Z- waiting for 1633834603.90, time is 1633834605.76
2021-10-10T02:56:48Z- LcmTrn::updateTrn() >>>> pose time 1633834605.76, meas time 1633834605.35 <<<<
2021-10-10T02:56:48Z- TerrainNav::Measurement type 1 from time = 1633834605.35 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:56:48Z- TerrainNav::motionUpdate() - currEstimate = (4061431, 594207.64, 0.07)
2021-10-10T02:56:48Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:56:48Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:48Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:48Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:56:48Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:56:48Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:56:48Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:56:48Z- AHRS_M2 msg: 1633834606.13 epoch sec; seqNo:252
2021-10-10T02:56:48Z- AHRS_M2 msg: 0.01 phi; 0.03 theta; 5.57 psi
2021-10-10T02:56:48Z- handleDepth()-Depth_Keller msg: 1633834606140 epoch sec; seqNo:254; depth 0.06
2021-10-10T02:56:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834606.15 epoch sec; seqNo:254; 4061430.17 north; 594207.64 east
2021-10-10T02:56:49Z- AHRS_M2 msg: 1633834606.54 epoch sec; seqNo:253
2021-10-10T02:56:49Z- AHRS_M2 msg: 0.05 phi; 0.03 theta; 5.55 psi
2021-10-10T02:56:49Z- handleDepth()-Depth_Keller msg: 1633834606541 epoch sec; seqNo:255; depth 0.08
2021-10-10T02:56:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834606.55 epoch sec; seqNo:255; 4061429.80 north; 594208.87 east
2021-10-10T02:56:49Z- AHRS_M2 msg: 1633834606.94 epoch sec; seqNo:254
2021-10-10T02:56:49Z- AHRS_M2 msg: 0.06 phi; 0.04 theta; 5.60 psi
2021-10-10T02:56:49Z- handleDepth()-Depth_Keller msg: 1633834606952 epoch sec; seqNo:256; depth 0.10
2021-10-10T02:56:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834606.97 epoch sec; seqNo:256; 4061429.42 north; 594208.87 east
2021-10-10T02:56:49Z- AHRS_M2 msg: 1633834607.38 epoch sec; seqNo:255
2021-10-10T02:56:49Z- AHRS_M2 msg: 0.03 phi; 0.11 theta; 5.64 psi
2021-10-10T02:56:49Z- handleDepth()-Depth_Keller msg: 1633834607388 epoch sec; seqNo:257; depth 0.09
2021-10-10T02:56:49Z- handleDvl() - RDI_Pathfinder msg: 1633834607.42 epoch sec; seqNo:52
2021-10-10T02:56:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.57 , 92.08 , 98.06 , 92.08
2021-10-10T02:56:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.34 , -0.70 , 0.59
2021-10-10T02:56:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834607.46 epoch sec; seqNo:257; 4061429.42 north; 594208.87 east
2021-10-10T02:56:50Z- AHRS_M2 msg: 1633834607.75 epoch sec; seqNo:256
2021-10-10T02:56:50Z- AHRS_M2 msg: -0.04 phi; 0.11 theta; 5.59 psi
2021-10-10T02:56:50Z- handleDepth()-Depth_Keller msg: 1633834607755 epoch sec; seqNo:258; depth 0.07
2021-10-10T02:56:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834607.78 epoch sec; seqNo:258; 4061429.03 north; 594207.66 east
2021-10-10T02:56:50Z- AHRS_M2 msg: 1633834608.15 epoch sec; seqNo:257
2021-10-10T02:56:50Z- AHRS_M2 msg: -0.13 phi; -0.02 theta; 5.60 psi
2021-10-10T02:56:50Z- handleDepth()-Depth_Keller msg: 1633834608165 epoch sec; seqNo:259; depth 0.03
2021-10-10T02:56:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834608.19 epoch sec; seqNo:259; 4061429.03 north; 594207.66 east
2021-10-10T02:56:51Z- AHRS_M2 msg: 1633834608.56 epoch sec; seqNo:258
2021-10-10T02:56:51Z- AHRS_M2 msg: -0.17 phi; -0.13 theta; 5.67 psi
2021-10-10T02:56:51Z- handleDepth()-Depth_Keller msg: 1633834608564 epoch sec; seqNo:260; depth 0.02
2021-10-10T02:56:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834608.59 epoch sec; seqNo:260; 4061429.03 north; 594207.66 east
2021-10-10T02:56:51Z- AHRS_M2 msg: 1633834608.97 epoch sec; seqNo:259
2021-10-10T02:56:51Z- AHRS_M2 msg: -0.06 phi; -0.13 theta; 5.65 psi
2021-10-10T02:56:51Z- handleDepth()-Depth_Keller msg: 1633834608972 epoch sec; seqNo:261; depth 0.03
2021-10-10T02:56:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834609.01 epoch sec; seqNo:261; 4061429.03 north; 594207.66 east
2021-10-10T02:56:51Z- AHRS_M2 msg: 1633834609.37 epoch sec; seqNo:260
2021-10-10T02:56:51Z- AHRS_M2 msg: 0.07 phi; -0.08 theta; 5.64 psi
2021-10-10T02:56:51Z- handleDepth()-Depth_Keller msg: 1633834609372 epoch sec; seqNo:262; depth 0.08
2021-10-10T02:56:51Z- handleDvl() - RDI_Pathfinder msg: 1633834609.40 epoch sec; seqNo:53
2021-10-10T02:56:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 103.02 , 97.58 , 100.30
2021-10-10T02:56:51Z- handleDvl() - RDI_Pathfinder msg: velocities -0.75 , 0.02 , -0.73
2021-10-10T02:56:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834609.43 epoch sec; seqNo:262; 4061428.65 north; 594207.66 east
2021-10-10T02:56:52Z- AHRS_M2 msg: 1633834609.77 epoch sec; seqNo:261
2021-10-10T02:56:52Z- AHRS_M2 msg: 0.10 phi; -0.07 theta; 5.70 psi
2021-10-10T02:56:52Z- handleDepth()-Depth_Keller msg: 1633834609781 epoch sec; seqNo:263; depth 0.10
2021-10-10T02:56:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834609.80 epoch sec; seqNo:263; 4061428.65 north; 594207.66 east
2021-10-10T02:56:52Z- AHRS_M2 msg: 1633834610.17 epoch sec; seqNo:262
2021-10-10T02:56:52Z- AHRS_M2 msg: 0.09 phi; -0.06 theta; 5.72 psi
2021-10-10T02:56:52Z- handleDepth()-Depth_Keller msg: 1633834610183 epoch sec; seqNo:264; depth 0.12
2021-10-10T02:56:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834610.21 epoch sec; seqNo:264; 4061428.27 north; 594207.66 east
2021-10-10T02:56:53Z- AHRS_M2 msg: 1633834610.58 epoch sec; seqNo:263
2021-10-10T02:56:53Z- AHRS_M2 msg: 0.04 phi; -0.07 theta; 5.69 psi
2021-10-10T02:56:53Z- handleDepth()-Depth_Keller msg: 1633834610581 epoch sec; seqNo:265; depth 0.16
2021-10-10T02:56:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834610.59 epoch sec; seqNo:265; 4061428.27 north; 594207.66 east
2021-10-10T02:56:53Z- AHRS_M2 msg: 1633834611.01 epoch sec; seqNo:264
2021-10-10T02:56:53Z- AHRS_M2 msg: -0.07 phi; -0.10 theta; 5.66 psi
2021-10-10T02:56:53Z- LcmTrn::handleMessages() - handling 39 messages took 0.72 ms and 124 calls...
