2021-10-10T03:06:51Z* LcmTrn::LcmTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-10T03:06:51Z* LcmTrn::init() - using configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-10T03:06:51Z* ahrs config: AHRS_M2, platform_orientation, platform_pitch_angle, platform_roll_angle 2021-10-10T03:06:51Z* dvl config: RDI_Pathfinder, Beam1Range, Beam2Range, Beam3Range, Beam4Range, BottomVelocityFlag 2021-10-10T03:06:51Z* nav config: DeadReckonUsingMultipleVelocitySources, latitude, longitude 2021-10-10T03:06:51Z* depth config: Depth_Keller, depth, sea_water_pressure 2021-10-10T03:06:51Z* trn config: TRN, trn_mle, trn_mmse, trn_var, trn_reinits, trn_filterstate 2021-10-10T03:06:51Z* LCM timeout=5.00 sec 2021-10-10T03:06:51Z* TRN settings: 2021-10-10T03:06:51Z* period=3.00 sec 2021-10-10T03:06:51Z* coherence=2.00 sec 2021-10-10T03:06:51Z* map = PortTiles cfg = mappingAUV_specs.cfg part= particles.cfg logdir= lrauv 2021-10-10T03:06:51Z* maptype = 2 filtertype = 3 weighting = 0 2021-10-10T03:06:51Z* lowgrade_filter = 1 allow reinit = 1 2021-10-10T03:06:51Z* cmd_estimate = cmd_estimate cmd_reinit = cmd_reinit 2021-10-10T03:06:51Z* LcmTrn::initTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-10T03:06:51Z* LcmTrn::initTrn() - map: /home/tethysadmin/Downloads/trnmaps/PortTiles 2021-10-10T03:06:51Z* LcmTrn::initTrn() - cfg: /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-10T03:06:51Z* LcmTrn::initTrn() - part: /home/tethysadmin/Downloads/trncfgs/particles.cfg 2021-10-10T03:06:51Z* TerrainMapOctree::tileDataName = /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv 2021-10-10T03:06:51Z* TerrainMapOctree::numTiles_ = 9. 2021-10-10T03:06:51Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo 4061250.0 594250.0 . 2021-10-10T03:06:51Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile2.bo 4061250.0 594750.0 . 2021-10-10T03:06:51Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile3.bo 4061250.0 595250.0 . 2021-10-10T03:06:51Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo 4061750.0 594250.0 . 2021-10-10T03:06:51Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile5.bo 4061750.0 594750.0 . 2021-10-10T03:06:51Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile6.bo 4061750.0 595250.0 . 2021-10-10T03:06:51Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile7.bo 4062250.0 594250.0 . 2021-10-10T03:06:51Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile8.bo 4062250.0 594750.0 . 2021-10-10T03:06:51Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile9.bo 4062250.0 595250.0 . 2021-10-10T03:06:51Z* TerrainMapOctree::loaded 9 useable tiles from /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv. 2021-10-10T03:06:52Z* TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo took 0.479844 seconds. 2021-10-10T03:06:52Z* TRN log directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.55 2021-10-10T03:06:52Z* symlink /home/tethysadmin/Downloads/trnlogs/latestTRN to /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.55 OK 2021-10-10T03:06:52Z* parseSensorSpecs parsing sensor of type 1. 2021-10-10T03:06:52Z* Sensor 0 is of type 1. 2021-10-10T03:06:52Z* parseSensorSpecs parsing sensor of type 2. 2021-10-10T03:06:52Z* Sensor 1 is of type 2. 2021-10-10T03:06:52Z* parseSensorSpecs parsing sensor of type 5. 2021-10-10T03:06:52Z* Sensor 2 is of type 5. 2021-10-10T03:06:52Z- File created[/home/tethysadmin/Downloads/trnlogs/latestTRN/trn.log.0000] returned[0x555bc388d0] 2021-10-10T03:06:52Z- TNavConfig::setParticlesFile: value is now particles.cfg 2021-10-10T03:06:52Z- TNavConfig::setMapFile: value is now /home/tethysadmin/Downloads/trnmaps/PortTiles 2021-10-10T03:06:52Z- TNavConfig::setVehicleSpecsFile: value is now /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-10T03:06:52Z- TNavConfig::setParticlesFile: value is now /home/tethysadmin/Downloads/trncfgs/particles.cfg 2021-10-10T03:06:52Z- TNavConfig::setLogDir: value is now /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.55 2021-10-10T03:06:52Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-10T03:06:52Z- parseSensorSpecs parsing sensor of type 1. 2021-10-10T03:06:52Z- Sensor 0 is of type 1. 2021-10-10T03:06:52Z- parseSensorSpecs parsing sensor of type 2. 2021-10-10T03:06:52Z- Sensor 1 is of type 2. 2021-10-10T03:06:52Z- parseSensorSpecs parsing sensor of type 5. 2021-10-10T03:06:52Z- Sensor 2 is of type 5. 2021-10-10T03:06:52Z- Random noise maker initialized with 1633835212 2021-10-10T03:06:52Z- setDistribToSave(0) 2021-10-10T03:06:52Z- setDistribToSave set to 0 2021-10-10T03:06:52Z- Vehicle name: mappingAUV Number of sensors: 3 2021-10-10T03:06:52Z- Sensor #1: 2021-10-10T03:06:52Z- Sensor name: rdiDVL 2021-10-10T03:06:52Z- Sensor type: 1 2021-10-10T03:06:52Z- Number of beams per measurement: 4 2021-10-10T03:06:52Z- Sensor #1 to vehicle transformation information: 2021-10-10T03:06:52Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T03:06:52Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T03:06:52Z- 2021-10-10T03:06:52Z- Sensor #2: 2021-10-10T03:06:52Z- Sensor name: resonSeabat8101 2021-10-10T03:06:52Z- Sensor type: 2 2021-10-10T03:06:52Z- Number of beams per measurement: 11 2021-10-10T03:06:52Z- Sensor #2 to vehicle transformation information: 2021-10-10T03:06:52Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T03:06:52Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T03:06:52Z- 2021-10-10T03:06:52Z- Sensor #3: 2021-10-10T03:06:52Z- Sensor name: imagenexdeltat 2021-10-10T03:06:52Z- Sensor type: 5 2021-10-10T03:06:52Z- Number of beams per measurement: 120 2021-10-10T03:06:52Z- Sensor #3 to vehicle transformation information: 2021-10-10T03:06:52Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T03:06:52Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T03:06:52Z- 2021-10-10T03:06:52Z- TNavBF::nParticles: 10000 numFilters: 2 PMF Grid Resolution: 1.0 PMF Grid Size: 100 2021-10-10T03:06:52Z- TerrainNav::TNavFilter initialized with type 3 2021-10-10T03:06:52Z- TerrainNav::initVariables finished. 2021-10-10T03:06:52Z- TerrainNav::Constructor finished. 2021-10-10T03:06:52Z- TNavBF::setModifiedWeighting umw: 4 2021-10-10T03:06:52Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20 2021-10-10T03:06:52Z- TNavBF::numFilters: 1 2021-10-10T03:06:52Z- TerrainNav::modified weighting set to 0 2021-10-10T03:06:52Z- LcmTrn::initLcm() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-10T03:06:52Z- LcmTrn::run() 2021-10-10T03:06:52Z- AHRS_M2 msg: 1633835212.26 epoch sec; seqNo:202 2021-10-10T03:06:52Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 0.45 psi 2021-10-10T03:06:52Z- handleDepth()-Depth_Keller msg: 1633835212266 epoch sec; seqNo:214; depth 4.94 2021-10-10T03:06:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835212.28 epoch sec; seqNo:214; 4061258.81 north; 594130.19 east 2021-10-10T03:06:52Z- AHRS_M2 msg: 1633835212.65 epoch sec; seqNo:203 2021-10-10T03:06:52Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 0.45 psi 2021-10-10T03:06:52Z- handleDepth()-Depth_Keller msg: 1633835212656 epoch sec; seqNo:215; depth 4.99 2021-10-10T03:06:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835212.67 epoch sec; seqNo:215; 4061259.20 north; 594131.41 east 2021-10-10T03:06:53Z- AHRS_M2 msg: 1633835213.07 epoch sec; seqNo:204 2021-10-10T03:06:53Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 0.46 psi 2021-10-10T03:06:53Z- handleDepth()-Depth_Keller msg: 1633835213082 epoch sec; seqNo:216; depth 5.06 2021-10-10T03:06:53Z- handleDvl() - RDI_Pathfinder msg: 1633835213.11 epoch sec; seqNo:48 2021-10-10T03:06:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.22 , 103.24 , 79.95 , 96.44 2021-10-10T03:06:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.61 , 0.01 , -0.16 2021-10-10T03:06:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835213.12 epoch sec; seqNo:216; 4061259.20 north; 594131.41 east 2021-10-10T03:06:53Z- AHRS_M2 msg: 1633835213.46 epoch sec; seqNo:205 2021-10-10T03:06:53Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 0.47 psi 2021-10-10T03:06:53Z- handleDepth()-Depth_Keller msg: 1633835213463 epoch sec; seqNo:217; depth 5.13 2021-10-10T03:06:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835213.48 epoch sec; seqNo:217; 4061259.58 north; 594131.41 east 2021-10-10T03:06:53Z- AHRS_M2 msg: 1633835213.87 epoch sec; seqNo:206 2021-10-10T03:06:53Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 0.47 psi 2021-10-10T03:06:53Z- handleDepth()-Depth_Keller msg: 1633835213875 epoch sec; seqNo:218; depth 5.18 2021-10-10T03:06:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835213.88 epoch sec; seqNo:218; 4061259.58 north; 594131.41 east 2021-10-10T03:06:54Z- AHRS_M2 msg: 1633835214.27 epoch sec; seqNo:207 2021-10-10T03:06:54Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 0.47 psi 2021-10-10T03:06:54Z- handleDepth()-Depth_Keller msg: 1633835214288 epoch sec; seqNo:219; depth 5.23 2021-10-10T03:06:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835214.30 epoch sec; seqNo:219; 4061259.96 north; 594131.40 east 2021-10-10T03:06:54Z- AHRS_M2 msg: 1633835214.67 epoch sec; seqNo:208 2021-10-10T03:06:54Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 0.46 psi 2021-10-10T03:06:54Z- handleDepth()-Depth_Keller msg: 1633835214674 epoch sec; seqNo:220; depth 5.27 2021-10-10T03:06:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835214.68 epoch sec; seqNo:220; 4061260.34 north; 594131.40 east 2021-10-10T03:06:55Z- AHRS_M2 msg: 1633835215.08 epoch sec; seqNo:209 2021-10-10T03:06:55Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 0.46 psi 2021-10-10T03:06:55Z- handleDepth()-Depth_Keller msg: 1633835215087 epoch sec; seqNo:221; depth 5.33 2021-10-10T03:06:55Z- handleDvl() - RDI_Pathfinder msg: 1633835215.11 epoch sec; seqNo:49 2021-10-10T03:06:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.54 , 105.14 , 83.13 , 96.58 2021-10-10T03:06:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.56 , -0.14 , -0.07 2021-10-10T03:06:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835215.14 epoch sec; seqNo:221; 4061260.34 north; 594131.40 east 2021-10-10T03:06:55Z- AHRS_M2 msg: 1633835215.48 epoch sec; seqNo:210 2021-10-10T03:06:55Z- AHRS_M2 msg: -0.20 phi; -0.16 theta; 0.46 psi 2021-10-10T03:06:55Z- handleDepth()-Depth_Keller msg: 1633835215497 epoch sec; seqNo:222; depth 5.40 2021-10-10T03:06:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835215.51 epoch sec; seqNo:222; 4061260.72 north; 594131.39 east 2021-10-10T03:06:55Z- AHRS_M2 msg: 1633835215.88 epoch sec; seqNo:211 2021-10-10T03:06:55Z- AHRS_M2 msg: -0.19 phi; -0.15 theta; 0.46 psi 2021-10-10T03:06:55Z- handleDepth()-Depth_Keller msg: 1633835215888 epoch sec; seqNo:223; depth 5.46 2021-10-10T03:06:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835215.91 epoch sec; seqNo:223; 4061260.72 north; 594131.39 east 2021-10-10T03:06:56Z- AHRS_M2 msg: 1633835216.30 epoch sec; seqNo:212 2021-10-10T03:06:56Z- AHRS_M2 msg: -0.19 phi; -0.16 theta; 0.46 psi 2021-10-10T03:06:56Z- handleDepth()-Depth_Keller msg: 1633835216301 epoch sec; seqNo:224; depth 5.51 2021-10-10T03:06:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835216.31 epoch sec; seqNo:224; 4061261.10 north; 594131.39 east 2021-10-10T03:06:56Z- AHRS_M2 msg: 1633835216.69 epoch sec; seqNo:213 2021-10-10T03:06:56Z- AHRS_M2 msg: -0.19 phi; -0.16 theta; 0.46 psi 2021-10-10T03:06:56Z- handleDepth()-Depth_Keller msg: 1633835216701 epoch sec; seqNo:225; depth 5.58 2021-10-10T03:06:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835216.71 epoch sec; seqNo:225; 4061261.48 north; 594131.39 east 2021-10-10T03:06:57Z- AHRS_M2 msg: 1633835217.10 epoch sec; seqNo:214 2021-10-10T03:06:57Z- AHRS_M2 msg: -0.17 phi; -0.16 theta; 0.46 psi 2021-10-10T03:06:57Z- handleDepth()-Depth_Keller msg: 1633835217104 epoch sec; seqNo:226; depth 5.64 2021-10-10T03:06:57Z- handleDvl() - RDI_Pathfinder msg: 1633835217.12 epoch sec; seqNo:50 2021-10-10T03:06:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.13 , 100.24 , 81.90 , 97.80 2021-10-10T03:06:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.56 , 0.01 , -0.01 2021-10-10T03:06:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835217.14 epoch sec; seqNo:226; 4061261.48 north; 594131.39 east 2021-10-10T03:06:57Z- LcmTrn::handleMessages() - handling 42 messages took 0.74 ms and 127 calls... 2021-10-10T03:06:57Z- waiting for 2.00, time is 1633835217.14 2021-10-10T03:06:57Z- LcmTrn::updateTrn() equating pose 1633835217.14 and meas times 1633835217.14 2021-10-10T03:06:57Z- LcmTrn::updateTrn() >>>> pose time 1633835217.14, meas time 1633835217.14 <<<< 2021-10-10T03:06:57Z- TerrainNav::Measurement type 1 from time = 1633835217.14 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T03:06:57Z- TerrainNav::motionUpdate() - currEstimate = (4061261, 594131.39, 5.64) 2021-10-10T03:06:57Z- TerrainNav::attemptInitFilter is increasing Init Search Window by 0.000000 m 2021-10-10T03:06:57Z- TNavBF: Successfully initialized particles 2021-10-10T03:06:57Z- TerrainNav:: vehicle motion has been initialized 2021-10-10T03:06:57Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:06:57Z- TNavBF::mmse selected from filter -1 2021-10-10T03:06:57Z- variances([0], [2], and psi_berg) = 833.250000 833.250000 0.000000 2021-10-10T03:06:57Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:06:57Z- LcmTrn::publishEstimates() - MLE : 4061211.98 594081.89 5.64 2021-10-10T03:06:57Z- LcmTrn::publishEstimates() - MMSE : 4061261.48 594131.39 5.64 2021-10-10T03:06:57Z- LcmTrn::publishEstimates() - COVAR: 833.25 833.25 25.00 0.00 2021-10-10T03:06:57Z- AHRS_M2 msg: 1633835217.50 epoch sec; seqNo:215 2021-10-10T03:06:57Z- AHRS_M2 msg: -0.17 phi; -0.17 theta; 0.46 psi 2021-10-10T03:06:57Z- handleDepth()-Depth_Keller msg: 1633835217504 epoch sec; seqNo:227; depth 5.70 2021-10-10T03:06:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835217.53 epoch sec; seqNo:227; 4061261.86 north; 594131.38 east 2021-10-10T03:06:57Z- AHRS_M2 msg: 1633835217.90 epoch sec; seqNo:216 2021-10-10T03:06:57Z- AHRS_M2 msg: -0.19 phi; -0.17 theta; 0.46 psi 2021-10-10T03:06:57Z- handleDepth()-Depth_Keller msg: 1633835217911 epoch sec; seqNo:228; depth 5.75 2021-10-10T03:06:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835217.92 epoch sec; seqNo:228; 4061261.86 north; 594131.38 east 2021-10-10T03:06:58Z- AHRS_M2 msg: 1633835218.32 epoch sec; seqNo:217 2021-10-10T03:06:58Z- AHRS_M2 msg: -0.20 phi; -0.16 theta; 0.47 psi 2021-10-10T03:06:58Z- handleDepth()-Depth_Keller msg: 1633835218324 epoch sec; seqNo:229; depth 5.80 2021-10-10T03:06:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835218.33 epoch sec; seqNo:229; 4061262.24 north; 594131.38 east 2021-10-10T03:06:58Z- AHRS_M2 msg: 1633835218.71 epoch sec; seqNo:218 2021-10-10T03:06:58Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 0.47 psi 2021-10-10T03:06:58Z- handleDepth()-Depth_Keller msg: 1633835218714 epoch sec; seqNo:230; depth 5.87 2021-10-10T03:06:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835218.73 epoch sec; seqNo:230; 4061262.25 north; 594132.60 east 2021-10-10T03:06:59Z- AHRS_M2 msg: 1633835219.12 epoch sec; seqNo:219 2021-10-10T03:06:59Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 0.48 psi 2021-10-10T03:06:59Z- handleDepth()-Depth_Keller msg: 1633835219128 epoch sec; seqNo:231; depth 5.91 2021-10-10T03:06:59Z- handleDvl() - RDI_Pathfinder msg: 1633835219.16 epoch sec; seqNo:51 2021-10-10T03:06:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 81.90 , 96.57 , 80.68 , 96.57 2021-10-10T03:06:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.59 , -0.17 , -0.24 2021-10-10T03:06:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835219.17 epoch sec; seqNo:231; 4061262.63 north; 594132.59 east 2021-10-10T03:06:59Z- AHRS_M2 msg: 1633835219.52 epoch sec; seqNo:220 2021-10-10T03:06:59Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 0.49 psi 2021-10-10T03:06:59Z- handleDepth()-Depth_Keller msg: 1633835219523 epoch sec; seqNo:232; depth 5.97 2021-10-10T03:06:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835219.54 epoch sec; seqNo:232; 4061263.01 north; 594132.59 east 2021-10-10T03:06:59Z- AHRS_M2 msg: 1633835219.93 epoch sec; seqNo:221 2021-10-10T03:06:59Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 0.49 psi 2021-10-10T03:06:59Z- handleDepth()-Depth_Keller msg: 1633835219935 epoch sec; seqNo:233; depth 6.02 2021-10-10T03:06:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835219.95 epoch sec; seqNo:233; 4061263.01 north; 594132.59 east 2021-10-10T03:07:00Z- AHRS_M2 msg: 1633835220.33 epoch sec; seqNo:222 2021-10-10T03:07:00Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 0.49 psi 2021-10-10T03:07:00Z- handleDepth()-Depth_Keller msg: 1633835220330 epoch sec; seqNo:234; depth 6.10 2021-10-10T03:07:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835220.35 epoch sec; seqNo:234; 4061263.39 north; 594132.58 east 2021-10-10T03:07:00Z- AHRS_M2 msg: 1633835220.73 epoch sec; seqNo:223 2021-10-10T03:07:00Z- AHRS_M2 msg: -0.19 phi; -0.17 theta; 0.49 psi 2021-10-10T03:07:00Z- handleDepth()-Depth_Keller msg: 1633835220735 epoch sec; seqNo:235; depth 6.15 2021-10-10T03:07:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835220.74 epoch sec; seqNo:235; 4061263.76 north; 594132.58 east 2021-10-10T03:07:01Z- AHRS_M2 msg: 1633835221.14 epoch sec; seqNo:224 2021-10-10T03:07:01Z- AHRS_M2 msg: -0.18 phi; -0.17 theta; 0.48 psi 2021-10-10T03:07:01Z- handleDepth()-Depth_Keller msg: 1633835221144 epoch sec; seqNo:236; depth 6.20 2021-10-10T03:07:01Z- handleDvl() - RDI_Pathfinder msg: 1633835221.18 epoch sec; seqNo:52 2021-10-10T03:07:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.11 , 96.78 , 78.72 , 96.78 2021-10-10T03:07:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.51 , -0.14 , 0.20 2021-10-10T03:07:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835221.19 epoch sec; seqNo:236; 4061263.76 north; 594132.58 east 2021-10-10T03:07:01Z- AHRS_M2 msg: 1633835221.54 epoch sec; seqNo:225 2021-10-10T03:07:01Z- AHRS_M2 msg: -0.18 phi; -0.17 theta; 0.48 psi 2021-10-10T03:07:01Z- handleDepth()-Depth_Keller msg: 1633835221552 epoch sec; seqNo:237; depth 6.28 2021-10-10T03:07:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835221.57 epoch sec; seqNo:237; 4061264.14 north; 594132.58 east 2021-10-10T03:07:01Z- AHRS_M2 msg: 1633835221.94 epoch sec; seqNo:226 2021-10-10T03:07:01Z- AHRS_M2 msg: -0.18 phi; -0.17 theta; 0.48 psi 2021-10-10T03:07:01Z- handleDepth()-Depth_Keller msg: 1633835221956 epoch sec; seqNo:238; depth 6.34 2021-10-10T03:07:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835221.97 epoch sec; seqNo:238; 4061264.14 north; 594132.58 east 2021-10-10T03:07:02Z- LcmTrn::handleMessages() - handling 38 messages took 0.66 ms and 125 calls... 2021-10-10T03:07:02Z- waiting for 1633835220.14, time is 1633835221.97 2021-10-10T03:07:02Z- LcmTrn::updateTrn() >>>> pose time 1633835221.97, meas time 1633835221.18 <<<< 2021-10-10T03:07:02Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835221.18 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:07:02Z- TerrainNav::motionUpdate() - currEstimate = (4061264, 594132.58, 6.34) 2021-10-10T03:07:02Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:07:02Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:07:02Z- TNavBF::Projecting Measurements 2021-10-10T03:07:02Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:07:02Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:07:02Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:07:02Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:07:02Z- TNavFilter::4 good beams. 2021-10-10T03:07:02Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:07:02Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:07:02Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:07:02Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:07:02Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:07:02Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:07:02Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:07:02Z- TNavBF::mmse selected from filter -1 2021-10-10T03:07:02Z- TerrainMapOctree: (vehN, vehE ) = (4061263.71, 594132.38). 2021-10-10T03:07:02Z- TerrainMapOctree: Min Distance = 118.41. 2021-10-10T03:07:02Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:07:02Z- There is no specific good beam that all particles have in common. 2021-10-10T03:07:02Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 0 2021-10-10T03:07:02Z- Old Depth Bias: 0.00 DepthBiasCov: 25.12 K: 0.667 ExpectedMeasDiff: nan currMeas.covariance: 10.79 2021-10-10T03:07:02Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:07:02Z- Old Depth Bias: 0.00 DepthBiasCov: 8.36 K: 0.333 ExpectedMeasDiff: nan currMeas.covariance: 14.99 2021-10-10T03:07:02Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 2 2021-10-10T03:07:02Z- Old Depth Bias: 0.00 DepthBiasCov: 5.57 K: 0.324 ExpectedMeasDiff: nan currMeas.covariance: 9.92 2021-10-10T03:07:02Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 3 2021-10-10T03:07:02Z- Old Depth Bias: 0.00 DepthBiasCov: 3.77 K: 0.184 ExpectedMeasDiff: nan currMeas.covariance: 14.99 2021-10-10T03:07:02Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:07:02Z- Filter 0 beam number: 0 num in subcloud: 1556 num not in subcloud: 8444 2021-10-10T03:07:02Z- Filter 0 partialDeltaRmsComputation: 12.285053 terrainVariance: 10.840748 1-SumSquareWeights: 0.999357 2021-10-10T03:07:02Z- Filter 0 meanExpectedMeasDiff: 1.201792 delta_rms_squared: 10.830754 alpha: 0.998157 2021-10-10T03:07:02Z- Filter 0 beam number: 1 num in subcloud: 0 num not in subcloud: 10000 2021-10-10T03:07:02Z- Filter 0 insufficient particles or particle weight in subcloud for beam 1 2021-10-10T03:07:02Z- Filter 0 beam number: 2 num in subcloud: 1088 num not in subcloud: 8912 2021-10-10T03:07:02Z- Filter 0 partialDeltaRmsComputation: 192.936343 terrainVariance: 0.758666 1-SumSquareWeights: 0.999081 2021-10-10T03:07:02Z- Filter 0 meanExpectedMeasDiff: -13.862816 delta_rms_squared: 0.748675 alpha: 0.973981 2021-10-10T03:07:02Z- Filter 0 beam number: 3 num in subcloud: 0 num not in subcloud: 10000 2021-10-10T03:07:02Z- Filter 0 insufficient particles or particle weight in subcloud for beam 3 2021-10-10T03:07:02Z- Filter 0 SubcloudNIS: 0.027160 2021-10-10T03:07:02Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:07:02Z- TNavBF:: Filter 0 sumWeights = 0.001433 2021-10-10T03:07:02Z- Filter 0 NorthBias: 0.5 EastBias: -0.8 DepthBias: -1.8 NorthVariance: 858.2 EastVariance: 788.7 DepthVariance: 21.6 this->DepthBiasCov: 3.1 2021-10-10T03:07:02Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835221.18 sec. 2021-10-10T03:07:02Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:07:02Z- TNavBF::mmse selected from filter -1 2021-10-10T03:07:02Z- variances([0], [2], and psi_berg) = 857.945794 788.725801 0.000000 2021-10-10T03:07:02Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:07:02Z- LcmTrn::publishEstimates() - MLE : 4061312.64 594125.08 6.34 2021-10-10T03:07:02Z- LcmTrn::publishEstimates() - MMSE : 4061264.64 594131.79 4.50 2021-10-10T03:07:02Z- LcmTrn::publishEstimates() - COVAR: 857.95 788.73 21.58 0.00 2021-10-10T03:07:02Z- AHRS_M2 msg: 1633835222.35 epoch sec; seqNo:227 2021-10-10T03:07:02Z- AHRS_M2 msg: -0.18 phi; -0.16 theta; 0.48 psi 2021-10-10T03:07:02Z- handleDepth()-Depth_Keller msg: 1633835222351 epoch sec; seqNo:239; depth 6.39 2021-10-10T03:07:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835222.36 epoch sec; seqNo:239; 4061264.52 north; 594132.57 east 2021-10-10T03:07:02Z- AHRS_M2 msg: 1633835222.75 epoch sec; seqNo:228 2021-10-10T03:07:02Z- AHRS_M2 msg: -0.19 phi; -0.16 theta; 0.49 psi 2021-10-10T03:07:02Z- handleDepth()-Depth_Keller msg: 1633835222756 epoch sec; seqNo:240; depth 6.45 2021-10-10T03:07:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835222.77 epoch sec; seqNo:240; 4061264.52 north; 594132.57 east 2021-10-10T03:07:03Z- AHRS_M2 msg: 1633835223.15 epoch sec; seqNo:229 2021-10-10T03:07:03Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 0.49 psi 2021-10-10T03:07:03Z- handleDepth()-Depth_Keller msg: 1633835223164 epoch sec; seqNo:241; depth 6.50 2021-10-10T03:07:03Z- handleDvl() - RDI_Pathfinder msg: 1633835223.19 epoch sec; seqNo:53 2021-10-10T03:07:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.11 , 96.78 , 80.89 , 98.00 2021-10-10T03:07:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.55 , 0.11 , 0.01 2021-10-10T03:07:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835223.23 epoch sec; seqNo:241; 4061264.90 north; 594132.57 east 2021-10-10T03:07:03Z- AHRS_M2 msg: 1633835223.56 epoch sec; seqNo:230 2021-10-10T03:07:03Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 0.49 psi 2021-10-10T03:07:03Z- handleDepth()-Depth_Keller msg: 1633835223562 epoch sec; seqNo:242; depth 6.56 2021-10-10T03:07:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835223.59 epoch sec; seqNo:242; 4061264.90 north; 594132.57 east 2021-10-10T03:07:03Z- AHRS_M2 msg: 1633835223.96 epoch sec; seqNo:231 2021-10-10T03:07:03Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 0.49 psi 2021-10-10T03:07:03Z- handleDepth()-Depth_Keller msg: 1633835223966 epoch sec; seqNo:243; depth 6.61 2021-10-10T03:07:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835223.98 epoch sec; seqNo:243; 4061265.28 north; 594132.56 east 2021-10-10T03:07:04Z- AHRS_M2 msg: 1633835224.37 epoch sec; seqNo:232 2021-10-10T03:07:04Z- AHRS_M2 msg: -0.23 phi; -0.14 theta; 0.49 psi 2021-10-10T03:07:04Z- handleDepth()-Depth_Keller msg: 1633835224376 epoch sec; seqNo:244; depth 6.67 2021-10-10T03:07:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835224.39 epoch sec; seqNo:244; 4061265.28 north; 594132.56 east 2021-10-10T03:07:04Z- AHRS_M2 msg: 1633835224.77 epoch sec; seqNo:233 2021-10-10T03:07:04Z- AHRS_M2 msg: -0.24 phi; -0.13 theta; 0.49 psi 2021-10-10T03:07:04Z- handleDepth()-Depth_Keller msg: 1633835224788 epoch sec; seqNo:245; depth 6.71 2021-10-10T03:07:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835224.80 epoch sec; seqNo:245; 4061265.67 north; 594133.78 east 2021-10-10T03:07:05Z- AHRS_M2 msg: 1633835225.17 epoch sec; seqNo:234 2021-10-10T03:07:05Z- AHRS_M2 msg: -0.24 phi; -0.13 theta; 0.48 psi 2021-10-10T03:07:05Z- handleDepth()-Depth_Keller msg: 1633835225184 epoch sec; seqNo:246; depth 6.76 2021-10-10T03:07:05Z- handleDvl() - RDI_Pathfinder msg: 1633835225.22 epoch sec; seqNo:54 2021-10-10T03:07:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.31 , 96.71 , 79.13 , 96.71 2021-10-10T03:07:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.57 , -0.05 , -0.12 2021-10-10T03:07:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835225.26 epoch sec; seqNo:246; 4061265.67 north; 594133.78 east 2021-10-10T03:07:05Z- AHRS_M2 msg: 1633835225.58 epoch sec; seqNo:235 2021-10-10T03:07:05Z- AHRS_M2 msg: -0.23 phi; -0.13 theta; 0.49 psi 2021-10-10T03:07:05Z- handleDepth()-Depth_Keller msg: 1633835225582 epoch sec; seqNo:247; depth 6.80 2021-10-10T03:07:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835225.60 epoch sec; seqNo:247; 4061266.05 north; 594133.78 east 2021-10-10T03:07:05Z- AHRS_M2 msg: 1633835225.99 epoch sec; seqNo:236 2021-10-10T03:07:05Z- AHRS_M2 msg: -0.23 phi; -0.13 theta; 0.48 psi 2021-10-10T03:07:05Z- handleDepth()-Depth_Keller msg: 1633835225990 epoch sec; seqNo:248; depth 6.86 2021-10-10T03:07:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835226.00 epoch sec; seqNo:248; 4061266.05 north; 594133.78 east 2021-10-10T03:07:06Z- AHRS_M2 msg: 1633835226.39 epoch sec; seqNo:237 2021-10-10T03:07:06Z- AHRS_M2 msg: -0.24 phi; -0.13 theta; 0.48 psi 2021-10-10T03:07:06Z- handleDepth()-Depth_Keller msg: 1633835226392 epoch sec; seqNo:249; depth 6.88 2021-10-10T03:07:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835226.40 epoch sec; seqNo:249; 4061266.43 north; 594133.77 east 2021-10-10T03:07:06Z- AHRS_M2 msg: 1633835226.79 epoch sec; seqNo:238 2021-10-10T03:07:06Z- AHRS_M2 msg: -0.23 phi; -0.13 theta; 0.47 psi 2021-10-10T03:07:06Z- handleDepth()-Depth_Keller msg: 1633835226800 epoch sec; seqNo:250; depth 6.92 2021-10-10T03:07:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835226.81 epoch sec; seqNo:250; 4061266.43 north; 594133.77 east 2021-10-10T03:07:07Z- AHRS_M2 msg: 1633835227.19 epoch sec; seqNo:239 2021-10-10T03:07:07Z- AHRS_M2 msg: -0.24 phi; -0.13 theta; 0.47 psi 2021-10-10T03:07:07Z- handleDepth()-Depth_Keller msg: 1633835227201 epoch sec; seqNo:251; depth 6.98 2021-10-10T03:07:07Z- handleDvl() - RDI_Pathfinder msg: 1633835227.22 epoch sec; seqNo:55 2021-10-10T03:07:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.90 , 96.85 , 79.54 , 95.63 2021-10-10T03:07:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.56 , -0.11 , -0.00 2021-10-10T03:07:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835227.26 epoch sec; seqNo:251; 4061266.81 north; 594133.77 east 2021-10-10T03:07:07Z- LcmTrn::handleMessages() - handling 42 messages took 0.80 ms and 126 calls... 