2021-10-10T02:59:32Z* LcmTrn::LcmTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg
2021-10-10T02:59:32Z* LcmTrn::init() - using configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg
2021-10-10T02:59:32Z* ahrs config: AHRS_M2, platform_orientation, platform_pitch_angle, platform_roll_angle
2021-10-10T02:59:32Z* dvl config: RDI_Pathfinder, Beam1Range, Beam2Range, Beam3Range, Beam4Range, BottomVelocityFlag
2021-10-10T02:59:32Z* nav config: DeadReckonUsingMultipleVelocitySources, latitude, longitude
2021-10-10T02:59:32Z* depth config: Depth_Keller, depth, sea_water_pressure
2021-10-10T02:59:32Z* trn config: TRN, trn_mle, trn_mmse, trn_var, trn_reinits, trn_filterstate
2021-10-10T02:59:32Z* LCM timeout=5.00 sec
2021-10-10T02:59:32Z* TRN settings:
2021-10-10T02:59:32Z* 	period=3.00 sec
2021-10-10T02:59:32Z* 	coherence=2.00 sec
2021-10-10T02:59:32Z* 	map = PortTiles
	cfg = mappingAUV_specs.cfg
	part= particles.cfg
	logdir= lrauv
2021-10-10T02:59:32Z* 	maptype = 2
	filtertype = 3
	weighting = 0
2021-10-10T02:59:32Z* 	lowgrade_filter = 1
	allow reinit = 1
2021-10-10T02:59:32Z* 	cmd_estimate = cmd_estimate
	cmd_reinit = cmd_reinit
2021-10-10T02:59:32Z* LcmTrn::initTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg
2021-10-10T02:59:32Z* LcmTrn::initTrn() - map: /home/tethysadmin/Downloads/trnmaps/PortTiles
2021-10-10T02:59:32Z* LcmTrn::initTrn() - cfg: /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg
2021-10-10T02:59:32Z* LcmTrn::initTrn() - part: /home/tethysadmin/Downloads/trncfgs/particles.cfg
2021-10-10T02:59:32Z* TerrainMapOctree::tileDataName = /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv
2021-10-10T02:59:32Z* TerrainMapOctree::numTiles_ = 9.
2021-10-10T02:59:32Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo 4061250.0 594250.0 .
2021-10-10T02:59:32Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile2.bo 4061250.0 594750.0 .
2021-10-10T02:59:32Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile3.bo 4061250.0 595250.0 .
2021-10-10T02:59:32Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo 4061750.0 594250.0 .
2021-10-10T02:59:32Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile5.bo 4061750.0 594750.0 .
2021-10-10T02:59:32Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile6.bo 4061750.0 595250.0 .
2021-10-10T02:59:32Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile7.bo 4062250.0 594250.0 .
2021-10-10T02:59:32Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile8.bo 4062250.0 594750.0 .
2021-10-10T02:59:32Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile9.bo 4062250.0 595250.0 .
2021-10-10T02:59:32Z* TerrainMapOctree::loaded 9 useable tiles from /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv.
2021-10-10T02:59:32Z* TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo took 0.590989 seconds.
2021-10-10T02:59:32Z* TRN log directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.54
2021-10-10T02:59:32Z* symlink /home/tethysadmin/Downloads/trnlogs/latestTRN to /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.54 OK
2021-10-10T02:59:33Z* parseSensorSpecs parsing sensor of type 1.
2021-10-10T02:59:33Z* Sensor 0 is of type 1.
2021-10-10T02:59:33Z* parseSensorSpecs parsing sensor of type 2.
2021-10-10T02:59:33Z* Sensor 1 is of type 2.
2021-10-10T02:59:33Z* parseSensorSpecs parsing sensor of type 5.
2021-10-10T02:59:33Z* Sensor 2 is of type 5.
2021-10-10T02:59:33Z- File created[/home/tethysadmin/Downloads/trnlogs/latestTRN/trn.log.0000] returned[0x559ce318d0]
2021-10-10T02:59:33Z- TNavConfig::setParticlesFile: value is now particles.cfg
2021-10-10T02:59:33Z- TNavConfig::setMapFile: value is now /home/tethysadmin/Downloads/trnmaps/PortTiles
2021-10-10T02:59:33Z- TNavConfig::setVehicleSpecsFile: value is now /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg
2021-10-10T02:59:33Z- TNavConfig::setParticlesFile: value is now /home/tethysadmin/Downloads/trncfgs/particles.cfg
2021-10-10T02:59:33Z- TNavConfig::setLogDir: value is now /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.54
2021-10-10T02:59:33Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg
2021-10-10T02:59:33Z- parseSensorSpecs parsing sensor of type 1.
2021-10-10T02:59:33Z- Sensor 0 is of type 1.
2021-10-10T02:59:33Z- parseSensorSpecs parsing sensor of type 2.
2021-10-10T02:59:33Z- Sensor 1 is of type 2.
2021-10-10T02:59:33Z- parseSensorSpecs parsing sensor of type 5.
2021-10-10T02:59:33Z- Sensor 2 is of type 5.
2021-10-10T02:59:33Z- Random noise maker initialized with 1633834773
2021-10-10T02:59:33Z- setDistribToSave(0)
2021-10-10T02:59:33Z- setDistribToSave set to 0
2021-10-10T02:59:33Z- Vehicle name: mappingAUV
Number of sensors: 3

2021-10-10T02:59:33Z- Sensor #1: 
2021-10-10T02:59:33Z- Sensor name:  rdiDVL
2021-10-10T02:59:33Z- Sensor type: 1
2021-10-10T02:59:33Z- Number of beams per measurement: 4
2021-10-10T02:59:33Z- Sensor #1 to vehicle transformation information: 
2021-10-10T02:59:33Z- Rotation angles (phi, theta, psi): 
 (0.000000 ,0.000000, 0.000000)
2021-10-10T02:59:33Z- Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)
2021-10-10T02:59:33Z- 
2021-10-10T02:59:33Z- Sensor #2: 
2021-10-10T02:59:33Z- Sensor name:  resonSeabat8101
2021-10-10T02:59:33Z- Sensor type: 2
2021-10-10T02:59:33Z- Number of beams per measurement: 11
2021-10-10T02:59:33Z- Sensor #2 to vehicle transformation information: 
2021-10-10T02:59:33Z- Rotation angles (phi, theta, psi): 
 (0.000000 ,0.000000, 0.000000)
2021-10-10T02:59:33Z- Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)
2021-10-10T02:59:33Z- 
2021-10-10T02:59:33Z- Sensor #3: 
2021-10-10T02:59:33Z- Sensor name:  imagenexdeltat
2021-10-10T02:59:33Z- Sensor type: 5
2021-10-10T02:59:33Z- Number of beams per measurement: 120
2021-10-10T02:59:33Z- Sensor #3 to vehicle transformation information: 
2021-10-10T02:59:33Z- Rotation angles (phi, theta, psi): 
 (0.000000 ,0.000000, 0.000000)
2021-10-10T02:59:33Z- Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)
2021-10-10T02:59:33Z- 
2021-10-10T02:59:33Z- TNavBF::nParticles: 10000	numFilters: 2	PMF Grid Resolution: 1.0	PMF Grid Size: 100
2021-10-10T02:59:33Z- TerrainNav::TNavFilter initialized with type 3
2021-10-10T02:59:33Z- TerrainNav::initVariables finished.
2021-10-10T02:59:33Z- TerrainNav::Constructor finished.
2021-10-10T02:59:33Z- TNavBF::setModifiedWeighting umw: 4 
2021-10-10T02:59:33Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20
2021-10-10T02:59:33Z- TNavBF::numFilters: 1 
2021-10-10T02:59:33Z- TerrainNav::modified weighting set to 0
2021-10-10T02:59:33Z- LcmTrn::initLcm() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg
2021-10-10T02:59:33Z- LcmTrn::run()
2021-10-10T02:59:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834770.59 epoch sec; seqNo:5; 4061365.89 north; 594185.16 east
2021-10-10T02:59:33Z- AHRS_M2 msg: 1633834770.97 epoch sec; seqNo:6
2021-10-10T02:59:33Z- AHRS_M2 msg: -0.00 phi; -0.11 theta; 5.47 psi
2021-10-10T02:59:33Z- handleDepth()-Depth_Keller msg: 1633834770979 epoch sec; seqNo:6; depth 0.14
2021-10-10T02:59:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834771.02 epoch sec; seqNo:6; 4061365.89 north; 594185.16 east
2021-10-10T02:59:33Z- AHRS_M2 msg: 1633834771.38 epoch sec; seqNo:7
2021-10-10T02:59:33Z- AHRS_M2 msg: -0.04 phi; -0.12 theta; 5.44 psi
2021-10-10T02:59:33Z- handleDepth()-Depth_Keller msg: 1633834771381 epoch sec; seqNo:7; depth 0.13
2021-10-10T02:59:33Z- handleDvl() - RDI_Pathfinder msg: 1633834771.43 epoch sec; seqNo:2
2021-10-10T02:59:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.53 , 95.96 , 93.24 , 93.24
2021-10-10T02:59:33Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , -0.36 , 0.47
2021-10-10T02:59:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834771.46 epoch sec; seqNo:7; 4061365.89 north; 594185.16 east
2021-10-10T02:59:34Z- AHRS_M2 msg: 1633834771.78 epoch sec; seqNo:8
2021-10-10T02:59:34Z- AHRS_M2 msg: -0.08 phi; -0.12 theta; 5.44 psi
2021-10-10T02:59:34Z- handleDepth()-Depth_Keller msg: 1633834771784 epoch sec; seqNo:8; depth 0.10
2021-10-10T02:59:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834771.80 epoch sec; seqNo:8; 4061365.51 north; 594185.17 east
2021-10-10T02:59:34Z- AHRS_M2 msg: 1633834772.18 epoch sec; seqNo:9
2021-10-10T02:59:34Z- AHRS_M2 msg: -0.06 phi; -0.16 theta; 5.47 psi
2021-10-10T02:59:34Z- handleDepth()-Depth_Keller msg: 1633834772195 epoch sec; seqNo:9; depth 0.08
2021-10-10T02:59:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834772.20 epoch sec; seqNo:9; 4061365.51 north; 594185.17 east
2021-10-10T02:59:35Z- AHRS_M2 msg: 1633834772.59 epoch sec; seqNo:10
2021-10-10T02:59:35Z- AHRS_M2 msg: 0.04 phi; -0.22 theta; 5.48 psi
2021-10-10T02:59:35Z- handleDepth()-Depth_Keller msg: 1633834772606 epoch sec; seqNo:10; depth 0.08
2021-10-10T02:59:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834772.62 epoch sec; seqNo:10; 4061365.13 north; 594185.17 east
2021-10-10T02:59:35Z- AHRS_M2 msg: 1633834773.00 epoch sec; seqNo:11
2021-10-10T02:59:35Z- AHRS_M2 msg: 0.10 phi; -0.19 theta; 5.42 psi
2021-10-10T02:59:35Z- handleDepth()-Depth_Keller msg: 1633834773001 epoch sec; seqNo:11; depth 0.13
2021-10-10T02:59:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834773.04 epoch sec; seqNo:11; 4061365.13 north; 594185.17 east
2021-10-10T02:59:35Z- AHRS_M2 msg: 1633834773.40 epoch sec; seqNo:12
2021-10-10T02:59:35Z- AHRS_M2 msg: 0.04 phi; -0.09 theta; 5.33 psi
2021-10-10T02:59:35Z- handleDepth()-Depth_Keller msg: 1633834773404 epoch sec; seqNo:12; depth 0.12
2021-10-10T02:59:35Z- handleDvl() - RDI_Pathfinder msg: 1633834773.42 epoch sec; seqNo:3
2021-10-10T02:59:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.94 , 99.09 , 86.86 , 104.52
2021-10-10T02:59:35Z- handleDvl() - RDI_Pathfinder msg: velocities -0.38 , -0.00 , -0.41
2021-10-10T02:59:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834773.46 epoch sec; seqNo:12; 4061364.75 north; 594185.17 east
2021-10-10T02:59:36Z- AHRS_M2 msg: 1633834773.80 epoch sec; seqNo:13
2021-10-10T02:59:36Z- AHRS_M2 msg: -0.06 phi; -0.01 theta; 5.33 psi
2021-10-10T02:59:36Z- handleDepth()-Depth_Keller msg: 1633834773806 epoch sec; seqNo:13; depth 0.06
2021-10-10T02:59:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834773.82 epoch sec; seqNo:13; 4061364.75 north; 594185.17 east
2021-10-10T02:59:36Z- AHRS_M2 msg: 1633834774.20 epoch sec; seqNo:14
2021-10-10T02:59:36Z- AHRS_M2 msg: -0.05 phi; 0.04 theta; 5.30 psi
2021-10-10T02:59:36Z- handleDepth()-Depth_Keller msg: 1633834774209 epoch sec; seqNo:14; depth 0.06
2021-10-10T02:59:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834774.22 epoch sec; seqNo:14; 4061364.75 north; 594185.17 east
2021-10-10T02:59:37Z- AHRS_M2 msg: 1633834774.61 epoch sec; seqNo:15
2021-10-10T02:59:37Z- AHRS_M2 msg: -0.06 phi; 0.04 theta; 5.25 psi
2021-10-10T02:59:37Z- handleDepth()-Depth_Keller msg: 1633834774613 epoch sec; seqNo:15; depth 0.08
2021-10-10T02:59:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834774.62 epoch sec; seqNo:15; 4061364.75 north; 594185.17 east
2021-10-10T02:59:37Z- AHRS_M2 msg: 1633834775.03 epoch sec; seqNo:16
2021-10-10T02:59:37Z- AHRS_M2 msg: -0.11 phi; 0.06 theta; 5.23 psi
2021-10-10T02:59:37Z- handleDepth()-Depth_Keller msg: 1633834775060 epoch sec; seqNo:16; depth 0.08
2021-10-10T02:59:37Z- handleDvl() - RDI_Pathfinder msg: 1633834775.10 epoch sec; seqNo:4
2021-10-10T02:59:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.38 , 97.53 , 96.17 , 90.73
2021-10-10T02:59:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.12 , -0.80 , 0.49
2021-10-10T02:59:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834775.11 epoch sec; seqNo:16; 4061364.37 north; 594185.18 east
2021-10-10T02:59:37Z- AHRS_M2 msg: 1633834775.42 epoch sec; seqNo:17
2021-10-10T02:59:37Z- AHRS_M2 msg: -0.14 phi; 0.06 theta; 5.28 psi
2021-10-10T02:59:37Z- handleDepth()-Depth_Keller msg: 1633834775427 epoch sec; seqNo:17; depth 0.04
2021-10-10T02:59:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834775.44 epoch sec; seqNo:17; 4061363.99 north; 594185.18 east
2021-10-10T02:59:38Z- LcmTrn::handleMessages() - handling 40 messages took 0.68 ms and 126 calls...
2021-10-10T02:59:38Z- waiting for 2.00, time is 1633834775.44
2021-10-10T02:59:38Z- LcmTrn::updateTrn() >>>> pose time 1633834775.44, meas time 1633834775.10 <<<<
2021-10-10T02:59:38Z- TerrainNav::Measurement type 1 from time = 1633834775.10 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:59:38Z- TerrainNav::motionUpdate() - currEstimate = (4061364, 594185.18, 0.04)
2021-10-10T02:59:38Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:59:38Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:59:38Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:59:38Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:59:38Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:59:38Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:59:38Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:59:38Z- AHRS_M2 msg: 1633834775.82 epoch sec; seqNo:18
2021-10-10T02:59:38Z- AHRS_M2 msg: -0.08 phi; -0.01 theta; 5.30 psi
2021-10-10T02:59:38Z- handleDepth()-Depth_Keller msg: 1633834775824 epoch sec; seqNo:18; depth 0.01
2021-10-10T02:59:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834775.84 epoch sec; seqNo:18; 4061363.99 north; 594185.18 east
2021-10-10T02:59:38Z- AHRS_M2 msg: 1633834776.22 epoch sec; seqNo:19
2021-10-10T02:59:38Z- AHRS_M2 msg: -0.06 phi; -0.10 theta; 5.27 psi
2021-10-10T02:59:38Z- handleDepth()-Depth_Keller msg: 1633834776232 epoch sec; seqNo:19; depth 0.05
2021-10-10T02:59:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834776.24 epoch sec; seqNo:19; 4061363.60 north; 594183.97 east
2021-10-10T02:59:39Z- AHRS_M2 msg: 1633834776.63 epoch sec; seqNo:20
2021-10-10T02:59:39Z- AHRS_M2 msg: -0.00 phi; -0.07 theta; 5.27 psi
2021-10-10T02:59:39Z- handleDepth()-Depth_Keller msg: 1633834776633 epoch sec; seqNo:20; depth 0.04
2021-10-10T02:59:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834776.65 epoch sec; seqNo:20; 4061363.60 north; 594183.97 east
2021-10-10T02:59:39Z- AHRS_M2 msg: 1633834777.06 epoch sec; seqNo:21
2021-10-10T02:59:39Z- AHRS_M2 msg: 0.06 phi; -0.04 theta; 5.22 psi
2021-10-10T02:59:39Z- handleDepth()-Depth_Keller msg: 1633834777076 epoch sec; seqNo:21; depth 0.08
2021-10-10T02:59:39Z- handleDvl() - RDI_Pathfinder msg: 1633834777.10 epoch sec; seqNo:5
2021-10-10T02:59:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.22 , 96.37 , 89.58 , 96.37
2021-10-10T02:59:39Z- handleDvl() - RDI_Pathfinder msg: velocities -0.03 , -0.35 , -0.38
2021-10-10T02:59:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834777.12 epoch sec; seqNo:21; 4061363.22 north; 594183.97 east
2021-10-10T02:59:39Z- AHRS_M2 msg: 1633834777.44 epoch sec; seqNo:22
2021-10-10T02:59:39Z- AHRS_M2 msg: -0.02 phi; -0.09 theta; 5.22 psi
2021-10-10T02:59:39Z- handleDepth()-Depth_Keller msg: 1633834777441 epoch sec; seqNo:22; depth 0.09
2021-10-10T02:59:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834777.47 epoch sec; seqNo:22; 4061363.22 north; 594183.97 east
2021-10-10T02:59:40Z- AHRS_M2 msg: 1633834777.84 epoch sec; seqNo:23
2021-10-10T02:59:40Z- AHRS_M2 msg: -0.10 phi; -0.11 theta; 5.24 psi
2021-10-10T02:59:40Z- handleDepth()-Depth_Keller msg: 1633834777848 epoch sec; seqNo:23; depth 0.07
2021-10-10T02:59:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834777.86 epoch sec; seqNo:23; 4061363.22 north; 594183.97 east
2021-10-10T02:59:40Z- AHRS_M2 msg: 1633834778.24 epoch sec; seqNo:24
2021-10-10T02:59:40Z- AHRS_M2 msg: -0.14 phi; -0.11 theta; 5.24 psi
2021-10-10T02:59:40Z- handleDepth()-Depth_Keller msg: 1633834778255 epoch sec; seqNo:24; depth 0.10
2021-10-10T02:59:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834778.27 epoch sec; seqNo:24; 4061362.84 north; 594183.97 east
2021-10-10T02:59:41Z- AHRS_M2 msg: 1633834778.65 epoch sec; seqNo:25
2021-10-10T02:59:41Z- AHRS_M2 msg: -0.16 phi; -0.12 theta; 5.23 psi
2021-10-10T02:59:41Z- handleDepth()-Depth_Keller msg: 1633834778656 epoch sec; seqNo:25; depth 0.10
2021-10-10T02:59:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834778.66 epoch sec; seqNo:25; 4061362.84 north; 594183.97 east
2021-10-10T02:59:41Z- AHRS_M2 msg: 1633834779.08 epoch sec; seqNo:26
2021-10-10T02:59:41Z- AHRS_M2 msg: -0.13 phi; -0.08 theta; 5.22 psi
2021-10-10T02:59:41Z- handleDepth()-Depth_Keller msg: 1633834779084 epoch sec; seqNo:26; depth 0.12
2021-10-10T02:59:41Z- handleDvl() - RDI_Pathfinder msg: 1633834779.10 epoch sec; seqNo:6
2021-10-10T02:59:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.93 , 103.23 , 89.65 , 103.23
2021-10-10T02:59:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.16 , -0.43 , -0.28
2021-10-10T02:59:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834779.13 epoch sec; seqNo:26; 4061362.46 north; 594183.98 east
2021-10-10T02:59:41Z- AHRS_M2 msg: 1633834779.46 epoch sec; seqNo:27
2021-10-10T02:59:41Z- AHRS_M2 msg: -0.12 phi; -0.05 theta; 5.20 psi
2021-10-10T02:59:41Z- handleDepth()-Depth_Keller msg: 1633834779464 epoch sec; seqNo:27; depth 0.11
2021-10-10T02:59:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834779.48 epoch sec; seqNo:27; 4061362.46 north; 594183.98 east
2021-10-10T02:59:42Z- AHRS_M2 msg: 1633834779.86 epoch sec; seqNo:28
2021-10-10T02:59:42Z- AHRS_M2 msg: -0.12 phi; -0.06 theta; 5.16 psi
2021-10-10T02:59:42Z- handleDepth()-Depth_Keller msg: 1633834779864 epoch sec; seqNo:28; depth 0.10
2021-10-10T02:59:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834779.87 epoch sec; seqNo:28; 4061362.46 north; 594183.98 east
2021-10-10T02:59:42Z- AHRS_M2 msg: 1633834780.26 epoch sec; seqNo:29
2021-10-10T02:59:42Z- AHRS_M2 msg: -0.07 phi; -0.08 theta; 5.18 psi
2021-10-10T02:59:42Z- handleDepth()-Depth_Keller msg: 1633834780272 epoch sec; seqNo:29; depth 0.11
2021-10-10T02:59:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834780.28 epoch sec; seqNo:29; 4061362.07 north; 594182.76 east
2021-10-10T02:59:43Z- LcmTrn::handleMessages() - handling 38 messages took 0.62 ms and 126 calls...
2021-10-10T02:59:43Z- waiting for 1633834778.44, time is 1633834780.28
2021-10-10T02:59:43Z- LcmTrn::updateTrn() >>>> pose time 1633834780.28, meas time 1633834779.10 <<<<
2021-10-10T02:59:43Z- TerrainNav::Measurement type 1 from time = 1633834779.10 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:59:43Z- TerrainNav::motionUpdate() - currEstimate = (4061362, 594182.76, 0.11)
2021-10-10T02:59:43Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:59:43Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:59:43Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:59:43Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:59:43Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:59:43Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:59:43Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:59:43Z- AHRS_M2 msg: 1633834780.67 epoch sec; seqNo:30
2021-10-10T02:59:43Z- AHRS_M2 msg: 0.00 phi; -0.08 theta; 5.27 psi
2021-10-10T02:59:43Z- handleDepth()-Depth_Keller msg: 1633834780680 epoch sec; seqNo:30; depth 0.08
2021-10-10T02:59:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834780.69 epoch sec; seqNo:30; 4061362.07 north; 594182.76 east
2021-10-10T02:59:43Z- AHRS_M2 msg: 1633834781.09 epoch sec; seqNo:31
2021-10-10T02:59:43Z- AHRS_M2 msg: 0.11 phi; -0.05 theta; 5.30 psi
2021-10-10T02:59:43Z- handleDepth()-Depth_Keller msg: 1633834781090 epoch sec; seqNo:31; depth 0.11
2021-10-10T02:59:43Z- handleDvl() - RDI_Pathfinder msg: 1633834781.11 epoch sec; seqNo:7
2021-10-10T02:59:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.38 , 97.53 , 97.53 , 97.53
2021-10-10T02:59:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.03 , -0.44 , 0.30
2021-10-10T02:59:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834781.17 epoch sec; seqNo:31; 4061362.07 north; 594182.76 east
2021-10-10T02:59:43Z- AHRS_M2 msg: 1633834781.48 epoch sec; seqNo:32
2021-10-10T02:59:43Z- AHRS_M2 msg: 0.09 phi; -0.08 theta; 5.26 psi
2021-10-10T02:59:43Z- handleDepth()-Depth_Keller msg: 1633834781481 epoch sec; seqNo:32; depth 0.10
2021-10-10T02:59:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834781.50 epoch sec; seqNo:32; 4061361.69 north; 594182.77 east
2021-10-10T02:59:44Z- AHRS_M2 msg: 1633834781.88 epoch sec; seqNo:33
2021-10-10T02:59:44Z- AHRS_M2 msg: -0.03 phi; -0.09 theta; 5.20 psi
2021-10-10T02:59:44Z- handleDepth()-Depth_Keller msg: 1633834781885 epoch sec; seqNo:33; depth 0.09
2021-10-10T02:59:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834781.89 epoch sec; seqNo:33; 4061361.69 north; 594182.77 east
2021-10-10T02:59:44Z- AHRS_M2 msg: 1633834782.29 epoch sec; seqNo:34
2021-10-10T02:59:44Z- AHRS_M2 msg: -0.17 phi; -0.04 theta; 5.18 psi
2021-10-10T02:59:44Z- handleDepth()-Depth_Keller msg: 1633834782296 epoch sec; seqNo:34; depth 0.06
2021-10-10T02:59:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834782.31 epoch sec; seqNo:34; 4061361.69 north; 594182.77 east
2021-10-10T02:59:45Z- AHRS_M2 msg: 1633834782.69 epoch sec; seqNo:35
2021-10-10T02:59:45Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 5.21 psi
2021-10-10T02:59:45Z- handleDepth()-Depth_Keller msg: 1633834782705 epoch sec; seqNo:35; depth 0.02
2021-10-10T02:59:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834782.71 epoch sec; seqNo:35; 4061361.31 north; 594182.77 east
2021-10-10T02:59:45Z- AHRS_M2 msg: 1633834783.09 epoch sec; seqNo:36
2021-10-10T02:59:45Z- AHRS_M2 msg: -0.08 phi; -0.06 theta; 5.22 psi
2021-10-10T02:59:45Z- handleDepth()-Depth_Keller msg: 1633834783103 epoch sec; seqNo:36; depth 0.05
2021-10-10T02:59:45Z- handleDvl() - RDI_Pathfinder msg: 1633834783.13 epoch sec; seqNo:8
2021-10-10T02:59:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.30 , 108.39 , 97.53 , 97.53
2021-10-10T02:59:45Z- handleDvl() - RDI_Pathfinder msg: velocities -0.26 , -0.30 , 0.31
2021-10-10T02:59:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834783.14 epoch sec; seqNo:36; 4061361.31 north; 594182.77 east
2021-10-10T02:59:45Z- AHRS_M2 msg: 1633834783.50 epoch sec; seqNo:37
2021-10-10T02:59:45Z- AHRS_M2 msg: 0.01 phi; -0.09 theta; 5.22 psi
2021-10-10T02:59:45Z- handleDepth()-Depth_Keller msg: 1633834783508 epoch sec; seqNo:37; depth 0.07
2021-10-10T02:59:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834783.52 epoch sec; seqNo:37; 4061360.93 north; 594182.77 east
2021-10-10T02:59:46Z- AHRS_M2 msg: 1633834783.90 epoch sec; seqNo:38
2021-10-10T02:59:46Z- AHRS_M2 msg: 0.03 phi; -0.04 theta; 5.25 psi
2021-10-10T02:59:46Z- handleDepth()-Depth_Keller msg: 1633834783907 epoch sec; seqNo:38; depth 0.06
2021-10-10T02:59:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834783.92 epoch sec; seqNo:38; 4061360.93 north; 594182.77 east
2021-10-10T02:59:46Z- AHRS_M2 msg: 1633834784.30 epoch sec; seqNo:39
2021-10-10T02:59:46Z- AHRS_M2 msg: 0.01 phi; -0.02 theta; 5.29 psi
2021-10-10T02:59:46Z- handleDepth()-Depth_Keller msg: 1633834784321 epoch sec; seqNo:39; depth 0.06
2021-10-10T02:59:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834784.33 epoch sec; seqNo:39; 4061360.93 north; 594182.77 east
2021-10-10T02:59:47Z- AHRS_M2 msg: 1633834784.71 epoch sec; seqNo:40
2021-10-10T02:59:47Z- AHRS_M2 msg: -0.10 phi; -0.05 theta; 5.23 psi
2021-10-10T02:59:47Z- handleDepth()-Depth_Keller msg: 1633834784713 epoch sec; seqNo:40; depth 0.09
2021-10-10T02:59:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834784.72 epoch sec; seqNo:40; 4061360.55 north; 594182.78 east
2021-10-10T02:59:47Z- AHRS_M2 msg: 1633834785.11 epoch sec; seqNo:41
2021-10-10T02:59:47Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 5.13 psi
2021-10-10T02:59:47Z- handleDepth()-Depth_Keller msg: 1633834785123 epoch sec; seqNo:41; depth 0.08
2021-10-10T02:59:47Z- handleDvl() - RDI_Pathfinder msg: 1633834785.15 epoch sec; seqNo:9
2021-10-10T02:59:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.24 , 97.39 , 97.39 , 97.39
2021-10-10T02:59:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.41 , -0.30 , -0.40
2021-10-10T02:59:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834785.16 epoch sec; seqNo:41; 4061360.55 north; 594182.78 east
2021-10-10T02:59:47Z- AHRS_M2 msg: 1633834785.52 epoch sec; seqNo:42
2021-10-10T02:59:47Z- AHRS_M2 msg: -0.21 phi; 0.13 theta; 5.14 psi
2021-10-10T02:59:47Z- handleDepth()-Depth_Keller msg: 1633834785521 epoch sec; seqNo:42; depth 0.06
2021-10-10T02:59:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834785.55 epoch sec; seqNo:42; 4061360.55 north; 594182.78 east
2021-10-10T02:59:48Z- LcmTrn::handleMessages() - handling 42 messages took 0.80 ms and 126 calls...
2021-10-10T02:59:48Z- waiting for 1633834783.28, time is 1633834785.55
2021-10-10T02:59:48Z- LcmTrn::updateTrn() >>>> pose time 1633834785.55, meas time 1633834785.15 <<<<
2021-10-10T02:59:48Z- TerrainNav:: Throwing out all beams because more than two are equal to 97.390 at t=1633834785.15, ping # 0.