2021-10-10T02:56:53Z- waiting for 1633834608.76, time is 1633834611.01
2021-10-10T02:56:53Z- LcmTrn::updateTrn() >>>> pose time 1633834611.01, meas time 1633834609.40 <<<<
2021-10-10T02:56:53Z- TerrainNav::Measurement type 1 from time = 1633834609.40 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:56:53Z- TerrainNav::motionUpdate() - currEstimate = (4061428, 594207.66, 0.16)
2021-10-10T02:56:53Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:56:53Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:53Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:53Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:56:53Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:56:53Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:56:53Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:56:53Z- handleDepth()-Depth_Keller msg: 1633834611041 epoch sec; seqNo:266; depth 0.15
2021-10-10T02:56:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834611.08 epoch sec; seqNo:266; 4061427.89 north; 594207.67 east
2021-10-10T02:56:53Z- AHRS_M2 msg: 1633834611.38 epoch sec; seqNo:265
2021-10-10T02:56:53Z- AHRS_M2 msg: -0.20 phi; -0.10 theta; 5.64 psi
2021-10-10T02:56:53Z- handleDepth()-Depth_Keller msg: 1633834611391 epoch sec; seqNo:267; depth 0.10
2021-10-10T02:56:53Z- handleDvl() - RDI_Pathfinder msg: 1633834611.42 epoch sec; seqNo:54
2021-10-10T02:56:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 98.47 , 97.11 , 91.68 , 98.47
2021-10-10T02:56:53Z- handleDvl() - RDI_Pathfinder msg: velocities -0.09 , -0.06 , -0.01
2021-10-10T02:56:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834611.43 epoch sec; seqNo:267; 4061427.89 north; 594207.67 east
2021-10-10T02:56:54Z- AHRS_M2 msg: 1633834611.79 epoch sec; seqNo:266
2021-10-10T02:56:54Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.64 psi
2021-10-10T02:56:54Z- handleDepth()-Depth_Keller msg: 1633834611797 epoch sec; seqNo:268; depth 0.10
2021-10-10T02:56:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834611.81 epoch sec; seqNo:268; 4061427.89 north; 594207.67 east
2021-10-10T02:56:54Z- AHRS_M2 msg: 1633834612.19 epoch sec; seqNo:267
2021-10-10T02:56:54Z- AHRS_M2 msg: -0.08 phi; -0.16 theta; 5.67 psi
2021-10-10T02:56:54Z- handleDepth()-Depth_Keller msg: 1633834612209 epoch sec; seqNo:269; depth 0.12
2021-10-10T02:56:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834612.22 epoch sec; seqNo:269; 4061427.89 north; 594207.67 east
2021-10-10T02:56:55Z- AHRS_M2 msg: 1633834612.60 epoch sec; seqNo:268
2021-10-10T02:56:55Z- AHRS_M2 msg: 0.09 phi; -0.18 theta; 5.70 psi
2021-10-10T02:56:55Z- handleDepth()-Depth_Keller msg: 1633834612604 epoch sec; seqNo:270; depth 0.14
2021-10-10T02:56:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834612.63 epoch sec; seqNo:270; 4061427.89 north; 594207.67 east
2021-10-10T02:56:55Z- AHRS_M2 msg: 1633834613.01 epoch sec; seqNo:269
2021-10-10T02:56:55Z- AHRS_M2 msg: 0.19 phi; -0.20 theta; 5.73 psi
2021-10-10T02:56:55Z- handleDepth()-Depth_Keller msg: 1633834613022 epoch sec; seqNo:271; depth 0.16
2021-10-10T02:56:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834613.08 epoch sec; seqNo:271; 4061427.51 north; 594207.67 east
2021-10-10T02:56:55Z- AHRS_M2 msg: 1633834613.41 epoch sec; seqNo:270
2021-10-10T02:56:55Z- AHRS_M2 msg: 0.18 phi; -0.17 theta; 5.72 psi
2021-10-10T02:56:55Z- handleDepth()-Depth_Keller msg: 1633834613410 epoch sec; seqNo:272; depth 0.17
2021-10-10T02:56:55Z- handleDvl() - RDI_Pathfinder msg: 1633834613.43 epoch sec; seqNo:55
2021-10-10T02:56:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.45 , 97.45 , 0.00 , 105.60
2021-10-10T02:56:55Z- handleDvl() - RDI_Pathfinder msg: velocities -0.24 , -0.44 , -0.08
2021-10-10T02:56:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834613.45 epoch sec; seqNo:272; 4061427.51 north; 594207.67 east
2021-10-10T02:56:56Z- AHRS_M2 msg: 1633834613.81 epoch sec; seqNo:271
2021-10-10T02:56:56Z- AHRS_M2 msg: 0.04 phi; -0.11 theta; 5.72 psi
2021-10-10T02:56:56Z- handleDepth()-Depth_Keller msg: 1633834613813 epoch sec; seqNo:273; depth 0.11
2021-10-10T02:56:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834613.84 epoch sec; seqNo:273; 4061427.51 north; 594207.67 east
2021-10-10T02:56:56Z- AHRS_M2 msg: 1633834614.22 epoch sec; seqNo:272
2021-10-10T02:56:56Z- AHRS_M2 msg: -0.10 phi; -0.14 theta; 5.68 psi
2021-10-10T02:56:56Z- handleDepth()-Depth_Keller msg: 1633834614226 epoch sec; seqNo:274; depth 0.10
2021-10-10T02:56:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834614.25 epoch sec; seqNo:274; 4061427.13 north; 594207.68 east
2021-10-10T02:56:57Z- AHRS_M2 msg: 1633834614.62 epoch sec; seqNo:273
2021-10-10T02:56:57Z- AHRS_M2 msg: -0.06 phi; -0.15 theta; 5.67 psi
2021-10-10T02:56:57Z- handleDepth()-Depth_Keller msg: 1633834614625 epoch sec; seqNo:275; depth 0.09
2021-10-10T02:56:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834614.63 epoch sec; seqNo:275; 4061427.13 north; 594207.68 east
2021-10-10T02:56:57Z- AHRS_M2 msg: 1633834615.06 epoch sec; seqNo:274
2021-10-10T02:56:57Z- AHRS_M2 msg: -0.00 phi; -0.10 theta; 5.68 psi
2021-10-10T02:56:57Z- handleDepth()-Depth_Keller msg: 1633834615069 epoch sec; seqNo:276; depth 0.10
2021-10-10T02:56:57Z- handleDvl() - RDI_Pathfinder msg: 1633834615.10 epoch sec; seqNo:56
2021-10-10T02:56:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.96 , 99.82 , 88.96 , 102.54
2021-10-10T02:56:57Z- handleDvl() - RDI_Pathfinder msg: velocities -0.13 , -0.40 , 0.12
2021-10-10T02:56:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834615.11 epoch sec; seqNo:276; 4061426.76 north; 594207.68 east
2021-10-10T02:56:57Z- AHRS_M2 msg: 1633834615.42 epoch sec; seqNo:275
2021-10-10T02:56:57Z- AHRS_M2 msg: 0.05 phi; -0.06 theta; 5.68 psi
2021-10-10T02:56:57Z- handleDepth()-Depth_Keller msg: 1633834615429 epoch sec; seqNo:277; depth 0.08
2021-10-10T02:56:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834615.45 epoch sec; seqNo:277; 4061426.76 north; 594207.68 east
2021-10-10T02:56:58Z- AHRS_M2 msg: 1633834615.83 epoch sec; seqNo:276
2021-10-10T02:56:58Z- AHRS_M2 msg: 0.08 phi; -0.10 theta; 5.69 psi
2021-10-10T02:56:58Z- handleDepth()-Depth_Keller msg: 1633834615836 epoch sec; seqNo:278; depth 0.09
2021-10-10T02:56:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834615.85 epoch sec; seqNo:278; 4061426.76 north; 594207.68 east
2021-10-10T02:56:58Z- LcmTrn::handleMessages() - handling 41 messages took 0.71 ms and 126 calls...