2021-10-10T03:07:07Z- waiting for 1633835224.97, time is 1633835227.26 2021-10-10T03:07:07Z- LcmTrn::updateTrn() equating pose 1633835227.26 and meas times 1633835227.26 2021-10-10T03:07:07Z- LcmTrn::updateTrn() >>>> pose time 1633835227.26, meas time 1633835227.26 <<<< 2021-10-10T03:07:07Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835227.26 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:07:07Z- TerrainNav::motionUpdate() - currEstimate = (4061267, 594133.77, 6.98) 2021-10-10T03:07:07Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:07:07Z- TerrainNav:: SubcloudNIS is 0.03, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:07:07Z- TerrainNav::Measurement type 1 not incorporated from time = 1633835227.26 sec.; No relevant navigation data available 2021-10-10T03:07:07Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:07:07Z- TNavBF::mmse selected from filter -1 2021-10-10T03:07:07Z- variances([0], [2], and psi_berg) = 857.344299 788.783851 0.000000 2021-10-10T03:07:07Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:07:07Z- LcmTrn::publishEstimates() - MLE : 4061315.31 594126.27 6.98 2021-10-10T03:07:07Z- LcmTrn::publishEstimates() - MMSE : 4061267.30 594132.98 5.15 2021-10-10T03:07:07Z- LcmTrn::publishEstimates() - COVAR: 857.34 788.78 21.72 0.00 2021-10-10T03:07:07Z- AHRS_M2 msg: 1633835227.60 epoch sec; seqNo:240 2021-10-10T03:07:07Z- AHRS_M2 msg: -0.24 phi; -0.13 theta; 0.46 psi 2021-10-10T03:07:07Z- handleDepth()-Depth_Keller msg: 1633835227604 epoch sec; seqNo:252; depth 7.03 2021-10-10T03:07:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835227.63 epoch sec; seqNo:252; 4061267.19 north; 594133.76 east 2021-10-10T03:07:08Z- AHRS_M2 msg: 1633835228.00 epoch sec; seqNo:241 2021-10-10T03:07:08Z- AHRS_M2 msg: -0.23 phi; -0.13 theta; 0.45 psi 2021-10-10T03:07:08Z- handleDepth()-Depth_Keller msg: 1633835228007 epoch sec; seqNo:253; depth 7.07 2021-10-10T03:07:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835228.02 epoch sec; seqNo:253; 4061267.19 north; 594133.76 east 2021-10-10T03:07:08Z- AHRS_M2 msg: 1633835228.41 epoch sec; seqNo:242 2021-10-10T03:07:08Z- AHRS_M2 msg: -0.23 phi; -0.13 theta; 0.45 psi 2021-10-10T03:07:08Z- handleDepth()-Depth_Keller msg: 1633835228410 epoch sec; seqNo:254; depth 7.11 2021-10-10T03:07:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835228.43 epoch sec; seqNo:254; 4061267.57 north; 594133.76 east 2021-10-10T03:07:08Z- AHRS_M2 msg: 1633835228.81 epoch sec; seqNo:243 2021-10-10T03:07:08Z- AHRS_M2 msg: -0.23 phi; -0.14 theta; 0.45 psi 2021-10-10T03:07:08Z- handleDepth()-Depth_Keller msg: 1633835228821 epoch sec; seqNo:255; depth 7.17 2021-10-10T03:07:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835228.83 epoch sec; seqNo:255; 4061267.57 north; 594133.76 east 2021-10-10T03:07:09Z- AHRS_M2 msg: 1633835229.23 epoch sec; seqNo:244 2021-10-10T03:07:09Z- AHRS_M2 msg: -0.26 phi; -0.13 theta; 0.45 psi 2021-10-10T03:07:09Z- handleDepth()-Depth_Keller msg: 1633835229237 epoch sec; seqNo:256; depth 7.21 2021-10-10T03:07:09Z- handleDvl() - RDI_Pathfinder msg: 1633835229.26 epoch sec; seqNo:56 2021-10-10T03:07:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.31 , 96.85 , 78.72 , 98.07 2021-10-10T03:07:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.59 , 0.02 , -0.03 2021-10-10T03:07:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835229.30 epoch sec; seqNo:256; 4061267.95 north; 594133.76 east 2021-10-10T03:07:09Z- AHRS_M2 msg: 1633835229.62 epoch sec; seqNo:245 2021-10-10T03:07:09Z- AHRS_M2 msg: -0.26 phi; -0.13 theta; 0.45 psi 2021-10-10T03:07:09Z- handleDepth()-Depth_Keller msg: 1633835229626 epoch sec; seqNo:257; depth 7.25 2021-10-10T03:07:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835229.65 epoch sec; seqNo:257; 4061267.95 north; 594133.76 east 2021-10-10T03:07:10Z- AHRS_M2 msg: 1633835230.02 epoch sec; seqNo:246 2021-10-10T03:07:10Z- AHRS_M2 msg: -0.26 phi; -0.12 theta; 0.45 psi 2021-10-10T03:07:10Z- handleDepth()-Depth_Keller msg: 1633835230026 epoch sec; seqNo:258; depth 7.29 2021-10-10T03:07:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835230.04 epoch sec; seqNo:258; 4061268.32 north; 594133.75 east 2021-10-10T03:07:10Z- AHRS_M2 msg: 1633835230.43 epoch sec; seqNo:247 2021-10-10T03:07:10Z- AHRS_M2 msg: -0.26 phi; -0.11 theta; 0.45 psi 2021-10-10T03:07:10Z- handleDepth()-Depth_Keller msg: 1633835230431 epoch sec; seqNo:259; depth 7.33 2021-10-10T03:07:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835230.44 epoch sec; seqNo:259; 4061268.70 north; 594133.75 east 2021-10-10T03:07:10Z- AHRS_M2 msg: 1633835230.83 epoch sec; seqNo:248 2021-10-10T03:07:10Z- AHRS_M2 msg: -0.26 phi; -0.11 theta; 0.44 psi 2021-10-10T03:07:10Z- handleDepth()-Depth_Keller msg: 1633835230835 epoch sec; seqNo:260; depth 7.39 2021-10-10T03:07:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835230.85 epoch sec; seqNo:260; 4061268.72 north; 594134.97 east 2021-10-10T03:07:11Z- AHRS_M2 msg: 1633835231.23 epoch sec; seqNo:249 2021-10-10T03:07:11Z- AHRS_M2 msg: -0.24 phi; -0.10 theta; 0.44 psi 2021-10-10T03:07:11Z- handleDepth()-Depth_Keller msg: 1633835231237 epoch sec; seqNo:261; depth 7.43 2021-10-10T03:07:11Z- handleDvl() - RDI_Pathfinder msg: 1633835231.27 epoch sec; seqNo:57 2021-10-10T03:07:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.90 , 96.85 , 79.13 , 95.62 2021-10-10T03:07:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.65 , -0.22 , -0.07 2021-10-10T03:07:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835231.28 epoch sec; seqNo:261; 4061269.10 north; 594134.96 east 2021-10-10T03:07:11Z- AHRS_M2 msg: 1633835231.64 epoch sec; seqNo:250 2021-10-10T03:07:11Z- AHRS_M2 msg: -0.23 phi; -0.09 theta; 0.43 psi 2021-10-10T03:07:11Z- handleDepth()-Depth_Keller msg: 1633835231648 epoch sec; seqNo:262; depth 7.48 2021-10-10T03:07:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835231.66 epoch sec; seqNo:262; 4061269.47 north; 594134.96 east 2021-10-10T03:07:12Z- AHRS_M2 msg: 1633835232.04 epoch sec; seqNo:251 2021-10-10T03:07:12Z- AHRS_M2 msg: -0.22 phi; -0.08 theta; 0.43 psi 2021-10-10T03:07:12Z- handleDepth()-Depth_Keller msg: 1633835232048 epoch sec; seqNo:263; depth 7.53 2021-10-10T03:07:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835232.06 epoch sec; seqNo:263; 4061269.47 north; 594134.96 east 2021-10-10T03:07:12Z- LcmTrn::handleMessages() - handling 38 messages took 0.68 ms and 125 calls... 2021-10-10T03:07:12Z- waiting for 1633835230.26, time is 1633835232.06 2021-10-10T03:07:12Z- LcmTrn::updateTrn() >>>> pose time 1633835232.06, meas time 1633835231.27 <<<< 2021-10-10T03:07:12Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835231.27 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:07:12Z- TerrainNav::motionUpdate() - currEstimate = (4061269, 594134.96, 7.53) 2021-10-10T03:07:12Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:07:12Z- TerrainNav:: SubcloudNIS is 0.03, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:07:12Z- TNavBF::Projecting Measurements 2021-10-10T03:07:12Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:07:12Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:07:12Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:07:12Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:07:12Z- TNavFilter::4 good beams. 2021-10-10T03:07:12Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:07:12Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:07:12Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:07:12Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:07:12Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:07:12Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:07:12Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:07:12Z- TNavBF::mmse selected from filter -1 2021-10-10T03:07:12Z- TerrainMapOctree: (vehN, vehE ) = (4061269.03, 594134.76). 2021-10-10T03:07:12Z- TerrainMapOctree: Min Distance = 116.80. 2021-10-10T03:07:12Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:07:12Z- There is no specific good beam that all particles have in common. 2021-10-10T03:07:12Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 0 2021-10-10T03:07:12Z- Old Depth Bias: 0.00 DepthBiasCov: 3.37 K: 0.228 ExpectedMeasDiff: nan currMeas.covariance: 9.71 2021-10-10T03:07:12Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:07:12Z- Old Depth Bias: 0.00 DepthBiasCov: 2.60 K: 0.135 ExpectedMeasDiff: nan currMeas.covariance: 15.01 2021-10-10T03:07:12Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 2 2021-10-10T03:07:12Z- Old Depth Bias: 0.00 DepthBiasCov: 2.25 K: 0.161 ExpectedMeasDiff: nan currMeas.covariance: 10.02 2021-10-10T03:07:12Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 3 2021-10-10T03:07:12Z- Old Depth Bias: 0.00 DepthBiasCov: 1.89 K: 0.104 ExpectedMeasDiff: nan currMeas.covariance: 14.63 2021-10-10T03:07:12Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:07:12Z- Filter 0 beam number: 0 num in subcloud: 2691 num not in subcloud: 7309 2021-10-10T03:07:12Z- Filter 0 partialDeltaRmsComputation: 26.929596 terrainVariance: 21.413613 1-SumSquareWeights: 0.999556 2021-10-10T03:07:12Z- Filter 0 meanExpectedMeasDiff: -2.348613 delta_rms_squared: 21.403618 alpha: 0.999066 2021-10-10T03:07:12Z- Filter 0 beam number: 1 num in subcloud: 0 num not in subcloud: 10000 2021-10-10T03:07:12Z- Filter 0 insufficient particles or particle weight in subcloud for beam 1 2021-10-10T03:07:12Z- Filter 0 beam number: 2 num in subcloud: 2750 num not in subcloud: 7250 2021-10-10T03:07:12Z- Filter 0 partialDeltaRmsComputation: 363.343125 terrainVariance: 18.877252 1-SumSquareWeights: 0.999567 2021-10-10T03:07:12Z- Filter 0 meanExpectedMeasDiff: -18.559792 delta_rms_squared: 18.867256 alpha: 0.998941 2021-10-10T03:07:12Z- Filter 0 beam number: 3 num in subcloud: 0 num not in subcloud: 10000 2021-10-10T03:07:12Z- Filter 0 insufficient particles or particle weight in subcloud for beam 3 2021-10-10T03:07:12Z- Filter 0 SubcloudNIS: 0.111476 2021-10-10T03:07:12Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:07:12Z- TNavBF:: Filter 0 sumWeights = 0.000182 2021-10-10T03:07:12Z- Filter 0 NorthBias: 7.9 EastBias: 0.5 DepthBias: -5.9 NorthVariance: 1091.3 EastVariance: 624.5 DepthVariance: 60.1 this->DepthBiasCov: 1.7 2021-10-10T03:07:12Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835231.27 sec. 2021-10-10T03:07:12Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:07:12Z- TNavBF::mmse selected from filter -1 2021-10-10T03:07:12Z- variances([0], [2], and psi_berg) = 1090.858457 624.683275 0.000000 2021-10-10T03:07:12Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:07:12Z- LcmTrn::publishEstimates() - MLE : 4061318.97 594117.46 7.53 2021-10-10T03:07:12Z- LcmTrn::publishEstimates() - MMSE : 4061277.33 594135.47 1.62 2021-10-10T03:07:12Z- LcmTrn::publishEstimates() - COVAR: 1090.86 624.68 60.11 0.00 2021-10-10T03:07:12Z- AHRS_M2 msg: 1633835232.44 epoch sec; seqNo:252 2021-10-10T03:07:12Z- AHRS_M2 msg: -0.21 phi; -0.08 theta; 0.42 psi 2021-10-10T03:07:12Z- handleDepth()-Depth_Keller msg: 1633835232461 epoch sec; seqNo:264; depth 7.57 2021-10-10T03:07:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835232.47 epoch sec; seqNo:264; 4061269.85 north; 594134.95 east 2021-10-10T03:07:12Z- AHRS_M2 msg: 1633835232.85 epoch sec; seqNo:253 2021-10-10T03:07:12Z- AHRS_M2 msg: -0.19 phi; -0.08 theta; 0.42 psi 2021-10-10T03:07:12Z- handleDepth()-Depth_Keller msg: 1633835232855 epoch sec; seqNo:265; depth 7.63 2021-10-10T03:07:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835232.86 epoch sec; seqNo:265; 4061270.23 north; 594134.95 east 2021-10-10T03:07:13Z- AHRS_M2 msg: 1633835233.25 epoch sec; seqNo:254 2021-10-10T03:07:13Z- AHRS_M2 msg: -0.18 phi; -0.08 theta; 0.42 psi 2021-10-10T03:07:13Z- handleDepth()-Depth_Keller msg: 1633835233258 epoch sec; seqNo:266; depth 7.65 2021-10-10T03:07:13Z- handleDvl() - RDI_Pathfinder msg: 1633835233.28 epoch sec; seqNo:58 2021-10-10T03:07:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.90 , 96.91 , 79.54 , 92.02 2021-10-10T03:07:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.56 , 0.03 , 0.12 2021-10-10T03:07:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835233.31 epoch sec; seqNo:266; 4061270.23 north; 594134.95 east 2021-10-10T03:07:13Z- AHRS_M2 msg: 1633835233.66 epoch sec; seqNo:255 2021-10-10T03:07:13Z- AHRS_M2 msg: -0.18 phi; -0.07 theta; 0.42 psi 2021-10-10T03:07:13Z- handleDepth()-Depth_Keller msg: 1633835233670 epoch sec; seqNo:267; depth 7.70 2021-10-10T03:07:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835233.69 epoch sec; seqNo:267; 4061270.61 north; 594134.95 east 2021-10-10T03:07:14Z- AHRS_M2 msg: 1633835234.06 epoch sec; seqNo:256 2021-10-10T03:07:14Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 0.42 psi 2021-10-10T03:07:14Z- handleDepth()-Depth_Keller msg: 1633835234066 epoch sec; seqNo:268; depth 7.72 2021-10-10T03:07:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835234.09 epoch sec; seqNo:268; 4061270.61 north; 594134.95 east 2021-10-10T03:07:14Z- AHRS_M2 msg: 1633835234.46 epoch sec; seqNo:257 2021-10-10T03:07:14Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 0.42 psi 2021-10-10T03:07:14Z- handleDepth()-Depth_Keller msg: 1633835234471 epoch sec; seqNo:269; depth 7.74 2021-10-10T03:07:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835234.48 epoch sec; seqNo:269; 4061270.99 north; 594134.94 east 2021-10-10T03:07:14Z- AHRS_M2 msg: 1633835234.87 epoch sec; seqNo:258 2021-10-10T03:07:14Z- AHRS_M2 msg: -0.23 phi; -0.05 theta; 0.42 psi 2021-10-10T03:07:14Z- handleDepth()-Depth_Keller msg: 1633835234874 epoch sec; seqNo:270; depth 7.78 2021-10-10T03:07:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835234.88 epoch sec; seqNo:270; 4061270.99 north; 594134.94 east 2021-10-10T03:07:15Z- AHRS_M2 msg: 1633835235.28 epoch sec; seqNo:259 2021-10-10T03:07:15Z- AHRS_M2 msg: -0.24 phi; -0.04 theta; 0.42 psi 2021-10-10T03:07:15Z- handleDepth()-Depth_Keller msg: 1633835235289 epoch sec; seqNo:271; depth 7.80 2021-10-10T03:07:15Z- handleDvl() - RDI_Pathfinder msg: 1633835235.31 epoch sec; seqNo:59 2021-10-10T03:07:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.31 , 98.21 , 0.00 , 90.87 2021-10-10T03:07:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.58 , -0.11 , -0.18 2021-10-10T03:07:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835235.33 epoch sec; seqNo:271; 4061271.37 north; 594134.94 east 2021-10-10T03:07:15Z- AHRS_M2 msg: 1633835235.68 epoch sec; seqNo:260 2021-10-10T03:07:15Z- AHRS_M2 msg: -0.24 phi; -0.04 theta; 0.42 psi 2021-10-10T03:07:15Z- handleDepth()-Depth_Keller msg: 1633835235684 epoch sec; seqNo:272; depth 7.83 2021-10-10T03:07:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835235.70 epoch sec; seqNo:272; 4061271.75 north; 594134.93 east 2021-10-10T03:07:16Z- AHRS_M2 msg: 1633835236.08 epoch sec; seqNo:261 2021-10-10T03:07:16Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 0.42 psi 2021-10-10T03:07:16Z- handleDepth()-Depth_Keller msg: 1633835236089 epoch sec; seqNo:273; depth 7.85 2021-10-10T03:07:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835236.10 epoch sec; seqNo:273; 4061271.75 north; 594134.93 east 2021-10-10T03:07:16Z- AHRS_M2 msg: 1633835236.51 epoch sec; seqNo:262 2021-10-10T03:07:16Z- AHRS_M2 msg: -0.21 phi; -0.02 theta; 0.41 psi 2021-10-10T03:07:16Z- handleDepth()-Depth_Keller msg: 1633835236522 epoch sec; seqNo:274; depth 7.88 2021-10-10T03:07:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835236.53 epoch sec; seqNo:274; 4061272.13 north; 594134.93 east 2021-10-10T03:07:16Z- AHRS_M2 msg: 1633835236.89 epoch sec; seqNo:263 2021-10-10T03:07:16Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 0.41 psi 2021-10-10T03:07:16Z- handleDepth()-Depth_Keller msg: 1633835236894 epoch sec; seqNo:275; depth 7.93 2021-10-10T03:07:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835236.90 epoch sec; seqNo:275; 4061272.13 north; 594134.93 east 2021-10-10T03:07:17Z- AHRS_M2 msg: 1633835237.30 epoch sec; seqNo:264 2021-10-10T03:07:17Z- AHRS_M2 msg: -0.17 phi; -0.02 theta; 0.41 psi 2021-10-10T03:07:17Z- handleDepth()-Depth_Keller msg: 1633835237305 epoch sec; seqNo:276; depth 7.95 2021-10-10T03:07:17Z- handleDvl() - RDI_Pathfinder msg: 1633835237.33 epoch sec; seqNo:60 2021-10-10T03:07:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.90 , 96.71 , 85.71 , 0.00 2021-10-10T03:07:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.58 , -0.15 , 0.21 2021-10-10T03:07:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835237.35 epoch sec; seqNo:276; 4061272.50 north; 594134.93 east 2021-10-10T03:07:17Z- LcmTrn::handleMessages() - handling 42 messages took 0.62 ms and 129 calls... 2021-10-10T03:07:17Z- waiting for 1633835235.06, time is 1633835237.35 2021-10-10T03:07:17Z- LcmTrn::updateTrn() equating pose 1633835237.35 and meas times 1633835237.35 2021-10-10T03:07:17Z- LcmTrn::updateTrn() >>>> pose time 1633835237.35, meas time 1633835237.35 <<<< 2021-10-10T03:07:17Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835237.35 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:07:17Z- TerrainNav::motionUpdate() - currEstimate = (4061273, 594134.93, 7.95) 2021-10-10T03:07:17Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:07:17Z- TerrainNav:: SubcloudNIS is 0.11, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:07:17Z- TerrainNav::Measurement type 1 not incorporated from time = 1633835237.35 sec.; No relevant navigation data available 2021-10-10T03:07:17Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:07:17Z- TNavBF::mmse selected from filter -1 2021-10-10T03:07:17Z- variances([0], [2], and psi_berg) = 1089.874481 625.045171 0.000000 2021-10-10T03:07:17Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:07:17Z- LcmTrn::publishEstimates() - MLE : 4061322.00 594117.43 7.95 2021-10-10T03:07:17Z- LcmTrn::publishEstimates() - MMSE : 4061280.32 594135.44 2.05 2021-10-10T03:07:17Z- LcmTrn::publishEstimates() - COVAR: 1089.87 625.05 60.17 0.00 2021-10-10T03:07:17Z- AHRS_M2 msg: 1633835237.70 epoch sec; seqNo:265 2021-10-10T03:07:17Z- AHRS_M2 msg: -0.16 phi; -0.02 theta; 0.41 psi 2021-10-10T03:07:17Z- handleDepth()-Depth_Keller msg: 1633835237710 epoch sec; seqNo:277; depth 7.95 2021-10-10T03:07:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835237.73 epoch sec; seqNo:277; 4061272.88 north; 594134.92 east 2021-10-10T03:07:18Z- AHRS_M2 msg: 1633835238.10 epoch sec; seqNo:266 2021-10-10T03:07:18Z- AHRS_M2 msg: -0.16 phi; -0.02 theta; 0.41 psi 2021-10-10T03:07:18Z- handleDepth()-Depth_Keller msg: 1633835238106 epoch sec; seqNo:278; depth 7.97 2021-10-10T03:07:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835238.12 epoch sec; seqNo:278; 4061272.88 north; 594134.92 east 2021-10-10T03:07:18Z- AHRS_M2 msg: 1633835238.51 epoch sec; seqNo:267 2021-10-10T03:07:18Z- AHRS_M2 msg: -0.17 phi; -0.01 theta; 0.41 psi 2021-10-10T03:07:18Z- handleDepth()-Depth_Keller msg: 1633835238510 epoch sec; seqNo:279; depth 7.98 2021-10-10T03:07:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835238.52 epoch sec; seqNo:279; 4061273.26 north; 594134.92 east 2021-10-10T03:07:18Z- AHRS_M2 msg: 1633835238.91 epoch sec; seqNo:268 2021-10-10T03:07:18Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 0.41 psi 2021-10-10T03:07:18Z- handleDepth()-Depth_Keller msg: 1633835238920 epoch sec; seqNo:280; depth 7.99 2021-10-10T03:07:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835238.93 epoch sec; seqNo:280; 4061273.64 north; 594134.91 east 2021-10-10T03:07:19Z- AHRS_M2 msg: 1633835239.31 epoch sec; seqNo:269 2021-10-10T03:07:19Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 0.42 psi 2021-10-10T03:07:19Z- handleDepth()-Depth_Keller msg: 1633835239321 epoch sec; seqNo:281; depth 8.01 2021-10-10T03:07:19Z- handleDvl() - RDI_Pathfinder msg: 1633835239.35 epoch sec; seqNo:61 2021-10-10T03:07:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.54 , 95.69 , 84.69 , 87.13 2021-10-10T03:07:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.53 , 0.12 , -0.07 2021-10-10T03:07:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835239.37 epoch sec; seqNo:281; 4061273.65 north; 594136.13 east 2021-10-10T03:07:19Z- AHRS_M2 msg: 1633835239.72 epoch sec; seqNo:270 2021-10-10T03:07:19Z- AHRS_M2 msg: -0.21 phi; -0.00 theta; 0.42 psi 2021-10-10T03:07:19Z- handleDepth()-Depth_Keller msg: 1633835239722 epoch sec; seqNo:282; depth 8.01 2021-10-10T03:07:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835239.74 epoch sec; seqNo:282; 4061273.65 north; 594136.13 east 2021-10-10T03:07:20Z- AHRS_M2 msg: 1633835240.12 epoch sec; seqNo:271 2021-10-10T03:07:20Z- AHRS_M2 msg: -0.23 phi; -0.00 theta; 0.42 psi 2021-10-10T03:07:20Z- handleDepth()-Depth_Keller msg: 1633835240128 epoch sec; seqNo:283; depth 8.02 2021-10-10T03:07:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835240.14 epoch sec; seqNo:283; 4061274.03 north; 594136.13 east 2021-10-10T03:07:20Z- AHRS_M2 msg: 1633835240.53 epoch sec; seqNo:272 2021-10-10T03:07:20Z- AHRS_M2 msg: -0.24 phi; 0.00 theta; 0.41 psi 2021-10-10T03:07:20Z- handleDepth()-Depth_Keller msg: 1633835240543 epoch sec; seqNo:284; depth 8.02 2021-10-10T03:07:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835240.55 epoch sec; seqNo:284; 4061274.03 north; 594136.13 east 2021-10-10T03:07:20Z- AHRS_M2 msg: 1633835240.93 epoch sec; seqNo:273 2021-10-10T03:07:20Z- AHRS_M2 msg: -0.24 phi; 0.01 theta; 0.40 psi 2021-10-10T03:07:20Z- handleDepth()-Depth_Keller msg: 1633835240940 epoch sec; seqNo:285; depth 8.03 2021-10-10T03:07:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835240.96 epoch sec; seqNo:285; 4061274.41 north; 594136.13 east 2021-10-10T03:07:21Z- AHRS_M2 msg: 1633835241.33 epoch sec; seqNo:274 2021-10-10T03:07:21Z- AHRS_M2 msg: -0.24 phi; 0.01 theta; 0.40 psi 2021-10-10T03:07:21Z- handleDepth()-Depth_Keller msg: 1633835241336 epoch sec; seqNo:286; depth 8.03 2021-10-10T03:07:21Z- handleDvl() - RDI_Pathfinder msg: 1633835241.36 epoch sec; seqNo:62 2021-10-10T03:07:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.67 , 101.80 , 87.13 , 87.13 2021-10-10T03:07:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.57 , -0.12 , -0.06 2021-10-10T03:07:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835241.40 epoch sec; seqNo:286; 4061274.79 north; 594136.12 east 2021-10-10T03:07:21Z- AHRS_M2 msg: 1633835241.74 epoch sec; seqNo:275 2021-10-10T03:07:21Z- AHRS_M2 msg: -0.23 phi; 0.02 theta; 0.39 psi 2021-10-10T03:07:21Z- handleDepth()-Depth_Keller msg: 1633835241745 epoch sec; seqNo:287; depth 8.04 2021-10-10T03:07:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835241.76 epoch sec; seqNo:287; 4061274.79 north; 594136.12 east 2021-10-10T03:07:22Z- AHRS_M2 msg: 1633835242.14 epoch sec; seqNo:276 2021-10-10T03:07:22Z- AHRS_M2 msg: -0.22 phi; 0.02 theta; 0.39 psi 2021-10-10T03:07:22Z- handleDepth()-Depth_Keller msg: 1633835242147 epoch sec; seqNo:288; depth 8.04 2021-10-10T03:07:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835242.16 epoch sec; seqNo:288; 4061275.17 north; 594136.12 east 2021-10-10T03:07:22Z- AHRS_M2 msg: 1633835242.55 epoch sec; seqNo:277 2021-10-10T03:07:22Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 0.39 psi 2021-10-10T03:07:22Z- handleDepth()-Depth_Keller msg: 1633835242553 epoch sec; seqNo:289; depth 8.06 2021-10-10T03:07:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835242.56 epoch sec; seqNo:289; 4061275.17 north; 594136.12 east 2021-10-10T03:07:22Z- LcmTrn::handleMessages() - handling 41 messages took 0.74 ms and 126 calls... 2021-10-10T03:07:22Z- waiting for 1633835240.35, time is 1633835242.56 2021-10-10T03:07:22Z- LcmTrn::updateTrn() >>>> pose time 1633835242.56, meas time 1633835241.36 <<<< 2021-10-10T03:07:22Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835241.36 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:07:22Z- TerrainNav::motionUpdate() - currEstimate = (4061275, 594136.12, 8.06) 2021-10-10T03:07:22Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:07:22Z- TerrainNav:: SubcloudNIS is 0.11, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:07:22Z- TNavBF::Projecting Measurements 2021-10-10T03:07:22Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:07:22Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:07:22Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:07:22Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:07:22Z- TNavFilter::4 good beams. 2021-10-10T03:07:22Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:07:22Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:07:22Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:07:22Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:07:22Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:07:22Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:07:22Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:07:22Z- TNavBF::mmse selected from filter -1 2021-10-10T03:07:22Z- TerrainMapOctree: (vehN, vehE ) = (4061274.56, 594135.84). 2021-10-10T03:07:22Z- TerrainMapOctree: Min Distance = 116.77. 2021-10-10T03:07:22Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:07:22Z- There is no specific good beam that all particles have in common. 