2021-10-10T02:59:48Z- TerrainNav::Measurement type 1 from time = 1633834785.15 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0
2021-10-10T02:59:48Z- TerrainNav::motionUpdate() - currEstimate = (4061361, 594182.78, 0.06)
2021-10-10T02:59:48Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:59:48Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:59:48Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:59:48Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:59:48Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:59:48Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:59:48Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:59:48Z- AHRS_M2 msg: 1633834785.93 epoch sec; seqNo:43
2021-10-10T02:59:48Z- AHRS_M2 msg: 0.19 phi; -0.15 theta; 5.12 psi
2021-10-10T02:59:48Z- handleDepth()-Depth_Keller msg: 1633834785936 epoch sec; seqNo:43; depth 0.08
2021-10-10T02:59:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834785.96 epoch sec; seqNo:43; 4061360.55 north; 594182.78 east
2021-10-10T02:59:48Z- AHRS_M2 msg: 1633834786.33 epoch sec; seqNo:44
2021-10-10T02:59:48Z- AHRS_M2 msg: 0.38 phi; -0.14 theta; 5.13 psi
2021-10-10T02:59:48Z- handleDepth()-Depth_Keller msg: 1633834786333 epoch sec; seqNo:44; depth 0.12
2021-10-10T02:59:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834786.34 epoch sec; seqNo:44; 4061360.54 north; 594181.56 east
2021-10-10T02:59:49Z- AHRS_M2 msg: 1633834786.73 epoch sec; seqNo:45
2021-10-10T02:59:49Z- AHRS_M2 msg: 0.37 phi; -0.01 theta; 5.13 psi
2021-10-10T02:59:49Z- handleDepth()-Depth_Keller msg: 1633834786741 epoch sec; seqNo:45; depth 0.09
2021-10-10T02:59:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834786.76 epoch sec; seqNo:45; 4061360.54 north; 594181.56 east
2021-10-10T02:59:49Z- AHRS_M2 msg: 1633834787.13 epoch sec; seqNo:46
2021-10-10T02:59:49Z- AHRS_M2 msg: 0.09 phi; 0.06 theta; 5.13 psi
2021-10-10T02:59:49Z- handleDepth()-Depth_Keller msg: 1633834787136 epoch sec; seqNo:46; depth 0.10
2021-10-10T02:59:49Z- handleDvl() - RDI_Pathfinder msg: 1633834787.17 epoch sec; seqNo:10
2021-10-10T02:59:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 113.83 , 83.94 , 0.00 , 112.47
2021-10-10T02:59:49Z- handleDvl() - RDI_Pathfinder msg: velocities -0.09 , -0.34 , -0.70
2021-10-10T02:59:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834787.18 epoch sec; seqNo:46; 4061360.54 north; 594181.56 east
2021-10-10T02:59:50Z- AHRS_M2 msg: 1633834787.54 epoch sec; seqNo:47
2021-10-10T02:59:50Z- AHRS_M2 msg: -0.22 phi; 0.08 theta; 5.11 psi
2021-10-10T02:59:50Z- handleDepth()-Depth_Keller msg: 1633834787541 epoch sec; seqNo:47; depth 0.07
2021-10-10T02:59:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834787.56 epoch sec; seqNo:47; 4061360.16 north; 594181.56 east
2021-10-10T02:59:50Z- AHRS_M2 msg: 1633834787.95 epoch sec; seqNo:48
2021-10-10T02:59:50Z- AHRS_M2 msg: -0.42 phi; 0.04 theta; 5.04 psi
2021-10-10T02:59:50Z- handleDepth()-Depth_Keller msg: 1633834787952 epoch sec; seqNo:48; depth 0.07
2021-10-10T02:59:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834787.96 epoch sec; seqNo:48; 4061359.78 north; 594181.57 east
2021-10-10T02:59:50Z- AHRS_M2 msg: 1633834788.34 epoch sec; seqNo:49
2021-10-10T02:59:50Z- AHRS_M2 msg: -0.50 phi; -0.02 theta; 4.96 psi
2021-10-10T02:59:50Z- handleDepth()-Depth_Keller msg: 1633834788348 epoch sec; seqNo:49; depth 0.07
2021-10-10T02:59:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834788.37 epoch sec; seqNo:49; 4061359.78 north; 594181.57 east
2021-10-10T02:59:51Z- AHRS_M2 msg: 1633834788.75 epoch sec; seqNo:50
2021-10-10T02:59:51Z- AHRS_M2 msg: -0.46 phi; -0.08 theta; 4.96 psi
2021-10-10T02:59:51Z- handleDepth()-Depth_Keller msg: 1633834788759 epoch sec; seqNo:50; depth 0.05
2021-10-10T02:59:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834788.78 epoch sec; seqNo:50; 4061359.40 north; 594181.57 east
2021-10-10T02:59:51Z- AHRS_M2 msg: 1633834789.15 epoch sec; seqNo:51
2021-10-10T02:59:51Z- AHRS_M2 msg: -0.23 phi; -0.04 theta; 5.02 psi
2021-10-10T02:59:51Z- handleDepth()-Depth_Keller msg: 1633834789172 epoch sec; seqNo:51; depth 0.02
2021-10-10T02:59:51Z- handleDvl() - RDI_Pathfinder msg: 1633834789.23 epoch sec; seqNo:11
2021-10-10T02:59:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.72 , 0.00 , 106.90 , 105.40
2021-10-10T02:59:51Z- handleDvl() - RDI_Pathfinder msg: velocities -0.28 , -0.75 , 0.33
2021-10-10T02:59:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834789.30 epoch sec; seqNo:51; 4061359.03 north; 594181.57 east
2021-10-10T02:59:52Z- AHRS_M2 msg: 1633834789.67 epoch sec; seqNo:52
2021-10-10T02:59:52Z- AHRS_M2 msg: 0.02 phi; 0.03 theta; 5.05 psi
2021-10-10T02:59:52Z- handleDepth()-Depth_Keller msg: 1633834789726 epoch sec; seqNo:52; depth 0.05
2021-10-10T02:59:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834789.78 epoch sec; seqNo:52; 4061358.65 north; 594181.58 east
2021-10-10T02:59:52Z- AHRS_M2 msg: 1633834789.96 epoch sec; seqNo:53
2021-10-10T02:59:52Z- AHRS_M2 msg: 0.12 phi; 0.05 theta; 5.02 psi
2021-10-10T02:59:52Z- handleDepth()-Depth_Keller msg: 1633834789967 epoch sec; seqNo:53; depth 0.07
2021-10-10T02:59:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834790.03 epoch sec; seqNo:53; 4061358.65 north; 594181.58 east
2021-10-10T02:59:52Z- AHRS_M2 msg: 1633834790.37 epoch sec; seqNo:54
2021-10-10T02:59:52Z- AHRS_M2 msg: 0.06 phi; -0.01 theta; 4.99 psi
2021-10-10T02:59:52Z- handleDepth()-Depth_Keller msg: 1633834790381 epoch sec; seqNo:54; depth 0.06
2021-10-10T02:59:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834790.49 epoch sec; seqNo:54; 4061358.27 north; 594181.58 east
2021-10-10T02:59:53Z- LcmTrn::handleMessages() - handling 38 messages took 0.64 ms and 125 calls...
2021-10-10T02:59:53Z- waiting for 1633834788.55, time is 1633834790.49
2021-10-10T02:59:53Z- LcmTrn::updateTrn() >>>> pose time 1633834790.49, meas time 1633834789.23 <<<<
2021-10-10T02:59:53Z- TerrainNav::Measurement type 1 from time = 1633834789.23 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:59:53Z- TerrainNav::motionUpdate() - currEstimate = (4061358, 594181.58, 0.06)
2021-10-10T02:59:53Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:59:53Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:59:53Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:59:53Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:59:53Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:59:53Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:59:53Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:59:53Z- AHRS_M2 msg: 1633834790.77 epoch sec; seqNo:55
2021-10-10T02:59:53Z- AHRS_M2 msg: -0.10 phi; -0.11 theta; 4.97 psi
2021-10-10T02:59:53Z- handleDepth()-Depth_Keller msg: 1633834790781 epoch sec; seqNo:55; depth 0.05
2021-10-10T02:59:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834790.79 epoch sec; seqNo:55; 4061357.89 north; 594181.59 east
2021-10-10T02:59:53Z- AHRS_M2 msg: 1633834791.17 epoch sec; seqNo:56
2021-10-10T02:59:53Z- AHRS_M2 msg: -0.17 phi; -0.17 theta; 4.99 psi
2021-10-10T02:59:53Z- handleDepth()-Depth_Keller msg: 1633834791179 epoch sec; seqNo:56; depth 0.04
2021-10-10T02:59:53Z- handleDvl() - RDI_Pathfinder msg: 1633834791.21 epoch sec; seqNo:12
2021-10-10T02:59:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.39 , 89.24 , 97.39 , 97.39
2021-10-10T02:59:53Z- handleDvl() - RDI_Pathfinder msg: velocities -0.26 , -0.53 , 0.11
2021-10-10T02:59:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834791.22 epoch sec; seqNo:56; 4061357.51 north; 594181.59 east
2021-10-10T02:59:54Z- AHRS_M2 msg: 1633834791.58 epoch sec; seqNo:57
2021-10-10T02:59:54Z- AHRS_M2 msg: -0.15 phi; -0.07 theta; 5.03 psi
2021-10-10T02:59:54Z- handleDepth()-Depth_Keller msg: 1633834791587 epoch sec; seqNo:57; depth 0.06
2021-10-10T02:59:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834791.60 epoch sec; seqNo:57; 4061357.51 north; 594181.59 east
2021-10-10T02:59:54Z- AHRS_M2 msg: 1633834791.98 epoch sec; seqNo:58
2021-10-10T02:59:54Z- AHRS_M2 msg: -0.10 phi; 0.05 theta; 5.05 psi
2021-10-10T02:59:54Z- handleDepth()-Depth_Keller msg: 1633834791986 epoch sec; seqNo:58; depth 0.08
2021-10-10T02:59:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834791.99 epoch sec; seqNo:58; 4061357.13 north; 594181.60 east
2021-10-10T02:59:54Z- AHRS_M2 msg: 1633834792.38 epoch sec; seqNo:59
2021-10-10T02:59:54Z- AHRS_M2 msg: -0.06 phi; 0.08 theta; 5.03 psi
2021-10-10T02:59:54Z- handleDepth()-Depth_Keller msg: 1633834792399 epoch sec; seqNo:59; depth 0.07
2021-10-10T02:59:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834792.41 epoch sec; seqNo:59; 4061357.13 north; 594181.60 east
2021-10-10T02:59:55Z- AHRS_M2 msg: 1633834792.79 epoch sec; seqNo:60
2021-10-10T02:59:55Z- AHRS_M2 msg: -0.11 phi; 0.03 theta; 4.98 psi
2021-10-10T02:59:55Z- handleDepth()-Depth_Keller msg: 1633834792799 epoch sec; seqNo:60; depth 0.07
2021-10-10T02:59:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834792.82 epoch sec; seqNo:60; 4061356.75 north; 594181.60 east
2021-10-10T02:59:55Z- AHRS_M2 msg: 1633834793.19 epoch sec; seqNo:61
2021-10-10T02:59:55Z- AHRS_M2 msg: -0.11 phi; -0.01 theta; 5.00 psi
2021-10-10T02:59:55Z- handleDepth()-Depth_Keller msg: 1633834793196 epoch sec; seqNo:61; depth 0.08
2021-10-10T02:59:55Z- handleDvl() - RDI_Pathfinder msg: 1633834793.22 epoch sec; seqNo:13
2021-10-10T02:59:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.02 , 98.88 , 100.24 , 89.38
2021-10-10T02:59:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.47 , -0.34 , 0.36
2021-10-10T02:59:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834793.24 epoch sec; seqNo:61; 4061356.75 north; 594181.60 east
2021-10-10T02:59:56Z- AHRS_M2 msg: 1633834793.60 epoch sec; seqNo:62
2021-10-10T02:59:56Z- AHRS_M2 msg: -0.07 phi; -0.03 theta; 5.08 psi
2021-10-10T02:59:56Z- handleDepth()-Depth_Keller msg: 1633834793602 epoch sec; seqNo:62; depth 0.05
2021-10-10T02:59:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834793.62 epoch sec; seqNo:62; 4061356.75 north; 594181.60 east
2021-10-10T02:59:56Z- AHRS_M2 msg: 1633834794.00 epoch sec; seqNo:63
2021-10-10T02:59:56Z- AHRS_M2 msg: -0.00 phi; 0.00 theta; 5.08 psi
2021-10-10T02:59:56Z- handleDepth()-Depth_Keller msg: 1633834794008 epoch sec; seqNo:63; depth 0.05
2021-10-10T02:59:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834794.13 epoch sec; seqNo:63; 4061356.37 north; 594181.60 east
2021-10-10T02:59:56Z- AHRS_M2 msg: 1633834794.52 epoch sec; seqNo:64
2021-10-10T02:59:56Z- AHRS_M2 msg: 0.02 phi; 0.07 theta; 5.01 psi
2021-10-10T02:59:57Z- handleDepth()-Depth_Keller msg: 1633834794539 epoch sec; seqNo:64; depth 0.06
2021-10-10T02:59:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834794.60 epoch sec; seqNo:64; 4061356.37 north; 594181.60 east
2021-10-10T02:59:57Z- AHRS_M2 msg: 1633834794.86 epoch sec; seqNo:65
2021-10-10T02:59:57Z- AHRS_M2 msg: -0.08 phi; 0.10 theta; 4.98 psi
2021-10-10T02:59:57Z- handleDepth()-Depth_Keller msg: 1633834794864 epoch sec; seqNo:65; depth 0.06
2021-10-10T02:59:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834794.87 epoch sec; seqNo:65; 4061356.37 north; 594181.60 east
2021-10-10T02:59:57Z- AHRS_M2 msg: 1633834795.22 epoch sec; seqNo:66
2021-10-10T02:59:57Z- AHRS_M2 msg: -0.11 phi; 0.00 theta; 4.99 psi
2021-10-10T02:59:57Z- handleDepth()-Depth_Keller msg: 1633834795227 epoch sec; seqNo:66; depth 0.04
2021-10-10T02:59:57Z- handleDvl() - RDI_Pathfinder msg: 1633834795.25 epoch sec; seqNo:14
2021-10-10T02:59:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.59 , 97.66 , 99.02 , 89.51
2021-10-10T02:59:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.17 , -0.55 , 0.51
2021-10-10T02:59:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834795.31 epoch sec; seqNo:66; 4061356.36 north; 594180.38 east
2021-10-10T02:59:58Z- AHRS_M2 msg: 1633834795.62 epoch sec; seqNo:67
2021-10-10T02:59:58Z- AHRS_M2 msg: -0.04 phi; -0.12 theta; 5.02 psi
2021-10-10T02:59:58Z- handleDepth()-Depth_Keller msg: 1633834795632 epoch sec; seqNo:67; depth 0.06
2021-10-10T02:59:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834795.65 epoch sec; seqNo:67; 4061355.98 north; 594180.39 east
2021-10-10T02:59:58Z- LcmTrn::handleMessages() - handling 42 messages took 0.73 ms and 127 calls...
2021-10-10T02:59:58Z- waiting for 1633834793.49, time is 1633834795.65
2021-10-10T02:59:58Z- LcmTrn::updateTrn() >>>> pose time 1633834795.65, meas time 1633834795.25 <<<<
2021-10-10T02:59:58Z- TerrainNav::Measurement type 1 from time = 1633834795.25 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T02:59:58Z- TerrainNav::motionUpdate() - currEstimate = (4061356, 594180.39, 0.06)
2021-10-10T02:59:58Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T02:59:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:59:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T02:59:58Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T02:59:58Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T02:59:58Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T02:59:58Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T02:59:58Z- AHRS_M2 msg: 1633834796.03 epoch sec; seqNo:68
2021-10-10T02:59:58Z- AHRS_M2 msg: 0.07 phi; -0.18 theta; 5.06 psi
2021-10-10T02:59:58Z- handleDepth()-Depth_Keller msg: 1633834796033 epoch sec; seqNo:68; depth 0.05
2021-10-10T02:59:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834796.04 epoch sec; seqNo:68; 4061355.98 north; 594180.39 east
2021-10-10T02:59:58Z- AHRS_M2 msg: 1633834796.43 epoch sec; seqNo:69
2021-10-10T02:59:58Z- AHRS_M2 msg: 0.14 phi; -0.18 theta; 5.07 psi
2021-10-10T02:59:58Z- handleDepth()-Depth_Keller msg: 1633834796445 epoch sec; seqNo:69; depth 0.06
2021-10-10T02:59:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834796.45 epoch sec; seqNo:69; 4061355.60 north; 594180.39 east
2021-10-10T02:59:59Z- AHRS_M2 msg: 1633834796.84 epoch sec; seqNo:70
2021-10-10T02:59:59Z- AHRS_M2 msg: 0.09 phi; -0.06 theta; 5.10 psi
2021-10-10T02:59:59Z- handleDepth()-Depth_Keller msg: 1633834796847 epoch sec; seqNo:70; depth 0.08
2021-10-10T02:59:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834796.87 epoch sec; seqNo:70; 4061355.60 north; 594180.39 east
2021-10-10T02:59:59Z- AHRS_M2 msg: 1633834797.24 epoch sec; seqNo:71
2021-10-10T02:59:59Z- AHRS_M2 msg: -0.07 phi; 0.07 theta; 5.06 psi
2021-10-10T02:59:59Z- handleDepth()-Depth_Keller msg: 1633834797251 epoch sec; seqNo:71; depth 0.08
2021-10-10T02:59:59Z- handleDvl() - RDI_Pathfinder msg: 1633834797.29 epoch sec; seqNo:15
2021-10-10T02:59:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.24 , 97.59 , 85.37 , 109.82
2021-10-10T02:59:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.65 , -0.00 , -0.68
2021-10-10T02:59:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834797.30 epoch sec; seqNo:71; 4061355.60 north; 594180.39 east
2021-10-10T03:00:00Z- AHRS_M2 msg: 1633834797.64 epoch sec; seqNo:72
2021-10-10T03:00:00Z- AHRS_M2 msg: -0.34 phi; 0.09 theta; 5.02 psi
2021-10-10T03:00:00Z- handleDepth()-Depth_Keller msg: 1633834797660 epoch sec; seqNo:72; depth 0.07
2021-10-10T03:00:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834797.67 epoch sec; seqNo:72; 4061355.60 north; 594180.39 east
2021-10-10T03:00:00Z- AHRS_M2 msg: 1633834798.05 epoch sec; seqNo:73
2021-10-10T03:00:00Z- AHRS_M2 msg: -0.45 phi; 0.10 theta; 5.03 psi
2021-10-10T03:00:00Z- handleDepth()-Depth_Keller msg: 1633834798056 epoch sec; seqNo:73; depth 0.05
2021-10-10T03:00:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834798.08 epoch sec; seqNo:73; 4061355.59 north; 594179.17 east
2021-10-10T03:00:00Z- AHRS_M2 msg: 1633834798.45 epoch sec; seqNo:74
2021-10-10T03:00:00Z- AHRS_M2 msg: -0.35 phi; 0.08 theta; 5.02 psi
2021-10-10T03:00:00Z- handleDepth()-Depth_Keller msg: 1633834798459 epoch sec; seqNo:74; depth 0.06
2021-10-10T03:00:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834798.47 epoch sec; seqNo:74; 4061355.59 north; 594179.17 east
2021-10-10T03:00:01Z- AHRS_M2 msg: 1633834798.86 epoch sec; seqNo:75
2021-10-10T03:00:01Z- AHRS_M2 msg: -0.18 phi; -0.04 theta; 5.04 psi
2021-10-10T03:00:01Z- handleDepth()-Depth_Keller msg: 1633834798861 epoch sec; seqNo:75; depth 0.08
2021-10-10T03:00:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834798.87 epoch sec; seqNo:75; 4061355.59 north; 594179.17 east
2021-10-10T03:00:01Z- AHRS_M2 msg: 1633834799.26 epoch sec; seqNo:76
2021-10-10T03:00:01Z- AHRS_M2 msg: -0.03 phi; -0.11 theta; 5.07 psi
2021-10-10T03:00:01Z- handleDepth()-Depth_Keller msg: 1633834799301 epoch sec; seqNo:76; depth 0.07
2021-10-10T03:00:01Z- handleDvl() - RDI_Pathfinder msg: 1633834799.34 epoch sec; seqNo:16
2021-10-10T03:00:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00
2021-10-10T03:00:01Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77
2021-10-10T03:00:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834799.35 epoch sec; seqNo:76; 4061355.59 north; 594179.17 east
2021-10-10T03:00:02Z- AHRS_M2 msg: 1633834799.66 epoch sec; seqNo:77
2021-10-10T03:00:02Z- AHRS_M2 msg: 0.08 phi; -0.10 theta; 5.11 psi
2021-10-10T03:00:02Z- handleDepth()-Depth_Keller msg: 1633834799668 epoch sec; seqNo:77; depth 0.05
2021-10-10T03:00:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834799.69 epoch sec; seqNo:77; 4061355.59 north; 594179.17 east
2021-10-10T03:00:02Z- AHRS_M2 msg: 1633834800.07 epoch sec; seqNo:78
2021-10-10T03:00:02Z- AHRS_M2 msg: 0.09 phi; -0.08 theta; 5.14 psi
2021-10-10T03:00:02Z- handleDepth()-Depth_Keller msg: 1633834800079 epoch sec; seqNo:78; depth 0.06
2021-10-10T03:00:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834800.09 epoch sec; seqNo:78; 4061355.95 north; 594177.95 east
2021-10-10T03:00:02Z- AHRS_M2 msg: 1633834800.47 epoch sec; seqNo:79
2021-10-10T03:00:02Z- AHRS_M2 msg: 0.05 phi; -0.06 theta; 5.17 psi
2021-10-10T03:00:02Z- handleDepth()-Depth_Keller msg: 1633834800484 epoch sec; seqNo:79; depth 0.04
2021-10-10T03:00:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834800.49 epoch sec; seqNo:79; 4061355.95 north; 594177.95 east
2021-10-10T03:00:03Z- LcmTrn::handleMessages() - handling 38 messages took 0.63 ms and 125 calls...
2021-10-10T03:00:03Z- waiting for 1633834798.65, time is 1633834800.49
2021-10-10T03:00:03Z- LcmTrn::updateTrn() >>>> pose time 1633834800.49, meas time 1633834799.34 <<<<
2021-10-10T03:00:03Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633834799.34, ping # 0.
2021-10-10T03:00:03Z- TerrainNav::Measurement type 1 from time = 1633834799.34 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0
2021-10-10T03:00:03Z- TerrainNav::motionUpdate() - currEstimate = (4061356, 594177.95, 0.04)
2021-10-10T03:00:03Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:00:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:03Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:00:03Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:00:03Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:00:03Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:00:03Z- AHRS_M2 msg: 1633834800.88 epoch sec; seqNo:80
2021-10-10T03:00:03Z- AHRS_M2 msg: -0.01 phi; -0.01 theta; 5.20 psi
2021-10-10T03:00:03Z- handleDepth()-Depth_Keller msg: 1633834800882 epoch sec; seqNo:80; depth 0.04
2021-10-10T03:00:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834800.89 epoch sec; seqNo:80; 4061355.95 north; 594177.95 east
2021-10-10T03:00:03Z- AHRS_M2 msg: 1633834801.28 epoch sec; seqNo:81
2021-10-10T03:00:03Z- AHRS_M2 msg: -0.08 phi; 0.00 theta; 5.21 psi
2021-10-10T03:00:03Z- handleDepth()-Depth_Keller msg: 1633834801287 epoch sec; seqNo:81; depth 0.06
2021-10-10T03:00:03Z- handleDvl() - RDI_Pathfinder msg: 1633834801.32 epoch sec; seqNo:17
2021-10-10T03:00:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 94.67 , 91.96 , 93.31 , 96.03
2021-10-10T03:00:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.34 , -0.11 , -0.47
2021-10-10T03:00:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834801.33 epoch sec; seqNo:81; 4061355.95 north; 594177.95 east
2021-10-10T03:00:04Z- AHRS_M2 msg: 1633834801.68 epoch sec; seqNo:82
2021-10-10T03:00:04Z- AHRS_M2 msg: -0.14 phi; 0.01 theta; 5.23 psi
2021-10-10T03:00:04Z- handleDepth()-Depth_Keller msg: 1633834801689 epoch sec; seqNo:82; depth 0.06
2021-10-10T03:00:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834801.70 epoch sec; seqNo:82; 4061355.95 north; 594177.95 east
2021-10-10T03:00:04Z- AHRS_M2 msg: 1633834802.09 epoch sec; seqNo:83
2021-10-10T03:00:04Z- AHRS_M2 msg: -0.13 phi; 0.05 theta; 5.21 psi
2021-10-10T03:00:04Z- handleDepth()-Depth_Keller msg: 1633834802099 epoch sec; seqNo:83; depth 0.08
2021-10-10T03:00:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834802.11 epoch sec; seqNo:83; 4061355.95 north; 594177.95 east
2021-10-10T03:00:04Z- AHRS_M2 msg: 1633834802.49 epoch sec; seqNo:84
2021-10-10T03:00:04Z- AHRS_M2 msg: -0.17 phi; 0.03 theta; 5.18 psi
2021-10-10T03:00:04Z- handleDepth()-Depth_Keller msg: 1633834802520 epoch sec; seqNo:84; depth 0.06
2021-10-10T03:00:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834802.54 epoch sec; seqNo:84; 4061355.94 north; 594176.73 east
2021-10-10T03:00:05Z- AHRS_M2 msg: 1633834802.90 epoch sec; seqNo:85
2021-10-10T03:00:05Z- AHRS_M2 msg: -0.17 phi; 0.01 theta; 5.19 psi
2021-10-10T03:00:05Z- handleDepth()-Depth_Keller msg: 1633834802912 epoch sec; seqNo:85; depth 0.06
2021-10-10T03:00:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834802.94 epoch sec; seqNo:85; 4061355.94 north; 594176.73 east
2021-10-10T03:00:05Z- AHRS_M2 msg: 1633834803.31 epoch sec; seqNo:86
2021-10-10T03:00:05Z- AHRS_M2 msg: -0.03 phi; 0.08 theta; 5.25 psi
2021-10-10T03:00:05Z- handleDepth()-Depth_Keller msg: 1633834803309 epoch sec; seqNo:86; depth 0.03
2021-10-10T03:00:05Z- handleDvl() - RDI_Pathfinder msg: 1633834803.35 epoch sec; seqNo:18
2021-10-10T03:00:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 107.17 , 97.66 , 97.66
2021-10-10T03:00:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.08 , -0.77 , 0.16
2021-10-10T03:00:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834803.37 epoch sec; seqNo:86; 4061355.94 north; 594176.73 east
2021-10-10T03:00:06Z- AHRS_M2 msg: 1633834803.70 epoch sec; seqNo:87
2021-10-10T03:00:06Z- AHRS_M2 msg: 0.13 phi; 0.05 theta; 5.27 psi
2021-10-10T03:00:06Z- handleDepth()-Depth_Keller msg: 1633834803724 epoch sec; seqNo:87; depth 0.06
2021-10-10T03:00:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834803.78 epoch sec; seqNo:87; 4061355.56 north; 594176.73 east
2021-10-10T03:00:06Z- AHRS_M2 msg: 1633834804.11 epoch sec; seqNo:88
2021-10-10T03:00:06Z- AHRS_M2 msg: 0.16 phi; -0.03 theta; 5.24 psi
2021-10-10T03:00:06Z- handleDepth()-Depth_Keller msg: 1633834804116 epoch sec; seqNo:88; depth 0.08
2021-10-10T03:00:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834804.15 epoch sec; seqNo:88; 4061355.18 north; 594176.74 east
2021-10-10T03:00:06Z- AHRS_M2 msg: 1633834804.51 epoch sec; seqNo:89
2021-10-10T03:00:06Z- AHRS_M2 msg: 0.08 phi; -0.04 theta; 5.21 psi
2021-10-10T03:00:06Z- handleDepth()-Depth_Keller msg: 1633834804524 epoch sec; seqNo:89; depth 0.07
2021-10-10T03:00:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834804.55 epoch sec; seqNo:89; 4061355.18 north; 594176.74 east
2021-10-10T03:00:07Z- AHRS_M2 msg: 1633834804.92 epoch sec; seqNo:90
2021-10-10T03:00:07Z- AHRS_M2 msg: -0.02 phi; -0.04 theta; 5.21 psi
2021-10-10T03:00:07Z- handleDepth()-Depth_Keller msg: 1633834804928 epoch sec; seqNo:90; depth 0.05
2021-10-10T03:00:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834804.95 epoch sec; seqNo:90; 4061354.80 north; 594176.74 east
2021-10-10T03:00:07Z- AHRS_M2 msg: 1633834805.32 epoch sec; seqNo:91
2021-10-10T03:00:07Z- AHRS_M2 msg: -0.07 phi; -0.02 theta; 5.27 psi
2021-10-10T03:00:07Z- handleDepth()-Depth_Keller msg: 1633834805328 epoch sec; seqNo:91; depth 0.02
2021-10-10T03:00:07Z- handleDvl() - RDI_Pathfinder msg: 1633834805.38 epoch sec; seqNo:19
2021-10-10T03:00:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 102.48 , 88.90 , 94.33 , 97.05
2021-10-10T03:00:07Z- handleDvl() - RDI_Pathfinder msg: velocities -0.44 , -0.50 , -0.19
2021-10-10T03:00:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834805.41 epoch sec; seqNo:91; 4061354.43 north; 594176.74 east
2021-10-10T03:00:08Z- LcmTrn::handleMessages() - handling 39 messages took 0.77 ms and 123 calls...
2021-10-10T03:00:08Z- waiting for 1633834803.49, time is 1633834805.41
2021-10-10T03:00:08Z- LcmTrn::updateTrn() equating pose 1633834805.41 and meas times 1633834805.41
2021-10-10T03:00:08Z- LcmTrn::updateTrn() >>>> pose time 1633834805.41, meas time 1633834805.41 <<<<
2021-10-10T03:00:08Z- TerrainNav::Measurement type 1 from time = 1633834805.41 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:00:08Z- TerrainNav::motionUpdate() - currEstimate = (4061354, 594176.74, 0.02)
2021-10-10T03:00:08Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:00:08Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:08Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:08Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:00:08Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:00:08Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:00:08Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:00:08Z- AHRS_M2 msg: 1633834805.72 epoch sec; seqNo:92
2021-10-10T03:00:08Z- AHRS_M2 msg: 0.00 phi; -0.04 theta; 5.35 psi
2021-10-10T03:00:08Z- handleDepth()-Depth_Keller msg: 1633834805731 epoch sec; seqNo:92; depth 0.04
2021-10-10T03:00:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834805.77 epoch sec; seqNo:92; 4061354.43 north; 594176.74 east
2021-10-10T03:00:08Z- AHRS_M2 msg: 1633834806.13 epoch sec; seqNo:93
2021-10-10T03:00:08Z- AHRS_M2 msg: 0.03 phi; -0.08 theta; 5.34 psi
2021-10-10T03:00:08Z- handleDepth()-Depth_Keller msg: 1633834806144 epoch sec; seqNo:93; depth 0.07
2021-10-10T03:00:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834806.20 epoch sec; seqNo:93; 4061354.05 north; 594176.75 east
2021-10-10T03:00:09Z- AHRS_M2 msg: 1633834806.54 epoch sec; seqNo:94
2021-10-10T03:00:09Z- AHRS_M2 msg: -0.05 phi; -0.06 theta; 5.28 psi
2021-10-10T03:00:09Z- handleDepth()-Depth_Keller msg: 1633834806548 epoch sec; seqNo:94; depth 0.09
2021-10-10T03:00:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834806.57 epoch sec; seqNo:94; 4061353.67 north; 594176.75 east
2021-10-10T03:00:09Z- AHRS_M2 msg: 1633834806.94 epoch sec; seqNo:95
2021-10-10T03:00:09Z- AHRS_M2 msg: -0.10 phi; 0.05 theta; 5.26 psi
2021-10-10T03:00:09Z- handleDepth()-Depth_Keller msg: 1633834806957 epoch sec; seqNo:95; depth 0.09
2021-10-10T03:00:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834806.97 epoch sec; seqNo:95; 4061353.29 north; 594176.76 east
2021-10-10T03:00:09Z- AHRS_M2 msg: 1633834807.34 epoch sec; seqNo:96
2021-10-10T03:00:09Z- AHRS_M2 msg: -0.16 phi; 0.05 theta; 5.26 psi
2021-10-10T03:00:09Z- handleDepth()-Depth_Keller msg: 1633834807351 epoch sec; seqNo:96; depth 0.06
2021-10-10T03:00:09Z- handleDvl() - RDI_Pathfinder msg: 1633834807.38 epoch sec; seqNo:20
2021-10-10T03:00:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.45 , 97.53 , 97.53 , 96.17
2021-10-10T03:00:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.20 , -0.31 , -0.48
2021-10-10T03:00:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834807.40 epoch sec; seqNo:96; 4061353.29 north; 594176.76 east
2021-10-10T03:00:10Z- AHRS_M2 msg: 1633834807.75 epoch sec; seqNo:97
2021-10-10T03:00:10Z- AHRS_M2 msg: -0.15 phi; -0.01 theta; 5.30 psi
2021-10-10T03:00:10Z- handleDepth()-Depth_Keller msg: 1633834807754 epoch sec; seqNo:97; depth 0.05
2021-10-10T03:00:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834807.77 epoch sec; seqNo:97; 4061353.28 north; 594175.54 east
2021-10-10T03:00:10Z- AHRS_M2 msg: 1633834808.15 epoch sec; seqNo:98
2021-10-10T03:00:10Z- AHRS_M2 msg: -0.04 phi; -0.01 theta; 5.33 psi
2021-10-10T03:00:10Z- handleDepth()-Depth_Keller msg: 1633834808161 epoch sec; seqNo:98; depth 0.07
2021-10-10T03:00:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834808.17 epoch sec; seqNo:98; 4061353.28 north; 594175.54 east
2021-10-10T03:00:11Z- AHRS_M2 msg: 1633834808.55 epoch sec; seqNo:99
2021-10-10T03:00:11Z- AHRS_M2 msg: 0.01 phi; 0.03 theta; 5.34 psi
2021-10-10T03:00:11Z- handleDepth()-Depth_Keller msg: 1633834808559 epoch sec; seqNo:99; depth 0.07
2021-10-10T03:00:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834808.59 epoch sec; seqNo:99; 4061353.28 north; 594175.54 east
2021-10-10T03:00:11Z- AHRS_M2 msg: 1633834808.96 epoch sec; seqNo:100
2021-10-10T03:00:11Z- AHRS_M2 msg: 0.02 phi; 0.10 theta; 5.36 psi
2021-10-10T03:00:11Z- handleDepth()-Depth_Keller msg: 1633834808961 epoch sec; seqNo:100; depth 0.07
2021-10-10T03:00:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834808.97 epoch sec; seqNo:100; 4061352.90 north; 594175.54 east
2021-10-10T03:00:11Z- AHRS_M2 msg: 1633834809.37 epoch sec; seqNo:101
2021-10-10T03:00:11Z- AHRS_M2 msg: -0.05 phi; 0.08 theta; 5.31 psi
2021-10-10T03:00:11Z- handleDepth()-Depth_Keller msg: 1633834809373 epoch sec; seqNo:101; depth 0.07
2021-10-10T03:00:11Z- handleDvl() - RDI_Pathfinder msg: 1633834809.40 epoch sec; seqNo:21
2021-10-10T03:00:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.31 , 96.10 , 97.46 , 97.46
2021-10-10T03:00:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.26 , -0.32 , 0.24
2021-10-10T03:00:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834809.41 epoch sec; seqNo:101; 4061352.90 north; 594175.54 east
2021-10-10T03:00:12Z- AHRS_M2 msg: 1633834809.77 epoch sec; seqNo:102
2021-10-10T03:00:12Z- AHRS_M2 msg: -0.17 phi; -0.03 theta; 5.26 psi
2021-10-10T03:00:12Z- handleDepth()-Depth_Keller msg: 1633834809769 epoch sec; seqNo:102; depth 0.04
2021-10-10T03:00:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834809.79 epoch sec; seqNo:102; 4061352.90 north; 594175.54 east
2021-10-10T03:00:12Z- AHRS_M2 msg: 1633834810.17 epoch sec; seqNo:103
2021-10-10T03:00:12Z- AHRS_M2 msg: -0.24 phi; -0.09 theta; 5.30 psi
2021-10-10T03:00:12Z- handleDepth()-Depth_Keller msg: 1633834810172 epoch sec; seqNo:103; depth 0.01
2021-10-10T03:00:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834810.18 epoch sec; seqNo:103; 4061352.90 north; 594175.54 east
2021-10-10T03:00:13Z- AHRS_M2 msg: 1633834810.58 epoch sec; seqNo:104
2021-10-10T03:00:13Z- AHRS_M2 msg: -0.15 phi; -0.09 theta; 5.40 psi
2021-10-10T03:00:13Z- handleDepth()-Depth_Keller msg: 1633834810587 epoch sec; seqNo:104; depth 0.02
2021-10-10T03:00:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834810.60 epoch sec; seqNo:104; 4061352.90 north; 594175.54 east
2021-10-10T03:00:13Z- LcmTrn::handleMessages() - handling 41 messages took 0.78 ms and 125 calls...