2021-10-10T02:56:58Z- waiting for 1633834614.01, time is 1633834615.85
2021-10-10T02:56:58Z- LcmTrn::updateTrn() >>>> pose time 1633834615.85, meas time 1633834615.10 <<<<
2021-10-10T02:56:58Z- TerrainNav::Measurement type 1 from time = 1633834615.10 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:56:58Z- TerrainNav::motionUpdate() - currEstimate = (4061427, 594207.68, 0.09)
2021-10-10T02:56:58Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:56:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:56:58Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:56:58Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:56:58Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:56:58Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:56:58Z- AHRS_M2 msg: 1633834616.23 epoch sec; seqNo:277
2021-10-10T02:56:58Z- AHRS_M2 msg: 0.08 phi; -0.21 theta; 5.71 psi
2021-10-10T02:56:58Z- handleDepth()-Depth_Keller msg: 1633834616243 epoch sec; seqNo:279; depth 0.08
2021-10-10T02:56:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834616.25 epoch sec; seqNo:279; 4061426.38 north; 594207.69 east
2021-10-10T02:56:59Z- AHRS_M2 msg: 1633834616.64 epoch sec; seqNo:278
2021-10-10T02:56:59Z- AHRS_M2 msg: 0.06 phi; -0.18 theta; 5.71 psi
2021-10-10T02:56:59Z- handleDepth()-Depth_Keller msg: 1633834616647 epoch sec; seqNo:280; depth 0.10
2021-10-10T02:56:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834616.66 epoch sec; seqNo:280; 4061426.38 north; 594207.69 east
2021-10-10T02:56:59Z- AHRS_M2 msg: 1633834617.07 epoch sec; seqNo:279
2021-10-10T02:56:59Z- AHRS_M2 msg: 0.02 phi; 0.02 theta; 5.73 psi
2021-10-10T02:56:59Z- handleDepth()-Depth_Keller msg: 1633834617080 epoch sec; seqNo:281; depth 0.11
2021-10-10T02:56:59Z- handleDvl() - RDI_Pathfinder msg: 1633834617.10 epoch sec; seqNo:57
2021-10-10T02:56:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 100.30 , 97.58 , 88.08 , 105.73
2021-10-10T02:56:59Z- handleDvl() - RDI_Pathfinder msg: velocities -0.51 , -0.47 , -0.80
2021-10-10T02:56:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834617.11 epoch sec; seqNo:281; 4061426.00 north; 594207.69 east
2021-10-10T02:56:59Z- AHRS_M2 msg: 1633834617.44 epoch sec; seqNo:280
2021-10-10T02:56:59Z- AHRS_M2 msg: 0.02 phi; 0.10 theta; 5.77 psi
2021-10-10T02:56:59Z- handleDepth()-Depth_Keller msg: 1633834617449 epoch sec; seqNo:282; depth 0.07
2021-10-10T02:56:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834617.46 epoch sec; seqNo:282; 4061425.62 north; 594207.69 east
2021-10-10T02:57:00Z- AHRS_M2 msg: 1633834617.85 epoch sec; seqNo:281
2021-10-10T02:57:00Z- AHRS_M2 msg: -0.02 phi; 0.04 theta; 5.76 psi
2021-10-10T02:57:00Z- handleDepth()-Depth_Keller msg: 1633834617860 epoch sec; seqNo:283; depth 0.06
2021-10-10T02:57:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834617.87 epoch sec; seqNo:283; 4061425.62 north; 594207.69 east
2021-10-10T02:57:00Z- AHRS_M2 msg: 1633834618.25 epoch sec; seqNo:282
2021-10-10T02:57:00Z- AHRS_M2 msg: -0.07 phi; -0.03 theta; 5.74 psi
2021-10-10T02:57:00Z- handleDepth()-Depth_Keller msg: 1633834618258 epoch sec; seqNo:284; depth 0.06
2021-10-10T02:57:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834618.28 epoch sec; seqNo:284; 4061425.24 north; 594207.70 east
2021-10-10T02:57:01Z- AHRS_M2 msg: 1633834618.66 epoch sec; seqNo:283
2021-10-10T02:57:01Z- AHRS_M2 msg: -0.04 phi; -0.04 theta; 5.78 psi
2021-10-10T02:57:01Z- handleDepth()-Depth_Keller msg: 1633834618668 epoch sec; seqNo:285; depth 0.07
2021-10-10T02:57:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834618.68 epoch sec; seqNo:285; 4061424.85 north; 594206.48 east
2021-10-10T02:57:01Z- AHRS_M2 msg: 1633834619.08 epoch sec; seqNo:284
2021-10-10T02:57:01Z- AHRS_M2 msg: 0.00 phi; -0.02 theta; 5.80 psi
2021-10-10T02:57:01Z- handleDepth()-Depth_Keller msg: 1633834619085 epoch sec; seqNo:286; depth 0.08
2021-10-10T02:57:01Z- handleDvl() - RDI_Pathfinder msg: 1633834619.11 epoch sec; seqNo:58
2021-10-10T02:57:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.53 , 95.96 , 97.32 , 97.32
2021-10-10T02:57:01Z- handleDvl() - RDI_Pathfinder msg: velocities -0.27 , -0.55 , 0.16
2021-10-10T02:57:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834619.13 epoch sec; seqNo:286; 4061424.85 north; 594206.48 east
2021-10-10T02:57:01Z- AHRS_M2 msg: 1633834619.46 epoch sec; seqNo:285
2021-10-10T02:57:01Z- AHRS_M2 msg: 0.02 phi; -0.05 theta; 5.80 psi
2021-10-10T02:57:01Z- handleDepth()-Depth_Keller msg: 1633834619472 epoch sec; seqNo:287; depth 0.09
2021-10-10T02:57:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834619.48 epoch sec; seqNo:287; 4061424.47 north; 594206.49 east
2021-10-10T02:57:02Z- AHRS_M2 msg: 1633834619.87 epoch sec; seqNo:286
2021-10-10T02:57:02Z- AHRS_M2 msg: -0.00 phi; -0.10 theta; 5.78 psi
2021-10-10T02:57:02Z- handleDepth()-Depth_Keller msg: 1633834619873 epoch sec; seqNo:288; depth 0.06
2021-10-10T02:57:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834619.89 epoch sec; seqNo:288; 4061424.47 north; 594206.49 east