2021-10-10T03:07:22Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 0 2021-10-10T03:07:22Z- Old Depth Bias: 0.00 DepthBiasCov: 1.99 K: 0.152 ExpectedMeasDiff: nan currMeas.covariance: 9.40 2021-10-10T03:07:22Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:07:22Z- Old Depth Bias: 0.00 DepthBiasCov: 1.69 K: 0.084 ExpectedMeasDiff: nan currMeas.covariance: 16.58 2021-10-10T03:07:22Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 2 2021-10-10T03:07:22Z- Old Depth Bias: 0.00 DepthBiasCov: 1.55 K: 0.100 ExpectedMeasDiff: nan currMeas.covariance: 12.15 2021-10-10T03:07:22Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 3 2021-10-10T03:07:22Z- Old Depth Bias: 0.00 DepthBiasCov: 1.39 K: 0.091 ExpectedMeasDiff: nan currMeas.covariance: 12.15 2021-10-10T03:07:22Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:07:22Z- Filter 0 beam number: 0 num in subcloud: 4359 num not in subcloud: 5641 2021-10-10T03:07:22Z- Filter 0 partialDeltaRmsComputation: 48.307059 terrainVariance: 30.455352 1-SumSquareWeights: 0.998517 2021-10-10T03:07:22Z- Filter 0 meanExpectedMeasDiff: -4.225128 delta_rms_squared: 30.445367 alpha: 0.999344 2021-10-10T03:07:22Z- Filter 0 beam number: 1 num in subcloud: 0 num not in subcloud: 10000 2021-10-10T03:07:22Z- Filter 0 insufficient particles or particle weight in subcloud for beam 1 2021-10-10T03:07:22Z- Filter 0 beam number: 2 num in subcloud: 4731 num not in subcloud: 5269 2021-10-10T03:07:22Z- Filter 0 partialDeltaRmsComputation: 159.939477 terrainVariance: 38.424213 1-SumSquareWeights: 0.998685 2021-10-10T03:07:22Z- Filter 0 meanExpectedMeasDiff: -11.023396 delta_rms_squared: 38.414227 alpha: 0.999480 2021-10-10T03:07:22Z- Filter 0 beam number: 3 num in subcloud: 0 num not in subcloud: 10000 2021-10-10T03:07:22Z- Filter 0 insufficient particles or particle weight in subcloud for beam 3 2021-10-10T03:07:22Z- Filter 0 SubcloudNIS: 0.180410 2021-10-10T03:07:22Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:07:22Z- TNavBF:: Filter 0 sumWeights = 0.116054 2021-10-10T03:07:22Z- Filter 0 NorthBias: 18.2 EastBias: 1.8 DepthBias: -10.3 NorthVariance: 1204.7 EastVariance: 454.2 DepthVariance: 69.6 this->DepthBiasCov: 1.3 2021-10-10T03:07:22Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835241.36 sec. 2021-10-10T03:07:22Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:07:22Z- TNavBF::mmse selected from filter -1 2021-10-10T03:07:22Z- variances([0], [2], and psi_berg) = 1204.640456 454.327365 0.000000 2021-10-10T03:07:22Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:07:22Z- LcmTrn::publishEstimates() - MLE : 4061324.67 594118.62 8.06 2021-10-10T03:07:22Z- LcmTrn::publishEstimates() - MMSE : 4061293.35 594137.96 -2.22 2021-10-10T03:07:22Z- LcmTrn::publishEstimates() - COVAR: 1204.64 454.33 69.58 0.00 2021-10-10T03:07:22Z- AHRS_M2 msg: 1633835242.95 epoch sec; seqNo:278 2021-10-10T03:07:22Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 0.39 psi 2021-10-10T03:07:22Z- handleDepth()-Depth_Keller msg: 1633835242963 epoch sec; seqNo:290; depth 8.05 2021-10-10T03:07:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835242.97 epoch sec; seqNo:290; 4061275.55 north; 594136.11 east 2021-10-10T03:07:23Z- AHRS_M2 msg: 1633835243.37 epoch sec; seqNo:279 2021-10-10T03:07:23Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 0.39 psi 2021-10-10T03:07:23Z- handleDepth()-Depth_Keller msg: 1633835243381 epoch sec; seqNo:291; depth 8.04 2021-10-10T03:07:23Z- handleDvl() - RDI_Pathfinder msg: 1633835243.43 epoch sec; seqNo:63 2021-10-10T03:07:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:07:23Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T03:07:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835243.45 epoch sec; seqNo:291; 4061275.93 north; 594136.11 east 2021-10-10T03:07:23Z- AHRS_M2 msg: 1633835243.76 epoch sec; seqNo:280 2021-10-10T03:07:23Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 0.39 psi 2021-10-10T03:07:23Z- handleDepth()-Depth_Keller msg: 1633835243764 epoch sec; seqNo:292; depth 8.04 2021-10-10T03:07:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835243.78 epoch sec; seqNo:292; 4061275.93 north; 594136.11 east 2021-10-10T03:07:24Z- AHRS_M2 msg: 1633835244.16 epoch sec; seqNo:281 2021-10-10T03:07:24Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 0.39 psi 2021-10-10T03:07:24Z- handleDepth()-Depth_Keller msg: 1633835244166 epoch sec; seqNo:293; depth 8.03 2021-10-10T03:07:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835244.18 epoch sec; seqNo:293; 4061276.31 north; 594136.10 east 2021-10-10T03:07:24Z- AHRS_M2 msg: 1633835244.57 epoch sec; seqNo:282 2021-10-10T03:07:24Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 0.38 psi 2021-10-10T03:07:24Z- handleDepth()-Depth_Keller msg: 1633835244571 epoch sec; seqNo:294; depth 8.02 2021-10-10T03:07:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835244.58 epoch sec; seqNo:294; 4061276.31 north; 594136.10 east 2021-10-10T03:07:24Z- AHRS_M2 msg: 1633835244.97 epoch sec; seqNo:283 2021-10-10T03:07:24Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 0.38 psi 2021-10-10T03:07:24Z- handleDepth()-Depth_Keller msg: 1633835244977 epoch sec; seqNo:295; depth 8.00 2021-10-10T03:07:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835244.99 epoch sec; seqNo:295; 4061276.69 north; 594136.10 east 2021-10-10T03:07:25Z- AHRS_M2 msg: 1633835245.37 epoch sec; seqNo:284 2021-10-10T03:07:25Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 0.38 psi 2021-10-10T03:07:25Z- handleDepth()-Depth_Keller msg: 1633835245377 epoch sec; seqNo:296; depth 8.00 2021-10-10T03:07:25Z- handleDvl() - RDI_Pathfinder msg: 1633835245.42 epoch sec; seqNo:64 2021-10-10T03:07:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:07:25Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T03:07:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835245.46 epoch sec; seqNo:296; 4061277.06 north; 594136.10 east 2021-10-10T03:07:25Z- AHRS_M2 msg: 1633835245.78 epoch sec; seqNo:285 2021-10-10T03:07:25Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 0.38 psi 2021-10-10T03:07:25Z- handleDepth()-Depth_Keller msg: 1633835245784 epoch sec; seqNo:297; depth 7.98 2021-10-10T03:07:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835245.82 epoch sec; seqNo:297; 4061277.06 north; 594136.10 east 2021-10-10T03:07:26Z- AHRS_M2 msg: 1633835246.19 epoch sec; seqNo:286 2021-10-10T03:07:26Z- AHRS_M2 msg: -0.22 phi; 0.03 theta; 0.38 psi 2021-10-10T03:07:26Z- handleDepth()-Depth_Keller msg: 1633835246194 epoch sec; seqNo:298; depth 7.98 2021-10-10T03:07:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835246.21 epoch sec; seqNo:298; 4061277.44 north; 594136.09 east 2021-10-10T03:07:26Z- AHRS_M2 msg: 1633835246.59 epoch sec; seqNo:287 2021-10-10T03:07:26Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 0.38 psi 2021-10-10T03:07:26Z- handleDepth()-Depth_Keller msg: 1633835246597 epoch sec; seqNo:299; depth 7.98 2021-10-10T03:07:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835246.62 epoch sec; seqNo:299; 4061277.82 north; 594136.09 east 2021-10-10T03:07:27Z- AHRS_M2 msg: 1633835247.00 epoch sec; seqNo:288 2021-10-10T03:07:27Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 0.38 psi 2021-10-10T03:07:27Z- handleDepth()-Depth_Keller msg: 1633835247004 epoch sec; seqNo:300; depth 7.96 2021-10-10T03:07:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835247.07 epoch sec; seqNo:300; 4061277.82 north; 594136.09 east 2021-10-10T03:07:27Z- AHRS_M2 msg: 1633835247.41 epoch sec; seqNo:289 2021-10-10T03:07:27Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 0.38 psi 2021-10-10T03:07:27Z- handleDepth()-Depth_Keller msg: 1633835247416 epoch sec; seqNo:301; depth 7.96 2021-10-10T03:07:27Z- handleDvl() - RDI_Pathfinder msg: 1633835247.44 epoch sec; seqNo:65 2021-10-10T03:07:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.90 , 96.30 , 89.51 , 85.44 2021-10-10T03:07:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.61 , -0.04 , 0.04 2021-10-10T03:07:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835247.45 epoch sec; seqNo:301; 4061278.20 north; 594136.08 east 2021-10-10T03:07:27Z- AHRS_M2 msg: 1633835247.80 epoch sec; seqNo:290 2021-10-10T03:07:27Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; 0.38 psi 2021-10-10T03:07:27Z- handleDepth()-Depth_Keller msg: 1633835247808 epoch sec; seqNo:302; depth 7.96 2021-10-10T03:07:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835247.83 epoch sec; seqNo:302; 4061278.21 north; 594137.30 east 2021-10-10T03:07:27Z- LcmTrn::handleMessages() - handling 42 messages took 0.78 ms and 126 calls... 2021-10-10T03:07:27Z- waiting for 1633835245.56, time is 1633835247.83 2021-10-10T03:07:27Z- LcmTrn::updateTrn() >>>> pose time 1633835247.83, meas time 1633835247.44 <<<< 2021-10-10T03:07:27Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835247.44 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:07:27Z- TerrainNav::motionUpdate() - currEstimate = (4061278, 594137.30, 7.96) 2021-10-10T03:07:27Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:07:27Z- TerrainNav:: SubcloudNIS is 0.18, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:07:27Z- TNavBF::Projecting Measurements 2021-10-10T03:07:27Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:07:27Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:07:27Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:07:27Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:07:27Z- TNavFilter::4 good beams. 2021-10-10T03:07:27Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:07:27Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:07:27Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:07:27Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:07:27Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:07:27Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:07:27Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:07:27Z- TNavBF::mmse selected from filter -1 2021-10-10T03:07:27Z- TerrainMapOctree: (vehN, vehE ) = (4061277.99, 594137.21). 2021-10-10T03:07:27Z- TerrainMapOctree: Min Distance = 116.21. 2021-10-10T03:07:27Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:07:28Z- There is no specific good beam that all particles have in common. 2021-10-10T03:07:28Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 0 2021-10-10T03:07:28Z- Old Depth Bias: 0.00 DepthBiasCov: 1.45 K: 0.113 ExpectedMeasDiff: nan currMeas.covariance: 9.71 2021-10-10T03:07:28Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:07:28Z- Old Depth Bias: 0.00 DepthBiasCov: 1.29 K: 0.072 ExpectedMeasDiff: nan currMeas.covariance: 14.84 2021-10-10T03:07:28Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 2 2021-10-10T03:07:28Z- Old Depth Bias: 0.00 DepthBiasCov: 1.20 K: 0.076 ExpectedMeasDiff: nan currMeas.covariance: 12.82 2021-10-10T03:07:28Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 3 2021-10-10T03:07:28Z- Old Depth Bias: 0.00 DepthBiasCov: 1.10 K: 0.076 ExpectedMeasDiff: nan currMeas.covariance: 11.68 2021-10-10T03:07:28Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:07:28Z- Filter 0 beam number: 0 num in subcloud: 4685 num not in subcloud: 5315 2021-10-10T03:07:28Z- Filter 0 partialDeltaRmsComputation: 4.696965 terrainVariance: 4.256614 1-SumSquareWeights: 0.997081 2021-10-10T03:07:28Z- Filter 0 meanExpectedMeasDiff: 0.663590 delta_rms_squared: 4.246643 alpha: 0.995312 2021-10-10T03:07:28Z- Filter 0 beam number: 1 num in subcloud: 0 num not in subcloud: 10000 2021-10-10T03:07:28Z- Filter 0 insufficient particles or particle weight in subcloud for beam 1 2021-10-10T03:07:28Z- Filter 0 beam number: 2 num in subcloud: 5282 num not in subcloud: 4718 2021-10-10T03:07:28Z- Filter 0 partialDeltaRmsComputation: 59.368319 terrainVariance: 15.587305 1-SumSquareWeights: 0.997312 2021-10-10T03:07:28Z- Filter 0 meanExpectedMeasDiff: -6.616722 delta_rms_squared: 15.577331 alpha: 0.998718 2021-10-10T03:07:28Z- Filter 0 beam number: 3 num in subcloud: 0 num not in subcloud: 10000 2021-10-10T03:07:28Z- Filter 0 insufficient particles or particle weight in subcloud for beam 3 2021-10-10T03:07:28Z- Filter 0 SubcloudNIS: 0.194342 2021-10-10T03:07:28Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:07:28Z- TNavBF:: Filter 0 sumWeights = 0.324400 2021-10-10T03:07:28Z- Filter 0 NorthBias: 20.5 EastBias: 1.0 DepthBias: -11.3 NorthVariance: 1214.1 EastVariance: 401.3 DepthVariance: 69.5 this->DepthBiasCov: 1.0 2021-10-10T03:07:28Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835247.44 sec. 2021-10-10T03:07:28Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:07:28Z- TNavBF::mmse selected from filter -1 2021-10-10T03:07:28Z- variances([0], [2], and psi_berg) = 1214.187816 401.391032 0.000000 2021-10-10T03:07:28Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:07:28Z- LcmTrn::publishEstimates() - MLE : 4061327.71 594119.80 7.96 2021-10-10T03:07:28Z- LcmTrn::publishEstimates() - MMSE : 4061298.74 594138.29 -3.29 2021-10-10T03:07:28Z- LcmTrn::publishEstimates() - COVAR: 1214.19 401.39 69.48 0.00 2021-10-10T03:07:28Z- AHRS_M2 msg: 1633835248.20 epoch sec; seqNo:291 2021-10-10T03:07:28Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.38 psi 2021-10-10T03:07:28Z- handleDepth()-Depth_Keller msg: 1633835248206 epoch sec; seqNo:303; depth 7.96 2021-10-10T03:07:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835248.22 epoch sec; seqNo:303; 4061278.59 north; 594137.30 east 2021-10-10T03:07:28Z- AHRS_M2 msg: 1633835248.61 epoch sec; seqNo:292 2021-10-10T03:07:28Z- AHRS_M2 msg: -0.24 phi; 0.01 theta; 0.38 psi 2021-10-10T03:07:28Z- handleDepth()-Depth_Keller msg: 1633835248621 epoch sec; seqNo:304; depth 7.94 2021-10-10T03:07:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835248.63 epoch sec; seqNo:304; 4061278.97 north; 594137.30 east 2021-10-10T03:07:29Z- AHRS_M2 msg: 1633835249.04 epoch sec; seqNo:293 2021-10-10T03:07:29Z- AHRS_M2 msg: -0.25 phi; 0.00 theta; 0.38 psi 2021-10-10T03:07:29Z- handleDepth()-Depth_Keller msg: 1633835249058 epoch sec; seqNo:305; depth 7.93 2021-10-10T03:07:29Z- handleDvl() - RDI_Pathfinder msg: 1633835249.10 epoch sec; seqNo:66 2021-10-10T03:07:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.08 , 96.91 , 88.36 , 87.13 2021-10-10T03:07:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.54 , -0.05 , -0.02 2021-10-10T03:07:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835249.11 epoch sec; seqNo:305; 4061278.97 north; 594137.30 east 2021-10-10T03:07:29Z- AHRS_M2 msg: 1633835249.42 epoch sec; seqNo:294 2021-10-10T03:07:29Z- AHRS_M2 msg: -0.25 phi; -0.00 theta; 0.38 psi 2021-10-10T03:07:29Z- handleDepth()-Depth_Keller msg: 1633835249428 epoch sec; seqNo:306; depth 7.92 2021-10-10T03:07:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835249.46 epoch sec; seqNo:306; 4061279.35 north; 594137.29 east 2021-10-10T03:07:29Z- AHRS_M2 msg: 1633835249.82 epoch sec; seqNo:295 2021-10-10T03:07:29Z- AHRS_M2 msg: -0.25 phi; -0.01 theta; 0.39 psi 2021-10-10T03:07:29Z- handleDepth()-Depth_Keller msg: 1633835249826 epoch sec; seqNo:307; depth 7.91 2021-10-10T03:07:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835249.84 epoch sec; seqNo:307; 4061279.35 north; 594137.29 east 2021-10-10T03:07:30Z- AHRS_M2 msg: 1633835250.23 epoch sec; seqNo:296 2021-10-10T03:07:30Z- AHRS_M2 msg: -0.24 phi; -0.01 theta; 0.39 psi 2021-10-10T03:07:30Z- handleDepth()-Depth_Keller msg: 1633835250233 epoch sec; seqNo:308; depth 7.92 2021-10-10T03:07:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835250.24 epoch sec; seqNo:308; 4061279.73 north; 594137.29 east 2021-10-10T03:07:30Z- AHRS_M2 msg: 1633835250.63 epoch sec; seqNo:297 2021-10-10T03:07:30Z- AHRS_M2 msg: -0.25 phi; -0.02 theta; 0.39 psi 2021-10-10T03:07:30Z- handleDepth()-Depth_Keller msg: 1633835250652 epoch sec; seqNo:309; depth 7.92 2021-10-10T03:07:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835250.66 epoch sec; seqNo:309; 4061279.73 north; 594137.29 east 2021-10-10T03:07:31Z- AHRS_M2 msg: 1633835251.07 epoch sec; seqNo:298 2021-10-10T03:07:31Z- AHRS_M2 msg: -0.25 phi; -0.02 theta; 0.39 psi 2021-10-10T03:07:31Z- handleDepth()-Depth_Keller msg: 1633835251076 epoch sec; seqNo:310; depth 7.91 2021-10-10T03:07:31Z- handleDvl() - RDI_Pathfinder msg: 1633835251.10 epoch sec; seqNo:67 2021-10-10T03:07:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.26 , 96.91 , 85.91 , 87.13 2021-10-10T03:07:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.60 , -0.18 , 0.02 2021-10-10T03:07:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835251.12 epoch sec; seqNo:310; 4061280.11 north; 594137.28 east 2021-10-10T03:07:31Z- AHRS_M2 msg: 1633835251.44 epoch sec; seqNo:299 2021-10-10T03:07:31Z- AHRS_M2 msg: -0.24 phi; -0.03 theta; 0.39 psi 2021-10-10T03:07:31Z- handleDepth()-Depth_Keller msg: 1633835251442 epoch sec; seqNo:311; depth 7.93 2021-10-10T03:07:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835251.46 epoch sec; seqNo:311; 4061280.49 north; 594137.28 east 2021-10-10T03:07:31Z- AHRS_M2 msg: 1633835251.84 epoch sec; seqNo:300 2021-10-10T03:07:31Z- AHRS_M2 msg: -0.23 phi; -0.04 theta; 0.39 psi 2021-10-10T03:07:31Z- handleDepth()-Depth_Keller msg: 1633835251847 epoch sec; seqNo:312; depth 7.93 2021-10-10T03:07:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835251.86 epoch sec; seqNo:312; 4061280.49 north; 594137.28 east 2021-10-10T03:07:32Z- AHRS_M2 msg: 1633835252.24 epoch sec; seqNo:301 2021-10-10T03:07:32Z- AHRS_M2 msg: -0.21 phi; -0.04 theta; 0.40 psi 2021-10-10T03:07:32Z- handleDepth()-Depth_Keller msg: 1633835252256 epoch sec; seqNo:313; depth 7.94 2021-10-10T03:07:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835252.27 epoch sec; seqNo:313; 4061280.87 north; 594137.27 east 2021-10-10T03:07:32Z- AHRS_M2 msg: 1633835252.65 epoch sec; seqNo:302 2021-10-10T03:07:32Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 0.40 psi 2021-10-10T03:07:32Z- handleDepth()-Depth_Keller msg: 1633835252653 epoch sec; seqNo:314; depth 7.95 2021-10-10T03:07:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835252.68 epoch sec; seqNo:314; 4061281.24 north; 594137.27 east 2021-10-10T03:07:33Z- AHRS_M2 msg: 1633835253.07 epoch sec; seqNo:303 2021-10-10T03:07:33Z- AHRS_M2 msg: -0.18 phi; -0.05 theta; 0.40 psi 2021-10-10T03:07:33Z- handleDepth()-Depth_Keller msg: 1633835253079 epoch sec; seqNo:315; depth 7.97 2021-10-10T03:07:33Z- handleDvl() - RDI_Pathfinder msg: 1633835253.11 epoch sec; seqNo:68 2021-10-10T03:07:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.90 , 96.98 , 84.76 , 0.00 2021-10-10T03:07:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.60 , -0.02 , 0.21 2021-10-10T03:07:33Z- LcmTrn::handleMessages() - handling 41 messages took 0.72 ms and 126 calls... 2021-10-10T03:07:33Z- waiting for 1633835250.83, time is 1633835253.11 2021-10-10T03:07:33Z- LcmTrn::updateTrn() equating pose 1633835253.11 and meas times 1633835253.11 2021-10-10T03:07:33Z- LcmTrn::updateTrn() >>>> pose time 1633835253.11, meas time 1633835253.11 <<<< 2021-10-10T03:07:33Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835253.11 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:07:33Z- TerrainNav::motionUpdate() - currEstimate = (4061281, 594137.27, 7.97) 2021-10-10T03:07:33Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:07:33Z- TerrainNav:: SubcloudNIS is 0.19, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:07:33Z- TerrainNav::Measurement type 1 not incorporated from time = 1633835253.11 sec.; No relevant navigation data available 2021-10-10T03:07:33Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:07:33Z- TNavBF::mmse selected from filter -1 2021-10-10T03:07:33Z- variances([0], [2], and psi_berg) = 1214.467984 401.725507 0.000000 2021-10-10T03:07:33Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:07:33Z- LcmTrn::publishEstimates() - MLE : 4061330.74 594119.77 7.97 2021-10-10T03:07:33Z- LcmTrn::publishEstimates() - MMSE : 4061301.72 594138.27 -3.27 2021-10-10T03:07:33Z- LcmTrn::publishEstimates() - COVAR: 1214.47 401.73 69.63 0.00 2021-10-10T03:07:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835253.12 epoch sec; seqNo:315; 4061281.24 north; 594137.27 east 2021-10-10T03:07:33Z- AHRS_M2 msg: 1633835253.46 epoch sec; seqNo:304 2021-10-10T03:07:33Z- AHRS_M2 msg: -0.16 phi; -0.05 theta; 0.41 psi 2021-10-10T03:07:33Z- handleDepth()-Depth_Keller msg: 1633835253478 epoch sec; seqNo:316; depth 7.97 2021-10-10T03:07:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835253.49 epoch sec; seqNo:316; 4061281.62 north; 594137.27 east 2021-10-10T03:07:33Z- AHRS_M2 msg: 1633835253.86 epoch sec; seqNo:305 2021-10-10T03:07:33Z- AHRS_M2 msg: -0.16 phi; -0.05 theta; 0.41 psi 2021-10-10T03:07:33Z- handleDepth()-Depth_Keller msg: 1633835253872 epoch sec; seqNo:317; depth 7.97 2021-10-10T03:07:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:33Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:07:33Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:07:33Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:07:33Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:07:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:07:33Z- handleDvl() - RDI_Pathfinder msg: 1633835253.87 epoch sec; seqNo:69 2021-10-10T03:07:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:07:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.60 , -0.02 , 0.21 2021-10-10T03:07:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835253.89 epoch sec; seqNo:317; 4061281.62 north; 594137.27 east 2021-10-10T03:07:34Z- AHRS_M2 msg: 1633835254.27 epoch sec; seqNo:306 2021-10-10T03:07:34Z- AHRS_M2 msg: -0.16 phi; -0.05 theta; 0.42 psi 2021-10-10T03:07:34Z- handleDepth()-Depth_Keller msg: 1633835254272 epoch sec; seqNo:318; depth 8.00 2021-10-10T03:07:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835254.29 epoch sec; seqNo:318; 4061282.00 north; 594137.26 east 2021-10-10T03:07:34Z- AHRS_M2 msg: 1633835254.67 epoch sec; seqNo:307 2021-10-10T03:07:34Z- AHRS_M2 msg: -0.16 phi; -0.06 theta; 0.43 psi 2021-10-10T03:07:34Z- handleDepth()-Depth_Keller msg: 1633835254677 epoch sec; seqNo:319; depth 8.02 2021-10-10T03:07:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835254.69 epoch sec; seqNo:319; 4061282.00 north; 594137.26 east 2021-10-10T03:07:35Z- AHRS_M2 msg: 1633835255.08 epoch sec; seqNo:308 2021-10-10T03:07:35Z- AHRS_M2 msg: -0.17 phi; -0.07 theta; 0.44 psi 2021-10-10T03:07:35Z- handleDepth()-Depth_Keller msg: 1633835255089 epoch sec; seqNo:320; depth 8.03 2021-10-10T03:07:35Z- handleDvl() - RDI_Pathfinder msg: 1633835255.11 epoch sec; seqNo:70 2021-10-10T03:07:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.95 , 94.54 , 79.95 , 90.87 2021-10-10T03:07:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.58 , 0.07 , -0.07 2021-10-10T03:07:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835255.14 epoch sec; seqNo:320; 4061282.39 north; 594138.48 east 2021-10-10T03:07:35Z- AHRS_M2 msg: 1633835255.48 epoch sec; seqNo:309 2021-10-10T03:07:35Z- AHRS_M2 msg: -0.19 phi; -0.08 theta; 0.44 psi 2021-10-10T03:07:35Z- handleDepth()-Depth_Keller msg: 1633835255490 epoch sec; seqNo:321; depth 8.04 2021-10-10T03:07:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835255.51 epoch sec; seqNo:321; 4061282.77 north; 594138.47 east 2021-10-10T03:07:35Z- AHRS_M2 msg: 1633835255.88 epoch sec; seqNo:310 2021-10-10T03:07:35Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.44 psi 2021-10-10T03:07:35Z- handleDepth()-Depth_Keller msg: 1633835255887 epoch sec; seqNo:322; depth 8.04 2021-10-10T03:07:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835255.90 epoch sec; seqNo:322; 4061282.77 north; 594138.47 east 2021-10-10T03:07:36Z- AHRS_M2 msg: 1633835256.29 epoch sec; seqNo:311 2021-10-10T03:07:36Z- AHRS_M2 msg: -0.22 phi; -0.09 theta; 0.44 psi 2021-10-10T03:07:36Z- handleDepth()-Depth_Keller msg: 1633835256296 epoch sec; seqNo:323; depth 8.06 2021-10-10T03:07:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:07:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:07:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:07:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:07:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:07:36Z- handleDvl() - RDI_Pathfinder msg: 1633835256.30 epoch sec; seqNo:71 2021-10-10T03:07:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:07:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.58 , 0.07 , -0.07 2021-10-10T03:07:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835256.31 epoch sec; seqNo:323; 4061283.15 north; 594138.47 east 2021-10-10T03:07:36Z- AHRS_M2 msg: 1633835256.69 epoch sec; seqNo:312 2021-10-10T03:07:36Z- AHRS_M2 msg: -0.24 phi; -0.10 theta; 0.43 psi 2021-10-10T03:07:36Z- handleDepth()-Depth_Keller msg: 1633835256696 epoch sec; seqNo:324; depth 8.06 2021-10-10T03:07:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835256.71 epoch sec; seqNo:324; 4061283.15 north; 594138.47 east 2021-10-10T03:07:37Z- AHRS_M2 msg: 1633835257.09 epoch sec; seqNo:313 2021-10-10T03:07:37Z- AHRS_M2 msg: -0.26 phi; -0.10 theta; 0.42 psi 2021-10-10T03:07:37Z- handleDepth()-Depth_Keller msg: 1633835257099 epoch sec; seqNo:325; depth 8.09 2021-10-10T03:07:37Z- handleDvl() - RDI_Pathfinder msg: 1633835257.13 epoch sec; seqNo:72 2021-10-10T03:07:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.90 , 96.98 , 79.54 , 93.31 2021-10-10T03:07:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.64 , -0.16 , -0.13 2021-10-10T03:07:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835257.14 epoch sec; seqNo:325; 4061283.53 north; 594138.47 east 2021-10-10T03:07:37Z- AHRS_M2 msg: 1633835257.50 epoch sec; seqNo:314 2021-10-10T03:07:37Z- AHRS_M2 msg: -0.27 phi; -0.10 theta; 0.42 psi 2021-10-10T03:07:37Z- handleDepth()-Depth_Keller msg: 1633835257508 epoch sec; seqNo:326; depth 8.11 2021-10-10T03:07:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:07:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:07:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:07:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:07:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:07:37Z- handleDvl() - RDI_Pathfinder msg: 1633835257.51 epoch sec; seqNo:73 2021-10-10T03:07:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:07:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.64 , -0.16 , -0.13 2021-10-10T03:07:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835257.54 epoch sec; seqNo:326; 4061283.91 north; 594138.46 east 2021-10-10T03:07:37Z- AHRS_M2 msg: 1633835257.90 epoch sec; seqNo:315 2021-10-10T03:07:37Z- AHRS_M2 msg: -0.28 phi; -0.11 theta; 0.42 psi 2021-10-10T03:07:37Z- handleDepth()-Depth_Keller msg: 1633835257906 epoch sec; seqNo:327; depth 8.13 2021-10-10T03:07:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835257.92 epoch sec; seqNo:327; 4061283.91 north; 594138.46 east 2021-10-10T03:07:38Z- LcmTrn::handleMessages() - handling 42 messages took 0.65 ms and 129 calls... 2021-10-10T03:07:38Z- waiting for 1633835256.11, time is 1633835257.92 2021-10-10T03:07:38Z- LcmTrn::updateTrn() >>>> pose time 1633835257.92, meas time 1633835257.51 <<<< 2021-10-10T03:07:38Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835257.51, ping # 0. 