2021-10-10T03:00:13Z- waiting for 1633834808.41, time is 1633834810.60
2021-10-10T03:00:13Z- LcmTrn::updateTrn() >>>> pose time 1633834810.60, meas time 1633834809.40 <<<<
2021-10-10T03:00:13Z- TerrainNav::Measurement type 1 from time = 1633834809.40 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:00:13Z- TerrainNav::motionUpdate() - currEstimate = (4061353, 594175.54, 0.02)
2021-10-10T03:00:13Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:00:13Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:13Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:13Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:00:13Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:00:13Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:00:13Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:00:13Z- AHRS_M2 msg: 1633834810.98 epoch sec; seqNo:105
2021-10-10T03:00:13Z- AHRS_M2 msg: 0.00 phi; -0.04 theta; 5.40 psi
2021-10-10T03:00:13Z- handleDepth()-Depth_Keller msg: 1633834810988 epoch sec; seqNo:105; depth 0.05
2021-10-10T03:00:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834811.00 epoch sec; seqNo:105; 4061352.88 north; 594174.32 east
2021-10-10T03:00:13Z- AHRS_M2 msg: 1633834811.38 epoch sec; seqNo:106
2021-10-10T03:00:13Z- AHRS_M2 msg: 0.07 phi; 0.00 theta; 5.37 psi
2021-10-10T03:00:13Z- handleDepth()-Depth_Keller msg: 1633834811385 epoch sec; seqNo:106; depth 0.07
2021-10-10T03:00:13Z- handleDvl() - RDI_Pathfinder msg: 1633834811.41 epoch sec; seqNo:22
2021-10-10T03:00:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.65 , 112.54 , 92.16 , 104.39
2021-10-10T03:00:13Z- handleDvl() - RDI_Pathfinder msg: velocities -0.27 , -0.52 , -0.43
2021-10-10T03:00:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834811.42 epoch sec; seqNo:106; 4061352.51 north; 594174.32 east
2021-10-10T03:00:14Z- AHRS_M2 msg: 1633834811.78 epoch sec; seqNo:107
2021-10-10T03:00:14Z- AHRS_M2 msg: 0.04 phi; -0.03 theta; 5.40 psi
2021-10-10T03:00:14Z- handleDepth()-Depth_Keller msg: 1633834811798 epoch sec; seqNo:107; depth 0.08
2021-10-10T03:00:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834811.82 epoch sec; seqNo:107; 4061352.51 north; 594174.32 east
2021-10-10T03:00:14Z- AHRS_M2 msg: 1633834812.19 epoch sec; seqNo:108
2021-10-10T03:00:14Z- AHRS_M2 msg: -0.03 phi; -0.07 theta; 5.44 psi
2021-10-10T03:00:14Z- handleDepth()-Depth_Keller msg: 1633834812192 epoch sec; seqNo:108; depth 0.06
2021-10-10T03:00:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834812.20 epoch sec; seqNo:108; 4061352.13 north; 594174.33 east
2021-10-10T03:00:15Z- AHRS_M2 msg: 1633834812.60 epoch sec; seqNo:109
2021-10-10T03:00:15Z- AHRS_M2 msg: -0.07 phi; -0.08 theta; 5.50 psi
2021-10-10T03:00:15Z- handleDepth()-Depth_Keller msg: 1633834812611 epoch sec; seqNo:109; depth 0.07
2021-10-10T03:00:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834812.62 epoch sec; seqNo:109; 4061352.13 north; 594174.33 east
2021-10-10T03:00:15Z- AHRS_M2 msg: 1633834813.00 epoch sec; seqNo:110
2021-10-10T03:00:15Z- AHRS_M2 msg: -0.05 phi; -0.05 theta; 5.52 psi
2021-10-10T03:00:15Z- handleDepth()-Depth_Keller msg: 1633834813020 epoch sec; seqNo:110; depth 0.08
2021-10-10T03:00:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834813.08 epoch sec; seqNo:110; 4061351.75 north; 594174.33 east
2021-10-10T03:00:15Z- AHRS_M2 msg: 1633834813.40 epoch sec; seqNo:111
2021-10-10T03:00:15Z- AHRS_M2 msg: -0.07 phi; 0.00 theta; 5.49 psi
2021-10-10T03:00:15Z- handleDepth()-Depth_Keller msg: 1633834813405 epoch sec; seqNo:111; depth 0.09
2021-10-10T03:00:15Z- handleDvl() - RDI_Pathfinder msg: 1633834813.43 epoch sec; seqNo:23
2021-10-10T03:00:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.17 , 95.96 , 97.32 , 95.96
2021-10-10T03:00:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.13 , -0.31 , -0.22
2021-10-10T03:00:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834813.45 epoch sec; seqNo:111; 4061351.75 north; 594174.33 east
2021-10-10T03:00:16Z- AHRS_M2 msg: 1633834813.81 epoch sec; seqNo:112
2021-10-10T03:00:16Z- AHRS_M2 msg: -0.06 phi; 0.00 theta; 5.51 psi
2021-10-10T03:00:16Z- handleDepth()-Depth_Keller msg: 1633834813810 epoch sec; seqNo:112; depth 0.08
2021-10-10T03:00:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834813.82 epoch sec; seqNo:112; 4061351.75 north; 594174.33 east
2021-10-10T03:00:16Z- AHRS_M2 msg: 1633834814.21 epoch sec; seqNo:113
2021-10-10T03:00:16Z- AHRS_M2 msg: 0.01 phi; -0.05 theta; 5.52 psi
2021-10-10T03:00:16Z- handleDepth()-Depth_Keller msg: 1633834814216 epoch sec; seqNo:113; depth 0.09
2021-10-10T03:00:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834814.23 epoch sec; seqNo:113; 4061351.75 north; 594174.33 east
2021-10-10T03:00:17Z- AHRS_M2 msg: 1633834814.61 epoch sec; seqNo:114
2021-10-10T03:00:17Z- AHRS_M2 msg: 0.01 phi; -0.08 theta; 5.53 psi
2021-10-10T03:00:17Z- handleDepth()-Depth_Keller msg: 1633834814616 epoch sec; seqNo:114; depth 0.10
2021-10-10T03:00:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834814.62 epoch sec; seqNo:114; 4061351.37 north; 594174.34 east
2021-10-10T03:00:17Z- AHRS_M2 msg: 1633834815.05 epoch sec; seqNo:115
2021-10-10T03:00:17Z- AHRS_M2 msg: -0.05 phi; -0.07 theta; 5.58 psi
2021-10-10T03:00:17Z- handleDepth()-Depth_Keller msg: 1633834815079 epoch sec; seqNo:115; depth 0.06
2021-10-10T03:00:17Z- handleDvl() - RDI_Pathfinder msg: 1633834815.10 epoch sec; seqNo:24
2021-10-10T03:00:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 94.88 , 93.52 , 90.80 , 97.59
2021-10-10T03:00:17Z- handleDvl() - RDI_Pathfinder msg: velocities -0.53 , -0.44 , 0.14
2021-10-10T03:00:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834815.12 epoch sec; seqNo:115; 4061351.37 north; 594174.34 east
2021-10-10T03:00:17Z- AHRS_M2 msg: 1633834815.43 epoch sec; seqNo:116
2021-10-10T03:00:17Z- AHRS_M2 msg: -0.02 phi; -0.04 theta; 5.64 psi
2021-10-10T03:00:17Z- handleDepth()-Depth_Keller msg: 1633834815437 epoch sec; seqNo:116; depth 0.03
2021-10-10T03:00:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834815.45 epoch sec; seqNo:116; 4061350.99 north; 594174.34 east
2021-10-10T03:00:18Z- LcmTrn::handleMessages() - handling 39 messages took 0.60 ms and 126 calls...
2021-10-10T03:00:18Z- waiting for 1633834813.60, time is 1633834815.45
2021-10-10T03:00:18Z- LcmTrn::updateTrn() >>>> pose time 1633834815.45, meas time 1633834815.10 <<<<
2021-10-10T03:00:18Z- TerrainNav::Measurement type 1 from time = 1633834815.10 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:00:18Z- TerrainNav::motionUpdate() - currEstimate = (4061351, 594174.34, 0.03)
2021-10-10T03:00:18Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:00:18Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:18Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:18Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:00:18Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:00:18Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:00:18Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:00:18Z- AHRS_M2 msg: 1633834815.82 epoch sec; seqNo:117
2021-10-10T03:00:18Z- AHRS_M2 msg: 0.06 phi; -0.06 theta; 5.66 psi
2021-10-10T03:00:18Z- handleDepth()-Depth_Keller msg: 1633834815835 epoch sec; seqNo:117; depth 0.05
2021-10-10T03:00:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834815.85 epoch sec; seqNo:117; 4061350.61 north; 594174.34 east
2021-10-10T03:00:18Z- AHRS_M2 msg: 1633834816.23 epoch sec; seqNo:118
2021-10-10T03:00:18Z- AHRS_M2 msg: 0.13 phi; -0.13 theta; 5.64 psi
2021-10-10T03:00:18Z- handleDepth()-Depth_Keller msg: 1633834816233 epoch sec; seqNo:118; depth 0.07
2021-10-10T03:00:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834816.24 epoch sec; seqNo:118; 4061350.61 north; 594174.34 east
2021-10-10T03:00:19Z- AHRS_M2 msg: 1633834816.63 epoch sec; seqNo:119
2021-10-10T03:00:19Z- AHRS_M2 msg: 0.14 phi; -0.12 theta; 5.65 psi
2021-10-10T03:00:19Z- handleDepth()-Depth_Keller msg: 1633834816640 epoch sec; seqNo:119; depth 0.06
2021-10-10T03:00:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834816.65 epoch sec; seqNo:119; 4061350.23 north; 594174.35 east
2021-10-10T03:00:19Z- AHRS_M2 msg: 1633834817.07 epoch sec; seqNo:120
2021-10-10T03:00:19Z- AHRS_M2 msg: 0.11 phi; -0.03 theta; 5.64 psi
2021-10-10T03:00:19Z- handleDepth()-Depth_Keller msg: 1633834817079 epoch sec; seqNo:120; depth 0.09
2021-10-10T03:00:19Z- handleDvl() - RDI_Pathfinder msg: 1633834817.11 epoch sec; seqNo:25
2021-10-10T03:00:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 104.45 , 88.15 , 88.15 , 103.10
2021-10-10T03:00:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.08 , -0.38 , -1.05
2021-10-10T03:00:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834817.12 epoch sec; seqNo:120; 4061350.23 north; 594174.35 east
2021-10-10T03:00:19Z- AHRS_M2 msg: 1633834817.44 epoch sec; seqNo:121
2021-10-10T03:00:19Z- AHRS_M2 msg: -0.02 phi; 0.05 theta; 5.65 psi
2021-10-10T03:00:19Z- handleDepth()-Depth_Keller msg: 1633834817465 epoch sec; seqNo:121; depth 0.10
2021-10-10T03:00:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834817.48 epoch sec; seqNo:121; 4061349.85 north; 594174.35 east
2021-10-10T03:00:20Z- AHRS_M2 msg: 1633834817.84 epoch sec; seqNo:122
2021-10-10T03:00:20Z- AHRS_M2 msg: -0.18 phi; 0.02 theta; 5.63 psi
2021-10-10T03:00:20Z- handleDepth()-Depth_Keller msg: 1633834817855 epoch sec; seqNo:122; depth 0.12
2021-10-10T03:00:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834817.87 epoch sec; seqNo:122; 4061349.84 north; 594173.13 east
2021-10-10T03:00:20Z- AHRS_M2 msg: 1633834818.25 epoch sec; seqNo:123
2021-10-10T03:00:20Z- AHRS_M2 msg: -0.25 phi; -0.03 theta; 5.63 psi
2021-10-10T03:00:20Z- handleDepth()-Depth_Keller msg: 1633834818261 epoch sec; seqNo:123; depth 0.10
2021-10-10T03:00:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834818.28 epoch sec; seqNo:123; 4061349.84 north; 594173.13 east
2021-10-10T03:00:21Z- AHRS_M2 msg: 1633834818.65 epoch sec; seqNo:124
2021-10-10T03:00:21Z- AHRS_M2 msg: -0.16 phi; -0.05 theta; 5.67 psi
2021-10-10T03:00:21Z- handleDepth()-Depth_Keller msg: 1633834818665 epoch sec; seqNo:124; depth 0.13
2021-10-10T03:00:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834818.67 epoch sec; seqNo:124; 4061349.84 north; 594173.13 east
2021-10-10T03:00:21Z- AHRS_M2 msg: 1633834819.09 epoch sec; seqNo:125
2021-10-10T03:00:21Z- AHRS_M2 msg: 0.07 phi; -0.08 theta; 5.74 psi
2021-10-10T03:00:21Z- handleDepth()-Depth_Keller msg: 1633834819091 epoch sec; seqNo:125; depth 0.15
2021-10-10T03:00:21Z- handleDvl() - RDI_Pathfinder msg: 1633834819.11 epoch sec; seqNo:26
2021-10-10T03:00:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.94 , 109.75 , 97.53 , 97.53
2021-10-10T03:00:21Z- handleDvl() - RDI_Pathfinder msg: velocities -0.06 , -0.31 , 0.32
2021-10-10T03:00:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834819.14 epoch sec; seqNo:125; 4061349.46 north; 594173.14 east
2021-10-10T03:00:21Z- handleDepth()-Depth_Keller msg: 1633834819487 epoch sec; seqNo:126; depth 0.16
2021-10-10T03:00:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834819.51 epoch sec; seqNo:126; 4061349.46 north; 594173.14 east
2021-10-10T03:00:22Z- AHRS_M2 msg: 1633834819.87 epoch sec; seqNo:126
2021-10-10T03:00:22Z- AHRS_M2 msg: 0.06 phi; -0.08 theta; 5.73 psi
2021-10-10T03:00:22Z- handleDepth()-Depth_Keller msg: 1633834819877 epoch sec; seqNo:127; depth 0.16
2021-10-10T03:00:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834819.89 epoch sec; seqNo:127; 4061349.46 north; 594173.14 east
2021-10-10T03:00:22Z- AHRS_M2 msg: 1633834820.27 epoch sec; seqNo:127
2021-10-10T03:00:22Z- AHRS_M2 msg: -0.11 phi; -0.08 theta; 5.70 psi
2021-10-10T03:00:22Z- handleDepth()-Depth_Keller msg: 1633834820278 epoch sec; seqNo:128; depth 0.13
2021-10-10T03:00:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834820.30 epoch sec; seqNo:128; 4061349.46 north; 594173.14 east
2021-10-10T03:00:23Z- AHRS_M2 msg: 1633834820.68 epoch sec; seqNo:128
2021-10-10T03:00:23Z- AHRS_M2 msg: -0.14 phi; -0.16 theta; 5.70 psi
2021-10-10T03:00:23Z- handleDepth()-Depth_Keller msg: 1633834820681 epoch sec; seqNo:129; depth 0.10
2021-10-10T03:00:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834820.69 epoch sec; seqNo:129; 4061349.08 north; 594173.14 east
2021-10-10T03:00:23Z- LcmTrn::handleMessages() - handling 40 messages took 0.63 ms and 127 calls...
2021-10-10T03:00:23Z- waiting for 1633834818.45, time is 1633834820.69
2021-10-10T03:00:23Z- LcmTrn::updateTrn() >>>> pose time 1633834820.69, meas time 1633834819.11 <<<<
2021-10-10T03:00:23Z- TerrainNav::Measurement type 1 from time = 1633834819.11 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:00:23Z- TerrainNav::motionUpdate() - currEstimate = (4061349, 594173.14, 0.10)
2021-10-10T03:00:23Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:00:23Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:23Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:23Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:00:23Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:00:23Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:00:23Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:00:23Z- AHRS_M2 msg: 1633834821.09 epoch sec; seqNo:129
2021-10-10T03:00:23Z- AHRS_M2 msg: -0.08 phi; -0.18 theta; 5.75 psi
2021-10-10T03:00:23Z- handleDepth()-Depth_Keller msg: 1633834821089 epoch sec; seqNo:130; depth 0.10
2021-10-10T03:00:23Z- handleDvl() - RDI_Pathfinder msg: 1633834821.11 epoch sec; seqNo:27
2021-10-10T03:00:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.24 , 98.75 , 91.96 , 97.39
2021-10-10T03:00:23Z- handleDvl() - RDI_Pathfinder msg: velocities -0.35 , -0.34 , 0.39
2021-10-10T03:00:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834821.13 epoch sec; seqNo:130; 4061349.08 north; 594173.14 east
2021-10-10T03:00:23Z- AHRS_M2 msg: 1633834821.48 epoch sec; seqNo:130
2021-10-10T03:00:23Z- AHRS_M2 msg: 0.01 phi; -0.19 theta; 5.82 psi
2021-10-10T03:00:23Z- handleDepth()-Depth_Keller msg: 1633834821493 epoch sec; seqNo:131; depth 0.10
2021-10-10T03:00:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834821.51 epoch sec; seqNo:131; 4061348.70 north; 594173.14 east
2021-10-10T03:00:24Z- AHRS_M2 msg: 1633834821.88 epoch sec; seqNo:131
2021-10-10T03:00:24Z- AHRS_M2 msg: 0.10 phi; -0.22 theta; 5.85 psi
2021-10-10T03:00:24Z- handleDepth()-Depth_Keller msg: 1633834821895 epoch sec; seqNo:132; depth 0.10
2021-10-10T03:00:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834821.92 epoch sec; seqNo:132; 4061348.70 north; 594173.14 east
2021-10-10T03:00:24Z- AHRS_M2 msg: 1633834822.29 epoch sec; seqNo:132
2021-10-10T03:00:24Z- AHRS_M2 msg: 0.09 phi; -0.17 theta; 5.82 psi
2021-10-10T03:00:24Z- handleDepth()-Depth_Keller msg: 1633834822293 epoch sec; seqNo:133; depth 0.12
2021-10-10T03:00:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834822.30 epoch sec; seqNo:133; 4061348.32 north; 594173.15 east
2021-10-10T03:00:25Z- AHRS_M2 msg: 1633834822.69 epoch sec; seqNo:133
2021-10-10T03:00:25Z- AHRS_M2 msg: -0.01 phi; -0.08 theta; 5.81 psi
2021-10-10T03:00:25Z- handleDepth()-Depth_Keller msg: 1633834822703 epoch sec; seqNo:134; depth 0.10
2021-10-10T03:00:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834822.71 epoch sec; seqNo:134; 4061348.31 north; 594171.93 east
2021-10-10T03:00:25Z- AHRS_M2 msg: 1633834823.10 epoch sec; seqNo:134
2021-10-10T03:00:25Z- AHRS_M2 msg: -0.06 phi; -0.03 theta; 5.84 psi
2021-10-10T03:00:25Z- handleDepth()-Depth_Keller msg: 1633834823104 epoch sec; seqNo:135; depth 0.08
2021-10-10T03:00:25Z- handleDvl() - RDI_Pathfinder msg: 1633834823.13 epoch sec; seqNo:28
2021-10-10T03:00:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 101.74 , 89.51 , 86.79 , 104.45
2021-10-10T03:00:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.19 , -0.32 , -0.43
2021-10-10T03:00:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834823.14 epoch sec; seqNo:135; 4061348.31 north; 594171.93 east
2021-10-10T03:00:25Z- AHRS_M2 msg: 1633834823.50 epoch sec; seqNo:135
2021-10-10T03:00:25Z- AHRS_M2 msg: 0.00 phi; -0.01 theta; 5.84 psi
2021-10-10T03:00:25Z- handleDepth()-Depth_Keller msg: 1633834823505 epoch sec; seqNo:136; depth 0.06
2021-10-10T03:00:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834823.52 epoch sec; seqNo:136; 4061348.31 north; 594171.93 east
2021-10-10T03:00:26Z- AHRS_M2 msg: 1633834823.90 epoch sec; seqNo:136
2021-10-10T03:00:26Z- AHRS_M2 msg: 0.03 phi; -0.01 theta; 5.85 psi
2021-10-10T03:00:26Z- handleDepth()-Depth_Keller msg: 1633834823909 epoch sec; seqNo:137; depth 0.07
2021-10-10T03:00:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834823.92 epoch sec; seqNo:137; 4061348.31 north; 594171.93 east
2021-10-10T03:00:26Z- AHRS_M2 msg: 1633834824.31 epoch sec; seqNo:137
2021-10-10T03:00:26Z- AHRS_M2 msg: 0.01 phi; -0.04 theta; 5.88 psi
2021-10-10T03:00:26Z- handleDepth()-Depth_Keller msg: 1633834824319 epoch sec; seqNo:138; depth 0.07
2021-10-10T03:00:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834824.33 epoch sec; seqNo:138; 4061348.31 north; 594171.93 east
2021-10-10T03:00:27Z- AHRS_M2 msg: 1633834824.71 epoch sec; seqNo:138
2021-10-10T03:00:27Z- AHRS_M2 msg: -0.06 phi; -0.05 theta; 5.88 psi
2021-10-10T03:00:27Z- handleDepth()-Depth_Keller msg: 1633834824716 epoch sec; seqNo:139; depth 0.06
2021-10-10T03:00:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834824.73 epoch sec; seqNo:139; 4061348.31 north; 594171.93 east
2021-10-10T03:00:27Z- AHRS_M2 msg: 1633834825.12 epoch sec; seqNo:139
2021-10-10T03:00:27Z- AHRS_M2 msg: -0.10 phi; -0.06 theta; 5.89 psi
2021-10-10T03:00:27Z- handleDepth()-Depth_Keller msg: 1633834825120 epoch sec; seqNo:140; depth 0.04
2021-10-10T03:00:27Z- handleDvl() - RDI_Pathfinder msg: 1633834825.14 epoch sec; seqNo:29
2021-10-10T03:00:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.45 , 92.09 , 97.53 , 97.53
2021-10-10T03:00:27Z- handleDvl() - RDI_Pathfinder msg: velocities -0.55 , -0.24 , 0.15
2021-10-10T03:00:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834825.17 epoch sec; seqNo:140; 4061347.93 north; 594171.93 east
2021-10-10T03:00:27Z- AHRS_M2 msg: 1633834825.52 epoch sec; seqNo:140
2021-10-10T03:00:27Z- AHRS_M2 msg: -0.08 phi; -0.05 theta; 5.88 psi
2021-10-10T03:00:27Z- handleDepth()-Depth_Keller msg: 1633834825528 epoch sec; seqNo:141; depth 0.04
2021-10-10T03:00:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834825.54 epoch sec; seqNo:141; 4061347.93 north; 594171.93 east
2021-10-10T03:00:28Z- LcmTrn::handleMessages() - handling 39 messages took 0.71 ms and 124 calls...
2021-10-10T03:00:28Z- waiting for 1633834823.69, time is 1633834825.54
2021-10-10T03:00:28Z- LcmTrn::updateTrn() >>>> pose time 1633834825.54, meas time 1633834825.14 <<<<
2021-10-10T03:00:28Z- TerrainNav::Measurement type 1 from time = 1633834825.14 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:00:28Z- TerrainNav::motionUpdate() - currEstimate = (4061348, 594171.93, 0.04)
2021-10-10T03:00:28Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:00:28Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:28Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:28Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:00:28Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:00:28Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:00:28Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:00:28Z- AHRS_M2 msg: 1633834825.93 epoch sec; seqNo:141
2021-10-10T03:00:28Z- AHRS_M2 msg: -0.01 phi; -0.06 theta; 5.90 psi
2021-10-10T03:00:28Z- handleDepth()-Depth_Keller msg: 1633834825934 epoch sec; seqNo:142; depth 0.04
2021-10-10T03:00:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834825.94 epoch sec; seqNo:142; 4061347.55 north; 594171.94 east
2021-10-10T03:00:28Z- AHRS_M2 msg: 1633834826.33 epoch sec; seqNo:142
2021-10-10T03:00:28Z- AHRS_M2 msg: 0.08 phi; -0.01 theta; 5.92 psi
2021-10-10T03:00:28Z- handleDepth()-Depth_Keller msg: 1633834826346 epoch sec; seqNo:143; depth 0.05
2021-10-10T03:00:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834826.36 epoch sec; seqNo:143; 4061347.17 north; 594171.94 east
2021-10-10T03:00:29Z- AHRS_M2 msg: 1633834826.73 epoch sec; seqNo:143
2021-10-10T03:00:29Z- AHRS_M2 msg: 0.04 phi; -0.00 theta; 5.93 psi
2021-10-10T03:00:29Z- handleDepth()-Depth_Keller msg: 1633834826739 epoch sec; seqNo:144; depth 0.06
2021-10-10T03:00:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834826.75 epoch sec; seqNo:144; 4061347.17 north; 594171.94 east
2021-10-10T03:00:29Z- AHRS_M2 msg: 1633834827.14 epoch sec; seqNo:144
2021-10-10T03:00:29Z- AHRS_M2 msg: -0.03 phi; -0.01 theta; 5.96 psi
2021-10-10T03:00:29Z- handleDepth()-Depth_Keller msg: 1633834827141 epoch sec; seqNo:145; depth 0.10
2021-10-10T03:00:29Z- handleDvl() - RDI_Pathfinder msg: 1633834827.16 epoch sec; seqNo:30
2021-10-10T03:00:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.59 , 97.59 , 93.52 , 97.59
2021-10-10T03:00:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.17 , -0.16 , -0.11
2021-10-10T03:00:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834827.19 epoch sec; seqNo:145; 4061347.17 north; 594171.94 east
2021-10-10T03:00:30Z- AHRS_M2 msg: 1633834827.54 epoch sec; seqNo:145
2021-10-10T03:00:30Z- AHRS_M2 msg: -0.10 phi; 0.05 theta; 5.98 psi
2021-10-10T03:00:30Z- handleDepth()-Depth_Keller msg: 1633834827556 epoch sec; seqNo:146; depth 0.08
2021-10-10T03:00:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834827.57 epoch sec; seqNo:146; 4061347.17 north; 594171.94 east
2021-10-10T03:00:30Z- AHRS_M2 msg: 1633834827.95 epoch sec; seqNo:146
2021-10-10T03:00:30Z- AHRS_M2 msg: -0.12 phi; 0.07 theta; 5.96 psi
2021-10-10T03:00:30Z- handleDepth()-Depth_Keller msg: 1633834827957 epoch sec; seqNo:147; depth 0.06
2021-10-10T03:00:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834827.97 epoch sec; seqNo:147; 4061347.17 north; 594171.94 east
2021-10-10T03:00:30Z- AHRS_M2 msg: 1633834828.35 epoch sec; seqNo:147
2021-10-10T03:00:30Z- AHRS_M2 msg: -0.10 phi; 0.04 theta; 5.99 psi
2021-10-10T03:00:30Z- handleDepth()-Depth_Keller msg: 1633834828352 epoch sec; seqNo:148; depth 0.05
2021-10-10T03:00:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834828.36 epoch sec; seqNo:148; 4061347.17 north; 594171.94 east
2021-10-10T03:00:31Z- AHRS_M2 msg: 1633834828.75 epoch sec; seqNo:148
2021-10-10T03:00:31Z- AHRS_M2 msg: -0.08 phi; -0.03 theta; 6.07 psi
2021-10-10T03:00:31Z- handleDepth()-Depth_Keller msg: 1633834828763 epoch sec; seqNo:149; depth 0.03
2021-10-10T03:00:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834828.77 epoch sec; seqNo:149; 4061347.16 north; 594170.72 east
2021-10-10T03:00:31Z- AHRS_M2 msg: 1633834829.16 epoch sec; seqNo:149
2021-10-10T03:00:31Z- AHRS_M2 msg: -0.00 phi; -0.13 theta; 6.06 psi
2021-10-10T03:00:31Z- handleDepth()-Depth_Keller msg: 1633834829163 epoch sec; seqNo:150; depth 0.03
2021-10-10T03:00:31Z- handleDvl() - RDI_Pathfinder msg: 1633834829.18 epoch sec; seqNo:31
2021-10-10T03:00:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.46 , 101.53 , 96.10 , 97.46
2021-10-10T03:00:31Z- handleDvl() - RDI_Pathfinder msg: velocities -0.89 , 0.08 , 0.03
2021-10-10T03:00:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834829.19 epoch sec; seqNo:150; 4061346.80 north; 594171.95 east
2021-10-10T03:00:32Z- AHRS_M2 msg: 1633834829.56 epoch sec; seqNo:150
2021-10-10T03:00:32Z- AHRS_M2 msg: 0.15 phi; -0.17 theta; 6.01 psi
2021-10-10T03:00:32Z- handleDepth()-Depth_Keller msg: 1633834829565 epoch sec; seqNo:151; depth 0.06
2021-10-10T03:00:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834829.59 epoch sec; seqNo:151; 4061346.42 north; 594171.95 east
2021-10-10T03:00:32Z- AHRS_M2 msg: 1633834829.96 epoch sec; seqNo:151
2021-10-10T03:00:32Z- AHRS_M2 msg: 0.20 phi; -0.11 theta; 6.02 psi
2021-10-10T03:00:32Z- handleDepth()-Depth_Keller msg: 1633834829975 epoch sec; seqNo:152; depth 0.08
2021-10-10T03:00:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834829.98 epoch sec; seqNo:152; 4061346.42 north; 594171.95 east
2021-10-10T03:00:32Z- AHRS_M2 msg: 1633834830.37 epoch sec; seqNo:152
2021-10-10T03:00:32Z- AHRS_M2 msg: 0.16 phi; -0.03 theta; 6.09 psi
2021-10-10T03:00:32Z- handleDepth()-Depth_Keller msg: 1633834830380 epoch sec; seqNo:153; depth 0.08
2021-10-10T03:00:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834830.39 epoch sec; seqNo:153; 4061346.04 north; 594171.95 east
2021-10-10T03:00:33Z- AHRS_M2 msg: 1633834830.77 epoch sec; seqNo:153
2021-10-10T03:00:33Z- AHRS_M2 msg: 0.04 phi; -0.04 theta; 6.10 psi
2021-10-10T03:00:33Z- handleDepth()-Depth_Keller msg: 1633834830778 epoch sec; seqNo:154; depth 0.10
2021-10-10T03:00:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834830.79 epoch sec; seqNo:154; 4061345.66 north; 594171.96 east
2021-10-10T03:00:33Z- LcmTrn::handleMessages() - handling 41 messages took 0.69 ms and 127 calls...