2021-10-10T02:57:02Z- AHRS_M2 msg: 1633834620.27 epoch sec; seqNo:287
2021-10-10T02:57:02Z- AHRS_M2 msg: 0.02 phi; -0.02 theta; 5.77 psi
2021-10-10T02:57:02Z- handleDepth()-Depth_Keller msg: 1633834620277 epoch sec; seqNo:289; depth 0.05
2021-10-10T02:57:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834620.29 epoch sec; seqNo:289; 4061424.09 north; 594206.49 east
2021-10-10T02:57:03Z- AHRS_M2 msg: 1633834620.68 epoch sec; seqNo:288
2021-10-10T02:57:03Z- AHRS_M2 msg: 0.11 phi; 0.03 theta; 5.81 psi
2021-10-10T02:57:03Z- handleDepth()-Depth_Keller msg: 1633834620684 epoch sec; seqNo:290; depth 0.05
2021-10-10T02:57:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834620.69 epoch sec; seqNo:290; 4061423.71 north; 594206.49 east
2021-10-10T02:57:03Z- AHRS_M2 msg: 1633834621.09 epoch sec; seqNo:289
2021-10-10T02:57:03Z- AHRS_M2 msg: 0.13 phi; 0.01 theta; 5.82 psi
2021-10-10T02:57:03Z- LcmTrn::handleMessages() - handling 39 messages took 0.69 ms and 125 calls...
2021-10-10T02:57:03Z- waiting for 1633834618.85, time is 1633834621.09
2021-10-10T02:57:03Z- LcmTrn::updateTrn() >>>> pose time 1633834621.09, meas time 1633834619.11 <<<<
2021-10-10T02:57:03Z- TerrainNav::Measurement type 1 from time = 1633834619.11 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:57:03Z- TerrainNav::motionUpdate() - currEstimate = (4061424, 594206.49, 0.05)
2021-10-10T02:57:03Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:57:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:57:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:57:03Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:57:03Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:57:03Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:57:03Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:57:03Z- handleDepth()-Depth_Keller msg: 1633834621092 epoch sec; seqNo:291; depth 0.05
2021-10-10T02:57:03Z- handleDvl() - RDI_Pathfinder msg: 1633834621.11 epoch sec; seqNo:59
2021-10-10T02:57:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.16 , 97.52 , 97.52 , 97.52
2021-10-10T02:57:03Z- handleDvl() - RDI_Pathfinder msg: velocities -0.04 , -0.55 , 0.65
2021-10-10T02:57:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834621.13 epoch sec; seqNo:291; 4061423.71 north; 594206.49 east
2021-10-10T02:57:03Z- AHRS_M2 msg: 1633834621.48 epoch sec; seqNo:290
2021-10-10T02:57:03Z- AHRS_M2 msg: 0.06 phi; 0.04 theta; 5.83 psi
2021-10-10T02:57:03Z- handleDepth()-Depth_Keller msg: 1633834621495 epoch sec; seqNo:292; depth 0.07
2021-10-10T02:57:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834621.52 epoch sec; seqNo:292; 4061423.71 north; 594206.49 east
2021-10-10T02:57:04Z- AHRS_M2 msg: 1633834621.89 epoch sec; seqNo:291
2021-10-10T02:57:04Z- AHRS_M2 msg: 0.00 phi; 0.01 theta; 5.85 psi
2021-10-10T02:57:04Z- handleDepth()-Depth_Keller msg: 1633834621893 epoch sec; seqNo:293; depth 0.05
2021-10-10T02:57:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834621.90 epoch sec; seqNo:293; 4061423.70 north; 594205.27 east
2021-10-10T02:57:04Z- AHRS_M2 msg: 1633834622.30 epoch sec; seqNo:292
2021-10-10T02:57:04Z- AHRS_M2 msg: -0.06 phi; -0.11 theta; 5.84 psi
2021-10-10T02:57:04Z- handleDepth()-Depth_Keller msg: 1633834622309 epoch sec; seqNo:294; depth 0.04
2021-10-10T02:57:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834622.32 epoch sec; seqNo:294; 4061423.32 north; 594205.28 east
2021-10-10T02:57:05Z- AHRS_M2 msg: 1633834622.70 epoch sec; seqNo:293
2021-10-10T02:57:05Z- AHRS_M2 msg: -0.09 phi; -0.17 theta; 5.84 psi
2021-10-10T02:57:05Z- handleDepth()-Depth_Keller msg: 1633834622709 epoch sec; seqNo:295; depth 0.06
2021-10-10T02:57:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834622.72 epoch sec; seqNo:295; 4061423.32 north; 594205.28 east
2021-10-10T02:57:05Z- AHRS_M2 msg: 1633834623.10 epoch sec; seqNo:294
2021-10-10T02:57:05Z- AHRS_M2 msg: -0.11 phi; -0.12 theta; 5.82 psi
2021-10-10T02:57:05Z- handleDepth()-Depth_Keller msg: 1633834623108 epoch sec; seqNo:296; depth 0.06
2021-10-10T02:57:05Z- handleDvl() - RDI_Pathfinder msg: 1633834623.14 epoch sec; seqNo:60
2021-10-10T02:57:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.39 , 97.39 , 97.39 , 97.39
2021-10-10T02:57:05Z- handleDvl() - RDI_Pathfinder msg: velocities -0.75 , 0.03 , -0.56
2021-10-10T02:57:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834623.16 epoch sec; seqNo:296; 4061422.94 north; 594205.28 east
2021-10-10T02:57:05Z- AHRS_M2 msg: 1633834623.51 epoch sec; seqNo:295
2021-10-10T02:57:05Z- AHRS_M2 msg: -0.08 phi; -0.05 theta; 5.79 psi
2021-10-10T02:57:05Z- handleDepth()-Depth_Keller msg: 1633834623509 epoch sec; seqNo:297; depth 0.06
2021-10-10T02:57:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834623.52 epoch sec; seqNo:297; 4061422.94 north; 594205.28 east
2021-10-10T02:57:06Z- AHRS_M2 msg: 1633834623.91 epoch sec; seqNo:296
2021-10-10T02:57:06Z- AHRS_M2 msg: -0.05 phi; 0.00 theta; 5.74 psi
2021-10-10T02:57:06Z- handleDepth()-Depth_Keller msg: 1633834623914 epoch sec; seqNo:298; depth 0.10