2021-10-10T03:07:38Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835257.51 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:07:38Z- TerrainNav::motionUpdate() - currEstimate = (4061284, 594138.46, 8.13) 2021-10-10T03:07:38Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:07:38Z- TerrainNav:: SubcloudNIS is 0.19, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:07:38Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:07:38Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:07:38Z- TNavBF::Projecting Measurements 2021-10-10T03:07:38Z- TNavFilter::Measurement from time = 1633835257.51 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:07:38Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:07:38Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:07:38Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:07:38Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:07:38Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:07:38Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:07:38Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:07:38Z- Filter 0 NorthBias: 20.4 EastBias: 1.0 DepthBias: -11.2 NorthVariance: 1214.7 EastVariance: 402.0 DepthVariance: 69.8 this->DepthBiasCov: 1.3 2021-10-10T03:07:38Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:07:38Z- TNavBF::mmse selected from filter -1 2021-10-10T03:07:38Z- variances([0], [2], and psi_berg) = 1214.791428 402.128024 0.000000 2021-10-10T03:07:38Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:07:38Z- LcmTrn::publishEstimates() - MLE : 4061333.41 594120.96 8.13 2021-10-10T03:07:38Z- LcmTrn::publishEstimates() - MMSE : 4061304.32 594139.48 -3.09 2021-10-10T03:07:38Z- LcmTrn::publishEstimates() - COVAR: 1214.79 402.13 69.77 0.00 2021-10-10T03:07:38Z- AHRS_M2 msg: 1633835258.31 epoch sec; seqNo:316 2021-10-10T03:07:38Z- AHRS_M2 msg: -0.29 phi; -0.11 theta; 0.42 psi 2021-10-10T03:07:38Z- handleDepth()-Depth_Keller msg: 1633835258312 epoch sec; seqNo:328; depth 8.18 2021-10-10T03:07:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835258.32 epoch sec; seqNo:328; 4061284.29 north; 594138.46 east 2021-10-10T03:07:38Z- AHRS_M2 msg: 1633835258.71 epoch sec; seqNo:317 2021-10-10T03:07:38Z- AHRS_M2 msg: -0.28 phi; -0.12 theta; 0.41 psi 2021-10-10T03:07:38Z- handleDepth()-Depth_Keller msg: 1633835258721 epoch sec; seqNo:329; depth 8.21 2021-10-10T03:07:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:07:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:07:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:07:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:07:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:07:38Z- handleDvl() - RDI_Pathfinder msg: 1633835258.72 epoch sec; seqNo:74 2021-10-10T03:07:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:07:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.64 , -0.16 , -0.13 2021-10-10T03:07:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835258.73 epoch sec; seqNo:329; 4061284.67 north; 594138.45 east 2021-10-10T03:07:39Z- AHRS_M2 msg: 1633835259.11 epoch sec; seqNo:318 2021-10-10T03:07:39Z- AHRS_M2 msg: -0.27 phi; -0.13 theta; 0.41 psi 2021-10-10T03:07:39Z- handleDepth()-Depth_Keller msg: 1633835259120 epoch sec; seqNo:330; depth 8.24 2021-10-10T03:07:39Z- handleDvl() - RDI_Pathfinder msg: 1633835259.16 epoch sec; seqNo:75 2021-10-10T03:07:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.85 , 104.25 , 79.13 , 94.47 2021-10-10T03:07:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.62 , -0.13 , 0.07 2021-10-10T03:07:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835259.18 epoch sec; seqNo:330; 4061284.67 north; 594138.45 east 2021-10-10T03:07:39Z- AHRS_M2 msg: 1633835259.52 epoch sec; seqNo:319 2021-10-10T03:07:39Z- AHRS_M2 msg: -0.26 phi; -0.14 theta; 0.41 psi 2021-10-10T03:07:39Z- handleDepth()-Depth_Keller msg: 1633835259522 epoch sec; seqNo:331; depth 8.31 2021-10-10T03:07:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835259.54 epoch sec; seqNo:331; 4061285.05 north; 594138.45 east 2021-10-10T03:07:39Z- AHRS_M2 msg: 1633835259.93 epoch sec; seqNo:320 2021-10-10T03:07:39Z- AHRS_M2 msg: -0.25 phi; -0.15 theta; 0.41 psi 2021-10-10T03:07:39Z- handleDepth()-Depth_Keller msg: 1633835259935 epoch sec; seqNo:332; depth 8.34 2021-10-10T03:07:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:39Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:07:39Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:07:39Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:07:39Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:07:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:07:39Z- handleDvl() - RDI_Pathfinder msg: 1633835259.94 epoch sec; seqNo:76 2021-10-10T03:07:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:07:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.62 , -0.13 , 0.07 2021-10-10T03:07:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835259.95 epoch sec; seqNo:332; 4061285.43 north; 594138.45 east 2021-10-10T03:07:40Z- AHRS_M2 msg: 1633835260.33 epoch sec; seqNo:321 2021-10-10T03:07:40Z- AHRS_M2 msg: -0.26 phi; -0.15 theta; 0.40 psi 2021-10-10T03:07:40Z- handleDepth()-Depth_Keller msg: 1633835260330 epoch sec; seqNo:333; depth 8.38 2021-10-10T03:07:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835260.36 epoch sec; seqNo:333; 4061285.43 north; 594138.45 east 2021-10-10T03:07:40Z- AHRS_M2 msg: 1633835260.73 epoch sec; seqNo:322 2021-10-10T03:07:40Z- AHRS_M2 msg: -0.26 phi; -0.15 theta; 0.40 psi 2021-10-10T03:07:40Z- handleDepth()-Depth_Keller msg: 1633835260740 epoch sec; seqNo:334; depth 8.41 2021-10-10T03:07:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835260.75 epoch sec; seqNo:334; 4061285.80 north; 594138.44 east 2021-10-10T03:07:41Z- AHRS_M2 msg: 1633835261.14 epoch sec; seqNo:323 2021-10-10T03:07:41Z- AHRS_M2 msg: -0.27 phi; -0.15 theta; 0.40 psi 2021-10-10T03:07:41Z- handleDepth()-Depth_Keller msg: 1633835261141 epoch sec; seqNo:335; depth 8.46 2021-10-10T03:07:41Z- handleDvl() - RDI_Pathfinder msg: 1633835261.16 epoch sec; seqNo:77 2021-10-10T03:07:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.08 , 96.78 , 77.49 , 96.78 2021-10-10T03:07:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.53 , -0.05 , -0.09 2021-10-10T03:07:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835261.19 epoch sec; seqNo:335; 4061285.80 north; 594138.44 east 2021-10-10T03:07:41Z- AHRS_M2 msg: 1633835261.54 epoch sec; seqNo:324 2021-10-10T03:07:41Z- AHRS_M2 msg: -0.26 phi; -0.15 theta; 0.40 psi 2021-10-10T03:07:41Z- handleDepth()-Depth_Keller msg: 1633835261550 epoch sec; seqNo:336; depth 8.51 2021-10-10T03:07:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835261.57 epoch sec; seqNo:336; 4061286.18 north; 594138.44 east 2021-10-10T03:07:41Z- AHRS_M2 msg: 1633835261.94 epoch sec; seqNo:325 2021-10-10T03:07:41Z- AHRS_M2 msg: -0.25 phi; -0.15 theta; 0.40 psi 2021-10-10T03:07:41Z- handleDepth()-Depth_Keller msg: 1633835261949 epoch sec; seqNo:337; depth 8.56 2021-10-10T03:07:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835261.97 epoch sec; seqNo:337; 4061286.56 north; 594138.43 east 2021-10-10T03:07:42Z- AHRS_M2 msg: 1633835262.35 epoch sec; seqNo:326 2021-10-10T03:07:42Z- AHRS_M2 msg: -0.25 phi; -0.15 theta; 0.40 psi 2021-10-10T03:07:42Z- handleDepth()-Depth_Keller msg: 1633835262352 epoch sec; seqNo:338; depth 8.60 2021-10-10T03:07:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:07:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:07:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:07:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:07:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:07:42Z- handleDvl() - RDI_Pathfinder msg: 1633835262.35 epoch sec; seqNo:78 2021-10-10T03:07:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:07:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.53 , -0.05 , -0.09 2021-10-10T03:07:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835262.36 epoch sec; seqNo:338; 4061286.58 north; 594139.65 east 2021-10-10T03:07:42Z- AHRS_M2 msg: 1633835262.75 epoch sec; seqNo:327 2021-10-10T03:07:42Z- AHRS_M2 msg: -0.25 phi; -0.14 theta; 0.40 psi 2021-10-10T03:07:42Z- handleDepth()-Depth_Keller msg: 1633835262765 epoch sec; seqNo:339; depth 8.66 2021-10-10T03:07:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835262.78 epoch sec; seqNo:339; 4061286.95 north; 594139.65 east 2021-10-10T03:07:43Z- AHRS_M2 msg: 1633835263.15 epoch sec; seqNo:328 2021-10-10T03:07:43Z- AHRS_M2 msg: -0.24 phi; -0.14 theta; 0.40 psi 2021-10-10T03:07:43Z- handleDepth()-Depth_Keller msg: 1633835263170 epoch sec; seqNo:340; depth 8.71 2021-10-10T03:07:43Z- handleDvl() - RDI_Pathfinder msg: 1633835263.19 epoch sec; seqNo:79 2021-10-10T03:07:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.67 , 104.25 , 78.58 , 96.91 2021-10-10T03:07:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.61 , -0.29 , -0.01 2021-10-10T03:07:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835263.20 epoch sec; seqNo:340; 4061286.95 north; 594139.65 east 2021-10-10T03:07:43Z- LcmTrn::handleMessages() - handling 45 messages took 0.78 ms and 129 calls... 2021-10-10T03:07:43Z- waiting for 1633835260.92, time is 1633835263.20 2021-10-10T03:07:43Z- LcmTrn::updateTrn() equating pose 1633835263.20 and meas times 1633835263.20 2021-10-10T03:07:43Z- LcmTrn::updateTrn() >>>> pose time 1633835263.20, meas time 1633835263.20 <<<< 2021-10-10T03:07:43Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835263.20 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:07:43Z- TerrainNav::motionUpdate() - currEstimate = (4061287, 594139.65, 8.71) 2021-10-10T03:07:43Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:07:43Z- TerrainNav:: SubcloudNIS is 0.19, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:07:43Z- TerrainNav::Measurement type 1 not incorporated from time = 1633835263.20 sec.; No relevant navigation data available 2021-10-10T03:07:43Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:07:43Z- TNavBF::mmse selected from filter -1 2021-10-10T03:07:43Z- variances([0], [2], and psi_berg) = 1215.051249 402.464313 0.000000 2021-10-10T03:07:43Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:07:43Z- LcmTrn::publishEstimates() - MLE : 4061336.45 594122.15 8.71 2021-10-10T03:07:43Z- LcmTrn::publishEstimates() - MMSE : 4061307.31 594140.69 -2.50 2021-10-10T03:07:43Z- LcmTrn::publishEstimates() - COVAR: 1215.05 402.46 69.94 0.00 2021-10-10T03:07:43Z- AHRS_M2 msg: 1633835263.56 epoch sec; seqNo:329 2021-10-10T03:07:43Z- AHRS_M2 msg: -0.23 phi; -0.14 theta; 0.39 psi 2021-10-10T03:07:43Z- handleDepth()-Depth_Keller msg: 1633835263569 epoch sec; seqNo:341; depth 8.75 2021-10-10T03:07:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:07:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:07:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:07:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:07:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:07:43Z- handleDvl() - RDI_Pathfinder msg: 1633835263.57 epoch sec; seqNo:80 2021-10-10T03:07:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:07:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.61 , -0.29 , -0.01 2021-10-10T03:07:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835263.60 epoch sec; seqNo:341; 4061287.33 north; 594139.64 east 2021-10-10T03:07:43Z- AHRS_M2 msg: 1633835263.96 epoch sec; seqNo:330 2021-10-10T03:07:43Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.39 psi 2021-10-10T03:07:43Z- handleDepth()-Depth_Keller msg: 1633835263975 epoch sec; seqNo:342; depth 8.80 2021-10-10T03:07:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835263.99 epoch sec; seqNo:342; 4061287.71 north; 594139.64 east 2021-10-10T03:07:44Z- AHRS_M2 msg: 1633835264.37 epoch sec; seqNo:331 2021-10-10T03:07:44Z- AHRS_M2 msg: -0.19 phi; -0.14 theta; 0.39 psi 2021-10-10T03:07:44Z- handleDepth()-Depth_Keller msg: 1633835264376 epoch sec; seqNo:343; depth 8.85 2021-10-10T03:07:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835264.39 epoch sec; seqNo:343; 4061287.71 north; 594139.64 east 2021-10-10T03:07:44Z- AHRS_M2 msg: 1633835264.77 epoch sec; seqNo:332 2021-10-10T03:07:44Z- AHRS_M2 msg: -0.18 phi; -0.14 theta; 0.39 psi 2021-10-10T03:07:44Z- handleDepth()-Depth_Keller msg: 1633835264787 epoch sec; seqNo:344; depth 8.89 2021-10-10T03:07:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:07:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:07:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:07:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:07:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:07:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:07:44Z- handleDvl() - RDI_Pathfinder msg: 1633835264.79 epoch sec; seqNo:81 2021-10-10T03:07:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:07:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.61 , -0.29 , -0.01 2021-10-10T03:07:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835264.81 epoch sec; seqNo:344; 4061288.09 north; 594139.64 east 2021-10-10T03:07:45Z- AHRS_M2 msg: 1633835265.17 epoch sec; seqNo:333 2021-10-10T03:07:45Z- AHRS_M2 msg: -0.17 phi; -0.14 theta; 0.40 psi 2021-10-10T03:07:45Z- handleDepth()-Depth_Keller msg: 1633835265178 epoch sec; seqNo:345; depth 8.93 2021-10-10T03:07:45Z- handleDvl() - RDI_Pathfinder msg: 1633835265.21 epoch sec; seqNo:82 2021-10-10T03:07:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.90 , 96.71 , 76.67 , 94.26 2021-10-10T03:07:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.55 , -0.05 , 0.18 2021-10-10T03:07:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835265.22 epoch sec; seqNo:345; 4061288.47 north; 594139.63 east 2021-10-10T03:07:45Z- AHRS_M2 msg: 1633835265.58 epoch sec; seqNo:334 2021-10-10T03:07:45Z- AHRS_M2 msg: -0.17 phi; -0.14 theta; 0.40 psi 2021-10-10T03:07:45Z- handleDepth()-Depth_Keller msg: 1633835265583 epoch sec; seqNo:346; depth 8.97 2021-10-10T03:07:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835265.60 epoch sec; seqNo:346; 4061288.47 north; 594139.63 east 2021-10-10T03:07:45Z- AHRS_M2 msg: 1633835265.98 epoch sec; seqNo:335 2021-10-10T03:07:45Z- AHRS_M2 msg: -0.17 phi; -0.15 theta; 0.41 psi 2021-10-10T03:07:45Z- handleDepth()-Depth_Keller msg: 1633835265989 epoch sec; seqNo:347; depth 9.02 2021-10-10T03:07:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835266.00 epoch sec; seqNo:347; 4061288.85 north; 594139.63 east 2021-10-10T03:07:46Z- AHRS_M2 msg: 1633835266.38 epoch sec; seqNo:336 2021-10-10T03:07:46Z- AHRS_M2 msg: -0.18 phi; -0.15 theta; 0.41 psi 2021-10-10T03:07:46Z- handleDepth()-Depth_Keller msg: 1633835266402 epoch sec; seqNo:348; depth 9.06 2021-10-10T03:07:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835266.42 epoch sec; seqNo:348; 4061288.85 north; 594139.63 east 2021-10-10T03:07:46Z- AHRS_M2 msg: 1633835266.79 epoch sec; seqNo:337 2021-10-10T03:07:46Z- AHRS_M2 msg: -0.19 phi; -0.16 theta; 0.41 psi 2021-10-10T03:07:46Z- handleDepth()-Depth_Keller msg: 1633835266797 epoch sec; seqNo:349; depth 9.09 2021-10-10T03:07:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835266.82 epoch sec; seqNo:349; 4061289.23 north; 594139.62 east 2021-10-10T03:07:47Z- AHRS_M2 msg: 1633835267.19 epoch sec; seqNo:338 2021-10-10T03:07:47Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 0.41 psi 2021-10-10T03:07:47Z- handleDepth()-Depth_Keller msg: 1633835267198 epoch sec; seqNo:350; depth 9.13 2021-10-10T03:07:47Z- handleDvl() - RDI_Pathfinder msg: 1633835267.22 epoch sec; seqNo:83 2021-10-10T03:07:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.13 , 98.21 , 75.44 , 95.76 2021-10-10T03:07:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.54 , -0.08 , -0.16 2021-10-10T03:07:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835267.25 epoch sec; seqNo:350; 4061289.23 north; 594139.62 east 2021-10-10T03:07:47Z- AHRS_M2 msg: 1633835267.60 epoch sec; seqNo:339 2021-10-10T03:07:47Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 0.41 psi 2021-10-10T03:07:47Z- handleDepth()-Depth_Keller msg: 1633835267612 epoch sec; seqNo:351; depth 9.17 2021-10-10T03:07:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835267.63 epoch sec; seqNo:351; 4061289.61 north; 594139.62 east 2021-10-10T03:07:48Z- AHRS_M2 msg: 1633835268.00 epoch sec; seqNo:340 2021-10-10T03:07:48Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 0.40 psi 2021-10-10T03:07:48Z- handleDepth()-Depth_Keller msg: 1633835268006 epoch sec; seqNo:352; depth 9.22 2021-10-10T03:07:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835268.02 epoch sec; seqNo:352; 4061289.61 north; 594139.62 east 2021-10-10T03:07:48Z- LcmTrn::handleMessages() - handling 40 messages took 0.72 ms and 125 calls... 2021-10-10T03:07:48Z- waiting for 1633835266.20, time is 1633835268.02 2021-10-10T03:07:48Z- LcmTrn::updateTrn() >>>> pose time 1633835268.02, meas time 1633835267.22 <<<< 2021-10-10T03:07:48Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835267.22 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:07:48Z- TerrainNav::motionUpdate() - currEstimate = (4061290, 594139.62, 9.22) 2021-10-10T03:07:48Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:07:48Z- TerrainNav:: SubcloudNIS is 0.19, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:07:48Z- TNavBF::Projecting Measurements 2021-10-10T03:07:48Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:07:48Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:07:48Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:07:48Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:07:48Z- TNavFilter::4 good beams. 2021-10-10T03:07:48Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:07:48Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:07:48Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:07:48Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:07:48Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:07:48Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:07:48Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:07:48Z- TNavBF::mmse selected from filter -1 2021-10-10T03:07:48Z- TerrainMapOctree: (vehN, vehE ) = (4061289.17, 594139.62). 2021-10-10T03:07:48Z- TerrainMapOctree: Min Distance = 117.12. 2021-10-10T03:07:48Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:07:48Z- There is no specific good beam that all particles have in common. 2021-10-10T03:07:48Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 0 2021-10-10T03:07:48Z- Old Depth Bias: 0.00 DepthBiasCov: 1.62 K: 0.121 ExpectedMeasDiff: nan currMeas.covariance: 10.02 2021-10-10T03:07:48Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:07:48Z- Old Depth Bias: 0.00 DepthBiasCov: 1.42 K: 0.076 ExpectedMeasDiff: nan currMeas.covariance: 15.43 2021-10-10T03:07:48Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 2 2021-10-10T03:07:48Z- Old Depth Bias: 0.00 DepthBiasCov: 1.31 K: 0.108 ExpectedMeasDiff: nan currMeas.covariance: 9.11 2021-10-10T03:07:48Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 3 2021-10-10T03:07:48Z- Old Depth Bias: 0.00 DepthBiasCov: 1.17 K: 0.067 ExpectedMeasDiff: nan currMeas.covariance: 14.67 2021-10-10T03:07:48Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:07:48Z- Filter 0 beam number: 0 num in subcloud: 4089 num not in subcloud: 5911 2021-10-10T03:07:48Z- Filter 0 partialDeltaRmsComputation: 72.551772 terrainVariance: 0.204583 1-SumSquareWeights: 0.996654 2021-10-10T03:07:48Z- Filter 0 meanExpectedMeasDiff: 8.505715 delta_rms_squared: 0.194617 alpha: 0.906811 2021-10-10T03:07:48Z- Filter 0 beam number: 1 num in subcloud: 0 num not in subcloud: 10000 2021-10-10T03:07:48Z- Filter 0 insufficient particles or particle weight in subcloud for beam 1 2021-10-10T03:07:48Z- Filter 0 beam number: 2 num in subcloud: 4391 num not in subcloud: 5609 2021-10-10T03:07:48Z- Filter 0 partialDeltaRmsComputation: 135.291242 terrainVariance: 0.156589 1-SumSquareWeights: 0.996654 2021-10-10T03:07:48Z- Filter 0 meanExpectedMeasDiff: -11.624743 delta_rms_squared: 0.146622 alpha: 0.879968 2021-10-10T03:07:48Z- Filter 0 beam number: 3 num in subcloud: 0 num not in subcloud: 10000 2021-10-10T03:07:48Z- Filter 0 insufficient particles or particle weight in subcloud for beam 3 2021-10-10T03:07:48Z- Filter 0 SubcloudNIS: 0.249355 2021-10-10T03:07:48Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:07:48Z- TNavBF:: Filter 0 sumWeights = 0.000573 2021-10-10T03:07:48Z- Filter 0 NorthBias: 20.8 EastBias: -1.3 DepthBias: -11.5 NorthVariance: 1231.3 EastVariance: 380.8 DepthVariance: 73.4 this->DepthBiasCov: 1.1 2021-10-10T03:07:48Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835267.22 sec. 2021-10-10T03:07:48Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:07:48Z- TNavBF::mmse selected from filter -1 2021-10-10T03:07:48Z- variances([0], [2], and psi_berg) = 1231.578573 381.008123 0.000000 2021-10-10T03:07:48Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:07:48Z- LcmTrn::publishEstimates() - MLE : 4061339.11 594122.12 9.22 2021-10-10T03:07:48Z- LcmTrn::publishEstimates() - MMSE : 4061310.38 594138.30 -2.31 2021-10-10T03:07:48Z- LcmTrn::publishEstimates() - COVAR: 1231.58 381.01 73.44 0.00 2021-10-10T03:07:48Z- AHRS_M2 msg: 1633835268.41 epoch sec; seqNo:341 2021-10-10T03:07:48Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 0.40 psi 2021-10-10T03:07:48Z- handleDepth()-Depth_Keller msg: 1633835268413 epoch sec; seqNo:353; depth 9.26 2021-10-10T03:07:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835268.42 epoch sec; seqNo:353; 4061289.99 north; 594139.62 east 2021-10-10T03:07:48Z- AHRS_M2 msg: 1633835268.81 epoch sec; seqNo:342 2021-10-10T03:07:48Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 0.40 psi 2021-10-10T03:07:48Z- handleDepth()-Depth_Keller msg: 1633835268818 epoch sec; seqNo:354; depth 9.31 2021-10-10T03:07:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835268.83 epoch sec; seqNo:354; 4061290.36 north; 594139.61 east 2021-10-10T03:07:49Z- AHRS_M2 msg: 1633835269.21 epoch sec; seqNo:343 2021-10-10T03:07:49Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 0.40 psi 2021-10-10T03:07:49Z- handleDepth()-Depth_Keller msg: 1633835269224 epoch sec; seqNo:355; depth 9.35 2021-10-10T03:07:49Z- handleDvl() - RDI_Pathfinder msg: 1633835269.25 epoch sec; seqNo:84 2021-10-10T03:07:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.85 , 100.58 , 75.44 , 96.91 2021-10-10T03:07:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.62 , -0.18 , 0.12 2021-10-10T03:07:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835269.26 epoch sec; seqNo:355; 4061290.36 north; 594139.61 east 2021-10-10T03:07:49Z- AHRS_M2 msg: 1633835269.62 epoch sec; seqNo:344 2021-10-10T03:07:49Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 0.40 psi 2021-10-10T03:07:49Z- handleDepth()-Depth_Keller msg: 1633835269624 epoch sec; seqNo:356; depth 9.40 2021-10-10T03:07:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835269.65 epoch sec; seqNo:356; 4061290.74 north; 594139.61 east 2021-10-10T03:07:50Z- AHRS_M2 msg: 1633835270.02 epoch sec; seqNo:345 2021-10-10T03:07:50Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.40 psi 2021-10-10T03:07:50Z- handleDepth()-Depth_Keller msg: 1633835270027 epoch sec; seqNo:357; depth 9.45 2021-10-10T03:07:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835270.04 epoch sec; seqNo:357; 4061291.12 north; 594139.60 east 2021-10-10T03:07:50Z- AHRS_M2 msg: 1633835270.43 epoch sec; seqNo:346 2021-10-10T03:07:50Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 0.40 psi 2021-10-10T03:07:50Z- handleDepth()-Depth_Keller msg: 1633835270441 epoch sec; seqNo:358; depth 9.50 2021-10-10T03:07:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835270.46 epoch sec; seqNo:358; 4061291.12 north; 594139.60 east 2021-10-10T03:07:50Z- AHRS_M2 msg: 1633835270.83 epoch sec; seqNo:347 2021-10-10T03:07:50Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 0.40 psi 2021-10-10T03:07:50Z- handleDepth()-Depth_Keller msg: 1633835270833 epoch sec; seqNo:359; depth 9.55 2021-10-10T03:07:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835270.86 epoch sec; seqNo:359; 4061291.50 north; 594139.60 east 2021-10-10T03:07:51Z- AHRS_M2 msg: 1633835271.23 epoch sec; seqNo:348 2021-10-10T03:07:51Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 0.41 psi 2021-10-10T03:07:51Z- handleDepth()-Depth_Keller msg: 1633835271244 epoch sec; seqNo:360; depth 9.60 2021-10-10T03:07:51Z- handleDvl() - RDI_Pathfinder msg: 1633835271.27 epoch sec; seqNo:85 2021-10-10T03:07:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.80 , 96.91 , 74.62 , 98.14 2021-10-10T03:07:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.60 , 0.01 , -0.03 2021-10-10T03:07:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835271.29 epoch sec; seqNo:360; 4061291.50 north; 594139.60 east 2021-10-10T03:07:51Z- AHRS_M2 msg: 1633835271.64 epoch sec; seqNo:349 2021-10-10T03:07:51Z- AHRS_M2 msg: -0.26 phi; -0.18 theta; 0.41 psi 2021-10-10T03:07:51Z- handleDepth()-Depth_Keller msg: 1633835271642 epoch sec; seqNo:361; depth 9.67 2021-10-10T03:07:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835271.66 epoch sec; seqNo:361; 4061291.88 north; 594139.59 east 2021-10-10T03:07:52Z- AHRS_M2 msg: 1633835272.04 epoch sec; seqNo:350 2021-10-10T03:07:52Z- AHRS_M2 msg: -0.27 phi; -0.18 theta; 0.41 psi 2021-10-10T03:07:52Z- handleDepth()-Depth_Keller msg: 1633835272059 epoch sec; seqNo:362; depth 9.70 2021-10-10T03:07:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835272.07 epoch sec; seqNo:362; 4061292.26 north; 594139.59 east 2021-10-10T03:07:52Z- AHRS_M2 msg: 1633835272.45 epoch sec; seqNo:351 2021-10-10T03:07:52Z- AHRS_M2 msg: -0.28 phi; -0.17 theta; 0.42 psi 2021-10-10T03:07:52Z- handleDepth()-Depth_Keller msg: 1633835272452 epoch sec; seqNo:363; depth 9.77 2021-10-10T03:07:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835272.47 epoch sec; seqNo:363; 4061292.26 north; 594139.59 east 2021-10-10T03:07:52Z- AHRS_M2 msg: 1633835272.85 epoch sec; seqNo:352 2021-10-10T03:07:52Z- AHRS_M2 msg: -0.27 phi; -0.17 theta; 0.42 psi 2021-10-10T03:07:52Z- handleDepth()-Depth_Keller msg: 1633835272859 epoch sec; seqNo:364; depth 9.82 2021-10-10T03:07:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835272.87 epoch sec; seqNo:364; 4061292.65 north; 594140.81 east 2021-10-10T03:07:53Z- AHRS_M2 msg: 1633835273.25 epoch sec; seqNo:353 2021-10-10T03:07:53Z- AHRS_M2 msg: -0.25 phi; -0.17 theta; 0.43 psi 2021-10-10T03:07:53Z- handleDepth()-Depth_Keller msg: 1633835273260 epoch sec; seqNo:365; depth 9.88 2021-10-10T03:07:53Z- handleDvl() - RDI_Pathfinder msg: 1633835273.28 epoch sec; seqNo:86 2021-10-10T03:07:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.62 , 104.25 , 75.85 , 96.91 2021-10-10T03:07:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.65 , -0.17 , -0.09 2021-10-10T03:07:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835273.32 epoch sec; seqNo:365; 4061293.03 north; 594140.80 east 2021-10-10T03:07:53Z- LcmTrn::handleMessages() - handling 42 messages took 0.70 ms and 128 calls... 