2021-10-10T03:00:33Z- waiting for 1633834828.54, time is 1633834830.79
2021-10-10T03:00:33Z- LcmTrn::updateTrn() >>>> pose time 1633834830.79, meas time 1633834829.18 <<<<
2021-10-10T03:00:33Z- TerrainNav::Measurement type 1 from time = 1633834829.18 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:00:33Z- TerrainNav::motionUpdate() - currEstimate = (4061346, 594171.96, 0.10)
2021-10-10T03:00:33Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:00:33Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:33Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:33Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:00:33Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:00:33Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:00:33Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:00:33Z- AHRS_M2 msg: 1633834831.19 epoch sec; seqNo:154
2021-10-10T03:00:33Z- AHRS_M2 msg: -0.07 phi; -0.09 theta; 6.05 psi
2021-10-10T03:00:33Z- handleDepth()-Depth_Keller msg: 1633834831198 epoch sec; seqNo:155; depth 0.09
2021-10-10T03:00:33Z- handleDvl() - RDI_Pathfinder msg: 1633834831.22 epoch sec; seqNo:32
2021-10-10T03:00:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 105.47 , 85.10 , 97.32 , 93.25
2021-10-10T03:00:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.13 , -0.14 , -0.08
2021-10-10T03:00:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834831.23 epoch sec; seqNo:155; 4061345.66 north; 594171.96 east
2021-10-10T03:00:34Z- AHRS_M2 msg: 1633834831.58 epoch sec; seqNo:155
2021-10-10T03:00:34Z- AHRS_M2 msg: -0.14 phi; -0.12 theta; 6.03 psi
2021-10-10T03:00:34Z- handleDepth()-Depth_Keller msg: 1633834831591 epoch sec; seqNo:156; depth 0.10
2021-10-10T03:00:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834831.62 epoch sec; seqNo:156; 4061345.66 north; 594171.96 east
2021-10-10T03:00:34Z- AHRS_M2 msg: 1633834831.98 epoch sec; seqNo:156
2021-10-10T03:00:34Z- AHRS_M2 msg: -0.16 phi; -0.08 theta; 6.04 psi
2021-10-10T03:00:34Z- handleDepth()-Depth_Keller msg: 1633834831989 epoch sec; seqNo:157; depth 0.12
2021-10-10T03:00:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834832.00 epoch sec; seqNo:157; 4061345.66 north; 594171.96 east
2021-10-10T03:00:34Z- AHRS_M2 msg: 1633834832.39 epoch sec; seqNo:157
2021-10-10T03:00:34Z- AHRS_M2 msg: -0.15 phi; -0.01 theta; 6.08 psi
2021-10-10T03:00:34Z- handleDepth()-Depth_Keller msg: 1633834832394 epoch sec; seqNo:158; depth 0.12
2021-10-10T03:00:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834832.40 epoch sec; seqNo:158; 4061345.66 north; 594171.96 east
2021-10-10T03:00:35Z- AHRS_M2 msg: 1633834832.79 epoch sec; seqNo:158
2021-10-10T03:00:35Z- AHRS_M2 msg: -0.01 phi; 0.02 theta; 6.12 psi
2021-10-10T03:00:35Z- handleDepth()-Depth_Keller msg: 1633834832809 epoch sec; seqNo:159; depth 0.11
2021-10-10T03:00:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834832.82 epoch sec; seqNo:159; 4061345.66 north; 594171.96 east
2021-10-10T03:00:35Z- AHRS_M2 msg: 1633834833.20 epoch sec; seqNo:159
2021-10-10T03:00:35Z- AHRS_M2 msg: 0.18 phi; -0.03 theta; 6.15 psi
2021-10-10T03:00:35Z- handleDepth()-Depth_Keller msg: 1633834833201 epoch sec; seqNo:160; depth 0.12
2021-10-10T03:00:35Z- handleDvl() - RDI_Pathfinder msg: 1633834833.23 epoch sec; seqNo:33
2021-10-10T03:00:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.37 , 103.03 , 94.88 , 97.59
2021-10-10T03:00:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.01 , -0.36 , 0.97
2021-10-10T03:00:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834833.24 epoch sec; seqNo:160; 4061345.65 north; 594170.74 east
2021-10-10T03:00:36Z- AHRS_M2 msg: 1633834833.60 epoch sec; seqNo:160
2021-10-10T03:00:36Z- AHRS_M2 msg: 0.27 phi; -0.12 theta; 6.16 psi
2021-10-10T03:00:36Z- handleDepth()-Depth_Keller msg: 1633834833604 epoch sec; seqNo:161; depth 0.11
2021-10-10T03:00:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834833.62 epoch sec; seqNo:161; 4061345.65 north; 594170.74 east
2021-10-10T03:00:36Z- AHRS_M2 msg: 1633834834.00 epoch sec; seqNo:161
2021-10-10T03:00:36Z- AHRS_M2 msg: 0.20 phi; -0.17 theta; 6.13 psi
2021-10-10T03:00:36Z- handleDepth()-Depth_Keller msg: 1633834834026 epoch sec; seqNo:162; depth 0.09
2021-10-10T03:00:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834834.07 epoch sec; seqNo:162; 4061345.65 north; 594170.74 east
2021-10-10T03:00:36Z- AHRS_M2 msg: 1633834834.41 epoch sec; seqNo:162
2021-10-10T03:00:36Z- AHRS_M2 msg: 0.05 phi; -0.13 theta; 6.08 psi
2021-10-10T03:00:36Z- handleDepth()-Depth_Keller msg: 1633834834413 epoch sec; seqNo:163; depth 0.07
2021-10-10T03:00:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834834.42 epoch sec; seqNo:163; 4061345.65 north; 594170.74 east
2021-10-10T03:00:37Z- AHRS_M2 msg: 1633834834.81 epoch sec; seqNo:163
2021-10-10T03:00:37Z- AHRS_M2 msg: -0.00 phi; -0.06 theta; 6.09 psi
2021-10-10T03:00:37Z- handleDepth()-Depth_Keller msg: 1633834834824 epoch sec; seqNo:164; depth 0.05
2021-10-10T03:00:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834834.83 epoch sec; seqNo:164; 4061345.27 north; 594170.74 east
2021-10-10T03:00:37Z- AHRS_M2 msg: 1633834835.22 epoch sec; seqNo:164
2021-10-10T03:00:37Z- AHRS_M2 msg: 0.01 phi; 0.01 theta; 6.11 psi
2021-10-10T03:00:37Z- handleDepth()-Depth_Keller msg: 1633834835222 epoch sec; seqNo:165; depth 0.05
2021-10-10T03:00:37Z- handleDvl() - RDI_Pathfinder msg: 1633834835.24 epoch sec; seqNo:34
2021-10-10T03:00:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.59 , 97.59 , 89.44 , 101.67
2021-10-10T03:00:37Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , -0.23 , -0.13
2021-10-10T03:00:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834835.25 epoch sec; seqNo:165; 4061345.27 north; 594170.74 east
2021-10-10T03:00:38Z- AHRS_M2 msg: 1633834835.62 epoch sec; seqNo:165
2021-10-10T03:00:38Z- AHRS_M2 msg: 0.08 phi; 0.06 theta; 6.17 psi
2021-10-10T03:00:38Z- handleDepth()-Depth_Keller msg: 1633834835634 epoch sec; seqNo:166; depth 0.06
2021-10-10T03:00:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834835.65 epoch sec; seqNo:166; 4061345.27 north; 594170.74 east
2021-10-10T03:00:38Z- LcmTrn::handleMessages() - handling 39 messages took 0.73 ms and 124 calls...
2021-10-10T03:00:38Z- waiting for 1633834833.79, time is 1633834835.65
2021-10-10T03:00:38Z- LcmTrn::updateTrn() >>>> pose time 1633834835.65, meas time 1633834835.24 <<<<
2021-10-10T03:00:38Z- TerrainNav::Measurement type 1 from time = 1633834835.24 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:00:38Z- TerrainNav::motionUpdate() - currEstimate = (4061345, 594170.74, 0.06)
2021-10-10T03:00:38Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:00:38Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:38Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:38Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:00:38Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:00:38Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:00:38Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:00:38Z- AHRS_M2 msg: 1633834836.02 epoch sec; seqNo:166
2021-10-10T03:00:38Z- AHRS_M2 msg: 0.11 phi; 0.01 theta; 6.20 psi
2021-10-10T03:00:38Z- handleDepth()-Depth_Keller msg: 1633834836035 epoch sec; seqNo:167; depth 0.07
2021-10-10T03:00:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834836.11 epoch sec; seqNo:167; 4061345.27 north; 594170.74 east
2021-10-10T03:00:38Z- handleDepth()-Depth_Keller msg: 1633834836449 epoch sec; seqNo:168; depth 0.05
2021-10-10T03:00:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834836.46 epoch sec; seqNo:168; 4061345.27 north; 594170.74 east
2021-10-10T03:00:39Z- AHRS_M2 msg: 1633834836.83 epoch sec; seqNo:167
2021-10-10T03:00:39Z- AHRS_M2 msg: -0.02 phi; -0.04 theta; 6.16 psi
2021-10-10T03:00:39Z- handleDepth()-Depth_Keller msg: 1633834836849 epoch sec; seqNo:169; depth 0.06
2021-10-10T03:00:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834836.86 epoch sec; seqNo:169; 4061345.27 north; 594170.74 east
2021-10-10T03:00:39Z- AHRS_M2 msg: 1633834837.24 epoch sec; seqNo:168
2021-10-10T03:00:39Z- AHRS_M2 msg: 0.04 phi; -0.04 theta; 6.14 psi
2021-10-10T03:00:39Z- handleDepth()-Depth_Keller msg: 1633834837246 epoch sec; seqNo:170; depth 0.06
2021-10-10T03:00:39Z- handleDvl() - RDI_Pathfinder msg: 1633834837.27 epoch sec; seqNo:35
2021-10-10T03:00:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.38 , 97.46 , 97.46 , 97.46
2021-10-10T03:00:39Z- handleDvl() - RDI_Pathfinder msg: velocities -0.30 , -0.30 , -0.49
2021-10-10T03:00:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834837.29 epoch sec; seqNo:170; 4061344.87 north; 594169.53 east
2021-10-10T03:00:40Z- AHRS_M2 msg: 1633834837.64 epoch sec; seqNo:169
2021-10-10T03:00:40Z- AHRS_M2 msg: 0.12 phi; -0.06 theta; 6.17 psi
2021-10-10T03:00:40Z- handleDepth()-Depth_Keller msg: 1633834837653 epoch sec; seqNo:171; depth 0.07
2021-10-10T03:00:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834837.69 epoch sec; seqNo:171; 4061344.87 north; 594169.53 east
2021-10-10T03:00:40Z- AHRS_M2 msg: 1633834838.05 epoch sec; seqNo:170
2021-10-10T03:00:40Z- AHRS_M2 msg: 0.20 phi; -0.10 theta; 6.16 psi
2021-10-10T03:00:40Z- handleDepth()-Depth_Keller msg: 1633834838052 epoch sec; seqNo:172; depth 0.09
2021-10-10T03:00:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834838.07 epoch sec; seqNo:172; 4061344.87 north; 594169.53 east
2021-10-10T03:00:40Z- AHRS_M2 msg: 1633834838.45 epoch sec; seqNo:171
2021-10-10T03:00:40Z- AHRS_M2 msg: 0.19 phi; -0.08 theta; 6.17 psi
2021-10-10T03:00:40Z- handleDepth()-Depth_Keller msg: 1633834838455 epoch sec; seqNo:173; depth 0.12
2021-10-10T03:00:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834838.47 epoch sec; seqNo:173; 4061344.50 north; 594169.53 east
2021-10-10T03:00:41Z- AHRS_M2 msg: 1633834838.85 epoch sec; seqNo:172
2021-10-10T03:00:41Z- AHRS_M2 msg: 0.05 phi; -0.05 theta; 6.19 psi
2021-10-10T03:00:41Z- handleDepth()-Depth_Keller msg: 1633834838859 epoch sec; seqNo:174; depth 0.14
2021-10-10T03:00:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834838.90 epoch sec; seqNo:174; 4061344.50 north; 594169.53 east
2021-10-10T03:00:41Z- AHRS_M2 msg: 1633834839.26 epoch sec; seqNo:173
2021-10-10T03:00:41Z- AHRS_M2 msg: -0.11 phi; -0.06 theta; 6.16 psi
2021-10-10T03:00:41Z- handleDepth()-Depth_Keller msg: 1633834839264 epoch sec; seqNo:175; depth 0.11
2021-10-10T03:00:41Z- handleDvl() - RDI_Pathfinder msg: 1633834839.30 epoch sec; seqNo:36
2021-10-10T03:00:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 109.68 , 83.87 , 90.67 , 100.17
2021-10-10T03:00:41Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , -0.00 , 0.06
2021-10-10T03:00:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834839.33 epoch sec; seqNo:175; 4061344.50 north; 594169.53 east
2021-10-10T03:00:42Z- AHRS_M2 msg: 1633834839.67 epoch sec; seqNo:174
2021-10-10T03:00:42Z- AHRS_M2 msg: -0.14 phi; -0.10 theta; 6.17 psi
2021-10-10T03:00:42Z- handleDepth()-Depth_Keller msg: 1633834839683 epoch sec; seqNo:176; depth 0.08
2021-10-10T03:00:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834839.71 epoch sec; seqNo:176; 4061344.50 north; 594169.53 east
2021-10-10T03:00:42Z- AHRS_M2 msg: 1633834840.06 epoch sec; seqNo:175
2021-10-10T03:00:42Z- AHRS_M2 msg: -0.07 phi; -0.12 theta; 6.18 psi
2021-10-10T03:00:42Z- handleDepth()-Depth_Keller msg: 1633834840071 epoch sec; seqNo:177; depth 0.09
2021-10-10T03:00:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834840.12 epoch sec; seqNo:177; 4061344.12 north; 594169.53 east
2021-10-10T03:00:42Z- AHRS_M2 msg: 1633834840.47 epoch sec; seqNo:176
2021-10-10T03:00:42Z- AHRS_M2 msg: 0.02 phi; -0.08 theta; 6.17 psi
2021-10-10T03:00:42Z- handleDepth()-Depth_Keller msg: 1633834840476 epoch sec; seqNo:178; depth 0.09
2021-10-10T03:00:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834840.51 epoch sec; seqNo:178; 4061344.12 north; 594169.53 east
2021-10-10T03:00:43Z- AHRS_M2 msg: 1633834840.87 epoch sec; seqNo:177
2021-10-10T03:00:43Z- AHRS_M2 msg: 0.06 phi; -0.05 theta; 6.15 psi
2021-10-10T03:00:43Z- handleDepth()-Depth_Keller msg: 1633834840879 epoch sec; seqNo:179; depth 0.10
2021-10-10T03:00:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834840.90 epoch sec; seqNo:179; 4061344.12 north; 594169.53 east
2021-10-10T03:00:43Z- LcmTrn::handleMessages() - handling 40 messages took 0.88 ms and 122 calls...
2021-10-10T03:00:43Z- waiting for 1633834838.65, time is 1633834840.90
2021-10-10T03:00:43Z- LcmTrn::updateTrn() >>>> pose time 1633834840.90, meas time 1633834839.30 <<<<
2021-10-10T03:00:43Z- TerrainNav::Measurement type 1 from time = 1633834839.30 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:00:43Z- TerrainNav::motionUpdate() - currEstimate = (4061344, 594169.53, 0.10)
2021-10-10T03:00:43Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:00:43Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:43Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:43Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:00:43Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:00:43Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:00:43Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:00:43Z- handleDepth()-Depth_Keller msg: 1633834841296 epoch sec; seqNo:180; depth 0.09
2021-10-10T03:00:43Z- handleDvl() - RDI_Pathfinder msg: 1633834841.33 epoch sec; seqNo:37
2021-10-10T03:00:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.67 , 97.46 , 97.46 , 101.53
2021-10-10T03:00:43Z- handleDvl() - RDI_Pathfinder msg: velocities -0.40 , -0.48 , 0.02
2021-10-10T03:00:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834841.36 epoch sec; seqNo:180; 4061344.12 north; 594169.53 east
2021-10-10T03:00:44Z- AHRS_M2 msg: 1633834841.68 epoch sec; seqNo:178
2021-10-10T03:00:44Z- AHRS_M2 msg: 0.12 phi; -0.02 theta; 6.19 psi
2021-10-10T03:00:44Z- handleDepth()-Depth_Keller msg: 1633834841688 epoch sec; seqNo:181; depth 0.08
2021-10-10T03:00:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834841.71 epoch sec; seqNo:181; 4061343.74 north; 594169.54 east
2021-10-10T03:00:44Z- AHRS_M2 msg: 1633834842.09 epoch sec; seqNo:179
2021-10-10T03:00:44Z- AHRS_M2 msg: 0.09 phi; -0.07 theta; 6.19 psi
2021-10-10T03:00:44Z- handleDepth()-Depth_Keller msg: 1633834842096 epoch sec; seqNo:182; depth 0.06
2021-10-10T03:00:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834842.12 epoch sec; seqNo:182; 4061343.74 north; 594169.54 east
2021-10-10T03:00:44Z- AHRS_M2 msg: 1633834842.49 epoch sec; seqNo:180
2021-10-10T03:00:44Z- AHRS_M2 msg: 0.06 phi; -0.17 theta; 6.18 psi
2021-10-10T03:00:44Z- handleDepth()-Depth_Keller msg: 1633834842496 epoch sec; seqNo:183; depth 0.04
2021-10-10T03:00:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834842.51 epoch sec; seqNo:183; 4061343.36 north; 594169.54 east
2021-10-10T03:00:45Z- AHRS_M2 msg: 1633834842.89 epoch sec; seqNo:181
2021-10-10T03:00:45Z- AHRS_M2 msg: 0.04 phi; -0.15 theta; 6.16 psi
2021-10-10T03:00:45Z- handleDepth()-Depth_Keller msg: 1633834842903 epoch sec; seqNo:184; depth 0.06
2021-10-10T03:00:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834842.91 epoch sec; seqNo:184; 4061343.35 north; 594168.32 east
2021-10-10T03:00:45Z- AHRS_M2 msg: 1633834843.30 epoch sec; seqNo:182
2021-10-10T03:00:45Z- AHRS_M2 msg: -0.01 phi; 0.01 theta; 6.13 psi
2021-10-10T03:00:45Z- handleDepth()-Depth_Keller msg: 1633834843300 epoch sec; seqNo:185; depth 0.07
2021-10-10T03:00:45Z- handleDvl() - RDI_Pathfinder msg: 1633834843.33 epoch sec; seqNo:38
2021-10-10T03:00:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.46 , 97.46 , 97.46 , 101.53
2021-10-10T03:00:45Z- handleDvl() - RDI_Pathfinder msg: velocities -0.74 , 0.08 , -0.87
2021-10-10T03:00:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834843.34 epoch sec; seqNo:185; 4061342.98 north; 594169.55 east
2021-10-10T03:00:46Z- AHRS_M2 msg: 1633834843.70 epoch sec; seqNo:183
2021-10-10T03:00:46Z- AHRS_M2 msg: -0.05 phi; 0.11 theta; 6.14 psi
2021-10-10T03:00:46Z- handleDepth()-Depth_Keller msg: 1633834843705 epoch sec; seqNo:186; depth 0.08
2021-10-10T03:00:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834843.72 epoch sec; seqNo:186; 4061342.60 north; 594169.55 east
2021-10-10T03:00:46Z- AHRS_M2 msg: 1633834844.10 epoch sec; seqNo:184
2021-10-10T03:00:46Z- AHRS_M2 msg: -0.06 phi; 0.09 theta; 6.17 psi
2021-10-10T03:00:46Z- handleDepth()-Depth_Keller msg: 1633834844108 epoch sec; seqNo:187; depth 0.09
2021-10-10T03:00:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834844.12 epoch sec; seqNo:187; 4061342.22 north; 594169.55 east
2021-10-10T03:00:46Z- AHRS_M2 msg: 1633834844.51 epoch sec; seqNo:185
2021-10-10T03:00:46Z- AHRS_M2 msg: -0.08 phi; 0.03 theta; 6.14 psi
2021-10-10T03:00:46Z- handleDepth()-Depth_Keller msg: 1633834844519 epoch sec; seqNo:188; depth 0.12
2021-10-10T03:00:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834844.53 epoch sec; seqNo:188; 4061341.84 north; 594169.56 east
2021-10-10T03:00:47Z- AHRS_M2 msg: 1633834844.91 epoch sec; seqNo:186
2021-10-10T03:00:47Z- AHRS_M2 msg: -0.06 phi; 0.00 theta; 6.11 psi
2021-10-10T03:00:47Z- handleDepth()-Depth_Keller msg: 1633834844918 epoch sec; seqNo:189; depth 0.10
2021-10-10T03:00:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834844.94 epoch sec; seqNo:189; 4061341.84 north; 594169.56 east
2021-10-10T03:00:47Z- AHRS_M2 msg: 1633834845.32 epoch sec; seqNo:187
2021-10-10T03:00:47Z- AHRS_M2 msg: -0.02 phi; -0.03 theta; 6.17 psi
2021-10-10T03:00:47Z- handleDepth()-Depth_Keller msg: 1633834845327 epoch sec; seqNo:190; depth 0.08
2021-10-10T03:00:47Z- handleDvl() - RDI_Pathfinder msg: 1633834845.35 epoch sec; seqNo:39
2021-10-10T03:00:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.25 , 95.89 , 98.61 , 89.10
2021-10-10T03:00:47Z- handleDvl() - RDI_Pathfinder msg: velocities -0.35 , -0.22 , 0.27
2021-10-10T03:00:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834845.38 epoch sec; seqNo:190; 4061341.46 north; 594169.56 east
2021-10-10T03:00:48Z- AHRS_M2 msg: 1633834845.73 epoch sec; seqNo:188
2021-10-10T03:00:48Z- AHRS_M2 msg: 0.02 phi; -0.04 theta; 6.19 psi
2021-10-10T03:00:48Z- handleDepth()-Depth_Keller msg: 1633834845737 epoch sec; seqNo:191; depth 0.09
2021-10-10T03:00:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834845.76 epoch sec; seqNo:191; 4061341.46 north; 594169.56 east
2021-10-10T03:00:48Z- LcmTrn::handleMessages() - handling 38 messages took 0.75 ms and 122 calls...
2021-10-10T03:00:48Z- waiting for 1633834843.90, time is 1633834845.76
2021-10-10T03:00:48Z- LcmTrn::updateTrn() >>>> pose time 1633834845.76, meas time 1633834845.35 <<<<
2021-10-10T03:00:48Z- TerrainNav::Measurement type 1 from time = 1633834845.35 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:00:48Z- TerrainNav::motionUpdate() - currEstimate = (4061341, 594169.56, 0.09)
2021-10-10T03:00:48Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:00:48Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:48Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:48Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:00:48Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:00:48Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:00:48Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:00:48Z- AHRS_M2 msg: 1633834846.12 epoch sec; seqNo:189
2021-10-10T03:00:48Z- AHRS_M2 msg: 0.10 phi; 0.01 theta; 6.13 psi
2021-10-10T03:00:48Z- handleDepth()-Depth_Keller msg: 1633834846128 epoch sec; seqNo:192; depth 0.08
2021-10-10T03:00:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834846.15 epoch sec; seqNo:192; 4061341.09 north; 594169.57 east
2021-10-10T03:00:48Z- AHRS_M2 msg: 1633834846.53 epoch sec; seqNo:190
2021-10-10T03:00:48Z- AHRS_M2 msg: 0.13 phi; 0.00 theta; 6.13 psi
2021-10-10T03:00:48Z- handleDepth()-Depth_Keller msg: 1633834846533 epoch sec; seqNo:193; depth 0.08
2021-10-10T03:00:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834846.54 epoch sec; seqNo:193; 4061341.07 north; 594168.35 east
2021-10-10T03:00:49Z- AHRS_M2 msg: 1633834846.94 epoch sec; seqNo:191
2021-10-10T03:00:49Z- AHRS_M2 msg: 0.13 phi; -0.05 theta; 6.15 psi
2021-10-10T03:00:49Z- handleDepth()-Depth_Keller msg: 1633834846941 epoch sec; seqNo:194; depth 0.07
2021-10-10T03:00:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834846.95 epoch sec; seqNo:194; 4061341.07 north; 594168.35 east
2021-10-10T03:00:49Z- AHRS_M2 msg: 1633834847.35 epoch sec; seqNo:192
2021-10-10T03:00:49Z- AHRS_M2 msg: 0.12 phi; -0.05 theta; 6.13 psi
2021-10-10T03:00:49Z- handleDepth()-Depth_Keller msg: 1633834847350 epoch sec; seqNo:195; depth 0.09
2021-10-10T03:00:49Z- handleDvl() - RDI_Pathfinder msg: 1633834847.37 epoch sec; seqNo:40
2021-10-10T03:00:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.24 , 86.73 , 97.59 , 97.59
2021-10-10T03:00:49Z- handleDvl() - RDI_Pathfinder msg: velocities -0.20 , -0.62 , 0.40
2021-10-10T03:00:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834847.38 epoch sec; seqNo:195; 4061340.69 north; 594168.35 east
2021-10-10T03:00:50Z- AHRS_M2 msg: 1633834847.74 epoch sec; seqNo:193
2021-10-10T03:00:50Z- AHRS_M2 msg: 0.06 phi; -0.05 theta; 6.16 psi
2021-10-10T03:00:50Z- handleDepth()-Depth_Keller msg: 1633834847749 epoch sec; seqNo:196; depth 0.08
2021-10-10T03:00:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834847.77 epoch sec; seqNo:196; 4061340.69 north; 594168.35 east
2021-10-10T03:00:50Z- AHRS_M2 msg: 1633834848.14 epoch sec; seqNo:194
2021-10-10T03:00:50Z- AHRS_M2 msg: -0.04 phi; -0.11 theta; 6.18 psi
2021-10-10T03:00:50Z- handleDepth()-Depth_Keller msg: 1633834848151 epoch sec; seqNo:197; depth 0.08
2021-10-10T03:00:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834848.16 epoch sec; seqNo:197; 4061340.69 north; 594168.35 east
2021-10-10T03:00:51Z- AHRS_M2 msg: 1633834848.55 epoch sec; seqNo:195
2021-10-10T03:00:51Z- AHRS_M2 msg: -0.03 phi; -0.13 theta; 6.17 psi
2021-10-10T03:00:51Z- handleDepth()-Depth_Keller msg: 1633834848559 epoch sec; seqNo:198; depth 0.04
2021-10-10T03:00:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834848.57 epoch sec; seqNo:198; 4061340.31 north; 594168.35 east
2021-10-10T03:00:51Z- AHRS_M2 msg: 1633834848.96 epoch sec; seqNo:196
2021-10-10T03:00:51Z- AHRS_M2 msg: 0.04 phi; -0.16 theta; 6.13 psi
2021-10-10T03:00:51Z- handleDepth()-Depth_Keller msg: 1633834848961 epoch sec; seqNo:199; depth 0.07
2021-10-10T03:00:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834848.97 epoch sec; seqNo:199; 4061340.30 north; 594167.13 east
2021-10-10T03:00:51Z- AHRS_M2 msg: 1633834849.36 epoch sec; seqNo:197
2021-10-10T03:00:51Z- AHRS_M2 msg: -0.01 phi; -0.15 theta; 6.09 psi
2021-10-10T03:00:51Z- handleDepth()-Depth_Keller msg: 1633834849368 epoch sec; seqNo:200; depth 0.08
2021-10-10T03:00:51Z- handleDvl() - RDI_Pathfinder msg: 1633834849.39 epoch sec; seqNo:41
2021-10-10T03:00:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.80 , 93.52 , 88.08 , 101.67
2021-10-10T03:00:51Z- handleDvl() - RDI_Pathfinder msg: velocities -0.59 , 0.17 , -0.16
2021-10-10T03:00:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834849.41 epoch sec; seqNo:200; 4061339.94 north; 594168.36 east
2021-10-10T03:00:52Z- AHRS_M2 msg: 1633834849.76 epoch sec; seqNo:198
2021-10-10T03:00:52Z- AHRS_M2 msg: -0.12 phi; 0.00 theta; 6.06 psi
2021-10-10T03:00:52Z- handleDepth()-Depth_Keller msg: 1633834849775 epoch sec; seqNo:201; depth 0.07
2021-10-10T03:00:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834849.79 epoch sec; seqNo:201; 4061339.94 north; 594168.36 east
2021-10-10T03:00:52Z- AHRS_M2 msg: 1633834850.16 epoch sec; seqNo:199
2021-10-10T03:00:52Z- AHRS_M2 msg: -0.16 phi; 0.09 theta; 6.05 psi
2021-10-10T03:00:52Z- handleDepth()-Depth_Keller msg: 1633834850170 epoch sec; seqNo:202; depth 0.06
2021-10-10T03:00:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834850.18 epoch sec; seqNo:202; 4061339.56 north; 594168.36 east
2021-10-10T03:00:53Z- AHRS_M2 msg: 1633834850.57 epoch sec; seqNo:200
2021-10-10T03:00:53Z- AHRS_M2 msg: -0.16 phi; 0.04 theta; 6.07 psi
2021-10-10T03:00:53Z- handleDepth()-Depth_Keller msg: 1633834850585 epoch sec; seqNo:203; depth 0.09
2021-10-10T03:00:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834850.59 epoch sec; seqNo:203; 4061339.56 north; 594168.36 east
2021-10-10T03:00:53Z- LcmTrn::handleMessages() - handling 38 messages took 0.58 ms and 126 calls...