2021-10-10T02:57:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834623.93 epoch sec; seqNo:298; 4061422.56 north; 594205.29 east
2021-10-10T02:57:06Z- AHRS_M2 msg: 1633834624.31 epoch sec; seqNo:297
2021-10-10T02:57:06Z- AHRS_M2 msg: -0.06 phi; 0.05 theta; 5.74 psi
2021-10-10T02:57:06Z- handleDepth()-Depth_Keller msg: 1633834624318 epoch sec; seqNo:299; depth 0.09
2021-10-10T02:57:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834624.34 epoch sec; seqNo:299; 4061422.20 north; 594206.51 east
2021-10-10T02:57:07Z- AHRS_M2 msg: 1633834624.72 epoch sec; seqNo:298
2021-10-10T02:57:07Z- AHRS_M2 msg: -0.03 phi; 0.05 theta; 5.80 psi
2021-10-10T02:57:07Z- handleDepth()-Depth_Keller msg: 1633834624728 epoch sec; seqNo:300; depth 0.06
2021-10-10T02:57:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834624.75 epoch sec; seqNo:300; 4061421.82 north; 594206.52 east
2021-10-10T02:57:07Z- AHRS_M2 msg: 1633834625.12 epoch sec; seqNo:299
2021-10-10T02:57:07Z- AHRS_M2 msg: 0.07 phi; -0.02 theta; 5.84 psi
2021-10-10T02:57:07Z- handleDepth()-Depth_Keller msg: 1633834625125 epoch sec; seqNo:301; depth 0.06
2021-10-10T02:57:07Z- handleDvl() - RDI_Pathfinder msg: 1633834625.14 epoch sec; seqNo:61
2021-10-10T02:57:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.59 , 96.03 , 97.39 , 91.95
2021-10-10T02:57:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.20 , -0.68 , 0.66
2021-10-10T02:57:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834625.17 epoch sec; seqNo:301; 4061421.80 north; 594205.29 east
2021-10-10T02:57:08Z- AHRS_M2 msg: 1633834625.53 epoch sec; seqNo:300
2021-10-10T02:57:08Z- AHRS_M2 msg: 0.18 phi; -0.07 theta; 5.79 psi
2021-10-10T02:57:08Z- handleDepth()-Depth_Keller msg: 1633834625530 epoch sec; seqNo:302; depth 0.08
2021-10-10T02:57:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834625.55 epoch sec; seqNo:302; 4061421.80 north; 594205.29 east
2021-10-10T02:57:08Z- AHRS_M2 msg: 1633834625.93 epoch sec; seqNo:301
2021-10-10T02:57:08Z- AHRS_M2 msg: 0.20 phi; -0.07 theta; 5.72 psi
2021-10-10T02:57:08Z- handleDepth()-Depth_Keller msg: 1633834625947 epoch sec; seqNo:303; depth 0.08
2021-10-10T02:57:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834625.96 epoch sec; seqNo:303; 4061421.80 north; 594205.29 east
2021-10-10T02:57:08Z- LcmTrn::handleMessages() - handling 41 messages took 0.65 ms and 127 calls...
2021-10-10T02:57:08Z- waiting for 1633834624.09, time is 1633834625.96
2021-10-10T02:57:08Z- LcmTrn::updateTrn() >>>> pose time 1633834625.96, meas time 1633834625.14 <<<<
2021-10-10T02:57:08Z- TerrainNav::Measurement type 1 from time = 1633834625.14 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:57:08Z- TerrainNav::motionUpdate() - currEstimate = (4061422, 594205.29, 0.08)
2021-10-10T02:57:08Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:57:08Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:57:08Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:57:08Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:57:08Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:57:08Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:57:08Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:57:08Z- AHRS_M2 msg: 1633834626.33 epoch sec; seqNo:302
2021-10-10T02:57:08Z- AHRS_M2 msg: 0.12 phi; -0.05 theta; 5.71 psi
2021-10-10T02:57:08Z- handleDepth()-Depth_Keller msg: 1633834626337 epoch sec; seqNo:304; depth 0.05
2021-10-10T02:57:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834626.35 epoch sec; seqNo:304; 4061421.43 north; 594205.30 east
2021-10-10T02:57:09Z- AHRS_M2 msg: 1633834626.74 epoch sec; seqNo:303
2021-10-10T02:57:09Z- AHRS_M2 msg: 0.05 phi; -0.02 theta; 5.72 psi
2021-10-10T02:57:09Z- handleDepth()-Depth_Keller msg: 1633834626741 epoch sec; seqNo:305; depth 0.05
2021-10-10T02:57:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834626.75 epoch sec; seqNo:305; 4061421.41 north; 594204.08 east
2021-10-10T02:57:09Z- AHRS_M2 msg: 1633834627.14 epoch sec; seqNo:304
2021-10-10T02:57:09Z- AHRS_M2 msg: -0.05 phi; -0.03 theta; 5.73 psi
2021-10-10T02:57:09Z- handleDepth()-Depth_Keller msg: 1633834627152 epoch sec; seqNo:306; depth 0.05
2021-10-10T02:57:09Z- handleDvl() - RDI_Pathfinder msg: 1633834627.17 epoch sec; seqNo:62
2021-10-10T02:57:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 101.73 , 89.51 , 93.58 , 97.66
2021-10-10T02:57:09Z- handleDvl() - RDI_Pathfinder msg: velocities -0.50 , -0.30 , -0.13
2021-10-10T02:57:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834627.18 epoch sec; seqNo:306; 4061421.03 north; 594204.08 east
2021-10-10T02:57:10Z- AHRS_M2 msg: 1633834627.54 epoch sec; seqNo:305
2021-10-10T02:57:10Z- AHRS_M2 msg: -0.14 phi; -0.09 theta; 5.76 psi
2021-10-10T02:57:10Z- handleDepth()-Depth_Keller msg: 1633834627561 epoch sec; seqNo:307; depth 0.06
2021-10-10T02:57:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834627.58 epoch sec; seqNo:307; 4061421.03 north; 594204.08 east
2021-10-10T02:57:10Z- AHRS_M2 msg: 1633834627.95 epoch sec; seqNo:306
2021-10-10T02:57:10Z- AHRS_M2 msg: -0.19 phi; -0.09 theta; 5.77 psi