2021-10-10T03:07:53Z- waiting for 1633835271.02, time is 1633835273.32 2021-10-10T03:07:53Z- LcmTrn::updateTrn() equating pose 1633835273.32 and meas times 1633835273.32 2021-10-10T03:07:53Z- LcmTrn::updateTrn() >>>> pose time 1633835273.32, meas time 1633835273.32 <<<< 2021-10-10T03:07:53Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835273.32 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:07:53Z- TerrainNav::motionUpdate() - currEstimate = (4061293, 594140.80, 9.88) 2021-10-10T03:07:53Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:07:53Z- TerrainNav:: SubcloudNIS is 0.25, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:07:53Z- TerrainNav::Measurement type 1 not incorporated from time = 1633835273.32 sec.; No relevant navigation data available 2021-10-10T03:07:53Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:07:53Z- TNavBF::mmse selected from filter -1 2021-10-10T03:07:53Z- variances([0], [2], and psi_berg) = 1232.223105 381.487602 0.000000 2021-10-10T03:07:53Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:07:53Z- LcmTrn::publishEstimates() - MLE : 4061342.53 594123.30 9.88 2021-10-10T03:07:53Z- LcmTrn::publishEstimates() - MMSE : 4061313.72 594139.51 -1.63 2021-10-10T03:07:53Z- LcmTrn::publishEstimates() - COVAR: 1232.22 381.49 73.63 0.00 2021-10-10T03:07:53Z- AHRS_M2 msg: 1633835273.66 epoch sec; seqNo:354 2021-10-10T03:07:53Z- AHRS_M2 msg: -0.24 phi; -0.16 theta; 0.43 psi 2021-10-10T03:07:53Z- handleDepth()-Depth_Keller msg: 1633835273664 epoch sec; seqNo:366; depth 9.93 2021-10-10T03:07:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835273.68 epoch sec; seqNo:366; 4061293.03 north; 594140.80 east 2021-10-10T03:07:54Z- AHRS_M2 msg: 1633835274.06 epoch sec; seqNo:355 2021-10-10T03:07:54Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 0.44 psi 2021-10-10T03:07:54Z- handleDepth()-Depth_Keller msg: 1633835274066 epoch sec; seqNo:367; depth 9.99 2021-10-10T03:07:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835274.09 epoch sec; seqNo:367; 4061293.41 north; 594140.80 east 2021-10-10T03:07:54Z- AHRS_M2 msg: 1633835274.47 epoch sec; seqNo:356 2021-10-10T03:07:54Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 0.44 psi 2021-10-10T03:07:54Z- handleDepth()-Depth_Keller msg: 1633835274473 epoch sec; seqNo:368; depth 10.04 2021-10-10T03:07:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835274.48 epoch sec; seqNo:368; 4061293.79 north; 594140.79 east 2021-10-10T03:07:54Z- AHRS_M2 msg: 1633835274.87 epoch sec; seqNo:357 2021-10-10T03:07:54Z- AHRS_M2 msg: -0.20 phi; -0.16 theta; 0.44 psi 2021-10-10T03:07:54Z- handleDepth()-Depth_Keller msg: 1633835274880 epoch sec; seqNo:369; depth 10.09 2021-10-10T03:07:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835274.89 epoch sec; seqNo:369; 4061293.79 north; 594140.79 east 2021-10-10T03:07:55Z- AHRS_M2 msg: 1633835275.28 epoch sec; seqNo:358 2021-10-10T03:07:55Z- AHRS_M2 msg: -0.19 phi; -0.16 theta; 0.44 psi 2021-10-10T03:07:55Z- handleDepth()-Depth_Keller msg: 1633835275286 epoch sec; seqNo:370; depth 10.13 2021-10-10T03:07:55Z- handleDvl() - RDI_Pathfinder msg: 1633835275.31 epoch sec; seqNo:87 2021-10-10T03:07:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.85 , 96.85 , 74.21 , 94.40 2021-10-10T03:07:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.62 , -0.15 , 0.12 2021-10-10T03:07:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835275.32 epoch sec; seqNo:370; 4061294.17 north; 594140.79 east 2021-10-10T03:07:55Z- AHRS_M2 msg: 1633835275.68 epoch sec; seqNo:359 2021-10-10T03:07:55Z- AHRS_M2 msg: -0.18 phi; -0.16 theta; 0.45 psi 2021-10-10T03:07:55Z- handleDepth()-Depth_Keller msg: 1633835275683 epoch sec; seqNo:371; depth 10.19 2021-10-10T03:07:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835275.71 epoch sec; seqNo:371; 4061294.54 north; 594140.79 east 2021-10-10T03:07:56Z- AHRS_M2 msg: 1633835276.09 epoch sec; seqNo:360 2021-10-10T03:07:56Z- AHRS_M2 msg: -0.18 phi; -0.16 theta; 0.45 psi 2021-10-10T03:07:56Z- handleDepth()-Depth_Keller msg: 1633835276097 epoch sec; seqNo:372; depth 10.25 2021-10-10T03:07:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835276.11 epoch sec; seqNo:372; 4061294.54 north; 594140.79 east 2021-10-10T03:07:56Z- AHRS_M2 msg: 1633835276.50 epoch sec; seqNo:361 2021-10-10T03:07:56Z- AHRS_M2 msg: -0.17 phi; -0.16 theta; 0.45 psi 2021-10-10T03:07:56Z- handleDepth()-Depth_Keller msg: 1633835276502 epoch sec; seqNo:373; depth 10.29 2021-10-10T03:07:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835276.55 epoch sec; seqNo:373; 4061294.92 north; 594140.78 east 2021-10-10T03:07:56Z- AHRS_M2 msg: 1633835276.89 epoch sec; seqNo:362 2021-10-10T03:07:56Z- AHRS_M2 msg: -0.18 phi; -0.16 theta; 0.45 psi 2021-10-10T03:07:56Z- handleDepth()-Depth_Keller msg: 1633835276894 epoch sec; seqNo:374; depth 10.32 2021-10-10T03:07:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835276.93 epoch sec; seqNo:374; 4061294.92 north; 594140.78 east 2021-10-10T03:07:57Z- AHRS_M2 msg: 1633835277.29 epoch sec; seqNo:363 2021-10-10T03:07:57Z- AHRS_M2 msg: -0.19 phi; -0.16 theta; 0.46 psi 2021-10-10T03:07:57Z- handleDepth()-Depth_Keller msg: 1633835277297 epoch sec; seqNo:375; depth 10.39 2021-10-10T03:07:57Z- handleDvl() - RDI_Pathfinder msg: 1633835277.33 epoch sec; seqNo:88 2021-10-10T03:07:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.08 , 94.61 , 78.71 , 94.61 2021-10-10T03:07:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.63 , -0.01 , 0.03 2021-10-10T03:07:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835277.35 epoch sec; seqNo:375; 4061295.30 north; 594140.78 east 2021-10-10T03:07:57Z- AHRS_M2 msg: 1633835277.70 epoch sec; seqNo:364 2021-10-10T03:07:57Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 0.46 psi 2021-10-10T03:07:57Z- handleDepth()-Depth_Keller msg: 1633835277711 epoch sec; seqNo:376; depth 10.43 2021-10-10T03:07:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835277.73 epoch sec; seqNo:376; 4061295.68 north; 594140.77 east 2021-10-10T03:07:58Z- AHRS_M2 msg: 1633835278.11 epoch sec; seqNo:365 2021-10-10T03:07:58Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 0.46 psi 2021-10-10T03:07:58Z- handleDepth()-Depth_Keller msg: 1633835278114 epoch sec; seqNo:377; depth 10.48 2021-10-10T03:07:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835278.14 epoch sec; seqNo:377; 4061295.68 north; 594140.77 east 2021-10-10T03:07:58Z- AHRS_M2 msg: 1633835278.51 epoch sec; seqNo:366 2021-10-10T03:07:58Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 0.47 psi 2021-10-10T03:07:58Z- LcmTrn::handleMessages() - handling 39 messages took 0.66 ms and 125 calls... 2021-10-10T03:07:58Z- waiting for 1633835276.32, time is 1633835278.51 2021-10-10T03:07:58Z- LcmTrn::updateTrn() >>>> pose time 1633835278.51, meas time 1633835277.33 <<<< 2021-10-10T03:07:58Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835277.33 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:07:58Z- TerrainNav::motionUpdate() - currEstimate = (4061296, 594140.77, 10.48) 2021-10-10T03:07:58Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:07:58Z- TerrainNav:: SubcloudNIS is 0.25, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:07:58Z- TNavBF::Projecting Measurements 2021-10-10T03:07:58Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:07:58Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:07:58Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:07:58Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:07:58Z- TNavFilter::4 good beams. 2021-10-10T03:07:58Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:07:58Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:07:58Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:07:58Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:07:58Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:07:58Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:07:58Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:07:58Z- TNavBF::mmse selected from filter -1 2021-10-10T03:07:58Z- TerrainMapOctree: (vehN, vehE ) = (4061295.08, 594140.78). 2021-10-10T03:07:58Z- TerrainMapOctree: Min Distance = 118.16. 2021-10-10T03:07:58Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:07:58Z- There is no specific good beam that all particles have in common. 2021-10-10T03:07:58Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 0 2021-10-10T03:07:58Z- Old Depth Bias: 0.00 DepthBiasCov: 1.40 K: 0.111 ExpectedMeasDiff: nan currMeas.covariance: 9.51 2021-10-10T03:07:58Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:07:58Z- Old Depth Bias: 0.00 DepthBiasCov: 1.25 K: 0.072 ExpectedMeasDiff: nan currMeas.covariance: 14.32 2021-10-10T03:07:58Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 2 2021-10-10T03:07:58Z- Old Depth Bias: 0.00 DepthBiasCov: 1.16 K: 0.090 ExpectedMeasDiff: nan currMeas.covariance: 9.91 2021-10-10T03:07:58Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 3 2021-10-10T03:07:58Z- Old Depth Bias: 0.00 DepthBiasCov: 1.05 K: 0.062 ExpectedMeasDiff: nan currMeas.covariance: 14.32 2021-10-10T03:07:58Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:07:58Z- Filter 0 beam number: 0 num in subcloud: 4657 num not in subcloud: 5343 2021-10-10T03:07:58Z- Filter 0 partialDeltaRmsComputation: 56.924370 terrainVariance: 0.230146 1-SumSquareWeights: 0.994914 2021-10-10T03:07:58Z- Filter 0 meanExpectedMeasDiff: 7.529557 delta_rms_squared: 0.220197 alpha: 0.916735 2021-10-10T03:07:58Z- Filter 0 beam number: 1 num in subcloud: 0 num not in subcloud: 10000 2021-10-10T03:07:58Z- Filter 0 insufficient particles or particle weight in subcloud for beam 1 2021-10-10T03:07:58Z- Filter 0 beam number: 2 num in subcloud: 4530 num not in subcloud: 5470 2021-10-10T03:07:58Z- Filter 0 partialDeltaRmsComputation: 37.607526 terrainVariance: 0.110144 1-SumSquareWeights: 0.994914 2021-10-10T03:07:58Z- Filter 0 meanExpectedMeasDiff: -6.123511 delta_rms_squared: 0.100195 alpha: 0.833604 2021-10-10T03:07:58Z- Filter 0 beam number: 3 num in subcloud: 0 num not in subcloud: 10000 2021-10-10T03:07:58Z- Filter 0 insufficient particles or particle weight in subcloud for beam 3 2021-10-10T03:07:58Z- Filter 0 SubcloudNIS: 0.297537 2021-10-10T03:07:58Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:07:58Z- TNavBF:: Filter 0 sumWeights = 0.035822 2021-10-10T03:07:58Z- Filter 0 NorthBias: 21.0 EastBias: -3.2 DepthBias: -11.4 NorthVariance: 1247.2 EastVariance: 377.2 DepthVariance: 71.6 this->DepthBiasCov: 1.0 2021-10-10T03:07:58Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835277.33 sec. 2021-10-10T03:07:58Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:07:58Z- TNavBF::mmse selected from filter -1 2021-10-10T03:07:58Z- variances([0], [2], and psi_berg) = 1247.613398 377.522843 0.000000 2021-10-10T03:07:58Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:07:58Z- LcmTrn::publishEstimates() - MLE : 4061345.18 594123.27 10.48 2021-10-10T03:07:58Z- LcmTrn::publishEstimates() - MMSE : 4061316.64 594137.58 -0.88 2021-10-10T03:07:58Z- LcmTrn::publishEstimates() - COVAR: 1247.61 377.52 71.69 0.00 2021-10-10T03:07:58Z- handleDepth()-Depth_Keller msg: 1633835278513 epoch sec; seqNo:378; depth 10.51 2021-10-10T03:07:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835278.53 epoch sec; seqNo:378; 4061296.06 north; 594140.77 east 2021-10-10T03:07:58Z- AHRS_M2 msg: 1633835278.91 epoch sec; seqNo:367 2021-10-10T03:07:58Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 0.47 psi 2021-10-10T03:07:58Z- handleDepth()-Depth_Keller msg: 1633835278921 epoch sec; seqNo:379; depth 10.57 2021-10-10T03:07:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835278.93 epoch sec; seqNo:379; 4061296.06 north; 594140.77 east 2021-10-10T03:07:59Z- AHRS_M2 msg: 1633835279.31 epoch sec; seqNo:368 2021-10-10T03:07:59Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 0.47 psi 2021-10-10T03:07:59Z- handleDepth()-Depth_Keller msg: 1633835279319 epoch sec; seqNo:380; depth 10.63 2021-10-10T03:07:59Z- handleDvl() - RDI_Pathfinder msg: 1633835279.36 epoch sec; seqNo:89 2021-10-10T03:07:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.26 , 96.98 , 74.21 , 98.21 2021-10-10T03:07:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.64 , -0.08 , -0.09 2021-10-10T03:07:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835279.38 epoch sec; seqNo:380; 4061296.44 north; 594140.77 east 2021-10-10T03:07:59Z- AHRS_M2 msg: 1633835279.72 epoch sec; seqNo:369 2021-10-10T03:07:59Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 0.46 psi 2021-10-10T03:07:59Z- handleDepth()-Depth_Keller msg: 1633835279722 epoch sec; seqNo:381; depth 10.70 2021-10-10T03:07:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835279.74 epoch sec; seqNo:381; 4061296.83 north; 594141.98 east 2021-10-10T03:08:00Z- AHRS_M2 msg: 1633835280.12 epoch sec; seqNo:370 2021-10-10T03:08:00Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 0.46 psi 2021-10-10T03:08:00Z- handleDepth()-Depth_Keller msg: 1633835280128 epoch sec; seqNo:382; depth 10.75 2021-10-10T03:08:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835280.14 epoch sec; seqNo:382; 4061296.83 north; 594141.98 east 2021-10-10T03:08:00Z- AHRS_M2 msg: 1633835280.54 epoch sec; seqNo:371 2021-10-10T03:08:00Z- AHRS_M2 msg: -0.26 phi; -0.19 theta; 0.45 psi 2021-10-10T03:08:00Z- handleDepth()-Depth_Keller msg: 1633835280548 epoch sec; seqNo:383; depth 10.81 2021-10-10T03:08:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835280.56 epoch sec; seqNo:383; 4061297.21 north; 594141.98 east 2021-10-10T03:08:00Z- AHRS_M2 msg: 1633835280.94 epoch sec; seqNo:372 2021-10-10T03:08:00Z- AHRS_M2 msg: -0.26 phi; -0.19 theta; 0.44 psi 2021-10-10T03:08:00Z- handleDepth()-Depth_Keller msg: 1633835280943 epoch sec; seqNo:384; depth 10.87 2021-10-10T03:08:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835280.96 epoch sec; seqNo:384; 4061297.59 north; 594141.97 east 2021-10-10T03:08:01Z- AHRS_M2 msg: 1633835281.34 epoch sec; seqNo:373 2021-10-10T03:08:01Z- AHRS_M2 msg: -0.26 phi; -0.19 theta; 0.44 psi 2021-10-10T03:08:01Z- handleDepth()-Depth_Keller msg: 1633835281340 epoch sec; seqNo:385; depth 10.93 2021-10-10T03:08:01Z- handleDvl() - RDI_Pathfinder msg: 1633835281.36 epoch sec; seqNo:90 2021-10-10T03:08:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.44 , 96.98 , 74.21 , 98.21 2021-10-10T03:08:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.59 , -0.13 , -0.06 2021-10-10T03:08:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835281.38 epoch sec; seqNo:385; 4061297.59 north; 594141.97 east 2021-10-10T03:08:01Z- AHRS_M2 msg: 1633835281.74 epoch sec; seqNo:374 2021-10-10T03:08:01Z- AHRS_M2 msg: -0.26 phi; -0.19 theta; 0.44 psi 2021-10-10T03:08:01Z- handleDepth()-Depth_Keller msg: 1633835281751 epoch sec; seqNo:386; depth 10.99 2021-10-10T03:08:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835281.77 epoch sec; seqNo:386; 4061297.97 north; 594141.97 east 2021-10-10T03:08:02Z- AHRS_M2 msg: 1633835282.14 epoch sec; seqNo:375 2021-10-10T03:08:02Z- AHRS_M2 msg: -0.26 phi; -0.19 theta; 0.44 psi 2021-10-10T03:08:02Z- handleDepth()-Depth_Keller msg: 1633835282152 epoch sec; seqNo:387; depth 11.06 2021-10-10T03:08:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835282.17 epoch sec; seqNo:387; 4061298.35 north; 594141.96 east 2021-10-10T03:08:02Z- AHRS_M2 msg: 1633835282.55 epoch sec; seqNo:376 2021-10-10T03:08:02Z- AHRS_M2 msg: -0.25 phi; -0.19 theta; 0.44 psi 2021-10-10T03:08:02Z- handleDepth()-Depth_Keller msg: 1633835282556 epoch sec; seqNo:388; depth 11.11 2021-10-10T03:08:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835282.57 epoch sec; seqNo:388; 4061298.35 north; 594141.96 east 2021-10-10T03:08:02Z- AHRS_M2 msg: 1633835282.96 epoch sec; seqNo:377 2021-10-10T03:08:02Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 0.44 psi 2021-10-10T03:08:02Z- handleDepth()-Depth_Keller msg: 1633835282961 epoch sec; seqNo:389; depth 11.17 2021-10-10T03:08:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835282.97 epoch sec; seqNo:389; 4061298.73 north; 594141.96 east 2021-10-10T03:08:03Z- AHRS_M2 msg: 1633835283.36 epoch sec; seqNo:378 2021-10-10T03:08:03Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 0.44 psi 2021-10-10T03:08:03Z- handleDepth()-Depth_Keller msg: 1633835283368 epoch sec; seqNo:390; depth 11.23 2021-10-10T03:08:03Z- handleDvl() - RDI_Pathfinder msg: 1633835283.39 epoch sec; seqNo:91 2021-10-10T03:08:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.62 , 96.98 , 73.39 , 96.98 2021-10-10T03:08:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.61 , -0.12 , -0.03 2021-10-10T03:08:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835283.41 epoch sec; seqNo:390; 4061299.10 north; 594141.96 east 2021-10-10T03:08:03Z- LcmTrn::handleMessages() - handling 41 messages took 0.66 ms and 127 calls... 2021-10-10T03:08:03Z- waiting for 1633835281.51, time is 1633835283.41 2021-10-10T03:08:03Z- LcmTrn::updateTrn() equating pose 1633835283.41 and meas times 1633835283.41 2021-10-10T03:08:03Z- LcmTrn::updateTrn() >>>> pose time 1633835283.41, meas time 1633835283.41 <<<< 2021-10-10T03:08:03Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835283.41 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:08:03Z- TerrainNav::motionUpdate() - currEstimate = (4061299, 594141.96, 11.23) 2021-10-10T03:08:03Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:08:03Z- TerrainNav:: SubcloudNIS is 0.30, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:08:03Z- TNavBF::Projecting Measurements 2021-10-10T03:08:03Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:08:03Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:08:03Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:08:03Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:08:03Z- TNavFilter::4 good beams. 2021-10-10T03:08:03Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:08:03Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:08:03Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:08:03Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:08:03Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:08:03Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:08:03Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:08:03Z- TNavBF::mmse selected from filter -1 2021-10-10T03:08:03Z- TerrainMapOctree: (vehN, vehE ) = (4061299.10, 594141.96). 2021-10-10T03:08:03Z- TerrainMapOctree: Min Distance = 118.68. 2021-10-10T03:08:03Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:08:03Z- There is no specific good beam that all particles have in common. 2021-10-10T03:08:03Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 0 2021-10-10T03:08:03Z- Old Depth Bias: 0.00 DepthBiasCov: 1.20 K: 0.102 ExpectedMeasDiff: nan currMeas.covariance: 8.91 2021-10-10T03:08:03Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:08:03Z- Old Depth Bias: 0.00 DepthBiasCov: 1.08 K: 0.061 ExpectedMeasDiff: nan currMeas.covariance: 15.05 2021-10-10T03:08:03Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 2 2021-10-10T03:08:03Z- Old Depth Bias: 0.00 DepthBiasCov: 1.02 K: 0.089 ExpectedMeasDiff: nan currMeas.covariance: 8.62 2021-10-10T03:08:03Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 3 2021-10-10T03:08:03Z- Old Depth Bias: 0.00 DepthBiasCov: 0.92 K: 0.052 ExpectedMeasDiff: nan currMeas.covariance: 15.05 2021-10-10T03:08:03Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:08:03Z- Filter 0 beam number: 0 num in subcloud: 4918 num not in subcloud: 5082 2021-10-10T03:08:03Z- Filter 0 partialDeltaRmsComputation: 45.216825 terrainVariance: 2.718448 1-SumSquareWeights: 0.992202 2021-10-10T03:08:03Z- Filter 0 meanExpectedMeasDiff: 6.519078 delta_rms_squared: 2.708526 alpha: 0.992670 2021-10-10T03:08:03Z- Filter 0 beam number: 1 num in subcloud: 0 num not in subcloud: 10000 2021-10-10T03:08:03Z- Filter 0 insufficient particles or particle weight in subcloud for beam 1 2021-10-10T03:08:03Z- Filter 0 beam number: 2 num in subcloud: 4950 num not in subcloud: 5050 2021-10-10T03:08:03Z- Filter 0 partialDeltaRmsComputation: 103.349992 terrainVariance: 0.321900 1-SumSquareWeights: 0.992099 2021-10-10T03:08:03Z- Filter 0 meanExpectedMeasDiff: -10.150275 delta_rms_squared: 0.311979 alpha: 0.939755 2021-10-10T03:08:03Z- Filter 0 beam number: 3 num in subcloud: 0 num not in subcloud: 10000 2021-10-10T03:08:03Z- Filter 0 insufficient particles or particle weight in subcloud for beam 3 2021-10-10T03:08:03Z- Filter 0 SubcloudNIS: 0.366948 2021-10-10T03:08:03Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:08:03Z- TNavBF:: Filter 0 sumWeights = 0.002144 2021-10-10T03:08:03Z- Filter 0 NorthBias: 21.8 EastBias: -5.9 DepthBias: -11.8 NorthVariance: 1274.8 EastVariance: 369.0 DepthVariance: 74.7 this->DepthBiasCov: 0.9 2021-10-10T03:08:03Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835283.41 sec. 2021-10-10T03:08:03Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:08:03Z- TNavBF::mmse selected from filter -1 2021-10-10T03:08:03Z- variances([0], [2], and psi_berg) = 1274.835754 369.038407 0.000000 2021-10-10T03:08:03Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:08:03Z- LcmTrn::publishEstimates() - MLE : 4061348.60 594124.46 11.23 2021-10-10T03:08:03Z- LcmTrn::publishEstimates() - MMSE : 4061320.89 594136.07 -0.53 2021-10-10T03:08:03Z- LcmTrn::publishEstimates() - COVAR: 1274.84 369.04 74.69 0.00 2021-10-10T03:08:03Z- AHRS_M2 msg: 1633835283.76 epoch sec; seqNo:379 2021-10-10T03:08:03Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 0.45 psi 2021-10-10T03:08:03Z- handleDepth()-Depth_Keller msg: 1633835283767 epoch sec; seqNo:391; depth 11.31 2021-10-10T03:08:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835283.78 epoch sec; seqNo:391; 4061299.10 north; 594141.96 east 2021-10-10T03:08:04Z- AHRS_M2 msg: 1633835284.17 epoch sec; seqNo:380 2021-10-10T03:08:04Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.45 psi 2021-10-10T03:08:04Z- handleDepth()-Depth_Keller msg: 1633835284171 epoch sec; seqNo:392; depth 11.36 2021-10-10T03:08:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835284.18 epoch sec; seqNo:392; 4061299.48 north; 594141.95 east 2021-10-10T03:08:04Z- AHRS_M2 msg: 1633835284.58 epoch sec; seqNo:381 2021-10-10T03:08:04Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 0.45 psi 2021-10-10T03:08:04Z- handleDepth()-Depth_Keller msg: 1633835284585 epoch sec; seqNo:393; depth 11.43 2021-10-10T03:08:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835284.60 epoch sec; seqNo:393; 4061299.48 north; 594141.95 east 2021-10-10T03:08:04Z- AHRS_M2 msg: 1633835284.97 epoch sec; seqNo:382 2021-10-10T03:08:04Z- AHRS_M2 msg: -0.20 phi; -0.20 theta; 0.45 psi 2021-10-10T03:08:04Z- handleDepth()-Depth_Keller msg: 1633835284994 epoch sec; seqNo:394; depth 11.50 2021-10-10T03:08:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835285.01 epoch sec; seqNo:394; 4061299.86 north; 594141.95 east 2021-10-10T03:08:05Z- AHRS_M2 msg: 1633835285.38 epoch sec; seqNo:383 2021-10-10T03:08:05Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 0.44 psi 2021-10-10T03:08:05Z- handleDepth()-Depth_Keller msg: 1633835285382 epoch sec; seqNo:395; depth 11.55 2021-10-10T03:08:05Z- handleDvl() - RDI_Pathfinder msg: 1633835285.41 epoch sec; seqNo:92 2021-10-10T03:08:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.02 , 98.27 , 72.97 , 98.27 2021-10-10T03:08:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.55 , -0.08 , 0.02 2021-10-10T03:08:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835285.42 epoch sec; seqNo:395; 4061300.24 north; 594141.94 east 2021-10-10T03:08:05Z- AHRS_M2 msg: 1633835285.78 epoch sec; seqNo:384 2021-10-10T03:08:05Z- AHRS_M2 msg: -0.23 phi; -0.21 theta; 0.44 psi 2021-10-10T03:08:05Z- handleDepth()-Depth_Keller msg: 1633835285787 epoch sec; seqNo:396; depth 11.60 2021-10-10T03:08:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835285.80 epoch sec; seqNo:396; 4061300.24 north; 594141.94 east 2021-10-10T03:08:06Z- AHRS_M2 msg: 1633835286.19 epoch sec; seqNo:385 2021-10-10T03:08:06Z- AHRS_M2 msg: -0.25 phi; -0.21 theta; 0.43 psi 2021-10-10T03:08:06Z- handleDepth()-Depth_Keller msg: 1633835286193 epoch sec; seqNo:397; depth 11.66 2021-10-10T03:08:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835286.20 epoch sec; seqNo:397; 4061300.62 north; 594141.94 east 2021-10-10T03:08:06Z- AHRS_M2 msg: 1633835286.59 epoch sec; seqNo:386 2021-10-10T03:08:06Z- AHRS_M2 msg: -0.26 phi; -0.22 theta; 0.43 psi 2021-10-10T03:08:06Z- handleDepth()-Depth_Keller msg: 1633835286604 epoch sec; seqNo:398; depth 11.72 2021-10-10T03:08:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:06Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:08:06Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:08:06Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:08:06Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:08:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:08:06Z- handleDvl() - RDI_Pathfinder msg: 1633835286.61 epoch sec; seqNo:93 2021-10-10T03:08:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:08:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.55 , -0.08 , 0.02 2021-10-10T03:08:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835286.62 epoch sec; seqNo:398; 4061300.62 north; 594141.94 east 2021-10-10T03:08:07Z- AHRS_M2 msg: 1633835287.00 epoch sec; seqNo:387 2021-10-10T03:08:07Z- AHRS_M2 msg: -0.26 phi; -0.22 theta; 0.42 psi 2021-10-10T03:08:07Z- handleDepth()-Depth_Keller msg: 1633835287009 epoch sec; seqNo:399; depth 11.80 2021-10-10T03:08:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835287.07 epoch sec; seqNo:399; 4061301.00 north; 594141.94 east 2021-10-10T03:08:07Z- AHRS_M2 msg: 1633835287.40 epoch sec; seqNo:388 2021-10-10T03:08:07Z- AHRS_M2 msg: -0.27 phi; -0.22 theta; 0.42 psi 2021-10-10T03:08:07Z- handleDepth()-Depth_Keller msg: 1633835287404 epoch sec; seqNo:400; depth 11.87 2021-10-10T03:08:07Z- handleDvl() - RDI_Pathfinder msg: 1633835287.42 epoch sec; seqNo:94 2021-10-10T03:08:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.62 , 96.98 , 72.57 , 96.98 2021-10-10T03:08:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.59 , -0.08 , -0.01 2021-10-10T03:08:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835287.44 epoch sec; seqNo:400; 4061301.01 north; 594143.16 east 2021-10-10T03:08:07Z- AHRS_M2 msg: 1633835287.80 epoch sec; seqNo:389 2021-10-10T03:08:07Z- AHRS_M2 msg: -0.27 phi; -0.21 theta; 0.42 psi 2021-10-10T03:08:07Z- handleDepth()-Depth_Keller msg: 1633835287813 epoch sec; seqNo:401; depth 11.94 2021-10-10T03:08:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835287.83 epoch sec; seqNo:401; 4061301.39 north; 594143.15 east 2021-10-10T03:08:08Z- AHRS_M2 msg: 1633835288.20 epoch sec; seqNo:390 2021-10-10T03:08:08Z- AHRS_M2 msg: -0.27 phi; -0.21 theta; 0.42 psi 2021-10-10T03:08:08Z- handleDepth()-Depth_Keller msg: 1633835288209 epoch sec; seqNo:402; depth 12.00 2021-10-10T03:08:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835288.22 epoch sec; seqNo:402; 4061301.39 north; 594143.15 east 2021-10-10T03:08:08Z- AHRS_M2 msg: 1633835288.62 epoch sec; seqNo:391 2021-10-10T03:08:08Z- AHRS_M2 msg: -0.26 phi; -0.21 theta; 0.42 psi 2021-10-10T03:08:08Z- handleDepth()-Depth_Keller msg: 1633835288627 epoch sec; seqNo:403; depth 12.09 2021-10-10T03:08:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835288.64 epoch sec; seqNo:403; 4061301.77 north; 594143.15 east 2021-10-10T03:08:08Z- LcmTrn::handleMessages() - handling 42 messages took 0.58 ms and 130 calls... 2021-10-10T03:08:08Z- waiting for 1633835286.41, time is 1633835288.64 2021-10-10T03:08:08Z- LcmTrn::updateTrn() >>>> pose time 1633835288.64, meas time 1633835287.42 <<<< 2021-10-10T03:08:08Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835287.42 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:08:08Z- TerrainNav::motionUpdate() - currEstimate = (4061302, 594143.15, 12.09) 2021-10-10T03:08:08Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:08:08Z- TerrainNav:: SubcloudNIS is 0.37, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:08:08Z- TNavBF::Projecting Measurements 2021-10-10T03:08:08Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:08:08Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:08:08Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:08:08Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:08:08Z- TNavFilter::4 good beams. 2021-10-10T03:08:08Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:08:08Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:08:08Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:08:08Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:08:08Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:08:08Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:08:08Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:08:08Z- TNavBF::mmse selected from filter -1 2021-10-10T03:08:08Z- TerrainMapOctree: (vehN, vehE ) = (4061301.15, 594142.87). 2021-10-10T03:08:08Z- TerrainMapOctree: Min Distance = 118.71. 2021-10-10T03:08:08Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:08:09Z- There is no specific good beam that all particles have in common. 