2021-10-10T03:00:53Z- waiting for 1633834848.76, time is 1633834850.59
2021-10-10T03:00:53Z- LcmTrn::updateTrn() >>>> pose time 1633834850.59, meas time 1633834849.39 <<<<
2021-10-10T03:00:53Z- TerrainNav::Measurement type 1 from time = 1633834849.39 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:00:53Z- TerrainNav::motionUpdate() - currEstimate = (4061340, 594168.36, 0.09)
2021-10-10T03:00:53Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:00:53Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:53Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:53Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:00:53Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:00:53Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:00:53Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:00:53Z- AHRS_M2 msg: 1633834850.97 epoch sec; seqNo:201
2021-10-10T03:00:53Z- AHRS_M2 msg: -0.08 phi; 0.03 theta; 6.11 psi
2021-10-10T03:00:53Z- handleDepth()-Depth_Keller msg: 1633834850983 epoch sec; seqNo:204; depth 0.11
2021-10-10T03:00:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834851.02 epoch sec; seqNo:204; 4061339.18 north; 594168.37 east
2021-10-10T03:00:53Z- AHRS_M2 msg: 1633834851.38 epoch sec; seqNo:202
2021-10-10T03:00:53Z- AHRS_M2 msg: 0.04 phi; 0.06 theta; 6.11 psi
2021-10-10T03:00:53Z- handleDepth()-Depth_Keller msg: 1633834851387 epoch sec; seqNo:205; depth 0.13
2021-10-10T03:00:53Z- handleDvl() - RDI_Pathfinder msg: 1633834851.41 epoch sec; seqNo:42
2021-10-10T03:00:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.86 , 104.52 , 100.45 , 89.58
2021-10-10T03:00:53Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , -0.58 , 0.44
2021-10-10T03:00:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834851.42 epoch sec; seqNo:205; 4061339.18 north; 594168.37 east
2021-10-10T03:00:54Z- AHRS_M2 msg: 1633834851.78 epoch sec; seqNo:203
2021-10-10T03:00:54Z- AHRS_M2 msg: 0.11 phi; 0.07 theta; 6.12 psi
2021-10-10T03:00:54Z- handleDepth()-Depth_Keller msg: 1633834851785 epoch sec; seqNo:206; depth 0.09
2021-10-10T03:00:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834851.81 epoch sec; seqNo:206; 4061339.18 north; 594168.37 east
2021-10-10T03:00:54Z- AHRS_M2 msg: 1633834852.18 epoch sec; seqNo:204
2021-10-10T03:00:54Z- AHRS_M2 msg: 0.11 phi; 0.05 theta; 6.11 psi
2021-10-10T03:00:54Z- handleDepth()-Depth_Keller msg: 1633834852195 epoch sec; seqNo:207; depth 0.05
2021-10-10T03:00:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834852.22 epoch sec; seqNo:207; 4061338.79 north; 594167.15 east
2021-10-10T03:00:55Z- AHRS_M2 msg: 1633834852.59 epoch sec; seqNo:205
2021-10-10T03:00:55Z- AHRS_M2 msg: 0.09 phi; -0.04 theta; 6.14 psi
2021-10-10T03:00:55Z- handleDepth()-Depth_Keller msg: 1633834852600 epoch sec; seqNo:208; depth 0.03
2021-10-10T03:00:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834852.61 epoch sec; seqNo:208; 4061338.79 north; 594167.15 east
2021-10-10T03:00:55Z- AHRS_M2 msg: 1633834853.00 epoch sec; seqNo:206
2021-10-10T03:00:55Z- AHRS_M2 msg: 0.11 phi; -0.20 theta; 6.17 psi
2021-10-10T03:00:55Z- handleDepth()-Depth_Keller msg: 1633834853014 epoch sec; seqNo:209; depth 0.05
2021-10-10T03:00:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834853.04 epoch sec; seqNo:209; 4061338.79 north; 594167.15 east
2021-10-10T03:00:55Z- AHRS_M2 msg: 1633834853.40 epoch sec; seqNo:207
2021-10-10T03:00:55Z- AHRS_M2 msg: 0.15 phi; -0.21 theta; 6.11 psi
2021-10-10T03:00:55Z- handleDepth()-Depth_Keller msg: 1633834853402 epoch sec; seqNo:210; depth 0.09
2021-10-10T03:00:55Z- handleDvl() - RDI_Pathfinder msg: 1633834853.43 epoch sec; seqNo:43
2021-10-10T03:00:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 101.60 , 0.00 , 97.53 , 97.53
2021-10-10T03:00:55Z- handleDvl() - RDI_Pathfinder msg: velocities -1.04 , 0.05 , -0.67
2021-10-10T03:00:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834853.45 epoch sec; seqNo:210; 4061338.41 north; 594167.16 east
2021-10-10T03:00:56Z- AHRS_M2 msg: 1633834853.80 epoch sec; seqNo:208
2021-10-10T03:00:56Z- AHRS_M2 msg: 0.13 phi; -0.12 theta; 6.11 psi
2021-10-10T03:00:56Z- handleDepth()-Depth_Keller msg: 1633834853804 epoch sec; seqNo:211; depth 0.11
2021-10-10T03:00:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834853.82 epoch sec; seqNo:211; 4061338.03 north; 594167.16 east
2021-10-10T03:00:56Z- AHRS_M2 msg: 1633834854.20 epoch sec; seqNo:209
2021-10-10T03:00:56Z- AHRS_M2 msg: 0.06 phi; -0.08 theta; 6.13 psi
2021-10-10T03:00:56Z- handleDepth()-Depth_Keller msg: 1633834854215 epoch sec; seqNo:212; depth 0.14
2021-10-10T03:00:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834854.22 epoch sec; seqNo:212; 4061337.65 north; 594167.16 east
2021-10-10T03:00:57Z- AHRS_M2 msg: 1633834854.62 epoch sec; seqNo:210
2021-10-10T03:00:57Z- AHRS_M2 msg: -0.06 phi; -0.11 theta; 6.06 psi
2021-10-10T03:00:57Z- handleDepth()-Depth_Keller msg: 1633834854620 epoch sec; seqNo:213; depth 0.20
2021-10-10T03:00:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834854.63 epoch sec; seqNo:213; 4061337.27 north; 594167.17 east
2021-10-10T03:00:57Z- AHRS_M2 msg: 1633834855.05 epoch sec; seqNo:211
2021-10-10T03:00:57Z- AHRS_M2 msg: -0.09 phi; -0.09 theta; 6.08 psi
2021-10-10T03:00:57Z- handleDepth()-Depth_Keller msg: 1633834855063 epoch sec; seqNo:214; depth 0.23
2021-10-10T03:00:57Z- handleDvl() - RDI_Pathfinder msg: 1633834855.10 epoch sec; seqNo:44
2021-10-10T03:00:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.18 , 90.46 , 90.46 , 95.89
2021-10-10T03:00:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.06 , -0.36 , 0.09
2021-10-10T03:00:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834855.11 epoch sec; seqNo:214; 4061337.27 north; 594167.17 east
2021-10-10T03:00:57Z- AHRS_M2 msg: 1633834855.42 epoch sec; seqNo:212
2021-10-10T03:00:57Z- AHRS_M2 msg: -0.17 phi; -0.15 theta; 6.12 psi
2021-10-10T03:00:57Z- handleDepth()-Depth_Keller msg: 1633834855420 epoch sec; seqNo:215; depth 0.22
2021-10-10T03:00:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834855.43 epoch sec; seqNo:215; 4061337.27 north; 594167.17 east
2021-10-10T03:00:58Z- AHRS_M2 msg: 1633834855.83 epoch sec; seqNo:213
2021-10-10T03:00:58Z- AHRS_M2 msg: -0.15 phi; -0.21 theta; 6.12 psi
2021-10-10T03:00:58Z- handleDepth()-Depth_Keller msg: 1633834855833 epoch sec; seqNo:216; depth 0.23
2021-10-10T03:00:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834855.84 epoch sec; seqNo:216; 4061337.27 north; 594167.17 east
2021-10-10T03:00:58Z- LcmTrn::handleMessages() - handling 42 messages took 0.84 ms and 125 calls...
2021-10-10T03:00:58Z- waiting for 1633834853.59, time is 1633834855.84
2021-10-10T03:00:58Z- LcmTrn::updateTrn() >>>> pose time 1633834855.84, meas time 1633834855.10 <<<<
2021-10-10T03:00:58Z- TerrainNav::Measurement type 1 from time = 1633834855.10 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:00:58Z- TerrainNav::motionUpdate() - currEstimate = (4061337, 594167.17, 0.23)
2021-10-10T03:00:58Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:00:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:00:58Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:00:58Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:00:58Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:00:58Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:00:58Z- handleDepth()-Depth_Keller msg: 1633834856251 epoch sec; seqNo:217; depth 0.24
2021-10-10T03:00:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834856.26 epoch sec; seqNo:217; 4061337.27 north; 594167.17 east
2021-10-10T03:00:59Z- AHRS_M2 msg: 1633834856.63 epoch sec; seqNo:214
2021-10-10T03:00:59Z- AHRS_M2 msg: 0.07 phi; -0.24 theta; 6.10 psi
2021-10-10T03:00:59Z- handleDepth()-Depth_Keller msg: 1633834856645 epoch sec; seqNo:218; depth 0.26
2021-10-10T03:00:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834856.65 epoch sec; seqNo:218; 4061337.27 north; 594167.17 east
2021-10-10T03:00:59Z- AHRS_M2 msg: 1633834857.06 epoch sec; seqNo:215
2021-10-10T03:00:59Z- AHRS_M2 msg: 0.10 phi; -0.31 theta; 6.10 psi
2021-10-10T03:00:59Z- handleDepth()-Depth_Keller msg: 1633834857075 epoch sec; seqNo:219; depth 0.27
2021-10-10T03:00:59Z- handleDvl() - RDI_Pathfinder msg: 1633834857.10 epoch sec; seqNo:45
2021-10-10T03:00:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.80 , 97.80 , 86.93 , 104.59
2021-10-10T03:00:59Z- handleDvl() - RDI_Pathfinder msg: velocities -0.51 , -0.01 , 0.48
2021-10-10T03:00:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834857.13 epoch sec; seqNo:219; 4061336.89 north; 594167.17 east
2021-10-10T03:00:59Z- AHRS_M2 msg: 1633834857.44 epoch sec; seqNo:216
2021-10-10T03:00:59Z- AHRS_M2 msg: 0.07 phi; -0.32 theta; 6.09 psi
2021-10-10T03:00:59Z- handleDepth()-Depth_Keller msg: 1633834857441 epoch sec; seqNo:220; depth 0.29
2021-10-10T03:00:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834857.45 epoch sec; seqNo:220; 4061336.51 north; 594167.18 east
2021-10-10T03:01:00Z- AHRS_M2 msg: 1633834857.84 epoch sec; seqNo:217
2021-10-10T03:01:00Z- AHRS_M2 msg: -0.01 phi; -0.29 theta; 6.07 psi
2021-10-10T03:01:00Z- handleDepth()-Depth_Keller msg: 1633834857851 epoch sec; seqNo:221; depth 0.30
2021-10-10T03:01:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834857.87 epoch sec; seqNo:221; 4061336.51 north; 594167.18 east
2021-10-10T03:01:00Z- AHRS_M2 msg: 1633834858.24 epoch sec; seqNo:218
2021-10-10T03:01:00Z- AHRS_M2 msg: -0.12 phi; -0.28 theta; 6.06 psi
2021-10-10T03:01:00Z- handleDepth()-Depth_Keller msg: 1633834858249 epoch sec; seqNo:222; depth 0.26
2021-10-10T03:01:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834858.26 epoch sec; seqNo:222; 4061336.13 north; 594167.18 east
2021-10-10T03:01:01Z- AHRS_M2 msg: 1633834858.65 epoch sec; seqNo:219
2021-10-10T03:01:01Z- AHRS_M2 msg: -0.19 phi; -0.33 theta; 6.07 psi
2021-10-10T03:01:01Z- handleDepth()-Depth_Keller msg: 1633834858653 epoch sec; seqNo:223; depth 0.23
2021-10-10T03:01:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834858.66 epoch sec; seqNo:223; 4061336.13 north; 594167.18 east
2021-10-10T03:01:01Z- AHRS_M2 msg: 1633834859.08 epoch sec; seqNo:220
2021-10-10T03:01:01Z- AHRS_M2 msg: -0.17 phi; -0.37 theta; 6.08 psi
2021-10-10T03:01:01Z- handleDepth()-Depth_Keller msg: 1633834859082 epoch sec; seqNo:224; depth 0.24
2021-10-10T03:01:01Z- handleDvl() - RDI_Pathfinder msg: 1633834859.12 epoch sec; seqNo:46
2021-10-10T03:01:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 92.02 , 101.53 , 82.51 , 115.12
2021-10-10T03:01:01Z- handleDvl() - RDI_Pathfinder msg: velocities -0.19 , -0.41 , -0.54
2021-10-10T03:01:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834859.13 epoch sec; seqNo:224; 4061335.76 north; 594167.18 east
2021-10-10T03:01:01Z- AHRS_M2 msg: 1633834859.46 epoch sec; seqNo:221
2021-10-10T03:01:01Z- AHRS_M2 msg: -0.07 phi; -0.34 theta; 6.07 psi
2021-10-10T03:01:01Z- handleDepth()-Depth_Keller msg: 1633834859467 epoch sec; seqNo:225; depth 0.27
2021-10-10T03:01:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834859.48 epoch sec; seqNo:225; 4061335.76 north; 594167.18 east
2021-10-10T03:01:02Z- AHRS_M2 msg: 1633834859.86 epoch sec; seqNo:222
2021-10-10T03:01:02Z- AHRS_M2 msg: 0.02 phi; -0.25 theta; 6.07 psi
2021-10-10T03:01:02Z- handleDepth()-Depth_Keller msg: 1633834859877 epoch sec; seqNo:226; depth 0.28
2021-10-10T03:01:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834859.89 epoch sec; seqNo:226; 4061335.74 north; 594165.96 east
2021-10-10T03:01:02Z- AHRS_M2 msg: 1633834860.26 epoch sec; seqNo:223
2021-10-10T03:01:02Z- AHRS_M2 msg: 0.08 phi; -0.16 theta; 6.09 psi
2021-10-10T03:01:02Z- handleDepth()-Depth_Keller msg: 1633834860275 epoch sec; seqNo:227; depth 0.29
2021-10-10T03:01:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834860.28 epoch sec; seqNo:227; 4061335.74 north; 594165.96 east
2021-10-10T03:01:03Z- AHRS_M2 msg: 1633834860.67 epoch sec; seqNo:224
2021-10-10T03:01:03Z- AHRS_M2 msg: 0.11 phi; -0.16 theta; 6.10 psi
2021-10-10T03:01:03Z- handleDepth()-Depth_Keller msg: 1633834860676 epoch sec; seqNo:228; depth 0.28
2021-10-10T03:01:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834860.68 epoch sec; seqNo:228; 4061335.74 north; 594165.96 east
2021-10-10T03:01:03Z- LcmTrn::handleMessages() - handling 37 messages took 0.64 ms and 124 calls...
2021-10-10T03:01:03Z- waiting for 1633834858.84, time is 1633834860.68
2021-10-10T03:01:03Z- LcmTrn::updateTrn() >>>> pose time 1633834860.68, meas time 1633834859.12 <<<<
2021-10-10T03:01:03Z- TerrainNav::Measurement type 1 from time = 1633834859.12 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:01:03Z- TerrainNav::motionUpdate() - currEstimate = (4061336, 594165.96, 0.28)
2021-10-10T03:01:03Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:01:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:03Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:01:03Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:01:03Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:01:03Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:01:03Z- AHRS_M2 msg: 1633834861.08 epoch sec; seqNo:225
2021-10-10T03:01:03Z- AHRS_M2 msg: 0.11 phi; -0.23 theta; 6.13 psi
2021-10-10T03:01:03Z- handleDepth()-Depth_Keller msg: 1633834861089 epoch sec; seqNo:229; depth 0.26
2021-10-10T03:01:03Z- handleDvl() - RDI_Pathfinder msg: 1633834861.11 epoch sec; seqNo:47
2021-10-10T03:01:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 95.96 , 89.17 , 87.81 , 104.11
2021-10-10T03:01:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.09 , -0.35 , 1.02
2021-10-10T03:01:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834861.12 epoch sec; seqNo:229; 4061335.74 north; 594165.96 east
2021-10-10T03:01:03Z- AHRS_M2 msg: 1633834861.48 epoch sec; seqNo:226
2021-10-10T03:01:03Z- AHRS_M2 msg: 0.07 phi; -0.30 theta; 6.14 psi
2021-10-10T03:01:03Z- handleDepth()-Depth_Keller msg: 1633834861481 epoch sec; seqNo:230; depth 0.28
2021-10-10T03:01:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834861.49 epoch sec; seqNo:230; 4061335.36 north; 594165.97 east
2021-10-10T03:01:04Z- AHRS_M2 msg: 1633834861.88 epoch sec; seqNo:227
2021-10-10T03:01:04Z- AHRS_M2 msg: 0.04 phi; -0.31 theta; 6.13 psi
2021-10-10T03:01:04Z- handleDepth()-Depth_Keller msg: 1633834861885 epoch sec; seqNo:231; depth 0.27
2021-10-10T03:01:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834861.89 epoch sec; seqNo:231; 4061335.36 north; 594165.97 east
2021-10-10T03:01:04Z- AHRS_M2 msg: 1633834862.29 epoch sec; seqNo:228
2021-10-10T03:01:04Z- AHRS_M2 msg: 0.00 phi; -0.29 theta; 6.10 psi
2021-10-10T03:01:04Z- handleDepth()-Depth_Keller msg: 1633834862290 epoch sec; seqNo:232; depth 0.27
2021-10-10T03:01:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834862.30 epoch sec; seqNo:232; 4061335.36 north; 594165.97 east
2021-10-10T03:01:05Z- AHRS_M2 msg: 1633834862.69 epoch sec; seqNo:229
2021-10-10T03:01:05Z- AHRS_M2 msg: -0.04 phi; -0.28 theta; 6.06 psi
2021-10-10T03:01:05Z- handleDepth()-Depth_Keller msg: 1633834862692 epoch sec; seqNo:233; depth 0.22
2021-10-10T03:01:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834862.71 epoch sec; seqNo:233; 4061334.98 north; 594165.97 east
2021-10-10T03:01:05Z- AHRS_M2 msg: 1633834863.09 epoch sec; seqNo:230
2021-10-10T03:01:05Z- AHRS_M2 msg: -0.10 phi; -0.27 theta; 6.00 psi
2021-10-10T03:01:05Z- handleDepth()-Depth_Keller msg: 1633834863096 epoch sec; seqNo:234; depth 0.21
2021-10-10T03:01:05Z- handleDvl() - RDI_Pathfinder msg: 1633834863.12 epoch sec; seqNo:48
2021-10-10T03:01:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.30 , 97.66 , 84.08 , 115.32
2021-10-10T03:01:05Z- handleDvl() - RDI_Pathfinder msg: velocities -0.60 , 0.39 , -0.34
2021-10-10T03:01:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834863.13 epoch sec; seqNo:234; 4061334.98 north; 594165.97 east
2021-10-10T03:01:05Z- AHRS_M2 msg: 1633834863.50 epoch sec; seqNo:231
2021-10-10T03:01:05Z- AHRS_M2 msg: -0.16 phi; -0.22 theta; 6.01 psi
2021-10-10T03:01:05Z- handleDepth()-Depth_Keller msg: 1633834863501 epoch sec; seqNo:235; depth 0.21
2021-10-10T03:01:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834863.52 epoch sec; seqNo:235; 4061334.98 north; 594165.97 east
2021-10-10T03:01:06Z- AHRS_M2 msg: 1633834863.90 epoch sec; seqNo:232
2021-10-10T03:01:06Z- AHRS_M2 msg: -0.17 phi; -0.18 theta; 6.05 psi
2021-10-10T03:01:06Z- handleDepth()-Depth_Keller msg: 1633834863913 epoch sec; seqNo:236; depth 0.18
2021-10-10T03:01:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834863.92 epoch sec; seqNo:236; 4061334.61 north; 594165.98 east
2021-10-10T03:01:06Z- AHRS_M2 msg: 1633834864.30 epoch sec; seqNo:233
2021-10-10T03:01:06Z- AHRS_M2 msg: -0.09 phi; -0.15 theta; 6.02 psi
2021-10-10T03:01:06Z- handleDepth()-Depth_Keller msg: 1633834864321 epoch sec; seqNo:237; depth 0.16
2021-10-10T03:01:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834864.33 epoch sec; seqNo:237; 4061334.61 north; 594165.98 east
2021-10-10T03:01:07Z- AHRS_M2 msg: 1633834864.71 epoch sec; seqNo:234
2021-10-10T03:01:07Z- AHRS_M2 msg: 0.02 phi; -0.12 theta; 6.02 psi
2021-10-10T03:01:07Z- handleDepth()-Depth_Keller msg: 1633834864712 epoch sec; seqNo:238; depth 0.15
2021-10-10T03:01:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834864.72 epoch sec; seqNo:238; 4061334.23 north; 594165.98 east
2021-10-10T03:01:07Z- AHRS_M2 msg: 1633834865.11 epoch sec; seqNo:235
2021-10-10T03:01:07Z- AHRS_M2 msg: 0.10 phi; -0.09 theta; 6.01 psi
2021-10-10T03:01:07Z- handleDepth()-Depth_Keller msg: 1633834865123 epoch sec; seqNo:239; depth 0.11
2021-10-10T03:01:07Z- handleDvl() - RDI_Pathfinder msg: 1633834865.14 epoch sec; seqNo:49
2021-10-10T03:01:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.32 , 98.68 , 0.00 , 105.47
2021-10-10T03:01:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.31 , -0.67 , -0.03
2021-10-10T03:01:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834865.17 epoch sec; seqNo:239; 4061334.23 north; 594165.98 east
2021-10-10T03:01:07Z- AHRS_M2 msg: 1633834865.52 epoch sec; seqNo:236
2021-10-10T03:01:07Z- AHRS_M2 msg: 0.14 phi; -0.02 theta; 6.00 psi
2021-10-10T03:01:07Z- handleDepth()-Depth_Keller msg: 1633834865532 epoch sec; seqNo:240; depth 0.08
2021-10-10T03:01:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834865.55 epoch sec; seqNo:240; 4061334.61 north; 594165.98 east
2021-10-10T03:01:08Z- AHRS_M2 msg: 1633834865.92 epoch sec; seqNo:237
2021-10-10T03:01:08Z- AHRS_M2 msg: 0.14 phi; 0.05 theta; 6.04 psi
2021-10-10T03:01:08Z- handleDepth()-Depth_Keller msg: 1633834865928 epoch sec; seqNo:241; depth 0.07
2021-10-10T03:01:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834865.95 epoch sec; seqNo:241; 4061334.61 north; 594165.98 east
2021-10-10T03:01:08Z- LcmTrn::handleMessages() - handling 42 messages took 0.75 ms and 127 calls...
2021-10-10T03:01:08Z- waiting for 1633834863.68, time is 1633834865.95
2021-10-10T03:01:08Z- LcmTrn::updateTrn() >>>> pose time 1633834865.95, meas time 1633834865.14 <<<<
2021-10-10T03:01:08Z- TerrainNav::Measurement type 1 from time = 1633834865.14 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:01:08Z- TerrainNav::motionUpdate() - currEstimate = (4061335, 594165.98, 0.07)
2021-10-10T03:01:08Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:01:08Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:08Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:08Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:01:08Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:01:08Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:01:08Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:01:08Z- AHRS_M2 msg: 1633834866.32 epoch sec; seqNo:238
2021-10-10T03:01:08Z- AHRS_M2 msg: 0.10 phi; 0.07 theta; 6.08 psi
2021-10-10T03:01:08Z- handleDepth()-Depth_Keller msg: 1633834866335 epoch sec; seqNo:242; depth 0.05
2021-10-10T03:01:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834866.35 epoch sec; seqNo:242; 4061334.59 north; 594164.76 east
2021-10-10T03:01:09Z- AHRS_M2 msg: 1633834866.73 epoch sec; seqNo:239
2021-10-10T03:01:09Z- AHRS_M2 msg: 0.05 phi; 0.04 theta; 6.08 psi
2021-10-10T03:01:09Z- handleDepth()-Depth_Keller msg: 1633834866739 epoch sec; seqNo:243; depth 0.04
2021-10-10T03:01:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834866.75 epoch sec; seqNo:243; 4061334.59 north; 594164.76 east
2021-10-10T03:01:09Z- AHRS_M2 msg: 1633834867.13 epoch sec; seqNo:240
2021-10-10T03:01:09Z- AHRS_M2 msg: -0.00 phi; 0.00 theta; 6.10 psi
2021-10-10T03:01:09Z- handleDepth()-Depth_Keller msg: 1633834867142 epoch sec; seqNo:244; depth 0.02
2021-10-10T03:01:09Z- handleDvl() - RDI_Pathfinder msg: 1633834867.16 epoch sec; seqNo:50
2021-10-10T03:01:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 95.76 , 88.97 , 101.19 , 87.61
2021-10-10T03:01:09Z- handleDvl() - RDI_Pathfinder msg: velocities -0.51 , -0.26 , 0.78
2021-10-10T03:01:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834867.18 epoch sec; seqNo:244; 4061334.21 north; 594164.76 east
2021-10-10T03:01:09Z- AHRS_M2 msg: 1633834867.54 epoch sec; seqNo:241
2021-10-10T03:01:09Z- AHRS_M2 msg: -0.06 phi; -0.05 theta; 6.13 psi
2021-10-10T03:01:09Z- handleDepth()-Depth_Keller msg: 1633834867540 epoch sec; seqNo:245; depth 0.02
2021-10-10T03:01:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834867.57 epoch sec; seqNo:245; 4061334.21 north; 594164.76 east
2021-10-10T03:01:10Z- AHRS_M2 msg: 1633834867.94 epoch sec; seqNo:242
2021-10-10T03:01:10Z- AHRS_M2 msg: -0.06 phi; -0.07 theta; 6.10 psi
2021-10-10T03:01:10Z- handleDepth()-Depth_Keller msg: 1633834867948 epoch sec; seqNo:246; depth 0.04
2021-10-10T03:01:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834867.96 epoch sec; seqNo:246; 4061333.83 north; 594164.76 east
2021-10-10T03:01:10Z- AHRS_M2 msg: 1633834868.35 epoch sec; seqNo:243
2021-10-10T03:01:10Z- AHRS_M2 msg: 0.02 phi; -0.03 theta; 6.08 psi
2021-10-10T03:01:10Z- handleDepth()-Depth_Keller msg: 1633834868350 epoch sec; seqNo:247; depth 0.07
2021-10-10T03:01:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834868.36 epoch sec; seqNo:247; 4061333.83 north; 594164.76 east
2021-10-10T03:01:11Z- AHRS_M2 msg: 1633834868.75 epoch sec; seqNo:244
2021-10-10T03:01:11Z- AHRS_M2 msg: 0.10 phi; -0.07 theta; 6.05 psi
2021-10-10T03:01:11Z- handleDepth()-Depth_Keller msg: 1633834868758 epoch sec; seqNo:248; depth 0.07
2021-10-10T03:01:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834868.80 epoch sec; seqNo:248; 4061333.46 north; 594164.77 east
2021-10-10T03:01:11Z- AHRS_M2 msg: 1633834869.15 epoch sec; seqNo:245
2021-10-10T03:01:11Z- AHRS_M2 msg: 0.15 phi; -0.18 theta; 6.01 psi
2021-10-10T03:01:11Z- handleDepth()-Depth_Keller msg: 1633834869160 epoch sec; seqNo:249; depth 0.09
2021-10-10T03:01:11Z- handleDvl() - RDI_Pathfinder msg: 1633834869.19 epoch sec; seqNo:51
2021-10-10T03:01:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.73 , 90.94 , 97.73 , 95.01
2021-10-10T03:01:11Z- handleDvl() - RDI_Pathfinder msg: velocities -0.66 , -0.24 , 0.15
2021-10-10T03:01:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834869.20 epoch sec; seqNo:249; 4061333.08 north; 594164.77 east
2021-10-10T03:01:12Z- AHRS_M2 msg: 1633834869.56 epoch sec; seqNo:246
2021-10-10T03:01:12Z- AHRS_M2 msg: 0.09 phi; -0.19 theta; 6.02 psi
2021-10-10T03:01:12Z- handleDepth()-Depth_Keller msg: 1633834869561 epoch sec; seqNo:250; depth 0.08
2021-10-10T03:01:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834869.58 epoch sec; seqNo:250; 4061332.70 north; 594164.78 east
2021-10-10T03:01:12Z- AHRS_M2 msg: 1633834869.96 epoch sec; seqNo:247
2021-10-10T03:01:12Z- AHRS_M2 msg: -0.01 phi; -0.09 theta; 6.02 psi
2021-10-10T03:01:12Z- handleDepth()-Depth_Keller msg: 1633834869968 epoch sec; seqNo:251; depth 0.07
2021-10-10T03:01:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834869.98 epoch sec; seqNo:251; 4061332.70 north; 594164.78 east
2021-10-10T03:01:12Z- AHRS_M2 msg: 1633834870.36 epoch sec; seqNo:248
2021-10-10T03:01:12Z- AHRS_M2 msg: -0.06 phi; -0.01 theta; 6.00 psi
2021-10-10T03:01:12Z- handleDepth()-Depth_Keller msg: 1633834870377 epoch sec; seqNo:252; depth 0.06
2021-10-10T03:01:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834870.39 epoch sec; seqNo:252; 4061332.32 north; 594164.78 east
2021-10-10T03:01:13Z- AHRS_M2 msg: 1633834870.77 epoch sec; seqNo:249
2021-10-10T03:01:13Z- AHRS_M2 msg: -0.08 phi; 0.04 theta; 5.99 psi
2021-10-10T03:01:13Z- handleDepth()-Depth_Keller msg: 1633834870780 epoch sec; seqNo:253; depth 0.05
2021-10-10T03:01:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834870.81 epoch sec; seqNo:253; 4061331.94 north; 594164.79 east
2021-10-10T03:01:13Z- LcmTrn::handleMessages() - handling 38 messages took 0.73 ms and 123 calls...