2021-10-10T02:57:10Z- handleDepth()-Depth_Keller msg: 1633834627955 epoch sec; seqNo:308; depth 0.07
2021-10-10T02:57:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834627.96 epoch sec; seqNo:308; 4061420.65 north; 594204.09 east
2021-10-10T02:57:10Z- AHRS_M2 msg: 1633834628.35 epoch sec; seqNo:307
2021-10-10T02:57:10Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 5.66 psi
2021-10-10T02:57:10Z- handleDepth()-Depth_Keller msg: 1633834628358 epoch sec; seqNo:309; depth 0.09
2021-10-10T02:57:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834628.37 epoch sec; seqNo:309; 4061420.65 north; 594204.09 east
2021-10-10T02:57:11Z- AHRS_M2 msg: 1633834628.76 epoch sec; seqNo:308
2021-10-10T02:57:11Z- AHRS_M2 msg: -0.13 phi; 0.02 theta; 5.61 psi
2021-10-10T02:57:11Z- handleDepth()-Depth_Keller msg: 1633834628763 epoch sec; seqNo:310; depth 0.09
2021-10-10T02:57:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834628.78 epoch sec; seqNo:310; 4061420.28 north; 594204.09 east
2021-10-10T02:57:11Z- AHRS_M2 msg: 1633834629.16 epoch sec; seqNo:309
2021-10-10T02:57:11Z- AHRS_M2 msg: -0.01 phi; -0.01 theta; 5.64 psi
2021-10-10T02:57:11Z- handleDepth()-Depth_Keller msg: 1633834629167 epoch sec; seqNo:311; depth 0.10
2021-10-10T02:57:11Z- handleDvl() - RDI_Pathfinder msg: 1633834629.19 epoch sec; seqNo:63
2021-10-10T02:57:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.30 , 107.03 , 97.52 , 97.52
2021-10-10T02:57:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.41 , -0.93 , 0.31
2021-10-10T02:57:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834629.21 epoch sec; seqNo:311; 4061420.28 north; 594204.09 east
2021-10-10T02:57:12Z- AHRS_M2 msg: 1633834629.56 epoch sec; seqNo:310
2021-10-10T02:57:12Z- AHRS_M2 msg: 0.11 phi; -0.02 theta; 5.66 psi
2021-10-10T02:57:12Z- handleDepth()-Depth_Keller msg: 1633834629569 epoch sec; seqNo:312; depth 0.10
2021-10-10T02:57:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834629.58 epoch sec; seqNo:312; 4061420.28 north; 594204.09 east
2021-10-10T02:57:12Z- AHRS_M2 msg: 1633834629.97 epoch sec; seqNo:311
2021-10-10T02:57:12Z- AHRS_M2 msg: 0.15 phi; -0.06 theta; 5.62 psi
2021-10-10T02:57:12Z- handleDepth()-Depth_Keller msg: 1633834629980 epoch sec; seqNo:313; depth 0.09
2021-10-10T02:57:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834629.99 epoch sec; seqNo:313; 4061419.88 north; 594202.87 east
2021-10-10T02:57:12Z- AHRS_M2 msg: 1633834630.38 epoch sec; seqNo:312
2021-10-10T02:57:12Z- AHRS_M2 msg: 0.14 phi; -0.16 theta; 5.61 psi
2021-10-10T02:57:12Z- handleDepth()-Depth_Keller msg: 1633834630387 epoch sec; seqNo:314; depth 0.07
2021-10-10T02:57:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834630.40 epoch sec; seqNo:314; 4061419.88 north; 594202.87 east
2021-10-10T02:57:13Z- AHRS_M2 msg: 1633834630.78 epoch sec; seqNo:313
2021-10-10T02:57:13Z- AHRS_M2 msg: 0.09 phi; -0.27 theta; 5.61 psi
2021-10-10T02:57:13Z- handleDepth()-Depth_Keller msg: 1633834630808 epoch sec; seqNo:315; depth 0.09
2021-10-10T02:57:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834630.83 epoch sec; seqNo:315; 4061419.88 north; 594202.87 east
2021-10-10T02:57:13Z- LcmTrn::handleMessages() - handling 38 messages took 0.69 ms and 124 calls...
2021-10-10T02:57:13Z- waiting for 1633834628.96, time is 1633834630.83
2021-10-10T02:57:13Z- LcmTrn::updateTrn() >>>> pose time 1633834630.83, meas time 1633834629.19 <<<<
2021-10-10T02:57:13Z- TerrainNav::Measurement type 1 from time = 1633834629.19 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:57:13Z- TerrainNav::motionUpdate() - currEstimate = (4061420, 594202.87, 0.09)
2021-10-10T02:57:13Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:57:13Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:57:13Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:57:13Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:57:13Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:57:13Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:57:13Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:57:13Z- AHRS_M2 msg: 1633834631.18 epoch sec; seqNo:314
2021-10-10T02:57:13Z- AHRS_M2 msg: 0.02 phi; -0.18 theta; 5.61 psi
2021-10-10T02:57:13Z- handleDepth()-Depth_Keller msg: 1633834631190 epoch sec; seqNo:316; depth 0.09
2021-10-10T02:57:13Z- handleDvl() - RDI_Pathfinder msg: 1633834631.24 epoch sec; seqNo:64
2021-10-10T02:57:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 102.89 , 97.45 , 0.00 , 104.24
2021-10-10T02:57:13Z- handleDvl() - RDI_Pathfinder msg: velocities -0.61 , -0.13 , -0.72
2021-10-10T02:57:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834631.28 epoch sec; seqNo:316; 4061419.50 north; 594202.88 east
2021-10-10T02:57:14Z- AHRS_M2 msg: 1633834631.59 epoch sec; seqNo:315
2021-10-10T02:57:14Z- AHRS_M2 msg: -0.08 phi; 0.08 theta; 5.58 psi
2021-10-10T02:57:14Z- handleDepth()-Depth_Keller msg: 1633834631595 epoch sec; seqNo:317; depth 0.06
2021-10-10T02:57:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834631.65 epoch sec; seqNo:317; 4061419.13 north; 594202.88 east