2021-10-10T03:08:09Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 0 2021-10-10T03:08:09Z- Old Depth Bias: 0.00 DepthBiasCov: 0.99 K: 0.085 ExpectedMeasDiff: nan currMeas.covariance: 8.91 2021-10-10T03:08:09Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:08:09Z- Old Depth Bias: 0.00 DepthBiasCov: 0.91 K: 0.051 ExpectedMeasDiff: nan currMeas.covariance: 15.05 2021-10-10T03:08:09Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 2 2021-10-10T03:08:09Z- Old Depth Bias: 0.00 DepthBiasCov: 0.86 K: 0.078 ExpectedMeasDiff: nan currMeas.covariance: 8.43 2021-10-10T03:08:09Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 3 2021-10-10T03:08:09Z- Old Depth Bias: 0.00 DepthBiasCov: 0.79 K: 0.045 ExpectedMeasDiff: nan currMeas.covariance: 15.05 2021-10-10T03:08:09Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:08:09Z- Filter 0 beam number: 0 num in subcloud: 4905 num not in subcloud: 5095 2021-10-10T03:08:09Z- Filter 0 partialDeltaRmsComputation: 65.516017 terrainVariance: 0.456863 1-SumSquareWeights: 0.982443 2021-10-10T03:08:09Z- Filter 0 meanExpectedMeasDiff: 8.065925 delta_rms_squared: 0.447039 alpha: 0.957177 2021-10-10T03:08:09Z- Filter 0 beam number: 1 num in subcloud: 0 num not in subcloud: 10000 2021-10-10T03:08:09Z- Filter 0 insufficient particles or particle weight in subcloud for beam 1 2021-10-10T03:08:09Z- Filter 0 beam number: 2 num in subcloud: 5179 num not in subcloud: 4821 2021-10-10T03:08:09Z- Filter 0 partialDeltaRmsComputation: 121.212330 terrainVariance: 0.809992 1-SumSquareWeights: 0.982498 2021-10-10T03:08:09Z- Filter 0 meanExpectedMeasDiff: -10.972800 delta_rms_squared: 0.800167 alpha: 0.975615 2021-10-10T03:08:09Z- Filter 0 beam number: 3 num in subcloud: 0 num not in subcloud: 10000 2021-10-10T03:08:09Z- Filter 0 insufficient particles or particle weight in subcloud for beam 3 2021-10-10T03:08:09Z- Filter 0 SubcloudNIS: 0.428271 2021-10-10T03:08:09Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:08:09Z- TNavBF:: Filter 0 sumWeights = 0.000344 2021-10-10T03:08:09Z- Filter 0 NorthBias: 22.8 EastBias: -9.3 DepthBias: -12.1 NorthVariance: 1300.5 EastVariance: 348.3 DepthVariance: 77.3 this->DepthBiasCov: 0.8 2021-10-10T03:08:09Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835287.42 sec. 2021-10-10T03:08:09Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:08:09Z- TNavBF::mmse selected from filter -1 2021-10-10T03:08:09Z- variances([0], [2], and psi_berg) = 1302.024836 349.146722 0.000000 2021-10-10T03:08:09Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:08:09Z- LcmTrn::publishEstimates() - MLE : 4061351.27 594125.65 12.09 2021-10-10T03:08:09Z- LcmTrn::publishEstimates() - MMSE : 4061324.48 594133.87 0.02 2021-10-10T03:08:09Z- LcmTrn::publishEstimates() - COVAR: 1302.02 349.15 77.35 0.00 2021-10-10T03:08:09Z- AHRS_M2 msg: 1633835289.05 epoch sec; seqNo:392 2021-10-10T03:08:09Z- AHRS_M2 msg: -0.26 phi; -0.21 theta; 0.42 psi 2021-10-10T03:08:09Z- handleDepth()-Depth_Keller msg: 1633835289078 epoch sec; seqNo:404; depth 12.16 2021-10-10T03:08:09Z- handleDvl() - RDI_Pathfinder msg: 1633835289.10 epoch sec; seqNo:95 2021-10-10T03:08:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.79 , 100.71 , 73.38 , 98.27 2021-10-10T03:08:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.10 , -0.01 2021-10-10T03:08:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835289.11 epoch sec; seqNo:404; 4061302.15 north; 594143.14 east 2021-10-10T03:08:09Z- AHRS_M2 msg: 1633835289.42 epoch sec; seqNo:393 2021-10-10T03:08:09Z- AHRS_M2 msg: -0.25 phi; -0.21 theta; 0.42 psi 2021-10-10T03:08:09Z- handleDepth()-Depth_Keller msg: 1633835289422 epoch sec; seqNo:405; depth 12.25 2021-10-10T03:08:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835289.44 epoch sec; seqNo:405; 4061302.53 north; 594143.14 east 2021-10-10T03:08:09Z- AHRS_M2 msg: 1633835289.82 epoch sec; seqNo:394 2021-10-10T03:08:09Z- AHRS_M2 msg: -0.24 phi; -0.21 theta; 0.42 psi 2021-10-10T03:08:09Z- handleDepth()-Depth_Keller msg: 1633835289826 epoch sec; seqNo:406; depth 12.31 2021-10-10T03:08:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835289.84 epoch sec; seqNo:406; 4061302.53 north; 594143.14 east 2021-10-10T03:08:10Z- AHRS_M2 msg: 1633835290.23 epoch sec; seqNo:395 2021-10-10T03:08:10Z- AHRS_M2 msg: -0.24 phi; -0.21 theta; 0.42 psi 2021-10-10T03:08:10Z- handleDepth()-Depth_Keller msg: 1633835290233 epoch sec; seqNo:407; depth 12.38 2021-10-10T03:08:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835290.24 epoch sec; seqNo:407; 4061302.91 north; 594143.14 east 2021-10-10T03:08:10Z- AHRS_M2 msg: 1633835290.63 epoch sec; seqNo:396 2021-10-10T03:08:10Z- AHRS_M2 msg: -0.23 phi; -0.21 theta; 0.42 psi 2021-10-10T03:08:10Z- handleDepth()-Depth_Keller msg: 1633835290641 epoch sec; seqNo:408; depth 12.47 2021-10-10T03:08:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835290.65 epoch sec; seqNo:408; 4061303.29 north; 594143.13 east 2021-10-10T03:08:11Z- AHRS_M2 msg: 1633835291.06 epoch sec; seqNo:397 2021-10-10T03:08:11Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 0.42 psi 2021-10-10T03:08:11Z- handleDepth()-Depth_Keller msg: 1633835291073 epoch sec; seqNo:409; depth 12.54 2021-10-10T03:08:11Z- handleDvl() - RDI_Pathfinder msg: 1633835291.10 epoch sec; seqNo:96 2021-10-10T03:08:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.79 , 96.98 , 72.15 , 96.98 2021-10-10T03:08:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.63 , -0.14 , -0.01 2021-10-10T03:08:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835291.13 epoch sec; seqNo:409; 4061303.29 north; 594143.13 east 2021-10-10T03:08:11Z- AHRS_M2 msg: 1633835291.44 epoch sec; seqNo:398 2021-10-10T03:08:11Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 0.42 psi 2021-10-10T03:08:11Z- handleDepth()-Depth_Keller msg: 1633835291442 epoch sec; seqNo:410; depth 12.62 2021-10-10T03:08:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835291.46 epoch sec; seqNo:410; 4061303.66 north; 594143.13 east 2021-10-10T03:08:11Z- AHRS_M2 msg: 1633835291.84 epoch sec; seqNo:399 2021-10-10T03:08:11Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 0.41 psi 2021-10-10T03:08:11Z- handleDepth()-Depth_Keller msg: 1633835291852 epoch sec; seqNo:411; depth 12.69 2021-10-10T03:08:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835291.86 epoch sec; seqNo:411; 4061304.04 north; 594143.12 east 2021-10-10T03:08:12Z- AHRS_M2 msg: 1633835292.25 epoch sec; seqNo:400 2021-10-10T03:08:12Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 0.41 psi 2021-10-10T03:08:12Z- handleDepth()-Depth_Keller msg: 1633835292256 epoch sec; seqNo:412; depth 12.77 2021-10-10T03:08:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835292.27 epoch sec; seqNo:412; 4061304.04 north; 594143.12 east 2021-10-10T03:08:12Z- AHRS_M2 msg: 1633835292.65 epoch sec; seqNo:401 2021-10-10T03:08:12Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 0.41 psi 2021-10-10T03:08:12Z- handleDepth()-Depth_Keller msg: 1633835292655 epoch sec; seqNo:413; depth 12.84 2021-10-10T03:08:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835292.66 epoch sec; seqNo:413; 4061304.42 north; 594143.12 east 2021-10-10T03:08:13Z- AHRS_M2 msg: 1633835293.07 epoch sec; seqNo:402 2021-10-10T03:08:13Z- AHRS_M2 msg: -0.23 phi; -0.21 theta; 0.41 psi 2021-10-10T03:08:13Z- handleDepth()-Depth_Keller msg: 1633835293079 epoch sec; seqNo:414; depth 12.91 2021-10-10T03:08:13Z- handleDvl() - RDI_Pathfinder msg: 1633835293.11 epoch sec; seqNo:97 2021-10-10T03:08:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.79 , 97.11 , 71.33 , 97.11 2021-10-10T03:08:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.65 , -0.11 , -0.04 2021-10-10T03:08:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835293.13 epoch sec; seqNo:414; 4061304.80 north; 594143.11 east 2021-10-10T03:08:13Z- AHRS_M2 msg: 1633835293.46 epoch sec; seqNo:403 2021-10-10T03:08:13Z- AHRS_M2 msg: -0.23 phi; -0.21 theta; 0.41 psi 2021-10-10T03:08:13Z- handleDepth()-Depth_Keller msg: 1633835293468 epoch sec; seqNo:415; depth 13.00 2021-10-10T03:08:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835293.48 epoch sec; seqNo:415; 4061304.80 north; 594143.11 east 2021-10-10T03:08:13Z- AHRS_M2 msg: 1633835293.86 epoch sec; seqNo:404 2021-10-10T03:08:13Z- AHRS_M2 msg: -0.24 phi; -0.21 theta; 0.41 psi 2021-10-10T03:08:13Z- handleDepth()-Depth_Keller msg: 1633835293877 epoch sec; seqNo:416; depth 13.06 2021-10-10T03:08:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835293.89 epoch sec; seqNo:416; 4061305.18 north; 594143.11 east 2021-10-10T03:08:14Z- LcmTrn::handleMessages() - handling 42 messages took 0.61 ms and 129 calls... 2021-10-10T03:08:14Z- waiting for 1633835291.64, time is 1633835293.89 2021-10-10T03:08:14Z- LcmTrn::updateTrn() >>>> pose time 1633835293.89, meas time 1633835293.11 <<<< 2021-10-10T03:08:14Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835293.11 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:08:14Z- TerrainNav::motionUpdate() - currEstimate = (4061305, 594143.11, 13.06) 2021-10-10T03:08:14Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:08:14Z- TerrainNav:: SubcloudNIS is 0.43, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:08:14Z- TNavBF::Projecting Measurements 2021-10-10T03:08:14Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:08:14Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:08:14Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:08:14Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:08:14Z- TNavFilter::4 good beams. 2021-10-10T03:08:14Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:08:14Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:08:14Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:08:14Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:08:14Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:08:14Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:08:14Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:08:14Z- TNavBF::mmse selected from filter -1 2021-10-10T03:08:14Z- TerrainMapOctree: (vehN, vehE ) = (4061304.67, 594143.12). 2021-10-10T03:08:14Z- TerrainMapOctree: Min Distance = 120.06. 2021-10-10T03:08:14Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:08:14Z- There is no specific good beam that all particles have in common. 2021-10-10T03:08:14Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 0 2021-10-10T03:08:14Z- Old Depth Bias: 0.00 DepthBiasCov: 0.94 K: 0.083 ExpectedMeasDiff: nan currMeas.covariance: 8.71 2021-10-10T03:08:14Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:08:14Z- Old Depth Bias: 0.00 DepthBiasCov: 0.86 K: 0.049 ExpectedMeasDiff: nan currMeas.covariance: 15.09 2021-10-10T03:08:14Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 2 2021-10-10T03:08:14Z- Old Depth Bias: 0.00 DepthBiasCov: 0.82 K: 0.077 ExpectedMeasDiff: nan currMeas.covariance: 8.14 2021-10-10T03:08:14Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 3 2021-10-10T03:08:14Z- Old Depth Bias: 0.00 DepthBiasCov: 0.76 K: 0.043 ExpectedMeasDiff: nan currMeas.covariance: 15.09 2021-10-10T03:08:14Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:08:14Z- Filter 0 beam number: 0 num in subcloud: 5191 num not in subcloud: 4809 2021-10-10T03:08:14Z- Filter 0 partialDeltaRmsComputation: 65.904663 terrainVariance: 2.800870 1-SumSquareWeights: 0.963230 2021-10-10T03:08:14Z- Filter 0 meanExpectedMeasDiff: 7.943790 delta_rms_squared: 2.791238 alpha: 0.992886 2021-10-10T03:08:14Z- Filter 0 beam number: 1 num in subcloud: 0 num not in subcloud: 10000 2021-10-10T03:08:14Z- Filter 0 insufficient particles or particle weight in subcloud for beam 1 2021-10-10T03:08:14Z- Filter 0 beam number: 2 num in subcloud: 5522 num not in subcloud: 4478 2021-10-10T03:08:14Z- Filter 0 partialDeltaRmsComputation: 103.829469 terrainVariance: 5.168946 1-SumSquareWeights: 0.963840 2021-10-10T03:08:14Z- Filter 0 meanExpectedMeasDiff: -9.932800 delta_rms_squared: 5.159308 alpha: 0.996138 2021-10-10T03:08:14Z- Filter 0 beam number: 3 num in subcloud: 1 num not in subcloud: 9999 2021-10-10T03:08:14Z- Filter 0 insufficient particles or particle weight in subcloud for beam 3 2021-10-10T03:08:14Z- Filter 0 SubcloudNIS: 0.474720 2021-10-10T03:08:14Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:08:14Z- TNavBF:: Filter 0 sumWeights = 0.000734 2021-10-10T03:08:14Z- Filter 0 NorthBias: 23.8 EastBias: -11.8 DepthBias: -12.4 NorthVariance: 1324.6 EastVariance: 312.5 DepthVariance: 77.9 this->DepthBiasCov: 0.7 2021-10-10T03:08:14Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835293.11 sec. 2021-10-10T03:08:14Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:08:14Z- TNavBF::mmse selected from filter -1 2021-10-10T03:08:14Z- variances([0], [2], and psi_berg) = 1326.481134 313.382943 0.000000 2021-10-10T03:08:14Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:08:14Z- LcmTrn::publishEstimates() - MLE : 4061354.68 594125.61 13.06 2021-10-10T03:08:14Z- LcmTrn::publishEstimates() - MMSE : 4061328.86 594131.33 0.65 2021-10-10T03:08:14Z- LcmTrn::publishEstimates() - COVAR: 1326.48 313.38 77.97 0.00 2021-10-10T03:08:14Z- AHRS_M2 msg: 1633835294.27 epoch sec; seqNo:405 2021-10-10T03:08:14Z- AHRS_M2 msg: -0.23 phi; -0.21 theta; 0.41 psi 2021-10-10T03:08:14Z- handleDepth()-Depth_Keller msg: 1633835294273 epoch sec; seqNo:417; depth 13.14 2021-10-10T03:08:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835294.29 epoch sec; seqNo:417; 4061305.56 north; 594143.11 east 2021-10-10T03:08:14Z- AHRS_M2 msg: 1633835294.67 epoch sec; seqNo:406 2021-10-10T03:08:14Z- AHRS_M2 msg: -0.23 phi; -0.21 theta; 0.41 psi 2021-10-10T03:08:14Z- handleDepth()-Depth_Keller msg: 1633835294684 epoch sec; seqNo:418; depth 13.22 2021-10-10T03:08:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835294.69 epoch sec; seqNo:418; 4061305.56 north; 594143.11 east 2021-10-10T03:08:15Z- AHRS_M2 msg: 1633835295.08 epoch sec; seqNo:407 2021-10-10T03:08:15Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 0.41 psi 2021-10-10T03:08:15Z- handleDepth()-Depth_Keller msg: 1633835295092 epoch sec; seqNo:419; depth 13.28 2021-10-10T03:08:15Z- handleDvl() - RDI_Pathfinder msg: 1633835295.12 epoch sec; seqNo:98 2021-10-10T03:08:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.56 , 97.11 , 71.33 , 95.89 2021-10-10T03:08:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.63 , -0.10 , -0.02 2021-10-10T03:08:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835295.15 epoch sec; seqNo:419; 4061305.94 north; 594143.10 east 2021-10-10T03:08:15Z- AHRS_M2 msg: 1633835295.48 epoch sec; seqNo:408 2021-10-10T03:08:15Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 0.41 psi 2021-10-10T03:08:15Z- handleDepth()-Depth_Keller msg: 1633835295482 epoch sec; seqNo:420; depth 13.36 2021-10-10T03:08:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835295.50 epoch sec; seqNo:420; 4061306.33 north; 594144.32 east 2021-10-10T03:08:15Z- AHRS_M2 msg: 1633835295.88 epoch sec; seqNo:409 2021-10-10T03:08:15Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 0.41 psi 2021-10-10T03:08:15Z- handleDepth()-Depth_Keller msg: 1633835295888 epoch sec; seqNo:421; depth 13.42 2021-10-10T03:08:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835295.90 epoch sec; seqNo:421; 4061306.33 north; 594144.32 east 2021-10-10T03:08:16Z- AHRS_M2 msg: 1633835296.29 epoch sec; seqNo:410 2021-10-10T03:08:16Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 0.41 psi 2021-10-10T03:08:16Z- handleDepth()-Depth_Keller msg: 1633835296295 epoch sec; seqNo:422; depth 13.49 2021-10-10T03:08:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835296.31 epoch sec; seqNo:422; 4061306.71 north; 594144.31 east 2021-10-10T03:08:16Z- AHRS_M2 msg: 1633835296.69 epoch sec; seqNo:411 2021-10-10T03:08:16Z- AHRS_M2 msg: -0.23 phi; -0.20 theta; 0.40 psi 2021-10-10T03:08:16Z- handleDepth()-Depth_Keller msg: 1633835296694 epoch sec; seqNo:423; depth 13.57 2021-10-10T03:08:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835296.73 epoch sec; seqNo:423; 4061307.09 north; 594144.31 east 2021-10-10T03:08:17Z- AHRS_M2 msg: 1633835297.09 epoch sec; seqNo:412 2021-10-10T03:08:17Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 0.40 psi 2021-10-10T03:08:17Z- handleDepth()-Depth_Keller msg: 1633835297098 epoch sec; seqNo:424; depth 13.63 2021-10-10T03:08:17Z- handleDvl() - RDI_Pathfinder msg: 1633835297.13 epoch sec; seqNo:99 2021-10-10T03:08:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.15 , 94.74 , 70.51 , 98.40 2021-10-10T03:08:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.62 , -0.11 , 0.05 2021-10-10T03:08:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835297.15 epoch sec; seqNo:424; 4061307.09 north; 594144.31 east 2021-10-10T03:08:17Z- AHRS_M2 msg: 1633835297.50 epoch sec; seqNo:413 2021-10-10T03:08:17Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 0.39 psi 2021-10-10T03:08:17Z- handleDepth()-Depth_Keller msg: 1633835297511 epoch sec; seqNo:425; depth 13.71 2021-10-10T03:08:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835297.55 epoch sec; seqNo:425; 4061307.47 north; 594144.31 east 2021-10-10T03:08:17Z- AHRS_M2 msg: 1633835297.91 epoch sec; seqNo:414 2021-10-10T03:08:17Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 0.39 psi 2021-10-10T03:08:17Z- handleDepth()-Depth_Keller msg: 1633835297917 epoch sec; seqNo:426; depth 13.77 2021-10-10T03:08:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835297.93 epoch sec; seqNo:426; 4061307.47 north; 594144.31 east 2021-10-10T03:08:18Z- AHRS_M2 msg: 1633835298.31 epoch sec; seqNo:415 2021-10-10T03:08:18Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 0.39 psi 2021-10-10T03:08:18Z- handleDepth()-Depth_Keller msg: 1633835298310 epoch sec; seqNo:427; depth 13.84 2021-10-10T03:08:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835298.33 epoch sec; seqNo:427; 4061307.84 north; 594144.30 east 2021-10-10T03:08:18Z- AHRS_M2 msg: 1633835298.71 epoch sec; seqNo:416 2021-10-10T03:08:18Z- AHRS_M2 msg: -0.25 phi; -0.20 theta; 0.39 psi 2021-10-10T03:08:18Z- handleDepth()-Depth_Keller msg: 1633835298714 epoch sec; seqNo:428; depth 13.89 2021-10-10T03:08:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835298.72 epoch sec; seqNo:428; 4061308.22 north; 594144.30 east 2021-10-10T03:08:19Z- AHRS_M2 msg: 1633835299.11 epoch sec; seqNo:417 2021-10-10T03:08:19Z- AHRS_M2 msg: -0.25 phi; -0.20 theta; 0.39 psi 2021-10-10T03:08:19Z- handleDepth()-Depth_Keller msg: 1633835299120 epoch sec; seqNo:429; depth 13.98 2021-10-10T03:08:19Z- handleDvl() - RDI_Pathfinder msg: 1633835299.14 epoch sec; seqNo:100 2021-10-10T03:08:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.15 , 95.96 , 70.92 , 95.96 2021-10-10T03:08:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.61 , 0.01 , 0.06 2021-10-10T03:08:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835299.17 epoch sec; seqNo:429; 4061308.22 north; 594144.30 east 2021-10-10T03:08:19Z- LcmTrn::handleMessages() - handling 42 messages took 0.68 ms and 128 calls... 2021-10-10T03:08:19Z- waiting for 1633835296.89, time is 1633835299.17 2021-10-10T03:08:19Z- LcmTrn::updateTrn() equating pose 1633835299.17 and meas times 1633835299.17 2021-10-10T03:08:19Z- LcmTrn::updateTrn() >>>> pose time 1633835299.17, meas time 1633835299.17 <<<< 2021-10-10T03:08:19Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835299.17 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:08:19Z- TerrainNav::motionUpdate() - currEstimate = (4061308, 594144.30, 13.98) 2021-10-10T03:08:19Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:08:19Z- TerrainNav:: SubcloudNIS is 0.47, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:08:19Z- TerrainNav::Measurement type 1 not incorporated from time = 1633835299.17 sec.; No relevant navigation data available 2021-10-10T03:08:19Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:08:19Z- TNavBF::mmse selected from filter -1 2021-10-10T03:08:19Z- variances([0], [2], and psi_berg) = 1331.226943 315.688074 0.000000 2021-10-10T03:08:19Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:08:19Z- LcmTrn::publishEstimates() - MLE : 4061357.72 594126.80 13.98 2021-10-10T03:08:19Z- LcmTrn::publishEstimates() - MMSE : 4061331.68 594132.57 1.62 2021-10-10T03:08:19Z- LcmTrn::publishEstimates() - COVAR: 1331.23 315.69 78.33 0.00 2021-10-10T03:08:19Z- AHRS_M2 msg: 1633835299.52 epoch sec; seqNo:418 2021-10-10T03:08:19Z- AHRS_M2 msg: -0.25 phi; -0.20 theta; 0.39 psi 2021-10-10T03:08:19Z- handleDepth()-Depth_Keller msg: 1633835299524 epoch sec; seqNo:430; depth 14.05 2021-10-10T03:08:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835299.54 epoch sec; seqNo:430; 4061308.60 north; 594144.29 east 2021-10-10T03:08:19Z- AHRS_M2 msg: 1633835299.92 epoch sec; seqNo:419 2021-10-10T03:08:19Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 0.40 psi 2021-10-10T03:08:19Z- handleDepth()-Depth_Keller msg: 1633835299938 epoch sec; seqNo:431; depth 14.11 2021-10-10T03:08:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835299.95 epoch sec; seqNo:431; 4061308.60 north; 594144.29 east 2021-10-10T03:08:20Z- AHRS_M2 msg: 1633835300.33 epoch sec; seqNo:420 2021-10-10T03:08:20Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 0.40 psi 2021-10-10T03:08:20Z- handleDepth()-Depth_Keller msg: 1633835300332 epoch sec; seqNo:432; depth 14.18 2021-10-10T03:08:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835300.36 epoch sec; seqNo:432; 4061308.98 north; 594144.29 east 2021-10-10T03:08:20Z- AHRS_M2 msg: 1633835300.74 epoch sec; seqNo:421 2021-10-10T03:08:20Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 0.41 psi 2021-10-10T03:08:20Z- handleDepth()-Depth_Keller msg: 1633835300748 epoch sec; seqNo:433; depth 14.25 2021-10-10T03:08:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835300.76 epoch sec; seqNo:433; 4061308.98 north; 594144.29 east 2021-10-10T03:08:21Z- AHRS_M2 msg: 1633835301.13 epoch sec; seqNo:422 2021-10-10T03:08:21Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 0.41 psi 2021-10-10T03:08:21Z- handleDepth()-Depth_Keller msg: 1633835301140 epoch sec; seqNo:434; depth 14.31 2021-10-10T03:08:21Z- handleDvl() - RDI_Pathfinder msg: 1633835301.16 epoch sec; seqNo:101 2021-10-10T03:08:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.33 , 95.96 , 71.33 , 98.40 2021-10-10T03:08:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , -0.03 , -0.14 2021-10-10T03:08:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835301.20 epoch sec; seqNo:434; 4061309.36 north; 594144.28 east 2021-10-10T03:08:21Z- AHRS_M2 msg: 1633835301.57 epoch sec; seqNo:423 2021-10-10T03:08:21Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 0.41 psi 2021-10-10T03:08:21Z- handleDepth()-Depth_Keller msg: 1633835301572 epoch sec; seqNo:435; depth 14.37 2021-10-10T03:08:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835301.59 epoch sec; seqNo:435; 4061309.74 north; 594144.28 east 2021-10-10T03:08:21Z- AHRS_M2 msg: 1633835301.94 epoch sec; seqNo:424 2021-10-10T03:08:21Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 0.41 psi 2021-10-10T03:08:21Z- handleDepth()-Depth_Keller msg: 1633835301950 epoch sec; seqNo:436; depth 14.45 2021-10-10T03:08:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835301.97 epoch sec; seqNo:436; 4061310.13 north; 594145.50 east 2021-10-10T03:08:22Z- AHRS_M2 msg: 1633835302.35 epoch sec; seqNo:425 2021-10-10T03:08:22Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 0.41 psi 2021-10-10T03:08:22Z- handleDepth()-Depth_Keller msg: 1633835302353 epoch sec; seqNo:437; depth 14.50 2021-10-10T03:08:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835302.36 epoch sec; seqNo:437; 4061310.13 north; 594145.50 east 2021-10-10T03:08:22Z- AHRS_M2 msg: 1633835302.76 epoch sec; seqNo:426 2021-10-10T03:08:22Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 0.41 psi 2021-10-10T03:08:22Z- handleDepth()-Depth_Keller msg: 1633835302759 epoch sec; seqNo:438; depth 14.56 2021-10-10T03:08:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835302.77 epoch sec; seqNo:438; 4061310.51 north; 594145.49 east 2021-10-10T03:08:23Z- AHRS_M2 msg: 1633835303.16 epoch sec; seqNo:427 2021-10-10T03:08:23Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 0.41 psi 2021-10-10T03:08:23Z- handleDepth()-Depth_Keller msg: 1633835303169 epoch sec; seqNo:439; depth 14.63 2021-10-10T03:08:23Z- handleDvl() - RDI_Pathfinder msg: 1633835303.20 epoch sec; seqNo:102 2021-10-10T03:08:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.10 , 94.74 , 0.00 , 93.51 2021-10-10T03:08:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , -0.21 , -0.06 2021-10-10T03:08:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835303.23 epoch sec; seqNo:439; 4061310.89 north; 594145.49 east 2021-10-10T03:08:23Z- AHRS_M2 msg: 1633835303.56 epoch sec; seqNo:428 2021-10-10T03:08:23Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 0.41 psi 2021-10-10T03:08:23Z- handleDepth()-Depth_Keller msg: 1633835303580 epoch sec; seqNo:440; depth 14.69 2021-10-10T03:08:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835303.60 epoch sec; seqNo:440; 4061311.27 north; 594145.48 east 2021-10-10T03:08:23Z- AHRS_M2 msg: 1633835303.96 epoch sec; seqNo:429 2021-10-10T03:08:23Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 0.41 psi 2021-10-10T03:08:23Z- handleDepth()-Depth_Keller msg: 1633835303966 epoch sec; seqNo:441; depth 14.74 2021-10-10T03:08:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835303.98 epoch sec; seqNo:441; 4061311.27 north; 594145.48 east 2021-10-10T03:08:24Z- AHRS_M2 msg: 1633835304.37 epoch sec; seqNo:430 2021-10-10T03:08:24Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 0.41 psi 2021-10-10T03:08:24Z- handleDepth()-Depth_Keller msg: 1633835304374 epoch sec; seqNo:442; depth 14.79 2021-10-10T03:08:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835304.38 epoch sec; seqNo:442; 4061311.65 north; 594145.48 east 2021-10-10T03:08:24Z- LcmTrn::handleMessages() - handling 41 messages took 0.64 ms and 128 calls... 2021-10-10T03:08:24Z- waiting for 1633835302.17, time is 1633835304.38 2021-10-10T03:08:24Z- LcmTrn::updateTrn() >>>> pose time 1633835304.38, meas time 1633835303.20 <<<< 2021-10-10T03:08:24Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835303.20 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:08:24Z- TerrainNav::motionUpdate() - currEstimate = (4061312, 594145.48, 14.79) 2021-10-10T03:08:24Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:08:24Z- TerrainNav:: SubcloudNIS is 0.47, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:08:24Z- TNavBF::Projecting Measurements 2021-10-10T03:08:24Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:08:24Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:08:24Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:08:24Z- TNavFilter::Excluded 1 beam(s) from correlation due to poor sonar data. 2021-10-10T03:08:24Z- TNavFilter::3 good beams. 2021-10-10T03:08:24Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:08:24Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:08:24Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:08:24Z- TNavBF:: beamIndex[2] = 3 2021-10-10T03:08:24Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:08:24Z- TNavBF:: *** beamsVF.Ncols() = 3 *** 2021-10-10T03:08:24Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:08:24Z- TNavBF::mmse selected from filter -1 2021-10-10T03:08:24Z- TerrainMapOctree: (vehN, vehE ) = (4061310.87, 594145.21). 2021-10-10T03:08:24Z- TerrainMapOctree: Min Distance = 121.18. 2021-10-10T03:08:24Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:08:24Z- There is no specific good beam that all particles have in common. 