2021-10-10T03:01:13Z- waiting for 1633834868.95, time is 1633834870.81
2021-10-10T03:01:13Z- LcmTrn::updateTrn() >>>> pose time 1633834870.81, meas time 1633834869.19 <<<<
2021-10-10T03:01:13Z- TerrainNav::Measurement type 1 from time = 1633834869.19 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:01:13Z- TerrainNav::motionUpdate() - currEstimate = (4061332, 594164.79, 0.05)
2021-10-10T03:01:13Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:01:13Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:13Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:13Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:01:13Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:01:13Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:01:13Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:01:13Z- AHRS_M2 msg: 1633834871.17 epoch sec; seqNo:250
2021-10-10T03:01:13Z- AHRS_M2 msg: -0.10 phi; 0.08 theta; 5.97 psi
2021-10-10T03:01:13Z- handleDepth()-Depth_Keller msg: 1633834871180 epoch sec; seqNo:254; depth 0.07
2021-10-10T03:01:13Z- handleDvl() - RDI_Pathfinder msg: 1633834871.23 epoch sec; seqNo:52
2021-10-10T03:01:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.38 , 96.17 , 94.81 , 89.38
2021-10-10T03:01:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.31 , -0.40 , 0.22
2021-10-10T03:01:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834871.25 epoch sec; seqNo:254; 4061331.94 north; 594164.79 east
2021-10-10T03:01:14Z- handleDepth()-Depth_Keller msg: 1633834871596 epoch sec; seqNo:255; depth 0.08
2021-10-10T03:01:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834871.61 epoch sec; seqNo:255; 4061332.32 north; 594164.78 east
2021-10-10T03:01:14Z- AHRS_M2 msg: 1633834871.99 epoch sec; seqNo:251
2021-10-10T03:01:14Z- AHRS_M2 msg: -0.09 phi; -0.06 theta; 6.06 psi
2021-10-10T03:01:14Z- handleDepth()-Depth_Keller msg: 1633834871992 epoch sec; seqNo:256; depth 0.03
2021-10-10T03:01:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834872.00 epoch sec; seqNo:256; 4061332.31 north; 594163.56 east
2021-10-10T03:01:14Z- AHRS_M2 msg: 1633834872.39 epoch sec; seqNo:252
2021-10-10T03:01:14Z- AHRS_M2 msg: 0.01 phi; -0.08 theta; 6.00 psi
2021-10-10T03:01:14Z- handleDepth()-Depth_Keller msg: 1633834872399 epoch sec; seqNo:257; depth 0.03
2021-10-10T03:01:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834872.41 epoch sec; seqNo:257; 4061332.31 north; 594163.56 east
2021-10-10T03:01:15Z- AHRS_M2 msg: 1633834872.79 epoch sec; seqNo:253
2021-10-10T03:01:15Z- AHRS_M2 msg: 0.09 phi; -0.07 theta; 6.00 psi
2021-10-10T03:01:15Z- handleDepth()-Depth_Keller msg: 1633834872800 epoch sec; seqNo:258; depth 0.05
2021-10-10T03:01:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834872.81 epoch sec; seqNo:258; 4061332.31 north; 594163.56 east
2021-10-10T03:01:15Z- AHRS_M2 msg: 1633834873.19 epoch sec; seqNo:254
2021-10-10T03:01:15Z- AHRS_M2 msg: 0.16 phi; -0.04 theta; 5.99 psi
2021-10-10T03:01:15Z- handleDepth()-Depth_Keller msg: 1633834873196 epoch sec; seqNo:259; depth 0.05
2021-10-10T03:01:15Z- handleDvl() - RDI_Pathfinder msg: 1633834873.24 epoch sec; seqNo:53
2021-10-10T03:01:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.80 , 96.44 , 97.80 , 97.80
2021-10-10T03:01:15Z- handleDvl() - RDI_Pathfinder msg: velocities -0.49 , -0.57 , -0.09
2021-10-10T03:01:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834873.26 epoch sec; seqNo:259; 4061331.93 north; 594163.56 east
2021-10-10T03:01:16Z- AHRS_M2 msg: 1633834873.60 epoch sec; seqNo:255
2021-10-10T03:01:16Z- AHRS_M2 msg: 0.09 phi; -0.02 theta; 5.97 psi
2021-10-10T03:01:16Z- handleDepth()-Depth_Keller msg: 1633834873608 epoch sec; seqNo:260; depth 0.07
2021-10-10T03:01:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834873.63 epoch sec; seqNo:260; 4061331.93 north; 594163.56 east
2021-10-10T03:01:16Z- AHRS_M2 msg: 1633834874.01 epoch sec; seqNo:256
2021-10-10T03:01:16Z- AHRS_M2 msg: -0.00 phi; -0.03 theta; 6.01 psi
2021-10-10T03:01:16Z- handleDepth()-Depth_Keller msg: 1633834874023 epoch sec; seqNo:261; depth 0.07
2021-10-10T03:01:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834874.04 epoch sec; seqNo:261; 4061331.55 north; 594163.57 east
2021-10-10T03:01:16Z- AHRS_M2 msg: 1633834874.40 epoch sec; seqNo:257
2021-10-10T03:01:16Z- AHRS_M2 msg: -0.02 phi; -0.06 theta; 6.07 psi
2021-10-10T03:01:16Z- handleDepth()-Depth_Keller msg: 1633834874421 epoch sec; seqNo:262; depth 0.07
2021-10-10T03:01:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834874.43 epoch sec; seqNo:262; 4061331.17 north; 594163.57 east
2021-10-10T03:01:17Z- AHRS_M2 msg: 1633834874.82 epoch sec; seqNo:258
2021-10-10T03:01:17Z- AHRS_M2 msg: 0.04 phi; -0.12 theta; 6.08 psi
2021-10-10T03:01:17Z- handleDepth()-Depth_Keller msg: 1633834874822 epoch sec; seqNo:263; depth 0.06
2021-10-10T03:01:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834874.86 epoch sec; seqNo:263; 4061331.16 north; 594162.35 east
2021-10-10T03:01:17Z- AHRS_M2 msg: 1633834875.21 epoch sec; seqNo:259
2021-10-10T03:01:17Z- AHRS_M2 msg: 0.05 phi; -0.17 theta; 5.99 psi
2021-10-10T03:01:17Z- handleDepth()-Depth_Keller msg: 1633834875231 epoch sec; seqNo:264; depth 0.07
2021-10-10T03:01:17Z- handleDvl() - RDI_Pathfinder msg: 1633834875.25 epoch sec; seqNo:54
2021-10-10T03:01:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.39 , 93.31 , 93.31 , 96.03
2021-10-10T03:01:17Z- handleDvl() - RDI_Pathfinder msg: velocities -0.54 , 0.39 , 0.10
2021-10-10T03:01:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834875.29 epoch sec; seqNo:264; 4061330.79 north; 594163.58 east
2021-10-10T03:01:18Z- AHRS_M2 msg: 1633834875.62 epoch sec; seqNo:260
2021-10-10T03:01:18Z- AHRS_M2 msg: -0.01 phi; -0.13 theta; 5.93 psi
2021-10-10T03:01:18Z- handleDepth()-Depth_Keller msg: 1633834875628 epoch sec; seqNo:265; depth 0.08
2021-10-10T03:01:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834875.65 epoch sec; seqNo:265; 4061330.79 north; 594163.58 east
2021-10-10T03:01:18Z- AHRS_M2 msg: 1633834876.02 epoch sec; seqNo:261
2021-10-10T03:01:18Z- AHRS_M2 msg: -0.06 phi; -0.04 theta; 5.93 psi
2021-10-10T03:01:18Z- handleDepth()-Depth_Keller msg: 1633834876028 epoch sec; seqNo:266; depth 0.06
2021-10-10T03:01:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834876.06 epoch sec; seqNo:266; 4061330.79 north; 594163.58 east
2021-10-10T03:01:18Z- LcmTrn::handleMessages() - handling 41 messages took 0.79 ms and 125 calls...
2021-10-10T03:01:18Z- waiting for 1633834873.81, time is 1633834876.06
2021-10-10T03:01:18Z- LcmTrn::updateTrn() >>>> pose time 1633834876.06, meas time 1633834875.25 <<<<
2021-10-10T03:01:18Z- TerrainNav::Measurement type 1 from time = 1633834875.25 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:01:18Z- TerrainNav::motionUpdate() - currEstimate = (4061331, 594163.58, 0.06)
2021-10-10T03:01:18Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:01:18Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:18Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:18Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:01:18Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:01:18Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:01:18Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:01:18Z- AHRS_M2 msg: 1633834876.42 epoch sec; seqNo:262
2021-10-10T03:01:18Z- AHRS_M2 msg: -0.05 phi; 0.03 theta; 5.91 psi
2021-10-10T03:01:18Z- handleDepth()-Depth_Keller msg: 1633834876431 epoch sec; seqNo:267; depth 0.07
2021-10-10T03:01:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834876.47 epoch sec; seqNo:267; 4061330.41 north; 594163.58 east
2021-10-10T03:01:19Z- AHRS_M2 msg: 1633834876.83 epoch sec; seqNo:263
2021-10-10T03:01:19Z- AHRS_M2 msg: -0.02 phi; 0.04 theta; 5.91 psi
2021-10-10T03:01:19Z- handleDepth()-Depth_Keller msg: 1633834876847 epoch sec; seqNo:268; depth 0.10
2021-10-10T03:01:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834876.87 epoch sec; seqNo:268; 4061330.41 north; 594163.58 east
2021-10-10T03:01:19Z- AHRS_M2 msg: 1633834877.24 epoch sec; seqNo:264
2021-10-10T03:01:19Z- AHRS_M2 msg: 0.03 phi; -0.01 theta; 5.97 psi
2021-10-10T03:01:19Z- handleDepth()-Depth_Keller msg: 1633834877249 epoch sec; seqNo:269; depth 0.12
2021-10-10T03:01:19Z- handleDvl() - RDI_Pathfinder msg: 1633834877.27 epoch sec; seqNo:55
2021-10-10T03:01:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.44 , 97.59 , 97.59 , 97.59
2021-10-10T03:01:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.31 , -1.00 , 0.19
2021-10-10T03:01:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834877.28 epoch sec; seqNo:269; 4061330.41 north; 594163.58 east
2021-10-10T03:01:20Z- AHRS_M2 msg: 1633834877.64 epoch sec; seqNo:265
2021-10-10T03:01:20Z- AHRS_M2 msg: 0.05 phi; 0.03 theta; 5.94 psi
2021-10-10T03:01:20Z- handleDepth()-Depth_Keller msg: 1633834877651 epoch sec; seqNo:270; depth 0.13
2021-10-10T03:01:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834877.67 epoch sec; seqNo:270; 4061330.41 north; 594163.58 east
2021-10-10T03:01:20Z- AHRS_M2 msg: 1633834878.04 epoch sec; seqNo:266
2021-10-10T03:01:20Z- AHRS_M2 msg: 0.03 phi; 0.14 theta; 5.91 psi
2021-10-10T03:01:20Z- handleDepth()-Depth_Keller msg: 1633834878048 epoch sec; seqNo:271; depth 0.13
2021-10-10T03:01:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834878.06 epoch sec; seqNo:271; 4061330.40 north; 594162.36 east
2021-10-10T03:01:20Z- AHRS_M2 msg: 1633834878.45 epoch sec; seqNo:267
2021-10-10T03:01:20Z- AHRS_M2 msg: 0.06 phi; 0.13 theta; 5.94 psi
2021-10-10T03:01:20Z- handleDepth()-Depth_Keller msg: 1633834878454 epoch sec; seqNo:272; depth 0.09
2021-10-10T03:01:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834878.46 epoch sec; seqNo:272; 4061330.40 north; 594162.36 east
2021-10-10T03:01:21Z- AHRS_M2 msg: 1633834878.85 epoch sec; seqNo:268
2021-10-10T03:01:21Z- AHRS_M2 msg: 0.07 phi; 0.04 theta; 5.94 psi
2021-10-10T03:01:21Z- handleDepth()-Depth_Keller msg: 1633834878864 epoch sec; seqNo:273; depth 0.08
2021-10-10T03:01:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834878.88 epoch sec; seqNo:273; 4061330.40 north; 594162.36 east
2021-10-10T03:01:21Z- AHRS_M2 msg: 1633834879.26 epoch sec; seqNo:269
2021-10-10T03:01:21Z- AHRS_M2 msg: 0.03 phi; -0.02 theta; 5.92 psi
2021-10-10T03:01:21Z- handleDepth()-Depth_Keller msg: 1633834879264 epoch sec; seqNo:274; depth 0.05
2021-10-10T03:01:21Z- handleDvl() - RDI_Pathfinder msg: 1633834879.29 epoch sec; seqNo:56
2021-10-10T03:01:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.17 , 92.09 , 107.03 , 85.30
2021-10-10T03:01:21Z- handleDvl() - RDI_Pathfinder msg: velocities -0.36 , 0.01 , 0.64
2021-10-10T03:01:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834879.30 epoch sec; seqNo:274; 4061330.02 north; 594162.37 east
2021-10-10T03:01:22Z- AHRS_M2 msg: 1633834879.66 epoch sec; seqNo:270
2021-10-10T03:01:22Z- AHRS_M2 msg: 0.01 phi; -0.07 theta; 5.92 psi
2021-10-10T03:01:22Z- handleDepth()-Depth_Keller msg: 1633834879668 epoch sec; seqNo:275; depth 0.04
2021-10-10T03:01:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834879.68 epoch sec; seqNo:275; 4061330.02 north; 594162.37 east
2021-10-10T03:01:22Z- AHRS_M2 msg: 1633834880.07 epoch sec; seqNo:271
2021-10-10T03:01:22Z- AHRS_M2 msg: 0.05 phi; -0.12 theta; 5.91 psi
2021-10-10T03:01:22Z- handleDepth()-Depth_Keller msg: 1633834880071 epoch sec; seqNo:276; depth 0.03
2021-10-10T03:01:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834880.08 epoch sec; seqNo:276; 4061329.64 north; 594162.37 east
2021-10-10T03:01:22Z- AHRS_M2 msg: 1633834880.47 epoch sec; seqNo:272
2021-10-10T03:01:22Z- AHRS_M2 msg: 0.14 phi; -0.12 theta; 5.89 psi
2021-10-10T03:01:22Z- handleDepth()-Depth_Keller msg: 1633834880482 epoch sec; seqNo:277; depth 0.06
2021-10-10T03:01:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834880.49 epoch sec; seqNo:277; 4061329.64 north; 594162.37 east
2021-10-10T03:01:23Z- AHRS_M2 msg: 1633834880.87 epoch sec; seqNo:273
2021-10-10T03:01:23Z- AHRS_M2 msg: 0.09 phi; -0.09 theta; 5.87 psi
2021-10-10T03:01:23Z- handleDepth()-Depth_Keller msg: 1633834880884 epoch sec; seqNo:278; depth 0.07
2021-10-10T03:01:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834880.90 epoch sec; seqNo:278; 4061329.64 north; 594162.37 east
2021-10-10T03:01:23Z- LcmTrn::handleMessages() - handling 38 messages took 0.73 ms and 123 calls...
2021-10-10T03:01:23Z- waiting for 1633834879.06, time is 1633834880.90
2021-10-10T03:01:23Z- LcmTrn::updateTrn() >>>> pose time 1633834880.90, meas time 1633834879.29 <<<<
2021-10-10T03:01:23Z- TerrainNav::Measurement type 1 from time = 1633834879.29 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:01:23Z- TerrainNav::motionUpdate() - currEstimate = (4061330, 594162.37, 0.07)
2021-10-10T03:01:23Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:01:23Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:23Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:23Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:01:23Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:01:23Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:01:23Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:01:23Z- AHRS_M2 msg: 1633834881.28 epoch sec; seqNo:274
2021-10-10T03:01:23Z- AHRS_M2 msg: -0.01 phi; -0.04 theta; 5.86 psi
2021-10-10T03:01:23Z- handleDepth()-Depth_Keller msg: 1633834881283 epoch sec; seqNo:279; depth 0.08
2021-10-10T03:01:23Z- handleDvl() - RDI_Pathfinder msg: 1633834881.30 epoch sec; seqNo:57
2021-10-10T03:01:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 103.03 , 89.45 , 0.00 , 96.24
2021-10-10T03:01:23Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , 0.13 , -0.76
2021-10-10T03:01:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834881.33 epoch sec; seqNo:279; 4061329.64 north; 594162.37 east
2021-10-10T03:01:24Z- AHRS_M2 msg: 1633834881.68 epoch sec; seqNo:275
2021-10-10T03:01:24Z- AHRS_M2 msg: -0.13 phi; 0.03 theta; 5.78 psi
2021-10-10T03:01:24Z- handleDepth()-Depth_Keller msg: 1633834881692 epoch sec; seqNo:280; depth 0.08
2021-10-10T03:01:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834881.70 epoch sec; seqNo:280; 4061329.26 north; 594162.37 east
2021-10-10T03:01:24Z- AHRS_M2 msg: 1633834882.08 epoch sec; seqNo:276
2021-10-10T03:01:24Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 5.75 psi
2021-10-10T03:01:24Z- handleDepth()-Depth_Keller msg: 1633834882092 epoch sec; seqNo:281; depth 0.07
2021-10-10T03:01:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834882.11 epoch sec; seqNo:281; 4061329.26 north; 594162.37 east
2021-10-10T03:01:24Z- AHRS_M2 msg: 1633834882.49 epoch sec; seqNo:277
2021-10-10T03:01:24Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 5.79 psi
2021-10-10T03:01:24Z- handleDepth()-Depth_Keller msg: 1633834882500 epoch sec; seqNo:282; depth 0.04
2021-10-10T03:01:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834882.51 epoch sec; seqNo:282; 4061329.26 north; 594162.37 east
2021-10-10T03:01:25Z- AHRS_M2 msg: 1633834882.90 epoch sec; seqNo:278
2021-10-10T03:01:25Z- AHRS_M2 msg: -0.02 phi; -0.04 theta; 5.78 psi
2021-10-10T03:01:25Z- handleDepth()-Depth_Keller msg: 1633834882907 epoch sec; seqNo:283; depth 0.08
2021-10-10T03:01:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834882.92 epoch sec; seqNo:283; 4061329.26 north; 594162.37 east
2021-10-10T03:01:25Z- AHRS_M2 msg: 1633834883.30 epoch sec; seqNo:279
2021-10-10T03:01:25Z- AHRS_M2 msg: 0.11 phi; -0.00 theta; 5.80 psi
2021-10-10T03:01:25Z- handleDepth()-Depth_Keller msg: 1633834883311 epoch sec; seqNo:284; depth 0.10
2021-10-10T03:01:25Z- handleDvl() - RDI_Pathfinder msg: 1633834883.33 epoch sec; seqNo:58
2021-10-10T03:01:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.87 , 108.32 , 97.46 , 97.46
2021-10-10T03:01:25Z- handleDvl() - RDI_Pathfinder msg: velocities -0.31 , -0.74 , 0.40
2021-10-10T03:01:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834883.34 epoch sec; seqNo:284; 4061328.88 north; 594162.38 east
2021-10-10T03:01:26Z- AHRS_M2 msg: 1633834883.70 epoch sec; seqNo:280
2021-10-10T03:01:26Z- AHRS_M2 msg: 0.21 phi; 0.01 theta; 5.82 psi
2021-10-10T03:01:26Z- handleDepth()-Depth_Keller msg: 1633834883705 epoch sec; seqNo:285; depth 0.08
2021-10-10T03:01:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834883.73 epoch sec; seqNo:285; 4061328.88 north; 594162.38 east
2021-10-10T03:01:26Z- AHRS_M2 msg: 1633834884.11 epoch sec; seqNo:281
2021-10-10T03:01:26Z- AHRS_M2 msg: 0.17 phi; -0.07 theta; 5.80 psi
2021-10-10T03:01:26Z- handleDepth()-Depth_Keller msg: 1633834884109 epoch sec; seqNo:286; depth 0.05
2021-10-10T03:01:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834884.12 epoch sec; seqNo:286; 4061328.49 north; 594161.16 east
2021-10-10T03:01:26Z- AHRS_M2 msg: 1633834884.51 epoch sec; seqNo:282
2021-10-10T03:01:26Z- AHRS_M2 msg: 0.04 phi; -0.12 theta; 5.78 psi
2021-10-10T03:01:26Z- handleDepth()-Depth_Keller msg: 1633834884514 epoch sec; seqNo:287; depth 0.06
2021-10-10T03:01:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834884.52 epoch sec; seqNo:287; 4061328.11 north; 594161.17 east
2021-10-10T03:01:27Z- AHRS_M2 msg: 1633834884.91 epoch sec; seqNo:283
2021-10-10T03:01:27Z- AHRS_M2 msg: -0.01 phi; -0.02 theta; 5.78 psi
2021-10-10T03:01:27Z- handleDepth()-Depth_Keller msg: 1633834884930 epoch sec; seqNo:288; depth 0.04
2021-10-10T03:01:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834884.94 epoch sec; seqNo:288; 4061328.11 north; 594161.17 east
2021-10-10T03:01:27Z- AHRS_M2 msg: 1633834885.32 epoch sec; seqNo:284
2021-10-10T03:01:27Z- AHRS_M2 msg: 0.04 phi; 0.07 theta; 5.80 psi
2021-10-10T03:01:27Z- handleDepth()-Depth_Keller msg: 1633834885328 epoch sec; seqNo:289; depth 0.09
2021-10-10T03:01:27Z- handleDvl() - RDI_Pathfinder msg: 1633834885.35 epoch sec; seqNo:59
2021-10-10T03:01:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 98.82 , 97.46 , 0.00 , 101.53
2021-10-10T03:01:27Z- handleDvl() - RDI_Pathfinder msg: velocities -0.21 , -0.32 , -0.48
2021-10-10T03:01:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834885.38 epoch sec; seqNo:289; 4061327.73 north; 594161.17 east
2021-10-10T03:01:28Z- AHRS_M2 msg: 1633834885.72 epoch sec; seqNo:285
2021-10-10T03:01:28Z- AHRS_M2 msg: 0.02 phi; 0.05 theta; 5.76 psi
2021-10-10T03:01:28Z- handleDepth()-Depth_Keller msg: 1633834885729 epoch sec; seqNo:290; depth 0.09
2021-10-10T03:01:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834885.75 epoch sec; seqNo:290; 4061327.73 north; 594161.17 east
2021-10-10T03:01:28Z- AHRS_M2 msg: 1633834886.12 epoch sec; seqNo:286
2021-10-10T03:01:28Z- AHRS_M2 msg: -0.08 phi; -0.04 theta; 5.76 psi
2021-10-10T03:01:28Z- handleDepth()-Depth_Keller msg: 1633834886129 epoch sec; seqNo:291; depth 0.10
2021-10-10T03:01:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834886.15 epoch sec; seqNo:291; 4061327.73 north; 594161.17 east
2021-10-10T03:01:28Z- LcmTrn::handleMessages() - handling 42 messages took 0.79 ms and 126 calls...
2021-10-10T03:01:28Z- waiting for 1633834883.90, time is 1633834886.15
2021-10-10T03:01:28Z- LcmTrn::updateTrn() >>>> pose time 1633834886.15, meas time 1633834885.35 <<<<
2021-10-10T03:01:28Z- TerrainNav::Measurement type 1 from time = 1633834885.35 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:01:28Z- TerrainNav::motionUpdate() - currEstimate = (4061328, 594161.17, 0.10)
2021-10-10T03:01:28Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:01:28Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:28Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:28Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:01:28Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:01:28Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:01:28Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:01:28Z- AHRS_M2 msg: 1633834886.53 epoch sec; seqNo:287
2021-10-10T03:01:28Z- AHRS_M2 msg: -0.17 phi; -0.07 theta; 5.79 psi
2021-10-10T03:01:28Z- handleDepth()-Depth_Keller msg: 1633834886533 epoch sec; seqNo:292; depth 0.09
2021-10-10T03:01:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834886.54 epoch sec; seqNo:292; 4061327.35 north; 594161.17 east
2021-10-10T03:01:29Z- AHRS_M2 msg: 1633834886.93 epoch sec; seqNo:288
2021-10-10T03:01:29Z- AHRS_M2 msg: -0.17 phi; -0.02 theta; 5.78 psi
2021-10-10T03:01:29Z- handleDepth()-Depth_Keller msg: 1633834886940 epoch sec; seqNo:293; depth 0.08
2021-10-10T03:01:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834886.95 epoch sec; seqNo:293; 4061327.35 north; 594161.17 east
2021-10-10T03:01:29Z- AHRS_M2 msg: 1633834887.34 epoch sec; seqNo:289
2021-10-10T03:01:29Z- AHRS_M2 msg: -0.12 phi; -0.01 theta; 5.77 psi
2021-10-10T03:01:29Z- handleDepth()-Depth_Keller msg: 1633834887352 epoch sec; seqNo:294; depth 0.06
2021-10-10T03:01:29Z- handleDvl() - RDI_Pathfinder msg: 1633834887.38 epoch sec; seqNo:60
2021-10-10T03:01:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.32 , 103.98 , 97.19 , 95.83
2021-10-10T03:01:29Z- handleDvl() - RDI_Pathfinder msg: velocities -0.34 , -0.15 , -0.01
2021-10-10T03:01:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834887.39 epoch sec; seqNo:294; 4061326.97 north; 594161.18 east
2021-10-10T03:01:30Z- AHRS_M2 msg: 1633834887.74 epoch sec; seqNo:290
2021-10-10T03:01:30Z- AHRS_M2 msg: -0.04 phi; -0.03 theta; 5.77 psi
2021-10-10T03:01:30Z- handleDepth()-Depth_Keller msg: 1633834887745 epoch sec; seqNo:295; depth 0.06
2021-10-10T03:01:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834887.77 epoch sec; seqNo:295; 4061326.97 north; 594161.18 east
2021-10-10T03:01:30Z- AHRS_M2 msg: 1633834888.14 epoch sec; seqNo:291
2021-10-10T03:01:30Z- AHRS_M2 msg: 0.09 phi; -0.08 theta; 5.77 psi
2021-10-10T03:01:30Z- handleDepth()-Depth_Keller msg: 1633834888149 epoch sec; seqNo:296; depth 0.07
2021-10-10T03:01:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834888.16 epoch sec; seqNo:296; 4061326.97 north; 594161.18 east
2021-10-10T03:01:31Z- AHRS_M2 msg: 1633834888.55 epoch sec; seqNo:292
2021-10-10T03:01:31Z- AHRS_M2 msg: 0.15 phi; -0.09 theta; 5.78 psi
2021-10-10T03:01:31Z- handleDepth()-Depth_Keller msg: 1633834888559 epoch sec; seqNo:297; depth 0.04
2021-10-10T03:01:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834888.57 epoch sec; seqNo:297; 4061326.60 north; 594161.18 east
2021-10-10T03:01:31Z- AHRS_M2 msg: 1633834888.96 epoch sec; seqNo:293
2021-10-10T03:01:31Z- AHRS_M2 msg: 0.17 phi; -0.08 theta; 5.81 psi
2021-10-10T03:01:31Z- handleDepth()-Depth_Keller msg: 1633834888965 epoch sec; seqNo:298; depth 0.05
2021-10-10T03:01:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834888.97 epoch sec; seqNo:298; 4061326.60 north; 594161.18 east
2021-10-10T03:01:31Z- AHRS_M2 msg: 1633834889.36 epoch sec; seqNo:294
2021-10-10T03:01:31Z- AHRS_M2 msg: 0.02 phi; -0.03 theta; 5.76 psi
2021-10-10T03:01:31Z- handleDepth()-Depth_Keller msg: 1633834889367 epoch sec; seqNo:299; depth 0.08
2021-10-10T03:01:31Z- handleDvl() - RDI_Pathfinder msg: 1633834889.39 epoch sec; seqNo:61
2021-10-10T03:01:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 104.32 , 86.66 , 90.73 , 96.17
2021-10-10T03:01:31Z- handleDvl() - RDI_Pathfinder msg: velocities -0.31 , -0.36 , -0.38
2021-10-10T03:01:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834889.41 epoch sec; seqNo:299; 4061326.22 north; 594161.19 east
2021-10-10T03:01:32Z- AHRS_M2 msg: 1633834889.76 epoch sec; seqNo:295
2021-10-10T03:01:32Z- AHRS_M2 msg: -0.15 phi; 0.04 theta; 5.73 psi
2021-10-10T03:01:32Z- handleDepth()-Depth_Keller msg: 1633834889765 epoch sec; seqNo:300; depth 0.05
2021-10-10T03:01:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834889.78 epoch sec; seqNo:300; 4061326.22 north; 594161.19 east
2021-10-10T03:01:32Z- AHRS_M2 msg: 1633834890.16 epoch sec; seqNo:296
2021-10-10T03:01:32Z- AHRS_M2 msg: -0.20 phi; 0.13 theta; 5.80 psi
2021-10-10T03:01:32Z- handleDepth()-Depth_Keller msg: 1633834890169 epoch sec; seqNo:301; depth 0.04
2021-10-10T03:01:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834890.18 epoch sec; seqNo:301; 4061325.84 north; 594161.19 east
2021-10-10T03:01:33Z- AHRS_M2 msg: 1633834890.57 epoch sec; seqNo:297
2021-10-10T03:01:33Z- AHRS_M2 msg: -0.15 phi; 0.14 theta; 5.84 psi
2021-10-10T03:01:33Z- handleDepth()-Depth_Keller msg: 1633834890576 epoch sec; seqNo:302; depth 0.06
2021-10-10T03:01:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834890.59 epoch sec; seqNo:302; 4061325.84 north; 594161.19 east
2021-10-10T03:01:33Z- AHRS_M2 msg: 1633834890.97 epoch sec; seqNo:298
2021-10-10T03:01:33Z- AHRS_M2 msg: -0.11 phi; 0.01 theta; 5.82 psi
2021-10-10T03:01:33Z- handleDepth()-Depth_Keller msg: 1633834890976 epoch sec; seqNo:303; depth 0.06
2021-10-10T03:01:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834890.99 epoch sec; seqNo:303; 4061325.46 north; 594161.20 east
2021-10-10T03:01:33Z- LcmTrn::handleMessages() - handling 38 messages took 0.71 ms and 123 calls...
2021-10-10T03:01:33Z- waiting for 1633834889.15, time is 1633834890.99
2021-10-10T03:01:33Z- LcmTrn::updateTrn() >>>> pose time 1633834890.99, meas time 1633834889.39 <<<<
2021-10-10T03:01:33Z- TerrainNav::Measurement type 1 from time = 1633834889.39 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:01:33Z- TerrainNav::motionUpdate() - currEstimate = (4061325, 594161.20, 0.06)
2021-10-10T03:01:33Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:01:33Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:33Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:33Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:01:33Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:01:33Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:01:33Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:01:33Z- AHRS_M2 msg: 1633834891.38 epoch sec; seqNo:299
2021-10-10T03:01:33Z- AHRS_M2 msg: -0.08 phi; -0.08 theta; 5.79 psi
2021-10-10T03:01:33Z- handleDepth()-Depth_Keller msg: 1633834891380 epoch sec; seqNo:304; depth 0.06
2021-10-10T03:01:33Z- handleDvl() - RDI_Pathfinder msg: 1633834891.40 epoch sec; seqNo:62
2021-10-10T03:01:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.44 , 109.89 , 104.45 , 89.51
2021-10-10T03:01:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.14 , -0.14 , 0.66
2021-10-10T03:01:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834891.42 epoch sec; seqNo:304; 4061325.45 north; 594159.97 east
2021-10-10T03:01:34Z- AHRS_M2 msg: 1633834891.78 epoch sec; seqNo:300
2021-10-10T03:01:34Z- AHRS_M2 msg: -0.05 phi; -0.02 theta; 5.81 psi
2021-10-10T03:01:34Z- handleDepth()-Depth_Keller msg: 1633834891785 epoch sec; seqNo:305; depth 0.08
2021-10-10T03:01:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834891.80 epoch sec; seqNo:305; 4061325.45 north; 594159.97 east
2021-10-10T03:01:34Z- AHRS_M2 msg: 1633834892.18 epoch sec; seqNo:301
2021-10-10T03:01:34Z- AHRS_M2 msg: -0.00 phi; -0.01 theta; 5.81 psi
2021-10-10T03:01:34Z- handleDepth()-Depth_Keller msg: 1633834892197 epoch sec; seqNo:306; depth 0.06
2021-10-10T03:01:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834892.21 epoch sec; seqNo:306; 4061325.45 north; 594159.97 east
2021-10-10T03:01:35Z- AHRS_M2 msg: 1633834892.59 epoch sec; seqNo:302
2021-10-10T03:01:35Z- AHRS_M2 msg: 0.05 phi; -0.06 theta; 5.74 psi
2021-10-10T03:01:35Z- handleDepth()-Depth_Keller msg: 1633834892592 epoch sec; seqNo:307; depth 0.04
2021-10-10T03:01:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834892.60 epoch sec; seqNo:307; 4061325.45 north; 594159.97 east
2021-10-10T03:01:35Z- AHRS_M2 msg: 1633834893.00 epoch sec; seqNo:303
2021-10-10T03:01:35Z- AHRS_M2 msg: 0.06 phi; -0.03 theta; 5.74 psi
2021-10-10T03:01:35Z- handleDepth()-Depth_Keller msg: 1633834893022 epoch sec; seqNo:308; depth 0.08
2021-10-10T03:01:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834893.07 epoch sec; seqNo:308; 4061325.45 north; 594159.97 east
2021-10-10T03:01:35Z- AHRS_M2 msg: 1633834893.40 epoch sec; seqNo:304
2021-10-10T03:01:35Z- AHRS_M2 msg: 0.09 phi; 0.06 theta; 5.82 psi
2021-10-10T03:01:35Z- handleDepth()-Depth_Keller msg: 1633834893407 epoch sec; seqNo:309; depth 0.06
2021-10-10T03:01:35Z- handleDvl() - RDI_Pathfinder msg: 1633834893.43 epoch sec; seqNo:63
2021-10-10T03:01:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.31 , 97.39 , 93.31 , 94.67
2021-10-10T03:01:35Z- handleDvl() - RDI_Pathfinder msg: velocities -0.24 , -0.62 , -0.39
2021-10-10T03:01:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834893.45 epoch sec; seqNo:309; 4061325.45 north; 594159.97 east
2021-10-10T03:01:36Z- AHRS_M2 msg: 1633834893.80 epoch sec; seqNo:305
2021-10-10T03:01:36Z- AHRS_M2 msg: 0.11 phi; 0.04 theta; 5.86 psi
2021-10-10T03:01:36Z- handleDepth()-Depth_Keller msg: 1633834893805 epoch sec; seqNo:310; depth 0.07
2021-10-10T03:01:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834893.82 epoch sec; seqNo:310; 4061325.45 north; 594159.97 east
2021-10-10T03:01:36Z- AHRS_M2 msg: 1633834894.20 epoch sec; seqNo:306
2021-10-10T03:01:36Z- AHRS_M2 msg: 0.05 phi; -0.05 theta; 5.81 psi
2021-10-10T03:01:36Z- handleDepth()-Depth_Keller msg: 1633834894210 epoch sec; seqNo:311; depth 0.08
2021-10-10T03:01:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834894.22 epoch sec; seqNo:311; 4061325.07 north; 594159.98 east
2021-10-10T03:01:37Z- AHRS_M2 msg: 1633834894.61 epoch sec; seqNo:307
2021-10-10T03:01:37Z- AHRS_M2 msg: -0.04 phi; -0.06 theta; 5.76 psi
2021-10-10T03:01:37Z- handleDepth()-Depth_Keller msg: 1633834894621 epoch sec; seqNo:312; depth 0.08
2021-10-10T03:01:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834894.63 epoch sec; seqNo:312; 4061325.07 north; 594159.98 east
2021-10-10T03:01:37Z- AHRS_M2 msg: 1633834895.06 epoch sec; seqNo:308
2021-10-10T03:01:37Z- AHRS_M2 msg: -0.14 phi; -0.01 theta; 5.76 psi
2021-10-10T03:01:37Z- handleDepth()-Depth_Keller msg: 1633834895073 epoch sec; seqNo:313; depth 0.06
2021-10-10T03:01:37Z- handleDvl() - RDI_Pathfinder msg: 1633834895.10 epoch sec; seqNo:64
2021-10-10T03:01:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.59 , 97.59 , 89.44 , 97.59
2021-10-10T03:01:37Z- handleDvl() - RDI_Pathfinder msg: velocities -0.38 , -0.23 , -0.04
2021-10-10T03:01:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834895.12 epoch sec; seqNo:313; 4061324.69 north; 594159.98 east
2021-10-10T03:01:37Z- AHRS_M2 msg: 1633834895.42 epoch sec; seqNo:309
2021-10-10T03:01:37Z- AHRS_M2 msg: -0.15 phi; -0.01 theta; 5.80 psi
2021-10-10T03:01:37Z- handleDepth()-Depth_Keller msg: 1633834895427 epoch sec; seqNo:314; depth 0.03
2021-10-10T03:01:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834895.44 epoch sec; seqNo:314; 4061324.69 north; 594159.98 east
2021-10-10T03:01:38Z- AHRS_M2 msg: 1633834895.82 epoch sec; seqNo:310
2021-10-10T03:01:38Z- AHRS_M2 msg: -0.01 phi; -0.02 theta; 5.80 psi
2021-10-10T03:01:38Z- handleDepth()-Depth_Keller msg: 1633834895826 epoch sec; seqNo:315; depth 0.04
2021-10-10T03:01:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834895.84 epoch sec; seqNo:315; 4061324.31 north; 594159.99 east
2021-10-10T03:01:38Z- AHRS_M2 msg: 1633834896.24 epoch sec; seqNo:311
2021-10-10T03:01:38Z- AHRS_M2 msg: 0.10 phi; -0.01 theta; 5.77 psi
2021-10-10T03:01:38Z- handleDepth()-Depth_Keller msg: 1633834896250 epoch sec; seqNo:316; depth 0.07
2021-10-10T03:01:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834896.26 epoch sec; seqNo:316; 4061324.31 north; 594159.99 east
2021-10-10T03:01:38Z- LcmTrn::handleMessages() - handling 42 messages took 0.76 ms and 126 calls...