2021-10-10T02:57:14Z- AHRS_M2 msg: 1633834631.99 epoch sec; seqNo:316
2021-10-10T02:57:14Z- AHRS_M2 msg: -0.18 phi; 0.01 theta; 5.56 psi
2021-10-10T02:57:14Z- handleDepth()-Depth_Keller msg: 1633834632000 epoch sec; seqNo:318; depth 0.07
2021-10-10T02:57:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834632.01 epoch sec; seqNo:318; 4061419.13 north; 594202.88 east
2021-10-10T02:57:14Z- AHRS_M2 msg: 1633834632.39 epoch sec; seqNo:317
2021-10-10T02:57:14Z- AHRS_M2 msg: -0.19 phi; -0.06 theta; 5.56 psi
2021-10-10T02:57:14Z- handleDepth()-Depth_Keller msg: 1633834632412 epoch sec; seqNo:319; depth 0.07
2021-10-10T02:57:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834632.42 epoch sec; seqNo:319; 4061418.75 north; 594202.89 east
2021-10-10T02:57:15Z- AHRS_M2 msg: 1633834632.80 epoch sec; seqNo:318
2021-10-10T02:57:15Z- AHRS_M2 msg: -0.15 phi; -0.11 theta; 5.54 psi
2021-10-10T02:57:15Z- handleDepth()-Depth_Keller msg: 1633834632803 epoch sec; seqNo:320; depth 0.06
2021-10-10T02:57:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834632.83 epoch sec; seqNo:320; 4061418.75 north; 594202.89 east
2021-10-10T02:57:15Z- AHRS_M2 msg: 1633834633.20 epoch sec; seqNo:319
2021-10-10T02:57:15Z- AHRS_M2 msg: -0.08 phi; -0.08 theta; 5.57 psi
2021-10-10T02:57:15Z- handleDepth()-Depth_Keller msg: 1633834633211 epoch sec; seqNo:321; depth 0.07
2021-10-10T02:57:15Z- handleDvl() - RDI_Pathfinder msg: 1633834633.27 epoch sec; seqNo:65
2021-10-10T02:57:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.82 , 106.55 , 95.68 , 97.04
2021-10-10T02:57:15Z- handleDvl() - RDI_Pathfinder msg: velocities -0.45 , -0.32 , 0.15
2021-10-10T02:57:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834633.32 epoch sec; seqNo:321; 4061418.37 north; 594202.89 east
2021-10-10T02:57:16Z- AHRS_M2 msg: 1633834633.61 epoch sec; seqNo:320
2021-10-10T02:57:16Z- AHRS_M2 msg: 0.01 phi; 0.03 theta; 5.62 psi
2021-10-10T02:57:16Z- handleDepth()-Depth_Keller msg: 1633834633612 epoch sec; seqNo:322; depth 0.07
2021-10-10T02:57:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834633.63 epoch sec; seqNo:322; 4061417.99 north; 594202.90 east
2021-10-10T02:57:16Z- AHRS_M2 msg: 1633834634.01 epoch sec; seqNo:321
2021-10-10T02:57:16Z- AHRS_M2 msg: -0.05 phi; 0.02 theta; 5.61 psi
2021-10-10T02:57:16Z- handleDepth()-Depth_Keller msg: 1633834634020 epoch sec; seqNo:323; depth 0.12
2021-10-10T02:57:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834634.04 epoch sec; seqNo:323; 4061417.99 north; 594202.90 east
2021-10-10T02:57:16Z- AHRS_M2 msg: 1633834634.41 epoch sec; seqNo:322
2021-10-10T02:57:16Z- AHRS_M2 msg: -0.15 phi; 0.01 theta; 5.62 psi
2021-10-10T02:57:16Z- handleDepth()-Depth_Keller msg: 1633834634420 epoch sec; seqNo:324; depth 0.09
2021-10-10T02:57:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834634.45 epoch sec; seqNo:324; 4061417.61 north; 594202.90 east
2021-10-10T02:57:17Z- AHRS_M2 msg: 1633834634.82 epoch sec; seqNo:323
2021-10-10T02:57:17Z- AHRS_M2 msg: -0.16 phi; 0.05 theta; 5.65 psi
2021-10-10T02:57:17Z- handleDepth()-Depth_Keller msg: 1633834634829 epoch sec; seqNo:325; depth 0.08
2021-10-10T02:57:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834634.85 epoch sec; seqNo:325; 4061417.61 north; 594202.90 east
2021-10-10T02:57:17Z- AHRS_M2 msg: 1633834635.22 epoch sec; seqNo:324
2021-10-10T02:57:17Z- AHRS_M2 msg: -0.10 phi; 0.06 theta; 5.66 psi
2021-10-10T02:57:17Z- handleDepth()-Depth_Keller msg: 1633834635231 epoch sec; seqNo:326; depth 0.09
2021-10-10T02:57:17Z- handleDvl() - RDI_Pathfinder msg: 1633834635.25 epoch sec; seqNo:66
2021-10-10T02:57:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.52 , 98.88 , 97.52 , 97.52
2021-10-10T02:57:17Z- handleDvl() - RDI_Pathfinder msg: velocities -0.04 , -0.51 , 0.79
2021-10-10T02:57:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834635.26 epoch sec; seqNo:326; 4061417.23 north; 594202.90 east
2021-10-10T02:57:18Z- AHRS_M2 msg: 1633834635.62 epoch sec; seqNo:325
2021-10-10T02:57:18Z- AHRS_M2 msg: -0.00 phi; -0.05 theta; 5.72 psi
2021-10-10T02:57:18Z- handleDepth()-Depth_Keller msg: 1633834635629 epoch sec; seqNo:327; depth 0.08
2021-10-10T02:57:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834635.65 epoch sec; seqNo:327; 4061417.23 north; 594202.90 east
2021-10-10T02:57:18Z- AHRS_M2 msg: 1633834636.04 epoch sec; seqNo:326
2021-10-10T02:57:18Z- AHRS_M2 msg: 0.11 phi; -0.20 theta; 5.73 psi
2021-10-10T02:57:18Z- handleDepth()-Depth_Keller msg: 1633834636040 epoch sec; seqNo:328; depth 0.09
2021-10-10T02:57:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834636.05 epoch sec; seqNo:328; 4061417.23 north; 594202.90 east
2021-10-10T02:57:18Z- LcmTrn::handleMessages() - handling 42 messages took 0.77 ms and 126 calls...
2021-10-10T02:57:18Z- waiting for 1633834633.83, time is 1633834636.05
2021-10-10T02:57:18Z- LcmTrn::updateTrn() >>>> pose time 1633834636.05, meas time 1633834635.25 <<<<
2021-10-10T02:57:18Z- TerrainNav:: Throwing out all beams because more than two are equal to 97.521 at t=1633834635.25, ping # 0.