2021-10-10T03:08:24Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 0 2021-10-10T03:08:24Z- Old Depth Bias: 0.00 DepthBiasCov: 1.06 K: 0.099 ExpectedMeasDiff: nan currMeas.covariance: 7.86 2021-10-10T03:08:24Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:08:24Z- Old Depth Bias: 0.00 DepthBiasCov: 0.95 K: 0.056 ExpectedMeasDiff: nan currMeas.covariance: 14.36 2021-10-10T03:08:24Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 2 2021-10-10T03:08:24Z- Old Depth Bias: 0.00 DepthBiasCov: 0.90 K: 0.054 ExpectedMeasDiff: nan currMeas.covariance: 13.99 2021-10-10T03:08:24Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:08:24Z- Filter 0 beam number: 0 num in subcloud: 6190 num not in subcloud: 3810 2021-10-10T03:08:24Z- Filter 0 partialDeltaRmsComputation: 29.644500 terrainVariance: 17.324607 1-SumSquareWeights: 0.953550 2021-10-10T03:08:24Z- Filter 0 meanExpectedMeasDiff: 3.509971 delta_rms_squared: 17.315071 alpha: 0.998846 2021-10-10T03:08:24Z- Filter 0 beam number: 1 num in subcloud: 3 num not in subcloud: 9997 2021-10-10T03:08:24Z- Filter 0 insufficient particles or particle weight in subcloud for beam 1 2021-10-10T03:08:24Z- Filter 0 beam number: 2 num in subcloud: 178 num not in subcloud: 9822 2021-10-10T03:08:24Z- Filter 0 insufficient particles or particle weight in subcloud for beam 2 2021-10-10T03:08:24Z- Filter 0 SubcloudNIS: 0.460925 2021-10-10T03:08:24Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:08:24Z- TNavBF:: Filter 0 sumWeights = 0.336770 2021-10-10T03:08:24Z- Filter 0 NorthBias: 25.8 EastBias: -12.0 DepthBias: -12.8 NorthVariance: 1327.1 EastVariance: 291.1 DepthVariance: 68.5 this->DepthBiasCov: 0.9 2021-10-10T03:08:24Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835303.20 sec. 2021-10-10T03:08:24Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:08:24Z- TNavBF::mmse selected from filter -1 2021-10-10T03:08:24Z- variances([0], [2], and psi_berg) = 1330.033355 292.183131 0.000000 2021-10-10T03:08:24Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:08:24Z- LcmTrn::publishEstimates() - MLE : 4061361.15 594127.98 14.79 2021-10-10T03:08:24Z- LcmTrn::publishEstimates() - MMSE : 4061337.35 594133.49 2.00 2021-10-10T03:08:24Z- LcmTrn::publishEstimates() - COVAR: 1330.03 292.18 68.63 0.00 2021-10-10T03:08:24Z- AHRS_M2 msg: 1633835304.77 epoch sec; seqNo:431 2021-10-10T03:08:24Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 0.40 psi 2021-10-10T03:08:24Z- handleDepth()-Depth_Keller msg: 1633835304787 epoch sec; seqNo:443; depth 14.85 2021-10-10T03:08:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835304.80 epoch sec; seqNo:443; 4061312.03 north; 594145.48 east 2021-10-10T03:08:25Z- AHRS_M2 msg: 1633835305.17 epoch sec; seqNo:432 2021-10-10T03:08:25Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 0.40 psi 2021-10-10T03:08:25Z- handleDepth()-Depth_Keller msg: 1633835305178 epoch sec; seqNo:444; depth 14.90 2021-10-10T03:08:25Z- handleDvl() - RDI_Pathfinder msg: 1633835305.21 epoch sec; seqNo:103 2021-10-10T03:08:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.92 , 92.09 , 70.51 , 92.09 2021-10-10T03:08:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.64 , -0.19 , 0.05 2021-10-10T03:08:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835305.22 epoch sec; seqNo:444; 4061312.40 north; 594145.47 east 2021-10-10T03:08:25Z- AHRS_M2 msg: 1633835305.58 epoch sec; seqNo:433 2021-10-10T03:08:25Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 0.40 psi 2021-10-10T03:08:25Z- handleDepth()-Depth_Keller msg: 1633835305590 epoch sec; seqNo:445; depth 14.96 2021-10-10T03:08:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835305.61 epoch sec; seqNo:445; 4061312.40 north; 594145.47 east 2021-10-10T03:08:25Z- AHRS_M2 msg: 1633835305.98 epoch sec; seqNo:434 2021-10-10T03:08:25Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 0.40 psi 2021-10-10T03:08:25Z- handleDepth()-Depth_Keller msg: 1633835305989 epoch sec; seqNo:446; depth 15.00 2021-10-10T03:08:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835306.00 epoch sec; seqNo:446; 4061312.78 north; 594145.47 east 2021-10-10T03:08:26Z- AHRS_M2 msg: 1633835306.39 epoch sec; seqNo:435 2021-10-10T03:08:26Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 0.40 psi 2021-10-10T03:08:26Z- handleDepth()-Depth_Keller msg: 1633835306390 epoch sec; seqNo:447; depth 15.09 2021-10-10T03:08:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835306.41 epoch sec; seqNo:447; 4061313.16 north; 594145.46 east 2021-10-10T03:08:26Z- AHRS_M2 msg: 1633835306.79 epoch sec; seqNo:436 2021-10-10T03:08:26Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 0.40 psi 2021-10-10T03:08:26Z- handleDepth()-Depth_Keller msg: 1633835306796 epoch sec; seqNo:448; depth 15.13 2021-10-10T03:08:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835306.81 epoch sec; seqNo:448; 4061313.16 north; 594145.46 east 2021-10-10T03:08:27Z- AHRS_M2 msg: 1633835307.19 epoch sec; seqNo:437 2021-10-10T03:08:27Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 0.40 psi 2021-10-10T03:08:27Z- handleDepth()-Depth_Keller msg: 1633835307204 epoch sec; seqNo:449; depth 15.19 2021-10-10T03:08:27Z- handleDvl() - RDI_Pathfinder msg: 1633835307.23 epoch sec; seqNo:104 2021-10-10T03:08:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.51 , 93.58 , 70.92 , 92.50 2021-10-10T03:08:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.67 , -0.09 , 0.06 2021-10-10T03:08:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835307.25 epoch sec; seqNo:449; 4061313.54 north; 594145.46 east 2021-10-10T03:08:27Z- AHRS_M2 msg: 1633835307.60 epoch sec; seqNo:438 2021-10-10T03:08:27Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 0.40 psi 2021-10-10T03:08:27Z- handleDepth()-Depth_Keller msg: 1633835307609 epoch sec; seqNo:450; depth 15.24 2021-10-10T03:08:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835307.64 epoch sec; seqNo:450; 4061313.92 north; 594145.46 east 2021-10-10T03:08:28Z- AHRS_M2 msg: 1633835308.00 epoch sec; seqNo:439 2021-10-10T03:08:28Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 0.40 psi 2021-10-10T03:08:28Z- handleDepth()-Depth_Keller msg: 1633835308008 epoch sec; seqNo:451; depth 15.30 2021-10-10T03:08:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835308.02 epoch sec; seqNo:451; 4061313.92 north; 594145.46 east 2021-10-10T03:08:28Z- AHRS_M2 msg: 1633835308.41 epoch sec; seqNo:440 2021-10-10T03:08:28Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 0.41 psi 2021-10-10T03:08:28Z- handleDepth()-Depth_Keller msg: 1633835308412 epoch sec; seqNo:452; depth 15.36 2021-10-10T03:08:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835308.42 epoch sec; seqNo:452; 4061314.30 north; 594145.45 east 2021-10-10T03:08:28Z- AHRS_M2 msg: 1633835308.82 epoch sec; seqNo:441 2021-10-10T03:08:28Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 0.41 psi 2021-10-10T03:08:28Z- handleDepth()-Depth_Keller msg: 1633835308821 epoch sec; seqNo:453; depth 15.42 2021-10-10T03:08:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835308.83 epoch sec; seqNo:453; 4061314.30 north; 594145.45 east 2021-10-10T03:08:29Z- AHRS_M2 msg: 1633835309.21 epoch sec; seqNo:442 2021-10-10T03:08:29Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 0.41 psi 2021-10-10T03:08:29Z- handleDepth()-Depth_Keller msg: 1633835309229 epoch sec; seqNo:454; depth 15.48 2021-10-10T03:08:29Z- handleDvl() - RDI_Pathfinder msg: 1633835309.26 epoch sec; seqNo:105 2021-10-10T03:08:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.69 , 95.75 , 70.51 , 97.93 2021-10-10T03:08:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.65 , -0.09 , -0.02 2021-10-10T03:08:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835309.27 epoch sec; seqNo:454; 4061314.68 north; 594145.45 east 2021-10-10T03:08:29Z- AHRS_M2 msg: 1633835309.62 epoch sec; seqNo:443 2021-10-10T03:08:29Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 0.41 psi 2021-10-10T03:08:29Z- LcmTrn::handleMessages() - handling 40 messages took 0.73 ms and 125 calls... 2021-10-10T03:08:29Z- waiting for 1633835307.38, time is 1633835309.62 2021-10-10T03:08:29Z- LcmTrn::updateTrn() >>>> pose time 1633835309.62, meas time 1633835309.26 <<<< 2021-10-10T03:08:29Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835309.26 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:08:29Z- TerrainNav::motionUpdate() - currEstimate = (4061315, 594145.45, 15.48) 2021-10-10T03:08:29Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:08:29Z- TerrainNav:: SubcloudNIS is 0.46, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:08:29Z- TNavBF::Projecting Measurements 2021-10-10T03:08:29Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:08:29Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:08:29Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:08:29Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:08:29Z- TNavFilter::4 good beams. 2021-10-10T03:08:29Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:08:29Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:08:29Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:08:29Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:08:29Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:08:29Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:08:29Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:08:29Z- TNavBF::mmse selected from filter -1 2021-10-10T03:08:29Z- TerrainMapOctree: (vehN, vehE ) = (4061314.47, 594145.45). 2021-10-10T03:08:29Z- TerrainMapOctree: Min Distance = 122.83. 2021-10-10T03:08:29Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:08:29Z- There is no specific good beam that all particles have in common. 2021-10-10T03:08:29Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 0 2021-10-10T03:08:29Z- Old Depth Bias: 0.00 DepthBiasCov: 1.04 K: 0.098 ExpectedMeasDiff: nan currMeas.covariance: 7.77 2021-10-10T03:08:29Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:08:29Z- Old Depth Bias: 0.00 DepthBiasCov: 0.94 K: 0.054 ExpectedMeasDiff: nan currMeas.covariance: 14.67 2021-10-10T03:08:29Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 2 2021-10-10T03:08:29Z- Old Depth Bias: 0.00 DepthBiasCov: 0.89 K: 0.084 ExpectedMeasDiff: nan currMeas.covariance: 7.95 2021-10-10T03:08:29Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 3 2021-10-10T03:08:29Z- Old Depth Bias: 0.00 DepthBiasCov: 0.81 K: 0.045 ExpectedMeasDiff: nan currMeas.covariance: 15.34 2021-10-10T03:08:29Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:08:29Z- Filter 0 beam number: 0 num in subcloud: 6495 num not in subcloud: 3505 2021-10-10T03:08:29Z- Filter 0 partialDeltaRmsComputation: 32.136395 terrainVariance: 6.738725 1-SumSquareWeights: 0.952182 2021-10-10T03:08:29Z- Filter 0 meanExpectedMeasDiff: 5.039610 delta_rms_squared: 6.729203 alpha: 0.997037 2021-10-10T03:08:29Z- Filter 0 beam number: 1 num in subcloud: 11 num not in subcloud: 9989 2021-10-10T03:08:29Z- Filter 0 insufficient particles or particle weight in subcloud for beam 1 2021-10-10T03:08:29Z- Filter 0 beam number: 2 num in subcloud: 6669 num not in subcloud: 3331 2021-10-10T03:08:29Z- Filter 0 partialDeltaRmsComputation: 82.215919 terrainVariance: 14.244782 1-SumSquareWeights: 0.954414 2021-10-10T03:08:29Z- Filter 0 meanExpectedMeasDiff: -8.244461 delta_rms_squared: 14.235238 alpha: 0.998597 2021-10-10T03:08:29Z- Filter 0 beam number: 3 num in subcloud: 314 num not in subcloud: 9686 2021-10-10T03:08:29Z- Filter 0 partialDeltaRmsComputation: 420.719259 terrainVariance: 0.118560 1-SumSquareWeights: 0.936567 2021-10-10T03:08:29Z- Filter 0 meanExpectedMeasDiff: 20.508552 delta_rms_squared: 0.109195 alpha: 0.845195 2021-10-10T03:08:29Z- Filter 0 SubcloudNIS: 0.560464 2021-10-10T03:08:29Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:08:29Z- TNavBF:: Filter 0 sumWeights = 0.000001 2021-10-10T03:08:29Z- Filter 0 NorthBias: 28.9 EastBias: -14.0 DepthBias: -13.7 NorthVariance: 1255.1 EastVariance: 219.5 DepthVariance: 63.0 this->DepthBiasCov: 0.8 2021-10-10T03:08:29Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835309.26 sec. 2021-10-10T03:08:29Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:08:29Z- TNavBF::mmse selected from filter -1 2021-10-10T03:08:29Z- variances([0], [2], and psi_berg) = 1256.916014 219.981677 0.000000 2021-10-10T03:08:29Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:08:29Z- LcmTrn::publishEstimates() - MLE : 4061364.18 594127.95 15.48 2021-10-10T03:08:29Z- LcmTrn::publishEstimates() - MMSE : 4061343.48 594131.46 1.78 2021-10-10T03:08:29Z- LcmTrn::publishEstimates() - COVAR: 1256.92 219.98 63.11 0.00 2021-10-10T03:08:29Z- handleDepth()-Depth_Keller msg: 1633835309621 epoch sec; seqNo:455; depth 15.55 2021-10-10T03:08:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835309.64 epoch sec; seqNo:455; 4061315.06 north; 594145.44 east 2021-10-10T03:08:30Z- AHRS_M2 msg: 1633835310.02 epoch sec; seqNo:444 2021-10-10T03:08:30Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 0.41 psi 2021-10-10T03:08:30Z- handleDepth()-Depth_Keller msg: 1633835310026 epoch sec; seqNo:456; depth 15.62 2021-10-10T03:08:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835310.04 epoch sec; seqNo:456; 4061315.06 north; 594145.44 east 2021-10-10T03:08:30Z- AHRS_M2 msg: 1633835310.43 epoch sec; seqNo:445 2021-10-10T03:08:30Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 0.41 psi 2021-10-10T03:08:30Z- handleDepth()-Depth_Keller msg: 1633835310436 epoch sec; seqNo:457; depth 15.68 2021-10-10T03:08:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835310.45 epoch sec; seqNo:457; 4061315.43 north; 594145.44 east 2021-10-10T03:08:30Z- AHRS_M2 msg: 1633835310.83 epoch sec; seqNo:446 2021-10-10T03:08:30Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 0.41 psi 2021-10-10T03:08:30Z- handleDepth()-Depth_Keller msg: 1633835310835 epoch sec; seqNo:458; depth 15.74 2021-10-10T03:08:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835310.85 epoch sec; seqNo:458; 4061315.83 north; 594146.65 east 2021-10-10T03:08:31Z- AHRS_M2 msg: 1633835311.23 epoch sec; seqNo:447 2021-10-10T03:08:31Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 0.41 psi 2021-10-10T03:08:31Z- handleDepth()-Depth_Keller msg: 1633835311239 epoch sec; seqNo:459; depth 15.80 2021-10-10T03:08:31Z- handleDvl() - RDI_Pathfinder msg: 1633835311.26 epoch sec; seqNo:106 2021-10-10T03:08:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.28 , 93.58 , 69.69 , 92.36 2021-10-10T03:08:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.67 , -0.11 , 0.03 2021-10-10T03:08:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835311.30 epoch sec; seqNo:459; 4061316.21 north; 594146.65 east 2021-10-10T03:08:31Z- AHRS_M2 msg: 1633835311.64 epoch sec; seqNo:448 2021-10-10T03:08:31Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 0.41 psi 2021-10-10T03:08:31Z- handleDepth()-Depth_Keller msg: 1633835311645 epoch sec; seqNo:460; depth 15.87 2021-10-10T03:08:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835311.66 epoch sec; seqNo:460; 4061316.21 north; 594146.65 east 2021-10-10T03:08:32Z- AHRS_M2 msg: 1633835312.04 epoch sec; seqNo:449 2021-10-10T03:08:32Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.41 psi 2021-10-10T03:08:32Z- handleDepth()-Depth_Keller msg: 1633835312046 epoch sec; seqNo:461; depth 15.93 2021-10-10T03:08:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835312.06 epoch sec; seqNo:461; 4061316.58 north; 594146.65 east 2021-10-10T03:08:32Z- AHRS_M2 msg: 1633835312.44 epoch sec; seqNo:450 2021-10-10T03:08:32Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.41 psi 2021-10-10T03:08:32Z- handleDepth()-Depth_Keller msg: 1633835312451 epoch sec; seqNo:462; depth 15.99 2021-10-10T03:08:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835312.46 epoch sec; seqNo:462; 4061316.58 north; 594146.65 east 2021-10-10T03:08:32Z- AHRS_M2 msg: 1633835312.85 epoch sec; seqNo:451 2021-10-10T03:08:32Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 0.42 psi 2021-10-10T03:08:32Z- handleDepth()-Depth_Keller msg: 1633835312856 epoch sec; seqNo:463; depth 16.04 2021-10-10T03:08:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835312.87 epoch sec; seqNo:463; 4061316.96 north; 594146.64 east 2021-10-10T03:08:33Z- AHRS_M2 msg: 1633835313.25 epoch sec; seqNo:452 2021-10-10T03:08:33Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 0.42 psi 2021-10-10T03:08:33Z- handleDepth()-Depth_Keller msg: 1633835313273 epoch sec; seqNo:464; depth 16.09 2021-10-10T03:08:33Z- handleDvl() - RDI_Pathfinder msg: 1633835313.30 epoch sec; seqNo:107 2021-10-10T03:08:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.10 , 92.50 , 69.28 , 92.50 2021-10-10T03:08:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.67 , -0.03 , -0.04 2021-10-10T03:08:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835313.34 epoch sec; seqNo:464; 4061317.34 north; 594146.64 east 2021-10-10T03:08:33Z- AHRS_M2 msg: 1633835313.66 epoch sec; seqNo:453 2021-10-10T03:08:33Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 0.42 psi 2021-10-10T03:08:33Z- handleDepth()-Depth_Keller msg: 1633835313668 epoch sec; seqNo:465; depth 16.17 2021-10-10T03:08:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835313.70 epoch sec; seqNo:465; 4061317.72 north; 594146.63 east 2021-10-10T03:08:34Z- AHRS_M2 msg: 1633835314.06 epoch sec; seqNo:454 2021-10-10T03:08:34Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.42 psi 2021-10-10T03:08:34Z- handleDepth()-Depth_Keller msg: 1633835314072 epoch sec; seqNo:466; depth 16.23 2021-10-10T03:08:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835314.09 epoch sec; seqNo:466; 4061317.72 north; 594146.63 east 2021-10-10T03:08:34Z- AHRS_M2 msg: 1633835314.47 epoch sec; seqNo:455 2021-10-10T03:08:34Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 0.42 psi 2021-10-10T03:08:34Z- handleDepth()-Depth_Keller msg: 1633835314486 epoch sec; seqNo:467; depth 16.29 2021-10-10T03:08:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:08:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:08:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:08:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:08:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:08:34Z- handleDvl() - RDI_Pathfinder msg: 1633835314.49 epoch sec; seqNo:108 2021-10-10T03:08:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:08:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.67 , -0.03 , -0.04 2021-10-10T03:08:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835314.50 epoch sec; seqNo:467; 4061318.10 north; 594146.63 east 2021-10-10T03:08:34Z- LcmTrn::handleMessages() - handling 41 messages took 0.74 ms and 126 calls... 2021-10-10T03:08:34Z- waiting for 1633835312.62, time is 1633835314.50 2021-10-10T03:08:34Z- LcmTrn::updateTrn() equating pose 1633835314.50 and meas times 1633835314.50 2021-10-10T03:08:34Z- LcmTrn::updateTrn() >>>> pose time 1633835314.50, meas time 1633835314.50 <<<< 2021-10-10T03:08:34Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835314.50, ping # 0. 2021-10-10T03:08:34Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835314.50 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:08:34Z- TerrainNav::motionUpdate() - currEstimate = (4061318, 594146.63, 16.29) 2021-10-10T03:08:34Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:08:34Z- TerrainNav:: SubcloudNIS is 0.56, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:08:34Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:08:34Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:08:34Z- TNavBF::Projecting Measurements 2021-10-10T03:08:34Z- TNavFilter::Measurement from time = 1633835314.50 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:08:34Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:08:34Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:08:34Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:08:34Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:08:34Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:08:34Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:08:34Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:08:34Z- Filter 0 NorthBias: 28.6 EastBias: -14.0 DepthBias: -13.6 NorthVariance: 1264.3 EastVariance: 222.0 DepthVariance: 63.6 this->DepthBiasCov: 1.0 2021-10-10T03:08:34Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:08:34Z- TNavBF::mmse selected from filter -1 2021-10-10T03:08:34Z- variances([0], [2], and psi_berg) = 1264.294302 222.004123 0.000000 2021-10-10T03:08:34Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:08:34Z- LcmTrn::publishEstimates() - MLE : 4061367.60 594129.13 16.29 2021-10-10T03:08:34Z- LcmTrn::publishEstimates() - MMSE : 4061346.69 594132.67 2.65 2021-10-10T03:08:34Z- LcmTrn::publishEstimates() - COVAR: 1264.29 222.00 63.61 0.00 2021-10-10T03:08:34Z- AHRS_M2 msg: 1633835314.87 epoch sec; seqNo:456 2021-10-10T03:08:34Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 0.42 psi 2021-10-10T03:08:34Z- handleDepth()-Depth_Keller msg: 1633835314884 epoch sec; seqNo:468; depth 16.35 2021-10-10T03:08:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835314.91 epoch sec; seqNo:468; 4061318.10 north; 594146.63 east 2021-10-10T03:08:35Z- AHRS_M2 msg: 1633835315.28 epoch sec; seqNo:457 2021-10-10T03:08:35Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 0.42 psi 2021-10-10T03:08:35Z- handleDepth()-Depth_Keller msg: 1633835315285 epoch sec; seqNo:469; depth 16.39 2021-10-10T03:08:35Z- handleDvl() - RDI_Pathfinder msg: 1633835315.31 epoch sec; seqNo:109 2021-10-10T03:08:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.28 , 92.56 , 69.69 , 93.65 2021-10-10T03:08:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.17 , -0.05 2021-10-10T03:08:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835315.33 epoch sec; seqNo:469; 4061318.48 north; 594146.63 east 2021-10-10T03:08:35Z- AHRS_M2 msg: 1633835315.68 epoch sec; seqNo:458 2021-10-10T03:08:35Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 0.42 psi 2021-10-10T03:08:35Z- handleDepth()-Depth_Keller msg: 1633835315686 epoch sec; seqNo:470; depth 16.46 2021-10-10T03:08:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:08:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:08:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:08:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:08:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:08:35Z- handleDvl() - RDI_Pathfinder msg: 1633835315.69 epoch sec; seqNo:110 2021-10-10T03:08:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:08:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.17 , -0.05 2021-10-10T03:08:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835315.71 epoch sec; seqNo:470; 4061318.86 north; 594146.62 east 2021-10-10T03:08:36Z- AHRS_M2 msg: 1633835316.08 epoch sec; seqNo:459 2021-10-10T03:08:36Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 0.42 psi 2021-10-10T03:08:36Z- handleDepth()-Depth_Keller msg: 1633835316086 epoch sec; seqNo:471; depth 16.53 2021-10-10T03:08:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835316.11 epoch sec; seqNo:471; 4061319.24 north; 594146.62 east 2021-10-10T03:08:36Z- AHRS_M2 msg: 1633835316.49 epoch sec; seqNo:460 2021-10-10T03:08:36Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.42 psi 2021-10-10T03:08:36Z- handleDepth()-Depth_Keller msg: 1633835316491 epoch sec; seqNo:472; depth 16.60 2021-10-10T03:08:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835316.50 epoch sec; seqNo:472; 4061319.62 north; 594146.61 east 2021-10-10T03:08:36Z- AHRS_M2 msg: 1633835316.89 epoch sec; seqNo:461 2021-10-10T03:08:36Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 0.42 psi 2021-10-10T03:08:36Z- handleDepth()-Depth_Keller msg: 1633835316894 epoch sec; seqNo:473; depth 16.66 2021-10-10T03:08:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:08:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:08:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:08:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:08:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:08:36Z- handleDvl() - RDI_Pathfinder msg: 1633835316.90 epoch sec; seqNo:111 2021-10-10T03:08:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:08:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.17 , -0.05 2021-10-10T03:08:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835316.91 epoch sec; seqNo:473; 4061319.62 north; 594146.61 east 2021-10-10T03:08:37Z- AHRS_M2 msg: 1633835317.30 epoch sec; seqNo:462 2021-10-10T03:08:37Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 0.42 psi 2021-10-10T03:08:37Z- handleDepth()-Depth_Keller msg: 1633835317302 epoch sec; seqNo:474; depth 16.71 2021-10-10T03:08:37Z- handleDvl() - RDI_Pathfinder msg: 1633835317.32 epoch sec; seqNo:112 2021-10-10T03:08:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.46 , 92.49 , 69.28 , 91.40 2021-10-10T03:08:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.67 , -0.13 , 0.05 2021-10-10T03:08:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835317.34 epoch sec; seqNo:474; 4061319.99 north; 594146.61 east 2021-10-10T03:08:37Z- AHRS_M2 msg: 1633835317.70 epoch sec; seqNo:463 2021-10-10T03:08:37Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.42 psi 2021-10-10T03:08:37Z- handleDepth()-Depth_Keller msg: 1633835317719 epoch sec; seqNo:475; depth 16.79 2021-10-10T03:08:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835317.74 epoch sec; seqNo:475; 4061320.39 north; 594147.83 east 2021-10-10T03:08:38Z- AHRS_M2 msg: 1633835318.10 epoch sec; seqNo:464 2021-10-10T03:08:38Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 0.42 psi 2021-10-10T03:08:38Z- handleDepth()-Depth_Keller msg: 1633835318106 epoch sec; seqNo:476; depth 16.84 2021-10-10T03:08:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:08:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:08:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:08:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:08:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:08:38Z- handleDvl() - RDI_Pathfinder msg: 1633835318.11 epoch sec; seqNo:113 2021-10-10T03:08:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:08:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.67 , -0.13 , 0.05 2021-10-10T03:08:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835318.12 epoch sec; seqNo:476; 4061320.39 north; 594147.83 east 2021-10-10T03:08:38Z- AHRS_M2 msg: 1633835318.51 epoch sec; seqNo:465 2021-10-10T03:08:38Z- AHRS_M2 msg: -0.23 phi; -0.20 theta; 0.42 psi 2021-10-10T03:08:38Z- handleDepth()-Depth_Keller msg: 1633835318512 epoch sec; seqNo:477; depth 16.90 2021-10-10T03:08:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835318.52 epoch sec; seqNo:477; 4061320.77 north; 594147.82 east 2021-10-10T03:08:38Z- AHRS_M2 msg: 1633835318.91 epoch sec; seqNo:466 2021-10-10T03:08:38Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 0.42 psi 2021-10-10T03:08:38Z- handleDepth()-Depth_Keller msg: 1633835318917 epoch sec; seqNo:478; depth 16.94 2021-10-10T03:08:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835318.94 epoch sec; seqNo:478; 4061321.14 north; 594147.82 east 2021-10-10T03:08:39Z- AHRS_M2 msg: 1633835319.31 epoch sec; seqNo:467 2021-10-10T03:08:39Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 0.41 psi 2021-10-10T03:08:39Z- handleDepth()-Depth_Keller msg: 1633835319322 epoch sec; seqNo:479; depth 17.02 2021-10-10T03:08:39Z- handleDvl() - RDI_Pathfinder msg: 1633835319.36 epoch sec; seqNo:114 2021-10-10T03:08:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.04 , 91.47 , 68.86 , 97.99 2021-10-10T03:08:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.11 , -0.01 2021-10-10T03:08:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835319.37 epoch sec; seqNo:479; 4061321.52 north; 594147.81 east 2021-10-10T03:08:39Z- AHRS_M2 msg: 1633835319.72 epoch sec; seqNo:468 2021-10-10T03:08:39Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 0.42 psi 2021-10-10T03:08:39Z- handleDepth()-Depth_Keller msg: 1633835319745 epoch sec; seqNo:480; depth 17.09 2021-10-10T03:08:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835319.76 epoch sec; seqNo:480; 4061321.52 north; 594147.81 east 2021-10-10T03:08:39Z- LcmTrn::handleMessages() - handling 45 messages took 0.79 ms and 129 calls... 2021-10-10T03:08:39Z- waiting for 1633835317.50, time is 1633835319.76 2021-10-10T03:08:39Z- LcmTrn::updateTrn() >>>> pose time 1633835319.76, meas time 1633835319.36 <<<< 2021-10-10T03:08:39Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835319.36 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:08:39Z- TerrainNav::motionUpdate() - currEstimate = (4061322, 594147.81, 17.09) 2021-10-10T03:08:39Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:08:39Z- TerrainNav:: SubcloudNIS is 0.56, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:08:39Z- TNavBF::Projecting Measurements 2021-10-10T03:08:39Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:08:39Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:08:39Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:08:39Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:08:39Z- TNavFilter::4 good beams. 