2021-10-10T03:01:38Z- waiting for 1633834893.99, time is 1633834896.26
2021-10-10T03:01:38Z- LcmTrn::updateTrn() >>>> pose time 1633834896.26, meas time 1633834895.10 <<<<
2021-10-10T03:01:38Z- TerrainNav:: Throwing out all beams because more than two are equal to 97.593 at t=1633834895.10, ping # 0.
2021-10-10T03:01:38Z- TerrainNav::Measurement type 1 from time = 1633834895.10 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0
2021-10-10T03:01:38Z- TerrainNav::motionUpdate() - currEstimate = (4061324, 594159.99, 0.07)
2021-10-10T03:01:38Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:01:38Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:38Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:38Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:01:38Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:01:38Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:01:38Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:01:39Z- AHRS_M2 msg: 1633834896.63 epoch sec; seqNo:312
2021-10-10T03:01:39Z- AHRS_M2 msg: 0.08 phi; 0.04 theta; 5.77 psi
2021-10-10T03:01:39Z- handleDepth()-Depth_Keller msg: 1633834896636 epoch sec; seqNo:317; depth 0.09
2021-10-10T03:01:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834896.66 epoch sec; seqNo:317; 4061323.93 north; 594159.99 east
2021-10-10T03:01:39Z- AHRS_M2 msg: 1633834897.06 epoch sec; seqNo:313
2021-10-10T03:01:39Z- AHRS_M2 msg: 0.01 phi; 0.06 theta; 5.79 psi
2021-10-10T03:01:39Z- handleDepth()-Depth_Keller msg: 1633834897078 epoch sec; seqNo:318; depth 0.08
2021-10-10T03:01:39Z- handleDvl() - RDI_Pathfinder msg: 1633834897.10 epoch sec; seqNo:65
2021-10-10T03:01:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 101.60 , 88.02 , 97.53 , 96.17
2021-10-10T03:01:39Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , -0.22 , 0.15
2021-10-10T03:01:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834897.11 epoch sec; seqNo:318; 4061323.93 north; 594159.99 east
2021-10-10T03:01:39Z- AHRS_M2 msg: 1633834897.44 epoch sec; seqNo:314
2021-10-10T03:01:39Z- AHRS_M2 msg: -0.05 phi; 0.04 theta; 5.76 psi
2021-10-10T03:01:39Z- handleDepth()-Depth_Keller msg: 1633834897451 epoch sec; seqNo:319; depth 0.03
2021-10-10T03:01:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834897.46 epoch sec; seqNo:319; 4061323.93 north; 594159.99 east
2021-10-10T03:01:40Z- AHRS_M2 msg: 1633834897.84 epoch sec; seqNo:315
2021-10-10T03:01:40Z- AHRS_M2 msg: -0.06 phi; 0.03 theta; 5.75 psi
2021-10-10T03:01:40Z- handleDepth()-Depth_Keller msg: 1633834897856 epoch sec; seqNo:320; depth 0.06
2021-10-10T03:01:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834897.87 epoch sec; seqNo:320; 4061323.92 north; 594158.77 east
2021-10-10T03:01:40Z- AHRS_M2 msg: 1633834898.24 epoch sec; seqNo:316
2021-10-10T03:01:40Z- AHRS_M2 msg: -0.08 phi; -0.04 theta; 5.77 psi
2021-10-10T03:01:40Z- handleDepth()-Depth_Keller msg: 1633834898255 epoch sec; seqNo:321; depth 0.05
2021-10-10T03:01:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834898.28 epoch sec; seqNo:321; 4061323.54 north; 594158.78 east
2021-10-10T03:01:41Z- AHRS_M2 msg: 1633834898.65 epoch sec; seqNo:317
2021-10-10T03:01:41Z- AHRS_M2 msg: -0.11 phi; -0.08 theta; 5.73 psi
2021-10-10T03:01:41Z- handleDepth()-Depth_Keller msg: 1633834898653 epoch sec; seqNo:322; depth 0.04
2021-10-10T03:01:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834898.66 epoch sec; seqNo:322; 4061323.54 north; 594158.78 east
2021-10-10T03:01:41Z- AHRS_M2 msg: 1633834899.08 epoch sec; seqNo:318
2021-10-10T03:01:41Z- AHRS_M2 msg: -0.09 phi; -0.02 theta; 5.70 psi
2021-10-10T03:01:41Z- handleDepth()-Depth_Keller msg: 1633834899083 epoch sec; seqNo:323; depth 0.05
2021-10-10T03:01:41Z- handleDvl() - RDI_Pathfinder msg: 1633834899.11 epoch sec; seqNo:66
2021-10-10T03:01:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.53 , 96.17 , 97.53 , 97.53
2021-10-10T03:01:41Z- handleDvl() - RDI_Pathfinder msg: velocities -0.40 , -0.32 , -0.40
2021-10-10T03:01:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834899.12 epoch sec; seqNo:323; 4061323.16 north; 594158.78 east
2021-10-10T03:01:41Z- AHRS_M2 msg: 1633834899.46 epoch sec; seqNo:319
2021-10-10T03:01:41Z- AHRS_M2 msg: 0.01 phi; 0.02 theta; 5.74 psi
2021-10-10T03:01:41Z- handleDepth()-Depth_Keller msg: 1633834899467 epoch sec; seqNo:324; depth 0.07
2021-10-10T03:01:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834899.49 epoch sec; seqNo:324; 4061323.16 north; 594158.78 east
2021-10-10T03:01:42Z- AHRS_M2 msg: 1633834899.86 epoch sec; seqNo:320
2021-10-10T03:01:42Z- AHRS_M2 msg: 0.05 phi; 0.04 theta; 5.76 psi
2021-10-10T03:01:42Z- handleDepth()-Depth_Keller msg: 1633834899864 epoch sec; seqNo:325; depth 0.08
2021-10-10T03:01:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834899.87 epoch sec; seqNo:325; 4061322.78 north; 594158.78 east
2021-10-10T03:01:42Z- AHRS_M2 msg: 1633834900.27 epoch sec; seqNo:321
2021-10-10T03:01:42Z- AHRS_M2 msg: 0.01 phi; 0.03 theta; 5.79 psi
2021-10-10T03:01:42Z- handleDepth()-Depth_Keller msg: 1633834900275 epoch sec; seqNo:326; depth 0.06
2021-10-10T03:01:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834900.29 epoch sec; seqNo:326; 4061322.78 north; 594158.78 east
2021-10-10T03:01:43Z- AHRS_M2 msg: 1633834900.67 epoch sec; seqNo:322
2021-10-10T03:01:43Z- AHRS_M2 msg: -0.05 phi; 0.03 theta; 5.76 psi
2021-10-10T03:01:43Z- handleDepth()-Depth_Keller msg: 1633834900680 epoch sec; seqNo:327; depth 0.08
2021-10-10T03:01:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834900.69 epoch sec; seqNo:327; 4061322.40 north; 594158.79 east
2021-10-10T03:01:43Z- AHRS_M2 msg: 1633834901.08 epoch sec; seqNo:323
2021-10-10T03:01:43Z- AHRS_M2 msg: -0.12 phi; 0.06 theta; 5.74 psi
2021-10-10T03:01:43Z- handleDepth()-Depth_Keller msg: 1633834901089 epoch sec; seqNo:328; depth 0.06
2021-10-10T03:01:43Z- handleDvl() - RDI_Pathfinder msg: 1633834901.11 epoch sec; seqNo:67
2021-10-10T03:01:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 94.67 , 91.96 , 96.03 , 97.39
2021-10-10T03:01:43Z- handleDvl() - RDI_Pathfinder msg: velocities -0.30 , -0.22 , 0.30
2021-10-10T03:01:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834901.12 epoch sec; seqNo:328; 4061322.40 north; 594158.79 east
2021-10-10T03:01:43Z- LcmTrn::handleMessages() - handling 39 messages took 0.61 ms and 126 calls...
2021-10-10T03:01:43Z- waiting for 1633834899.26, time is 1633834901.12
2021-10-10T03:01:43Z- LcmTrn::updateTrn() equating pose 1633834901.12 and meas times 1633834901.12
2021-10-10T03:01:43Z- LcmTrn::updateTrn() >>>> pose time 1633834901.12, meas time 1633834901.12 <<<<
2021-10-10T03:01:43Z- TerrainNav::Measurement type 1 from time = 1633834901.12 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:01:43Z- TerrainNav::motionUpdate() - currEstimate = (4061322, 594158.79, 0.06)
2021-10-10T03:01:43Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:01:43Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:43Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:43Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:01:43Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:01:43Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:01:43Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:01:43Z- AHRS_M2 msg: 1633834901.48 epoch sec; seqNo:324
2021-10-10T03:01:43Z- AHRS_M2 msg: -0.14 phi; 0.01 theta; 5.75 psi
2021-10-10T03:01:43Z- handleDepth()-Depth_Keller msg: 1633834901483 epoch sec; seqNo:329; depth 0.05
2021-10-10T03:01:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834901.50 epoch sec; seqNo:329; 4061322.40 north; 594158.79 east
2021-10-10T03:01:44Z- AHRS_M2 msg: 1633834901.88 epoch sec; seqNo:325
2021-10-10T03:01:44Z- AHRS_M2 msg: -0.09 phi; -0.10 theta; 5.76 psi
2021-10-10T03:01:44Z- handleDepth()-Depth_Keller msg: 1633834901890 epoch sec; seqNo:330; depth 0.03
2021-10-10T03:01:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834901.90 epoch sec; seqNo:330; 4061322.02 north; 594158.79 east
2021-10-10T03:01:44Z- AHRS_M2 msg: 1633834902.28 epoch sec; seqNo:326
2021-10-10T03:01:44Z- AHRS_M2 msg: -0.02 phi; -0.11 theta; 5.77 psi
2021-10-10T03:01:44Z- handleDepth()-Depth_Keller msg: 1633834902297 epoch sec; seqNo:331; depth 0.03
2021-10-10T03:01:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834902.31 epoch sec; seqNo:331; 4061322.02 north; 594158.79 east
2021-10-10T03:01:45Z- AHRS_M2 msg: 1633834902.69 epoch sec; seqNo:327
2021-10-10T03:01:45Z- AHRS_M2 msg: 0.00 phi; -0.05 theta; 5.74 psi
2021-10-10T03:01:45Z- handleDepth()-Depth_Keller msg: 1633834902699 epoch sec; seqNo:332; depth 0.06
2021-10-10T03:01:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834902.72 epoch sec; seqNo:332; 4061321.64 north; 594158.80 east
2021-10-10T03:01:45Z- AHRS_M2 msg: 1633834903.09 epoch sec; seqNo:328
2021-10-10T03:01:45Z- AHRS_M2 msg: -0.04 phi; 0.02 theta; 5.70 psi
2021-10-10T03:01:45Z- handleDepth()-Depth_Keller msg: 1633834903099 epoch sec; seqNo:333; depth 0.06
2021-10-10T03:01:45Z- handleDvl() - RDI_Pathfinder msg: 1633834903.12 epoch sec; seqNo:68
2021-10-10T03:01:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.59 , 93.52 , 88.08 , 98.95
2021-10-10T03:01:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.11 , -0.04 , -0.59
2021-10-10T03:01:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834903.14 epoch sec; seqNo:333; 4061321.64 north; 594158.80 east
2021-10-10T03:01:45Z- AHRS_M2 msg: 1633834903.50 epoch sec; seqNo:329
2021-10-10T03:01:45Z- AHRS_M2 msg: -0.12 phi; 0.00 theta; 5.70 psi
2021-10-10T03:01:45Z- handleDepth()-Depth_Keller msg: 1633834903503 epoch sec; seqNo:334; depth 0.07
2021-10-10T03:01:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834903.52 epoch sec; seqNo:334; 4061321.64 north; 594158.80 east
2021-10-10T03:01:46Z- AHRS_M2 msg: 1633834903.90 epoch sec; seqNo:330
2021-10-10T03:01:46Z- AHRS_M2 msg: -0.15 phi; 0.01 theta; 5.71 psi
2021-10-10T03:01:46Z- handleDepth()-Depth_Keller msg: 1633834903920 epoch sec; seqNo:335; depth 0.08
2021-10-10T03:01:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834903.93 epoch sec; seqNo:335; 4061321.64 north; 594158.80 east
2021-10-10T03:01:46Z- AHRS_M2 msg: 1633834904.30 epoch sec; seqNo:331
2021-10-10T03:01:46Z- AHRS_M2 msg: -0.11 phi; 0.05 theta; 5.70 psi
2021-10-10T03:01:46Z- handleDepth()-Depth_Keller msg: 1633834904320 epoch sec; seqNo:336; depth 0.06
2021-10-10T03:01:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834904.35 epoch sec; seqNo:336; 4061321.64 north; 594158.80 east
2021-10-10T03:01:47Z- AHRS_M2 msg: 1633834904.71 epoch sec; seqNo:332
2021-10-10T03:01:47Z- AHRS_M2 msg: -0.10 phi; 0.02 theta; 5.74 psi
2021-10-10T03:01:47Z- handleDepth()-Depth_Keller msg: 1633834904719 epoch sec; seqNo:337; depth 0.08
2021-10-10T03:01:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834904.73 epoch sec; seqNo:337; 4061322.02 north; 594158.79 east
2021-10-10T03:01:47Z- AHRS_M2 msg: 1633834905.11 epoch sec; seqNo:333
2021-10-10T03:01:47Z- AHRS_M2 msg: 0.03 phi; 0.03 theta; 5.81 psi
2021-10-10T03:01:47Z- handleDepth()-Depth_Keller msg: 1633834905120 epoch sec; seqNo:338; depth 0.08
2021-10-10T03:01:47Z- handleDvl() - RDI_Pathfinder msg: 1633834905.14 epoch sec; seqNo:69
2021-10-10T03:01:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.08 , 100.31 , 96.24 , 89.44
2021-10-10T03:01:47Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , -0.61 , 0.62
2021-10-10T03:01:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834905.16 epoch sec; seqNo:338; 4061321.64 north; 594158.80 east
2021-10-10T03:01:47Z- AHRS_M2 msg: 1633834905.52 epoch sec; seqNo:334
2021-10-10T03:01:47Z- AHRS_M2 msg: 0.17 phi; 0.05 theta; 5.82 psi
2021-10-10T03:01:47Z- handleDepth()-Depth_Keller msg: 1633834905535 epoch sec; seqNo:339; depth 0.05
2021-10-10T03:01:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834905.55 epoch sec; seqNo:339; 4061321.64 north; 594158.80 east
2021-10-10T03:01:48Z- AHRS_M2 msg: 1633834905.93 epoch sec; seqNo:335
2021-10-10T03:01:48Z- AHRS_M2 msg: 0.00 phi; -0.19 theta; 5.77 psi
2021-10-10T03:01:48Z- handleDepth()-Depth_Keller msg: 1633834905936 epoch sec; seqNo:340; depth 0.03
2021-10-10T03:01:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834905.96 epoch sec; seqNo:340; 4061321.27 north; 594158.80 east
2021-10-10T03:01:48Z- LcmTrn::handleMessages() - handling 38 messages took 0.69 ms and 124 calls...
2021-10-10T03:01:48Z- waiting for 1633834904.12, time is 1633834905.96
2021-10-10T03:01:48Z- LcmTrn::updateTrn() >>>> pose time 1633834905.96, meas time 1633834905.14 <<<<
2021-10-10T03:01:48Z- TerrainNav::Measurement type 1 from time = 1633834905.14 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:01:48Z- TerrainNav::motionUpdate() - currEstimate = (4061321, 594158.80, 0.03)
2021-10-10T03:01:48Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:01:48Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:48Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:48Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:01:48Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:01:48Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:01:48Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:01:48Z- AHRS_M2 msg: 1633834906.33 epoch sec; seqNo:336
2021-10-10T03:01:48Z- AHRS_M2 msg: -0.06 phi; -0.11 theta; 5.82 psi
2021-10-10T03:01:48Z- handleDepth()-Depth_Keller msg: 1633834906333 epoch sec; seqNo:341; depth 0.05
2021-10-10T03:01:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834906.34 epoch sec; seqNo:341; 4061321.25 north; 594157.58 east
2021-10-10T03:01:49Z- AHRS_M2 msg: 1633834906.73 epoch sec; seqNo:337
2021-10-10T03:01:49Z- AHRS_M2 msg: -0.00 phi; -0.02 theta; 5.82 psi
2021-10-10T03:01:49Z- handleDepth()-Depth_Keller msg: 1633834906740 epoch sec; seqNo:342; depth 0.05
2021-10-10T03:01:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834906.78 epoch sec; seqNo:342; 4061320.87 north; 594157.58 east
2021-10-10T03:01:49Z- AHRS_M2 msg: 1633834907.13 epoch sec; seqNo:338
2021-10-10T03:01:49Z- AHRS_M2 msg: 0.02 phi; -0.01 theta; 5.79 psi
2021-10-10T03:01:49Z- handleDepth()-Depth_Keller msg: 1633834907149 epoch sec; seqNo:343; depth 0.10
2021-10-10T03:01:49Z- handleDvl() - RDI_Pathfinder msg: 1633834907.17 epoch sec; seqNo:70
2021-10-10T03:01:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.73 , 96.37 , 84.14 , 103.16
2021-10-10T03:01:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.14 , -0.17 , -0.66
2021-10-10T03:01:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834907.18 epoch sec; seqNo:343; 4061320.87 north; 594157.58 east
2021-10-10T03:01:50Z- AHRS_M2 msg: 1633834907.54 epoch sec; seqNo:339
2021-10-10T03:01:50Z- AHRS_M2 msg: -0.00 phi; -0.06 theta; 5.81 psi
2021-10-10T03:01:50Z- handleDepth()-Depth_Keller msg: 1633834907551 epoch sec; seqNo:344; depth 0.14
2021-10-10T03:01:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834907.57 epoch sec; seqNo:344; 4061320.87 north; 594157.58 east
2021-10-10T03:01:50Z- AHRS_M2 msg: 1633834907.94 epoch sec; seqNo:340
2021-10-10T03:01:50Z- AHRS_M2 msg: -0.03 phi; -0.10 theta; 5.83 psi
2021-10-10T03:01:50Z- handleDepth()-Depth_Keller msg: 1633834907950 epoch sec; seqNo:345; depth 0.15
2021-10-10T03:01:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834907.96 epoch sec; seqNo:345; 4061320.87 north; 594157.58 east
2021-10-10T03:01:50Z- AHRS_M2 msg: 1633834908.35 epoch sec; seqNo:341
2021-10-10T03:01:50Z- AHRS_M2 msg: -0.04 phi; -0.10 theta; 5.81 psi
2021-10-10T03:01:50Z- handleDepth()-Depth_Keller msg: 1633834908352 epoch sec; seqNo:346; depth 0.16
2021-10-10T03:01:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834908.37 epoch sec; seqNo:346; 4061321.25 north; 594157.58 east
2021-10-10T03:01:51Z- AHRS_M2 msg: 1633834908.75 epoch sec; seqNo:342
2021-10-10T03:01:51Z- AHRS_M2 msg: -0.03 phi; -0.14 theta; 5.80 psi
2021-10-10T03:01:51Z- handleDepth()-Depth_Keller msg: 1633834908755 epoch sec; seqNo:347; depth 0.16
2021-10-10T03:01:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834908.79 epoch sec; seqNo:347; 4061321.25 north; 594157.58 east
2021-10-10T03:01:51Z- AHRS_M2 msg: 1633834909.15 epoch sec; seqNo:343
2021-10-10T03:01:51Z- AHRS_M2 msg: 0.01 phi; -0.21 theta; 5.82 psi
2021-10-10T03:01:51Z- handleDepth()-Depth_Keller msg: 1633834909159 epoch sec; seqNo:348; depth 0.18
2021-10-10T03:01:51Z- handleDvl() - RDI_Pathfinder msg: 1633834909.18 epoch sec; seqNo:71
2021-10-10T03:01:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 92.09 , 97.53 , 88.02 , 97.53
2021-10-10T03:01:51Z- handleDvl() - RDI_Pathfinder msg: velocities -0.25 , -0.48 , 0.39
2021-10-10T03:01:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834909.26 epoch sec; seqNo:348; 4061320.87 north; 594157.58 east
2021-10-10T03:01:52Z- AHRS_M2 msg: 1633834909.56 epoch sec; seqNo:344
2021-10-10T03:01:52Z- AHRS_M2 msg: 0.03 phi; -0.24 theta; 5.80 psi
2021-10-10T03:01:52Z- handleDepth()-Depth_Keller msg: 1633834909564 epoch sec; seqNo:349; depth 0.20
2021-10-10T03:01:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834909.58 epoch sec; seqNo:349; 4061320.87 north; 594157.58 east
2021-10-10T03:01:52Z- AHRS_M2 msg: 1633834909.96 epoch sec; seqNo:345
2021-10-10T03:01:52Z- AHRS_M2 msg: -0.01 phi; -0.22 theta; 5.78 psi
2021-10-10T03:01:52Z- handleDepth()-Depth_Keller msg: 1633834909976 epoch sec; seqNo:350; depth 0.21
2021-10-10T03:01:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834909.99 epoch sec; seqNo:350; 4061320.49 north; 594157.59 east
2021-10-10T03:01:52Z- AHRS_M2 msg: 1633834910.36 epoch sec; seqNo:346
2021-10-10T03:01:52Z- AHRS_M2 msg: -0.09 phi; -0.19 theta; 5.76 psi
2021-10-10T03:01:52Z- handleDepth()-Depth_Keller msg: 1633834910376 epoch sec; seqNo:351; depth 0.23
2021-10-10T03:01:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834910.40 epoch sec; seqNo:351; 4061320.48 north; 594156.37 east
2021-10-10T03:01:53Z- AHRS_M2 msg: 1633834910.77 epoch sec; seqNo:347
2021-10-10T03:01:53Z- AHRS_M2 msg: -0.13 phi; -0.17 theta; 5.77 psi
2021-10-10T03:01:53Z- handleDepth()-Depth_Keller msg: 1633834910780 epoch sec; seqNo:352; depth 0.20
2021-10-10T03:01:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834910.79 epoch sec; seqNo:352; 4061320.10 north; 594156.37 east
2021-10-10T03:01:53Z- AHRS_M2 msg: 1633834911.17 epoch sec; seqNo:348
2021-10-10T03:01:53Z- AHRS_M2 msg: -0.08 phi; -0.19 theta; 5.79 psi
2021-10-10T03:01:53Z- handleDepth()-Depth_Keller msg: 1633834911179 epoch sec; seqNo:353; depth 0.16
2021-10-10T03:01:53Z- handleDvl() - RDI_Pathfinder msg: 1633834911.25 epoch sec; seqNo:72
2021-10-10T03:01:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.59 , 97.66 , 84.08 , 107.17
2021-10-10T03:01:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.06 , -0.51 , -0.03
2021-10-10T03:01:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834911.29 epoch sec; seqNo:353; 4061320.10 north; 594156.37 east
2021-10-10T03:01:53Z- LcmTrn::handleMessages() - handling 42 messages took 0.93 ms and 123 calls...
2021-10-10T03:01:53Z- waiting for 1633834908.96, time is 1633834911.29
2021-10-10T03:01:53Z- LcmTrn::updateTrn() equating pose 1633834911.29 and meas times 1633834911.29
2021-10-10T03:01:53Z- LcmTrn::updateTrn() >>>> pose time 1633834911.29, meas time 1633834911.29 <<<<
2021-10-10T03:01:53Z- TerrainNav::Measurement type 1 from time = 1633834911.29 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:01:53Z- TerrainNav::motionUpdate() - currEstimate = (4061320, 594156.37, 0.16)
2021-10-10T03:01:53Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:01:53Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:53Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:53Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:01:53Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:01:53Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:01:53Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:01:54Z- AHRS_M2 msg: 1633834911.58 epoch sec; seqNo:349
2021-10-10T03:01:54Z- AHRS_M2 msg: 0.05 phi; -0.20 theta; 5.78 psi
2021-10-10T03:01:54Z- handleDepth()-Depth_Keller msg: 1633834911584 epoch sec; seqNo:354; depth 0.19
2021-10-10T03:01:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834911.65 epoch sec; seqNo:354; 4061320.10 north; 594156.37 east
2021-10-10T03:01:54Z- AHRS_M2 msg: 1633834911.98 epoch sec; seqNo:350
2021-10-10T03:01:54Z- AHRS_M2 msg: 0.13 phi; -0.19 theta; 5.77 psi
2021-10-10T03:01:54Z- handleDepth()-Depth_Keller msg: 1633834911988 epoch sec; seqNo:355; depth 0.20
2021-10-10T03:01:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834912.02 epoch sec; seqNo:355; 4061319.72 north; 594156.38 east
2021-10-10T03:01:54Z- AHRS_M2 msg: 1633834912.38 epoch sec; seqNo:351
2021-10-10T03:01:54Z- AHRS_M2 msg: 0.11 phi; -0.21 theta; 5.74 psi
2021-10-10T03:01:54Z- handleDepth()-Depth_Keller msg: 1633834912392 epoch sec; seqNo:356; depth 0.19
2021-10-10T03:01:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834912.40 epoch sec; seqNo:356; 4061319.72 north; 594156.38 east
2021-10-10T03:01:55Z- AHRS_M2 msg: 1633834912.79 epoch sec; seqNo:352
2021-10-10T03:01:55Z- AHRS_M2 msg: 0.05 phi; -0.27 theta; 5.70 psi
2021-10-10T03:01:55Z- handleDepth()-Depth_Keller msg: 1633834912795 epoch sec; seqNo:357; depth 0.18
2021-10-10T03:01:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834912.80 epoch sec; seqNo:357; 4061319.72 north; 594156.38 east
2021-10-10T03:01:55Z- AHRS_M2 msg: 1633834913.19 epoch sec; seqNo:353
2021-10-10T03:01:55Z- AHRS_M2 msg: -0.06 phi; -0.28 theta; 5.71 psi
2021-10-10T03:01:55Z- handleDepth()-Depth_Keller msg: 1633834913208 epoch sec; seqNo:358; depth 0.20
2021-10-10T03:01:55Z- handleDvl() - RDI_Pathfinder msg: 1633834913.23 epoch sec; seqNo:73
2021-10-10T03:01:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 105.68 , 89.38 , 83.94 , 107.03
2021-10-10T03:01:55Z- handleDvl() - RDI_Pathfinder msg: velocities -0.62 , -0.14 , -0.05
2021-10-10T03:01:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834913.24 epoch sec; seqNo:358; 4061319.34 north; 594156.38 east
2021-10-10T03:01:56Z- AHRS_M2 msg: 1633834913.60 epoch sec; seqNo:354
2021-10-10T03:01:56Z- AHRS_M2 msg: -0.12 phi; -0.21 theta; 5.73 psi
2021-10-10T03:01:56Z- handleDepth()-Depth_Keller msg: 1633834913600 epoch sec; seqNo:359; depth 0.16
2021-10-10T03:01:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834913.62 epoch sec; seqNo:359; 4061319.34 north; 594156.38 east
2021-10-10T03:01:56Z- AHRS_M2 msg: 1633834914.00 epoch sec; seqNo:355
2021-10-10T03:01:56Z- AHRS_M2 msg: -0.08 phi; -0.16 theta; 5.74 psi
2021-10-10T03:01:56Z- handleDepth()-Depth_Keller msg: 1633834914005 epoch sec; seqNo:360; depth 0.12
2021-10-10T03:01:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834914.01 epoch sec; seqNo:360; 4061318.97 north; 594156.38 east
2021-10-10T03:01:56Z- AHRS_M2 msg: 1633834914.41 epoch sec; seqNo:356
2021-10-10T03:01:56Z- AHRS_M2 msg: -0.02 phi; -0.11 theta; 5.73 psi
2021-10-10T03:01:56Z- handleDepth()-Depth_Keller msg: 1633834914411 epoch sec; seqNo:361; depth 0.11
2021-10-10T03:01:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834914.42 epoch sec; seqNo:361; 4061318.97 north; 594156.38 east
2021-10-10T03:01:57Z- AHRS_M2 msg: 1633834914.81 epoch sec; seqNo:357
2021-10-10T03:01:57Z- AHRS_M2 msg: 0.07 phi; -0.08 theta; 5.75 psi
2021-10-10T03:01:57Z- handleDepth()-Depth_Keller msg: 1633834914827 epoch sec; seqNo:362; depth 0.10
2021-10-10T03:01:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834914.84 epoch sec; seqNo:362; 4061318.59 north; 594156.39 east
2021-10-10T03:01:57Z- AHRS_M2 msg: 1633834915.21 epoch sec; seqNo:358
2021-10-10T03:01:57Z- AHRS_M2 msg: 0.12 phi; -0.09 theta; 5.79 psi
2021-10-10T03:01:57Z- handleDepth()-Depth_Keller msg: 1633834915219 epoch sec; seqNo:363; depth 0.09
2021-10-10T03:01:57Z- handleDvl() - RDI_Pathfinder msg: 1633834915.24 epoch sec; seqNo:74
2021-10-10T03:01:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.46 , 94.74 , 86.59 , 101.53
2021-10-10T03:01:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.11 , -0.50 , 0.05
2021-10-10T03:01:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834915.26 epoch sec; seqNo:363; 4061318.59 north; 594156.39 east
2021-10-10T03:01:58Z- AHRS_M2 msg: 1633834915.62 epoch sec; seqNo:359
2021-10-10T03:01:58Z- AHRS_M2 msg: 0.13 phi; -0.04 theta; 5.80 psi
2021-10-10T03:01:58Z- handleDepth()-Depth_Keller msg: 1633834915621 epoch sec; seqNo:364; depth 0.07
2021-10-10T03:01:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834915.63 epoch sec; seqNo:364; 4061318.59 north; 594156.39 east
2021-10-10T03:01:58Z- AHRS_M2 msg: 1633834916.03 epoch sec; seqNo:360
2021-10-10T03:01:58Z- AHRS_M2 msg: 0.06 phi; 0.01 theta; 5.75 psi
2021-10-10T03:01:58Z- handleDepth()-Depth_Keller msg: 1633834916032 epoch sec; seqNo:365; depth 0.07
2021-10-10T03:01:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834916.04 epoch sec; seqNo:365; 4061318.19 north; 594155.17 east
2021-10-10T03:01:58Z- LcmTrn::handleMessages() - handling 38 messages took 0.65 ms and 125 calls...