2021-10-10T02:57:18Z- TerrainNav::Measurement type 1 from time = 1633834635.25 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0
2021-10-10T02:57:18Z- TerrainNav::motionUpdate() - currEstimate = (4061417, 594202.90, 0.09)
2021-10-10T02:57:18Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:57:18Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:57:18Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:57:18Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:57:18Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:57:18Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:57:18Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:57:18Z- AHRS_M2 msg: 1633834636.43 epoch sec; seqNo:327
2021-10-10T02:57:18Z- AHRS_M2 msg: 0.16 phi; -0.26 theta; 5.68 psi
2021-10-10T02:57:18Z- handleDepth()-Depth_Keller msg: 1633834636437 epoch sec; seqNo:329; depth 0.12
2021-10-10T02:57:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834636.45 epoch sec; seqNo:329; 4061416.85 north; 594202.91 east
2021-10-10T02:57:19Z- AHRS_M2 msg: 1633834636.84 epoch sec; seqNo:328
2021-10-10T02:57:19Z- AHRS_M2 msg: 0.10 phi; -0.21 theta; 5.61 psi
2021-10-10T02:57:19Z- handleDepth()-Depth_Keller msg: 1633834636842 epoch sec; seqNo:330; depth 0.10
2021-10-10T02:57:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834636.86 epoch sec; seqNo:330; 4061416.47 north; 594202.91 east
2021-10-10T02:57:19Z- AHRS_M2 msg: 1633834637.24 epoch sec; seqNo:329
2021-10-10T02:57:19Z- AHRS_M2 msg: 0.04 phi; -0.11 theta; 5.62 psi
2021-10-10T02:57:19Z- handleDepth()-Depth_Keller msg: 1633834637257 epoch sec; seqNo:331; depth 0.05
2021-10-10T02:57:19Z- handleDvl() - RDI_Pathfinder msg: 1633834637.28 epoch sec; seqNo:67
2021-10-10T02:57:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 106.82 , 97.32 , 86.45 , 109.54
2021-10-10T02:57:19Z- handleDvl() - RDI_Pathfinder msg: velocities -0.62 , 0.51 , -1.30
2021-10-10T02:57:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834637.29 epoch sec; seqNo:331; 4061416.47 north; 594202.91 east
2021-10-10T02:57:20Z- AHRS_M2 msg: 1633834637.64 epoch sec; seqNo:330
2021-10-10T02:57:20Z- AHRS_M2 msg: 0.02 phi; 0.02 theta; 5.62 psi
2021-10-10T02:57:20Z- handleDepth()-Depth_Keller msg: 1633834637652 epoch sec; seqNo:332; depth 0.09
2021-10-10T02:57:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834637.66 epoch sec; seqNo:332; 4061416.47 north; 594202.91 east
2021-10-10T02:57:20Z- AHRS_M2 msg: 1633834638.05 epoch sec; seqNo:331
2021-10-10T02:57:20Z- AHRS_M2 msg: -0.10 phi; 0.10 theta; 5.61 psi
2021-10-10T02:57:20Z- handleDepth()-Depth_Keller msg: 1633834638053 epoch sec; seqNo:333; depth 0.11
2021-10-10T02:57:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834638.06 epoch sec; seqNo:333; 4061416.47 north; 594202.91 east
2021-10-10T02:57:20Z- AHRS_M2 msg: 1633834638.45 epoch sec; seqNo:332
2021-10-10T02:57:20Z- AHRS_M2 msg: -0.18 phi; 0.12 theta; 5.60 psi
2021-10-10T02:57:20Z- handleDepth()-Depth_Keller msg: 1633834638458 epoch sec; seqNo:334; depth 0.08
2021-10-10T02:57:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834638.47 epoch sec; seqNo:334; 4061416.11 north; 594204.14 east
2021-10-10T02:57:21Z- AHRS_M2 msg: 1633834638.86 epoch sec; seqNo:333
2021-10-10T02:57:21Z- AHRS_M2 msg: -0.18 phi; 0.07 theta; 5.60 psi
2021-10-10T02:57:21Z- handleDepth()-Depth_Keller msg: 1633834638873 epoch sec; seqNo:335; depth 0.06
2021-10-10T02:57:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834638.89 epoch sec; seqNo:335; 4061416.11 north; 594204.14 east
2021-10-10T02:57:21Z- AHRS_M2 msg: 1633834639.26 epoch sec; seqNo:334
2021-10-10T02:57:21Z- AHRS_M2 msg: -0.15 phi; -0.04 theta; 5.61 psi
2021-10-10T02:57:21Z- handleDepth()-Depth_Keller msg: 1633834639265 epoch sec; seqNo:336; depth 0.05
2021-10-10T02:57:21Z- handleDvl() - RDI_Pathfinder msg: 1633834639.29 epoch sec; seqNo:68
2021-10-10T02:57:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.96 , 103.90 , 105.26 , 88.96
2021-10-10T02:57:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.11 , -0.28 , 0.93
2021-10-10T02:57:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834639.30 epoch sec; seqNo:336; 4061416.11 north; 594204.14 east
2021-10-10T02:57:22Z- AHRS_M2 msg: 1633834639.66 epoch sec; seqNo:335
2021-10-10T02:57:22Z- AHRS_M2 msg: -0.08 phi; -0.07 theta; 5.63 psi
2021-10-10T02:57:22Z- handleDepth()-Depth_Keller msg: 1633834639671 epoch sec; seqNo:337; depth 0.05
2021-10-10T02:57:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834639.69 epoch sec; seqNo:337; 4061416.11 north; 594204.14 east
2021-10-10T02:57:22Z- AHRS_M2 msg: 1633834640.07 epoch sec; seqNo:336
2021-10-10T02:57:22Z- AHRS_M2 msg: -0.01 phi; -0.01 theta; 5.59 psi
2021-10-10T02:57:22Z- handleDepth()-Depth_Keller msg: 1633834640092 epoch sec; seqNo:338; depth 0.05
2021-10-10T02:57:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834640.10 epoch sec; seqNo:338; 4061416.11 north; 594204.14 east
2021-10-10T02:57:22Z- AHRS_M2 msg: 1633834640.47 epoch sec; seqNo:337
2021-10-10T02:57:22Z- AHRS_M2 msg: -0.03 phi; -0.02 theta; 5.59 psi
2021-10-10T02:57:22Z- handleDepth()-Depth_Keller msg: 1633834640483 epoch sec; seqNo:339; depth 0.04
2021-10-10T02:57:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834640.50 epoch sec; seqNo:339; 4061416.11 north; 594204.14 east
2021-10-10T02:57:23Z- AHRS_M2 msg: 1633834640.88 epoch sec; seqNo:338
2021-10-10T02:57:23Z- AHRS_M2 msg: -0.04 phi; -0.04 theta; 5.69 psi
2021-10-10T02:57:23Z- handleDepth()-Depth_Keller msg: 1633834640891 epoch sec; seqNo:340; depth 0.02
2021-10-10T02:57:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834640.90 epoch sec; seqNo:340; 4061416.09 north; 594202.92 east