2021-10-10T03:01:58Z- waiting for 1633834914.29, time is 1633834916.04
2021-10-10T03:01:58Z- LcmTrn::updateTrn() >>>> pose time 1633834916.04, meas time 1633834915.24 <<<<
2021-10-10T03:01:58Z- TerrainNav::Measurement type 1 from time = 1633834915.24 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:01:58Z- TerrainNav::motionUpdate() - currEstimate = (4061318, 594155.17, 0.07)
2021-10-10T03:01:58Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:01:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:01:58Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:01:58Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:01:58Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:01:58Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:01:58Z- AHRS_M2 msg: 1633834916.43 epoch sec; seqNo:361
2021-10-10T03:01:58Z- AHRS_M2 msg: -0.10 phi; 0.05 theta; 5.77 psi
2021-10-10T03:01:58Z- handleDepth()-Depth_Keller msg: 1633834916436 epoch sec; seqNo:366; depth 0.03
2021-10-10T03:01:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834916.44 epoch sec; seqNo:366; 4061318.19 north; 594155.17 east
2021-10-10T03:01:59Z- AHRS_M2 msg: 1633834916.83 epoch sec; seqNo:362
2021-10-10T03:01:59Z- AHRS_M2 msg: -0.11 phi; 0.06 theta; 5.87 psi
2021-10-10T03:01:59Z- handleDepth()-Depth_Keller msg: 1633834916835 epoch sec; seqNo:367; depth 0.01
2021-10-10T03:01:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834916.86 epoch sec; seqNo:367; 4061318.19 north; 594155.17 east
2021-10-10T03:01:59Z- AHRS_M2 msg: 1633834917.23 epoch sec; seqNo:363
2021-10-10T03:01:59Z- AHRS_M2 msg: -0.05 phi; 0.02 theta; 5.87 psi
2021-10-10T03:01:59Z- handleDepth()-Depth_Keller msg: 1633834917239 epoch sec; seqNo:368; depth 0.05
2021-10-10T03:01:59Z- handleDvl() - RDI_Pathfinder msg: 1633834917.27 epoch sec; seqNo:75
2021-10-10T03:01:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.59 , 97.59 , 97.59 , 97.59
2021-10-10T03:01:59Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , -0.33 , 0.20
2021-10-10T03:01:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834917.28 epoch sec; seqNo:368; 4061318.19 north; 594155.17 east
2021-10-10T03:02:00Z- AHRS_M2 msg: 1633834917.64 epoch sec; seqNo:364
2021-10-10T03:02:00Z- AHRS_M2 msg: -0.06 phi; -0.08 theta; 5.82 psi
2021-10-10T03:02:00Z- handleDepth()-Depth_Keller msg: 1633834917641 epoch sec; seqNo:369; depth 0.07
2021-10-10T03:02:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834917.65 epoch sec; seqNo:369; 4061318.19 north; 594155.17 east
2021-10-10T03:02:00Z- AHRS_M2 msg: 1633834918.04 epoch sec; seqNo:365
2021-10-10T03:02:00Z- AHRS_M2 msg: -0.12 phi; -0.12 theta; 5.81 psi
2021-10-10T03:02:00Z- handleDepth()-Depth_Keller msg: 1633834918052 epoch sec; seqNo:370; depth 0.07
2021-10-10T03:02:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834918.06 epoch sec; seqNo:370; 4061317.82 north; 594155.18 east
2021-10-10T03:02:00Z- AHRS_M2 msg: 1633834918.44 epoch sec; seqNo:366
2021-10-10T03:02:00Z- AHRS_M2 msg: -0.15 phi; -0.07 theta; 5.84 psi
2021-10-10T03:02:00Z- handleDepth()-Depth_Keller msg: 1633834918461 epoch sec; seqNo:371; depth 0.08
2021-10-10T03:02:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834918.47 epoch sec; seqNo:371; 4061317.82 north; 594155.18 east
2021-10-10T03:02:01Z- AHRS_M2 msg: 1633834918.85 epoch sec; seqNo:367
2021-10-10T03:02:01Z- AHRS_M2 msg: -0.07 phi; -0.02 theta; 5.85 psi
2021-10-10T03:02:01Z- handleDepth()-Depth_Keller msg: 1633834918855 epoch sec; seqNo:372; depth 0.07
2021-10-10T03:02:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834918.86 epoch sec; seqNo:372; 4061317.82 north; 594155.18 east
2021-10-10T03:02:01Z- AHRS_M2 msg: 1633834919.25 epoch sec; seqNo:368
2021-10-10T03:02:01Z- AHRS_M2 msg: 0.05 phi; -0.02 theta; 5.84 psi
2021-10-10T03:02:01Z- handleDepth()-Depth_Keller msg: 1633834919260 epoch sec; seqNo:373; depth 0.07
2021-10-10T03:02:01Z- handleDvl() - RDI_Pathfinder msg: 1633834919.28 epoch sec; seqNo:76
2021-10-10T03:02:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.88 , 96.03 , 90.60 , 96.03
2021-10-10T03:02:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.20 , -0.54 , 0.18
2021-10-10T03:02:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834919.31 epoch sec; seqNo:373; 4061317.82 north; 594155.18 east
2021-10-10T03:02:02Z- AHRS_M2 msg: 1633834919.66 epoch sec; seqNo:369
2021-10-10T03:02:02Z- AHRS_M2 msg: 0.12 phi; -0.05 theta; 5.83 psi
2021-10-10T03:02:02Z- handleDepth()-Depth_Keller msg: 1633834919662 epoch sec; seqNo:374; depth 0.08
2021-10-10T03:02:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834919.68 epoch sec; seqNo:374; 4061317.80 north; 594153.96 east
2021-10-10T03:02:02Z- AHRS_M2 msg: 1633834920.06 epoch sec; seqNo:370
2021-10-10T03:02:02Z- AHRS_M2 msg: 0.09 phi; -0.08 theta; 5.84 psi
2021-10-10T03:02:02Z- handleDepth()-Depth_Keller msg: 1633834920064 epoch sec; seqNo:375; depth 0.08
2021-10-10T03:02:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834920.08 epoch sec; seqNo:375; 4061317.80 north; 594153.96 east
2021-10-10T03:02:02Z- AHRS_M2 msg: 1633834920.46 epoch sec; seqNo:371
2021-10-10T03:02:02Z- AHRS_M2 msg: 0.03 phi; -0.09 theta; 5.88 psi
2021-10-10T03:02:02Z- handleDepth()-Depth_Keller msg: 1633834920469 epoch sec; seqNo:376; depth 0.05
2021-10-10T03:02:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834920.48 epoch sec; seqNo:376; 4061317.42 north; 594153.96 east
2021-10-10T03:02:03Z- AHRS_M2 msg: 1633834920.87 epoch sec; seqNo:372
2021-10-10T03:02:03Z- AHRS_M2 msg: 0.01 phi; -0.04 theta; 5.86 psi
2021-10-10T03:02:03Z- handleDepth()-Depth_Keller msg: 1633834920876 epoch sec; seqNo:377; depth 0.06
2021-10-10T03:02:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834920.88 epoch sec; seqNo:377; 4061317.42 north; 594153.96 east
2021-10-10T03:02:03Z- AHRS_M2 msg: 1633834921.27 epoch sec; seqNo:373
2021-10-10T03:02:03Z- AHRS_M2 msg: -0.00 phi; 0.03 theta; 5.88 psi
2021-10-10T03:02:03Z- handleDepth()-Depth_Keller msg: 1633834921287 epoch sec; seqNo:378; depth 0.05
2021-10-10T03:02:03Z- handleDvl() - RDI_Pathfinder msg: 1633834921.31 epoch sec; seqNo:77
2021-10-10T03:02:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.80 , 97.80 , 88.29 , 96.44
2021-10-10T03:02:03Z- handleDvl() - RDI_Pathfinder msg: velocities -0.18 , -0.59 , 0.12
2021-10-10T03:02:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834921.33 epoch sec; seqNo:378; 4061317.42 north; 594153.96 east
2021-10-10T03:02:03Z- LcmTrn::handleMessages() - handling 42 messages took 0.78 ms and 126 calls...
2021-10-10T03:02:03Z- waiting for 1633834919.04, time is 1633834921.33
2021-10-10T03:02:03Z- LcmTrn::updateTrn() equating pose 1633834921.33 and meas times 1633834921.33
2021-10-10T03:02:03Z- LcmTrn::updateTrn() >>>> pose time 1633834921.33, meas time 1633834921.33 <<<<
2021-10-10T03:02:03Z- TerrainNav::Measurement type 1 from time = 1633834921.33 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:02:03Z- TerrainNav::motionUpdate() - currEstimate = (4061317, 594153.96, 0.05)
2021-10-10T03:02:03Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:02:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:02:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:02:03Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:02:03Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:02:03Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:02:03Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:02:04Z- AHRS_M2 msg: 1633834921.68 epoch sec; seqNo:374
2021-10-10T03:02:04Z- AHRS_M2 msg: 0.00 phi; 0.03 theta; 5.92 psi
2021-10-10T03:02:04Z- handleDepth()-Depth_Keller msg: 1633834921687 epoch sec; seqNo:379; depth 0.04
2021-10-10T03:02:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834921.71 epoch sec; seqNo:379; 4061317.42 north; 594153.96 east
2021-10-10T03:02:04Z- AHRS_M2 msg: 1633834922.08 epoch sec; seqNo:375
2021-10-10T03:02:04Z- AHRS_M2 msg: -0.02 phi; -0.04 theta; 5.91 psi
2021-10-10T03:02:04Z- handleDepth()-Depth_Keller msg: 1633834922085 epoch sec; seqNo:380; depth 0.03
2021-10-10T03:02:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834922.09 epoch sec; seqNo:380; 4061317.03 north; 594152.74 east
2021-10-10T03:02:04Z- AHRS_M2 msg: 1633834922.49 epoch sec; seqNo:376
2021-10-10T03:02:04Z- AHRS_M2 msg: -0.02 phi; -0.07 theta; 5.91 psi
2021-10-10T03:02:04Z- handleDepth()-Depth_Keller msg: 1633834922492 epoch sec; seqNo:381; depth 0.05
2021-10-10T03:02:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834922.51 epoch sec; seqNo:381; 4061317.03 north; 594152.74 east
2021-10-10T03:02:05Z- AHRS_M2 msg: 1633834922.89 epoch sec; seqNo:377
2021-10-10T03:02:05Z- AHRS_M2 msg: -0.01 phi; -0.05 theta; 5.97 psi
2021-10-10T03:02:05Z- handleDepth()-Depth_Keller msg: 1633834922905 epoch sec; seqNo:382; depth 0.04
2021-10-10T03:02:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834922.92 epoch sec; seqNo:382; 4061316.65 north; 594152.75 east
2021-10-10T03:02:05Z- AHRS_M2 msg: 1633834923.30 epoch sec; seqNo:378
2021-10-10T03:02:05Z- AHRS_M2 msg: 0.00 phi; -0.06 theta; 5.97 psi
2021-10-10T03:02:05Z- handleDepth()-Depth_Keller msg: 1633834923307 epoch sec; seqNo:383; depth 0.02
2021-10-10T03:02:05Z- handleDvl() - RDI_Pathfinder msg: 1633834923.34 epoch sec; seqNo:78
2021-10-10T03:02:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 94.88 , 93.52 , 90.80 , 96.24
2021-10-10T03:02:05Z- handleDvl() - RDI_Pathfinder msg: velocities -0.52 , 0.01 , -0.08
2021-10-10T03:02:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834923.36 epoch sec; seqNo:383; 4061316.65 north; 594152.75 east
2021-10-10T03:02:06Z- AHRS_M2 msg: 1633834923.70 epoch sec; seqNo:379
2021-10-10T03:02:06Z- AHRS_M2 msg: -0.06 phi; -0.05 theta; 5.98 psi
2021-10-10T03:02:06Z- handleDepth()-Depth_Keller msg: 1633834923711 epoch sec; seqNo:384; depth 0.05
2021-10-10T03:02:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834923.72 epoch sec; seqNo:384; 4061316.27 north; 594152.75 east
2021-10-10T03:02:06Z- AHRS_M2 msg: 1633834924.10 epoch sec; seqNo:380
2021-10-10T03:02:06Z- AHRS_M2 msg: -0.12 phi; -0.03 theta; 5.94 psi
2021-10-10T03:02:06Z- handleDepth()-Depth_Keller msg: 1633834924106 epoch sec; seqNo:385; depth 0.07
2021-10-10T03:02:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834924.12 epoch sec; seqNo:385; 4061316.27 north; 594152.75 east
2021-10-10T03:02:06Z- AHRS_M2 msg: 1633834924.50 epoch sec; seqNo:381
2021-10-10T03:02:06Z- AHRS_M2 msg: -0.09 phi; 0.00 theta; 5.93 psi
2021-10-10T03:02:06Z- handleDepth()-Depth_Keller msg: 1633834924518 epoch sec; seqNo:386; depth 0.06
2021-10-10T03:02:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834924.53 epoch sec; seqNo:386; 4061315.89 north; 594152.76 east
2021-10-10T03:02:07Z- AHRS_M2 msg: 1633834924.91 epoch sec; seqNo:382
2021-10-10T03:02:07Z- AHRS_M2 msg: -0.01 phi; -0.01 theta; 5.98 psi
2021-10-10T03:02:07Z- handleDepth()-Depth_Keller msg: 1633834924914 epoch sec; seqNo:387; depth 0.06
2021-10-10T03:02:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834924.95 epoch sec; seqNo:387; 4061315.89 north; 594152.76 east
2021-10-10T03:02:07Z- AHRS_M2 msg: 1633834925.31 epoch sec; seqNo:383
2021-10-10T03:02:07Z- AHRS_M2 msg: 0.10 phi; -0.02 theta; 6.02 psi
2021-10-10T03:02:07Z- handleDepth()-Depth_Keller msg: 1633834925317 epoch sec; seqNo:388; depth 0.09
2021-10-10T03:02:07Z- handleDvl() - RDI_Pathfinder msg: 1633834925.34 epoch sec; seqNo:79
2021-10-10T03:02:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.15 , 99.02 , 92.23 , 93.59
2021-10-10T03:02:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.20 , -0.74 , -0.01
2021-10-10T03:02:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834925.36 epoch sec; seqNo:388; 4061315.89 north; 594152.76 east
2021-10-10T03:02:08Z- AHRS_M2 msg: 1633834925.72 epoch sec; seqNo:384
2021-10-10T03:02:08Z- AHRS_M2 msg: 0.11 phi; -0.03 theta; 6.02 psi
2021-10-10T03:02:08Z- handleDepth()-Depth_Keller msg: 1633834925728 epoch sec; seqNo:389; depth 0.10
2021-10-10T03:02:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834925.74 epoch sec; seqNo:389; 4061315.89 north; 594152.76 east
2021-10-10T03:02:08Z- AHRS_M2 msg: 1633834926.12 epoch sec; seqNo:385
2021-10-10T03:02:08Z- AHRS_M2 msg: 0.10 phi; -0.02 theta; 6.06 psi
2021-10-10T03:02:08Z- handleDepth()-Depth_Keller msg: 1633834926126 epoch sec; seqNo:390; depth 0.07
2021-10-10T03:02:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834926.13 epoch sec; seqNo:390; 4061315.89 north; 594152.76 east
2021-10-10T03:02:08Z- LcmTrn::handleMessages() - handling 38 messages took 0.72 ms and 123 calls...
2021-10-10T03:02:08Z- waiting for 1633834924.33, time is 1633834926.13
2021-10-10T03:02:08Z- LcmTrn::updateTrn() >>>> pose time 1633834926.13, meas time 1633834925.34 <<<<
2021-10-10T03:02:08Z- TerrainNav::Measurement type 1 from time = 1633834925.34 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:02:08Z- TerrainNav::motionUpdate() - currEstimate = (4061316, 594152.76, 0.07)
2021-10-10T03:02:08Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:02:08Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:02:08Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:02:08Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:02:08Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:02:08Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:02:08Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:02:09Z- AHRS_M2 msg: 1633834926.52 epoch sec; seqNo:386
2021-10-10T03:02:09Z- AHRS_M2 msg: 0.15 phi; -0.08 theta; 6.13 psi
2021-10-10T03:02:09Z- handleDepth()-Depth_Keller msg: 1633834926541 epoch sec; seqNo:391; depth 0.06
2021-10-10T03:02:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834926.55 epoch sec; seqNo:391; 4061315.88 north; 594151.54 east
2021-10-10T03:02:09Z- AHRS_M2 msg: 1633834926.93 epoch sec; seqNo:387
2021-10-10T03:02:09Z- AHRS_M2 msg: 0.17 phi; -0.18 theta; 6.09 psi
2021-10-10T03:02:09Z- handleDepth()-Depth_Keller msg: 1633834926943 epoch sec; seqNo:392; depth 0.07
2021-10-10T03:02:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834926.97 epoch sec; seqNo:392; 4061315.88 north; 594151.54 east
2021-10-10T03:02:09Z- AHRS_M2 msg: 1633834927.33 epoch sec; seqNo:388
2021-10-10T03:02:09Z- AHRS_M2 msg: 0.09 phi; -0.16 theta; 6.00 psi
2021-10-10T03:02:09Z- handleDepth()-Depth_Keller msg: 1633834927336 epoch sec; seqNo:393; depth 0.10
2021-10-10T03:02:09Z- handleDvl() - RDI_Pathfinder msg: 1633834927.36 epoch sec; seqNo:80
2021-10-10T03:02:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 104.52 , 88.22 , 97.73 , 97.73
2021-10-10T03:02:09Z- handleDvl() - RDI_Pathfinder msg: velocities -0.78 , 0.39 , 0.40
2021-10-10T03:02:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834927.39 epoch sec; seqNo:393; 4061315.50 north; 594151.54 east
2021-10-10T03:02:10Z- AHRS_M2 msg: 1633834927.74 epoch sec; seqNo:389
2021-10-10T03:02:10Z- AHRS_M2 msg: -0.05 phi; -0.10 theta; 5.97 psi
2021-10-10T03:02:10Z- handleDepth()-Depth_Keller msg: 1633834927742 epoch sec; seqNo:394; depth 0.07
2021-10-10T03:02:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834927.76 epoch sec; seqNo:394; 4061315.50 north; 594151.54 east
2021-10-10T03:02:10Z- AHRS_M2 msg: 1633834928.14 epoch sec; seqNo:390
2021-10-10T03:02:10Z- AHRS_M2 msg: -0.15 phi; -0.06 theta; 5.97 psi
2021-10-10T03:02:10Z- handleDepth()-Depth_Keller msg: 1633834928154 epoch sec; seqNo:395; depth 0.06
2021-10-10T03:02:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834928.16 epoch sec; seqNo:395; 4061315.14 north; 594152.76 east
2021-10-10T03:02:11Z- AHRS_M2 msg: 1633834928.55 epoch sec; seqNo:391
2021-10-10T03:02:11Z- AHRS_M2 msg: -0.15 phi; -0.00 theta; 6.00 psi
2021-10-10T03:02:11Z- handleDepth()-Depth_Keller msg: 1633834928549 epoch sec; seqNo:396; depth 0.07
2021-10-10T03:02:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834928.56 epoch sec; seqNo:396; 4061314.76 north; 594152.77 east
2021-10-10T03:02:11Z- AHRS_M2 msg: 1633834928.95 epoch sec; seqNo:392
2021-10-10T03:02:11Z- AHRS_M2 msg: -0.07 phi; 0.05 theta; 6.04 psi
2021-10-10T03:02:11Z- handleDepth()-Depth_Keller msg: 1633834928957 epoch sec; seqNo:397; depth 0.09
2021-10-10T03:02:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834928.97 epoch sec; seqNo:397; 4061314.76 north; 594152.77 east
2021-10-10T03:02:11Z- AHRS_M2 msg: 1633834929.35 epoch sec; seqNo:393
2021-10-10T03:02:11Z- AHRS_M2 msg: -0.03 phi; 0.09 theta; 5.99 psi
2021-10-10T03:02:11Z- handleDepth()-Depth_Keller msg: 1633834929358 epoch sec; seqNo:398; depth 0.12
2021-10-10T03:02:11Z- handleDvl() - RDI_Pathfinder msg: 1633834929.38 epoch sec; seqNo:81
2021-10-10T03:02:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.52 , 96.03 , 89.24 , 96.03
2021-10-10T03:02:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.23 , -0.73 , 0.06
2021-10-10T03:02:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834929.39 epoch sec; seqNo:398; 4061314.76 north; 594152.77 east
2021-10-10T03:02:12Z- AHRS_M2 msg: 1633834929.76 epoch sec; seqNo:394
2021-10-10T03:02:12Z- AHRS_M2 msg: 0.00 phi; 0.13 theta; 6.01 psi
2021-10-10T03:02:12Z- handleDepth()-Depth_Keller msg: 1633834929773 epoch sec; seqNo:399; depth 0.10
2021-10-10T03:02:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834929.79 epoch sec; seqNo:399; 4061314.76 north; 594152.77 east
2021-10-10T03:02:12Z- AHRS_M2 msg: 1633834930.16 epoch sec; seqNo:395
2021-10-10T03:02:12Z- AHRS_M2 msg: 0.00 phi; 0.12 theta; 6.08 psi
2021-10-10T03:02:12Z- handleDepth()-Depth_Keller msg: 1633834930165 epoch sec; seqNo:400; depth 0.08
2021-10-10T03:02:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834930.17 epoch sec; seqNo:400; 4061314.74 north; 594151.55 east
2021-10-10T03:02:13Z- AHRS_M2 msg: 1633834930.56 epoch sec; seqNo:396
2021-10-10T03:02:13Z- AHRS_M2 msg: -0.03 phi; -0.01 theta; 6.11 psi
2021-10-10T03:02:13Z- handleDepth()-Depth_Keller msg: 1633834930575 epoch sec; seqNo:401; depth 0.06
2021-10-10T03:02:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834930.59 epoch sec; seqNo:401; 4061314.74 north; 594151.55 east
2021-10-10T03:02:13Z- AHRS_M2 msg: 1633834930.97 epoch sec; seqNo:397
2021-10-10T03:02:13Z- AHRS_M2 msg: -0.02 phi; -0.13 theta; 6.08 psi
2021-10-10T03:02:13Z- handleDepth()-Depth_Keller msg: 1633834930975 epoch sec; seqNo:402; depth 0.05
2021-10-10T03:02:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834930.98 epoch sec; seqNo:402; 4061314.74 north; 594151.55 east
2021-10-10T03:02:13Z- AHRS_M2 msg: 1633834931.37 epoch sec; seqNo:398
2021-10-10T03:02:13Z- AHRS_M2 msg: -0.01 phi; -0.14 theta; 6.02 psi
2021-10-10T03:02:13Z- handleDepth()-Depth_Keller msg: 1633834931389 epoch sec; seqNo:403; depth 0.03
2021-10-10T03:02:13Z- handleDvl() - RDI_Pathfinder msg: 1633834931.41 epoch sec; seqNo:82
2021-10-10T03:02:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.73 , 97.73 , 102.62 , 0.00
2021-10-10T03:02:13Z- handleDvl() - RDI_Pathfinder msg: velocities -0.77 , 0.13 , 0.75
2021-10-10T03:02:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834931.42 epoch sec; seqNo:403; 4061314.37 north; 594151.55 east
2021-10-10T03:02:13Z- LcmTrn::handleMessages() - handling 42 messages took 0.78 ms and 126 calls...
2021-10-10T03:02:13Z- waiting for 1633834929.13, time is 1633834931.42
2021-10-10T03:02:13Z- LcmTrn::updateTrn() equating pose 1633834931.42 and meas times 1633834931.42
2021-10-10T03:02:13Z- LcmTrn::updateTrn() >>>> pose time 1633834931.42, meas time 1633834931.42 <<<<
2021-10-10T03:02:13Z- TerrainNav::Measurement type 1 from time = 1633834931.42 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0
2021-10-10T03:02:13Z- TerrainNav::motionUpdate() - currEstimate = (4061314, 594151.55, 0.03)
2021-10-10T03:02:13Z- TerrainNav::Filter not initialized - vehicle is currently on the surface
2021-10-10T03:02:13Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:02:13Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized.
2021-10-10T03:02:13Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0
2021-10-10T03:02:13Z- LcmTrn::publishEstimates() - MLE  : 0.00 0.00 0.00
2021-10-10T03:02:13Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00
2021-10-10T03:02:13Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00
2021-10-10T03:02:14Z- AHRS_M2 msg: 1633834931.78 epoch sec; seqNo:399
2021-10-10T03:02:14Z- AHRS_M2 msg: -0.02 phi; -0.08 theta; 5.99 psi
2021-10-10T03:02:14Z- handleDepth()-Depth_Keller msg: 1633834931788 epoch sec; seqNo:404; depth 0.03
2021-10-10T03:02:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834931.81 epoch sec; seqNo:404; 4061313.99 north; 594151.56 east
2021-10-10T03:02:14Z- AHRS_M2 msg: 1633834932.18 epoch sec; seqNo:400
2021-10-10T03:02:14Z- AHRS_M2 msg: -0.03 phi; 0.03 theta; 5.97 psi
2021-10-10T03:02:14Z- handleDepth()-Depth_Keller msg: 1633834932185 epoch sec; seqNo:405; depth 0.08
2021-10-10T03:02:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834932.19 epoch sec; seqNo:405; 4061313.99 north; 594151.56 east
2021-10-10T03:02:15Z- AHRS_M2 msg: 1633834932.59 epoch sec; seqNo:401
2021-10-10T03:02:15Z- AHRS_M2 msg: -0.00 phi; 0.04 theta; 5.97 psi
2021-10-10T03:02:15Z- handleDepth()-Depth_Keller msg: 1633834932591 epoch sec; seqNo:406; depth 0.12
2021-10-10T03:02:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834932.60 epoch sec; seqNo:406; 4061313.61 north; 594151.56 east
2021-10-10T03:02:15Z- AHRS_M2 msg: 1633834932.99 epoch sec; seqNo:402
2021-10-10T03:02:15Z- AHRS_M2 msg: 0.03 phi; -0.02 theta; 5.97 psi
2021-10-10T03:02:15Z- handleDepth()-Depth_Keller msg: 1633834933003 epoch sec; seqNo:407; depth 0.14
2021-10-10T03:02:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834933.03 epoch sec; seqNo:407; 4061313.23 north; 594151.57 east
2021-10-10T03:02:15Z- AHRS_M2 msg: 1633834933.39 epoch sec; seqNo:403
2021-10-10T03:02:15Z- AHRS_M2 msg: 0.03 phi; -0.11 theta; 6.01 psi
2021-10-10T03:02:15Z- handleDepth()-Depth_Keller msg: 1633834933399 epoch sec; seqNo:408; depth 0.17
2021-10-10T03:02:15Z- handleDvl() - RDI_Pathfinder msg: 1633834933.42 epoch sec; seqNo:83
2021-10-10T03:02:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 94.47 , 91.75 , 97.19 , 91.75
2021-10-10T03:02:15Z- handleDvl() - RDI_Pathfinder msg: velocities -0.13 , -0.65 , 0.01
2021-10-10T03:02:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834933.44 epoch sec; seqNo:408; 4061313.23 north; 594151.57 east
2021-10-10T03:02:16Z- AHRS_M2 msg: 1633834933.80 epoch sec; seqNo:404
2021-10-10T03:02:16Z- AHRS_M2 msg: -0.01 phi; -0.17 theta; 6.03 psi
2021-10-10T03:02:16Z- handleDepth()-Depth_Keller msg: 1633834933801 epoch sec; seqNo:409; depth 0.18
2021-10-10T03:02:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834933.81 epoch sec; seqNo:409; 4061312.85 north; 594151.57 east
2021-10-10T03:02:16Z- AHRS_M2 msg: 1633834934.20 epoch sec; seqNo:405
2021-10-10T03:02:16Z- AHRS_M2 msg: -0.06 phi; -0.14 theta; 6.02 psi
2021-10-10T03:02:16Z- handleDepth()-Depth_Keller msg: 1633834934206 epoch sec; seqNo:410; depth 0.19
2021-10-10T03:02:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834934.22 epoch sec; seqNo:410; 4061312.85 north; 594151.57 east
2021-10-10T03:02:17Z- AHRS_M2 msg: 1633834934.61 epoch sec; seqNo:406
2021-10-10T03:02:17Z- AHRS_M2 msg: -0.08 phi; -0.11 theta; 6.02 psi
2021-10-10T03:02:17Z- handleDepth()-Depth_Keller msg: 1633834934616 epoch sec; seqNo:411; depth 0.17
2021-10-10T03:02:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834934.63 epoch sec; seqNo:411; 4061312.85 north; 594151.57 east
2021-10-10T03:02:17Z- AHRS_M2 msg: 1633834935.06 epoch sec; seqNo:407
2021-10-10T03:02:17Z- AHRS_M2 msg: -0.06 phi; -0.18 theta; 6.02 psi
2021-10-10T03:02:17Z- handleDepth()-Depth_Keller msg: 1633834935077 epoch sec; seqNo:412; depth 0.15
2021-10-10T03:02:17Z- handleDvl() - RDI_Pathfinder msg: 1633834935.11 epoch sec; seqNo:84
2021-10-10T03:02:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.66 , 97.66 , 0.00 , 101.74
2021-10-10T03:02:17Z- handleDvl() - RDI_Pathfinder msg: velocities -0.11 , -0.39 , -0.03
2021-10-10T03:02:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633834935.12 epoch sec; seqNo:412; 4061312.84 north; 594150.35 east
2021-10-10T03:02:17Z- AHRS_M2 msg: 1633834935.42 epoch sec; seqNo:408
2021-10-10T03:02:17Z- AHRS_M2 msg: 0.00 phi; -0.26 theta; 6.00 psi
2021-10-10T03:02:17Z- handleDepth()-Depth_Keller msg: 1633834935427 epoch sec; seqNo:413; depth 0.18