2021-10-10T03:08:39Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:08:39Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:08:39Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:08:39Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:08:39Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:08:39Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:08:39Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:08:39Z- TNavBF::mmse selected from filter -1 2021-10-10T03:08:39Z- TerrainMapOctree: (vehN, vehE ) = (4061321.26, 594147.72). 2021-10-10T03:08:39Z- TerrainMapOctree: Min Distance = 124.65. 2021-10-10T03:08:39Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:08:40Z- There is no specific good beam that all particles have in common. 2021-10-10T03:08:40Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 0 2021-10-10T03:08:40Z- Old Depth Bias: 0.00 DepthBiasCov: 1.14 K: 0.111 ExpectedMeasDiff: nan currMeas.covariance: 7.41 2021-10-10T03:08:40Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:08:40Z- Old Depth Bias: 0.00 DepthBiasCov: 1.01 K: 0.063 ExpectedMeasDiff: nan currMeas.covariance: 13.39 2021-10-10T03:08:40Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 2 2021-10-10T03:08:40Z- Old Depth Bias: 0.00 DepthBiasCov: 0.95 K: 0.092 ExpectedMeasDiff: nan currMeas.covariance: 7.59 2021-10-10T03:08:40Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 3 2021-10-10T03:08:40Z- Old Depth Bias: 0.00 DepthBiasCov: 0.86 K: 0.048 ExpectedMeasDiff: nan currMeas.covariance: 15.36 2021-10-10T03:08:40Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:08:40Z- Filter 0 beam number: 0 num in subcloud: 7097 num not in subcloud: 2903 2021-10-10T03:08:40Z- Filter 0 partialDeltaRmsComputation: 30.841308 terrainVariance: 7.683058 1-SumSquareWeights: 0.949434 2021-10-10T03:08:40Z- Filter 0 meanExpectedMeasDiff: 4.812302 delta_rms_squared: 7.673563 alpha: 0.997400 2021-10-10T03:08:40Z- Filter 0 beam number: 1 num in subcloud: 137 num not in subcloud: 9863 2021-10-10T03:08:40Z- Filter 0 insufficient particles or particle weight in subcloud for beam 1 2021-10-10T03:08:40Z- Filter 0 beam number: 2 num in subcloud: 7379 num not in subcloud: 2621 2021-10-10T03:08:40Z- Filter 0 partialDeltaRmsComputation: 83.999492 terrainVariance: 16.379427 1-SumSquareWeights: 0.951721 2021-10-10T03:08:40Z- Filter 0 meanExpectedMeasDiff: -8.223142 delta_rms_squared: 16.369910 alpha: 0.998780 2021-10-10T03:08:40Z- Filter 0 beam number: 3 num in subcloud: 738 num not in subcloud: 9262 2021-10-10T03:08:40Z- Filter 0 partialDeltaRmsComputation: 460.597920 terrainVariance: 0.073912 1-SumSquareWeights: 0.889160 2021-10-10T03:08:40Z- Filter 0 meanExpectedMeasDiff: 21.459823 delta_rms_squared: 0.065020 alpha: 0.764762 2021-10-10T03:08:40Z- Filter 0 SubcloudNIS: 0.654857 2021-10-10T03:08:40Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:08:40Z- TNavBF:: Filter 0 sumWeights = 0.000001 2021-10-10T03:08:40Z- Filter 0 NorthBias: 31.7 EastBias: -16.0 DepthBias: -14.1 NorthVariance: 1179.5 EastVariance: 147.0 DepthVariance: 53.7 this->DepthBiasCov: 0.8 2021-10-10T03:08:40Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835319.36 sec. 2021-10-10T03:08:40Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:08:40Z- TNavBF::mmse selected from filter -1 2021-10-10T03:08:40Z- variances([0], [2], and psi_berg) = 1181.845882 147.467682 0.000000 2021-10-10T03:08:40Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:08:40Z- LcmTrn::publishEstimates() - MLE : 4061371.02 594130.31 17.09 2021-10-10T03:08:40Z- LcmTrn::publishEstimates() - MMSE : 4061353.15 594131.84 3.00 2021-10-10T03:08:40Z- LcmTrn::publishEstimates() - COVAR: 1181.85 147.47 53.78 0.00 2021-10-10T03:08:40Z- AHRS_M2 msg: 1633835320.12 epoch sec; seqNo:469 2021-10-10T03:08:40Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 0.42 psi 2021-10-10T03:08:40Z- handleDepth()-Depth_Keller msg: 1633835320126 epoch sec; seqNo:481; depth 17.15 2021-10-10T03:08:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835320.14 epoch sec; seqNo:481; 4061321.90 north; 594147.81 east 2021-10-10T03:08:40Z- AHRS_M2 msg: 1633835320.53 epoch sec; seqNo:470 2021-10-10T03:08:40Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 0.42 psi 2021-10-10T03:08:40Z- handleDepth()-Depth_Keller msg: 1633835320531 epoch sec; seqNo:482; depth 17.22 2021-10-10T03:08:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:08:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:08:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:08:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:08:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:08:40Z- handleDvl() - RDI_Pathfinder msg: 1633835320.54 epoch sec; seqNo:115 2021-10-10T03:08:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:08:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.11 , -0.01 2021-10-10T03:08:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835320.55 epoch sec; seqNo:482; 4061322.28 north; 594147.80 east 2021-10-10T03:08:40Z- AHRS_M2 msg: 1633835320.94 epoch sec; seqNo:471 2021-10-10T03:08:40Z- AHRS_M2 msg: -0.23 phi; -0.20 theta; 0.42 psi 2021-10-10T03:08:40Z- handleDepth()-Depth_Keller msg: 1633835320941 epoch sec; seqNo:483; depth 17.28 2021-10-10T03:08:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835320.95 epoch sec; seqNo:483; 4061322.28 north; 594147.80 east 2021-10-10T03:08:41Z- AHRS_M2 msg: 1633835321.34 epoch sec; seqNo:472 2021-10-10T03:08:41Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 0.42 psi 2021-10-10T03:08:41Z- handleDepth()-Depth_Keller msg: 1633835321341 epoch sec; seqNo:484; depth 17.35 2021-10-10T03:08:41Z- handleDvl() - RDI_Pathfinder msg: 1633835321.37 epoch sec; seqNo:116 2021-10-10T03:08:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.04 , 97.92 , 69.28 , 92.49 2021-10-10T03:08:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.18 , 0.08 2021-10-10T03:08:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835321.39 epoch sec; seqNo:484; 4061322.66 north; 594147.80 east 2021-10-10T03:08:41Z- handleDepth()-Depth_Keller msg: 1633835321763 epoch sec; seqNo:485; depth 17.42 2021-10-10T03:08:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:08:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:08:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:08:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:08:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:08:41Z- handleDvl() - RDI_Pathfinder msg: 1633835321.77 epoch sec; seqNo:117 2021-10-10T03:08:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:08:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.18 , 0.08 2021-10-10T03:08:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835321.79 epoch sec; seqNo:485; 4061323.04 north; 594147.80 east 2021-10-10T03:08:42Z- AHRS_M2 msg: 1633835322.14 epoch sec; seqNo:473 2021-10-10T03:08:42Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 0.42 psi 2021-10-10T03:08:42Z- handleDepth()-Depth_Keller msg: 1633835322150 epoch sec; seqNo:486; depth 17.48 2021-10-10T03:08:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835322.16 epoch sec; seqNo:486; 4061323.42 north; 594147.79 east 2021-10-10T03:08:42Z- AHRS_M2 msg: 1633835322.55 epoch sec; seqNo:474 2021-10-10T03:08:42Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 0.42 psi 2021-10-10T03:08:42Z- handleDepth()-Depth_Keller msg: 1633835322558 epoch sec; seqNo:487; depth 17.54 2021-10-10T03:08:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835322.57 epoch sec; seqNo:487; 4061323.42 north; 594147.79 east 2021-10-10T03:08:42Z- AHRS_M2 msg: 1633835322.95 epoch sec; seqNo:475 2021-10-10T03:08:42Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 0.42 psi 2021-10-10T03:08:42Z- handleDepth()-Depth_Keller msg: 1633835322955 epoch sec; seqNo:488; depth 17.61 2021-10-10T03:08:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:08:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:08:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:08:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:08:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:08:42Z- handleDvl() - RDI_Pathfinder msg: 1633835322.96 epoch sec; seqNo:118 2021-10-10T03:08:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:08:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.18 , 0.08 2021-10-10T03:08:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835322.98 epoch sec; seqNo:488; 4061323.80 north; 594147.79 east 2021-10-10T03:08:43Z- AHRS_M2 msg: 1633835323.36 epoch sec; seqNo:476 2021-10-10T03:08:43Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 0.42 psi 2021-10-10T03:08:43Z- handleDepth()-Depth_Keller msg: 1633835323360 epoch sec; seqNo:489; depth 17.65 2021-10-10T03:08:43Z- handleDvl() - RDI_Pathfinder msg: 1633835323.38 epoch sec; seqNo:119 2021-10-10T03:08:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.46 , 90.32 , 68.86 , 91.40 2021-10-10T03:08:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.08 , 0.02 2021-10-10T03:08:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835323.41 epoch sec; seqNo:489; 4061324.18 north; 594147.78 east 2021-10-10T03:08:43Z- AHRS_M2 msg: 1633835323.77 epoch sec; seqNo:477 2021-10-10T03:08:43Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 0.42 psi 2021-10-10T03:08:43Z- handleDepth()-Depth_Keller msg: 1633835323783 epoch sec; seqNo:490; depth 17.72 2021-10-10T03:08:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835323.81 epoch sec; seqNo:490; 4061324.55 north; 594147.78 east 2021-10-10T03:08:44Z- AHRS_M2 msg: 1633835324.16 epoch sec; seqNo:478 2021-10-10T03:08:44Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 0.42 psi 2021-10-10T03:08:44Z- handleDepth()-Depth_Keller msg: 1633835324173 epoch sec; seqNo:491; depth 17.78 2021-10-10T03:08:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:08:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:08:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:08:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:08:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:08:44Z- handleDvl() - RDI_Pathfinder msg: 1633835324.18 epoch sec; seqNo:120 2021-10-10T03:08:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:08:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.08 , 0.02 2021-10-10T03:08:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835324.19 epoch sec; seqNo:491; 4061324.55 north; 594147.78 east 2021-10-10T03:08:44Z- AHRS_M2 msg: 1633835324.56 epoch sec; seqNo:479 2021-10-10T03:08:44Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 0.42 psi 2021-10-10T03:08:44Z- handleDepth()-Depth_Keller msg: 1633835324576 epoch sec; seqNo:492; depth 17.84 2021-10-10T03:08:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835324.61 epoch sec; seqNo:492; 4061324.95 north; 594149.00 east 2021-10-10T03:08:44Z- AHRS_M2 msg: 1633835324.97 epoch sec; seqNo:480 2021-10-10T03:08:44Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 0.42 psi 2021-10-10T03:08:44Z- handleDepth()-Depth_Keller msg: 1633835324976 epoch sec; seqNo:493; depth 17.91 2021-10-10T03:08:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835324.99 epoch sec; seqNo:493; 4061325.33 north; 594148.99 east 2021-10-10T03:08:45Z- LcmTrn::handleMessages() - handling 44 messages took 0.72 ms and 129 calls... 2021-10-10T03:08:45Z- waiting for 1633835322.76, time is 1633835324.99 2021-10-10T03:08:45Z- LcmTrn::updateTrn() >>>> pose time 1633835324.99, meas time 1633835324.18 <<<< 2021-10-10T03:08:45Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835324.18, ping # 0. 2021-10-10T03:08:45Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835324.18 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:08:45Z- TerrainNav::motionUpdate() - currEstimate = (4061325, 594148.99, 17.91) 2021-10-10T03:08:45Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:08:45Z- TerrainNav:: SubcloudNIS is 0.65, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:08:45Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:08:45Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:08:45Z- TNavBF::Projecting Measurements 2021-10-10T03:08:45Z- TNavFilter::Measurement from time = 1633835324.18 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:08:45Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:08:45Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:08:45Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:08:45Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:08:45Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:08:45Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:08:45Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:08:45Z- Filter 0 NorthBias: 31.4 EastBias: -16.0 DepthBias: -14.0 NorthVariance: 1190.0 EastVariance: 149.0 DepthVariance: 54.3 this->DepthBiasCov: 1.0 2021-10-10T03:08:45Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:08:45Z- TNavBF::mmse selected from filter -1 2021-10-10T03:08:45Z- variances([0], [2], and psi_berg) = 1193.364987 149.649950 0.000000 2021-10-10T03:08:45Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:08:45Z- LcmTrn::publishEstimates() - MLE : 4061374.83 594130.49 17.91 2021-10-10T03:08:45Z- LcmTrn::publishEstimates() - MMSE : 4061356.68 594133.05 3.88 2021-10-10T03:08:45Z- LcmTrn::publishEstimates() - COVAR: 1193.36 149.65 54.46 0.00 2021-10-10T03:08:45Z- AHRS_M2 msg: 1633835325.37 epoch sec; seqNo:481 2021-10-10T03:08:45Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 0.42 psi 2021-10-10T03:08:45Z- handleDepth()-Depth_Keller msg: 1633835325385 epoch sec; seqNo:494; depth 17.97 2021-10-10T03:08:45Z- handleDvl() - RDI_Pathfinder msg: 1633835325.41 epoch sec; seqNo:121 2021-10-10T03:08:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.64 , 0.00 , 68.04 , 90.46 2021-10-10T03:08:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.09 , -0.01 2021-10-10T03:08:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835325.43 epoch sec; seqNo:494; 4061325.33 north; 594148.99 east 2021-10-10T03:08:45Z- AHRS_M2 msg: 1633835325.78 epoch sec; seqNo:482 2021-10-10T03:08:45Z- AHRS_M2 msg: -0.23 phi; -0.20 theta; 0.42 psi 2021-10-10T03:08:45Z- handleDepth()-Depth_Keller msg: 1633835325797 epoch sec; seqNo:495; depth 18.03 2021-10-10T03:08:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835325.82 epoch sec; seqNo:495; 4061325.70 north; 594148.99 east 2021-10-10T03:08:46Z- AHRS_M2 msg: 1633835326.18 epoch sec; seqNo:483 2021-10-10T03:08:46Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 0.42 psi 2021-10-10T03:08:46Z- handleDepth()-Depth_Keller msg: 1633835326187 epoch sec; seqNo:496; depth 18.08 2021-10-10T03:08:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835326.21 epoch sec; seqNo:496; 4061326.08 north; 594148.98 east 2021-10-10T03:08:46Z- AHRS_M2 msg: 1633835326.59 epoch sec; seqNo:484 2021-10-10T03:08:46Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 0.42 psi 2021-10-10T03:08:46Z- handleDepth()-Depth_Keller msg: 1633835326596 epoch sec; seqNo:497; depth 18.14 2021-10-10T03:08:46Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:46Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:46Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:46Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:08:46Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:08:46Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:08:46Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:08:46Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:08:46Z- handleDvl() - RDI_Pathfinder msg: 1633835326.60 epoch sec; seqNo:122 2021-10-10T03:08:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:08:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.09 , -0.01 2021-10-10T03:08:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835326.61 epoch sec; seqNo:497; 4061326.08 north; 594148.98 east 2021-10-10T03:08:47Z- AHRS_M2 msg: 1633835326.99 epoch sec; seqNo:485 2021-10-10T03:08:47Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 0.43 psi 2021-10-10T03:08:47Z- handleDepth()-Depth_Keller msg: 1633835327006 epoch sec; seqNo:498; depth 18.22 2021-10-10T03:08:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835327.05 epoch sec; seqNo:498; 4061326.46 north; 594148.98 east 2021-10-10T03:08:47Z- AHRS_M2 msg: 1633835327.40 epoch sec; seqNo:486 2021-10-10T03:08:47Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 0.43 psi 2021-10-10T03:08:47Z- handleDepth()-Depth_Keller msg: 1633835327404 epoch sec; seqNo:499; depth 18.27 2021-10-10T03:08:47Z- handleDvl() - RDI_Pathfinder msg: 1633835327.42 epoch sec; seqNo:123 2021-10-10T03:08:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.22 , 90.46 , 67.64 , 98.06 2021-10-10T03:08:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.06 , -0.04 2021-10-10T03:08:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835327.44 epoch sec; seqNo:499; 4061326.84 north; 594148.97 east 2021-10-10T03:08:47Z- AHRS_M2 msg: 1633835327.80 epoch sec; seqNo:487 2021-10-10T03:08:47Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 0.43 psi 2021-10-10T03:08:47Z- handleDepth()-Depth_Keller msg: 1633835327801 epoch sec; seqNo:500; depth 18.33 2021-10-10T03:08:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:47Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:08:47Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:08:47Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:08:47Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:08:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:08:47Z- handleDvl() - RDI_Pathfinder msg: 1633835327.80 epoch sec; seqNo:124 2021-10-10T03:08:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:08:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.06 , -0.04 2021-10-10T03:08:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835327.84 epoch sec; seqNo:500; 4061327.22 north; 594148.97 east 2021-10-10T03:08:48Z- AHRS_M2 msg: 1633835328.20 epoch sec; seqNo:488 2021-10-10T03:08:48Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 0.44 psi 2021-10-10T03:08:48Z- handleDepth()-Depth_Keller msg: 1633835328207 epoch sec; seqNo:501; depth 18.39 2021-10-10T03:08:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835328.22 epoch sec; seqNo:501; 4061327.22 north; 594148.97 east 2021-10-10T03:08:48Z- AHRS_M2 msg: 1633835328.61 epoch sec; seqNo:489 2021-10-10T03:08:48Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 0.44 psi 2021-10-10T03:08:48Z- handleDepth()-Depth_Keller msg: 1633835328610 epoch sec; seqNo:502; depth 18.46 2021-10-10T03:08:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835328.62 epoch sec; seqNo:502; 4061327.60 north; 594148.97 east 2021-10-10T03:08:49Z- AHRS_M2 msg: 1633835329.04 epoch sec; seqNo:490 2021-10-10T03:08:49Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 0.44 psi 2021-10-10T03:08:49Z- handleDepth()-Depth_Keller msg: 1633835329049 epoch sec; seqNo:503; depth 18.51 2021-10-10T03:08:49Z- handleDvl() - RDI_Pathfinder msg: 1633835329.10 epoch sec; seqNo:125 2021-10-10T03:08:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.82 , 90.39 , 67.64 , 90.39 2021-10-10T03:08:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.13 , -0.06 2021-10-10T03:08:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835329.13 epoch sec; seqNo:503; 4061327.98 north; 594148.96 east 2021-10-10T03:08:49Z- AHRS_M2 msg: 1633835329.42 epoch sec; seqNo:491 2021-10-10T03:08:49Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 0.44 psi 2021-10-10T03:08:49Z- handleDepth()-Depth_Keller msg: 1633835329422 epoch sec; seqNo:504; depth 18.60 2021-10-10T03:08:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835329.45 epoch sec; seqNo:504; 4061328.36 north; 594148.96 east 2021-10-10T03:08:49Z- AHRS_M2 msg: 1633835329.82 epoch sec; seqNo:492 2021-10-10T03:08:49Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 0.44 psi 2021-10-10T03:08:49Z- handleDepth()-Depth_Keller msg: 1633835329821 epoch sec; seqNo:505; depth 18.64 2021-10-10T03:08:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835329.83 epoch sec; seqNo:505; 4061328.36 north; 594148.96 east 2021-10-10T03:08:50Z- LcmTrn::handleMessages() - handling 41 messages took 0.63 ms and 128 calls... 2021-10-10T03:08:50Z- waiting for 1633835327.99, time is 1633835329.83 2021-10-10T03:08:50Z- LcmTrn::updateTrn() >>>> pose time 1633835329.83, meas time 1633835329.10 <<<< 2021-10-10T03:08:50Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835329.10 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:08:50Z- TerrainNav::motionUpdate() - currEstimate = (4061328, 594148.96, 18.64) 2021-10-10T03:08:50Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:08:50Z- TerrainNav:: SubcloudNIS is 0.65, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:08:50Z- TNavBF::Projecting Measurements 2021-10-10T03:08:50Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:08:50Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:08:50Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:08:50Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:08:50Z- TNavFilter::4 good beams. 2021-10-10T03:08:50Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:08:50Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:08:50Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:08:50Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:08:50Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:08:50Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:08:50Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:08:50Z- TNavBF::mmse selected from filter -1 2021-10-10T03:08:50Z- TerrainMapOctree: (vehN, vehE ) = (4061327.90, 594148.96). 2021-10-10T03:08:50Z- TerrainMapOctree: Min Distance = 127.58. 2021-10-10T03:08:50Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:08:50Z- There is no specific good beam that all particles have in common. 2021-10-10T03:08:50Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 0 2021-10-10T03:08:50Z- Old Depth Bias: 0.00 DepthBiasCov: 1.17 K: 0.116 ExpectedMeasDiff: nan currMeas.covariance: 7.14 2021-10-10T03:08:50Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:08:50Z- Old Depth Bias: 0.00 DepthBiasCov: 1.03 K: 0.065 ExpectedMeasDiff: nan currMeas.covariance: 13.07 2021-10-10T03:08:50Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 2 2021-10-10T03:08:50Z- Old Depth Bias: 0.00 DepthBiasCov: 0.97 K: 0.096 ExpectedMeasDiff: nan currMeas.covariance: 7.32 2021-10-10T03:08:50Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 3 2021-10-10T03:08:50Z- Old Depth Bias: 0.00 DepthBiasCov: 0.87 K: 0.056 ExpectedMeasDiff: nan currMeas.covariance: 13.07 2021-10-10T03:08:50Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:08:50Z- Filter 0 beam number: 0 num in subcloud: 7696 num not in subcloud: 2304 2021-10-10T03:08:50Z- Filter 0 partialDeltaRmsComputation: 24.108792 terrainVariance: 6.157429 1-SumSquareWeights: 0.934974 2021-10-10T03:08:50Z- Filter 0 meanExpectedMeasDiff: 4.236905 delta_rms_squared: 6.148079 alpha: 0.996757 2021-10-10T03:08:50Z- Filter 0 beam number: 1 num in subcloud: 323 num not in subcloud: 9677 2021-10-10T03:08:50Z- Filter 0 insufficient particles or particle weight in subcloud for beam 1 2021-10-10T03:08:50Z- Filter 0 beam number: 2 num in subcloud: 7753 num not in subcloud: 2247 2021-10-10T03:08:50Z- Filter 0 partialDeltaRmsComputation: 56.746346 terrainVariance: 7.180028 1-SumSquareWeights: 0.934760 2021-10-10T03:08:50Z- Filter 0 meanExpectedMeasDiff: -7.040335 delta_rms_squared: 7.170680 alpha: 0.997219 2021-10-10T03:08:50Z- Filter 0 beam number: 3 num in subcloud: 1248 num not in subcloud: 8752 2021-10-10T03:08:50Z- Filter 0 partialDeltaRmsComputation: 200.213130 terrainVariance: 0.206584 1-SumSquareWeights: 0.930543 2021-10-10T03:08:50Z- Filter 0 meanExpectedMeasDiff: 14.142367 delta_rms_squared: 0.197279 alpha: 0.907952 2021-10-10T03:08:50Z- Filter 0 SubcloudNIS: 0.694978 2021-10-10T03:08:50Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:08:50Z- TNavBF:: Filter 0 sumWeights = 0.000112 2021-10-10T03:08:50Z- Filter 0 NorthBias: 33.6 EastBias: -16.0 DepthBias: -13.7 NorthVariance: 1100.3 EastVariance: 110.5 DepthVariance: 42.9 this->DepthBiasCov: 0.8 2021-10-10T03:08:50Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835329.10 sec. 2021-10-10T03:08:50Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:08:50Z- TNavBF::mmse selected from filter -1 2021-10-10T03:08:50Z- variances([0], [2], and psi_berg) = 1102.865927 110.857681 0.000000 2021-10-10T03:08:50Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:08:50Z- LcmTrn::publishEstimates() - MLE : 4061377.86 594132.46 18.64 2021-10-10T03:08:50Z- LcmTrn::publishEstimates() - MMSE : 4061361.87 594132.95 4.92 2021-10-10T03:08:50Z- LcmTrn::publishEstimates() - COVAR: 1102.87 110.86 42.97 0.00 2021-10-10T03:08:50Z- AHRS_M2 msg: 1633835330.22 epoch sec; seqNo:493 2021-10-10T03:08:50Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 0.44 psi 2021-10-10T03:08:50Z- handleDepth()-Depth_Keller msg: 1633835330232 epoch sec; seqNo:506; depth 18.70 2021-10-10T03:08:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:08:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:08:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:08:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:08:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:08:50Z- handleDvl() - RDI_Pathfinder msg: 1633835330.24 epoch sec; seqNo:126 2021-10-10T03:08:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:08:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.13 , -0.06 2021-10-10T03:08:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835330.25 epoch sec; seqNo:506; 4061328.73 north; 594148.95 east 2021-10-10T03:08:50Z- AHRS_M2 msg: 1633835330.63 epoch sec; seqNo:494 2021-10-10T03:08:50Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 0.44 psi 2021-10-10T03:08:50Z- handleDepth()-Depth_Keller msg: 1633835330632 epoch sec; seqNo:507; depth 18.77 2021-10-10T03:08:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835330.64 epoch sec; seqNo:507; 4061329.13 north; 594150.17 east 2021-10-10T03:08:51Z- AHRS_M2 msg: 1633835331.07 epoch sec; seqNo:495 2021-10-10T03:08:51Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 0.44 psi 2021-10-10T03:08:51Z- handleDepth()-Depth_Keller msg: 1633835331077 epoch sec; seqNo:508; depth 18.84 2021-10-10T03:08:51Z- handleDvl() - RDI_Pathfinder msg: 1633835331.11 epoch sec; seqNo:127 2021-10-10T03:08:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.82 , 90.46 , 67.22 , 0.00 2021-10-10T03:08:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.17 , 0.06 2021-10-10T03:08:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835331.12 epoch sec; seqNo:508; 4061329.51 north; 594150.17 east 2021-10-10T03:08:51Z- handleDepth()-Depth_Keller msg: 1633835331468 epoch sec; seqNo:509; depth 18.93 2021-10-10T03:08:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:51Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:08:51Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:08:51Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:08:51Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:08:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:08:51Z- handleDvl() - RDI_Pathfinder msg: 1633835331.47 epoch sec; seqNo:128 2021-10-10T03:08:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:08:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.17 , 0.06 2021-10-10T03:08:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835331.49 epoch sec; seqNo:509; 4061329.51 north; 594150.17 east 2021-10-10T03:08:51Z- AHRS_M2 msg: 1633835331.84 epoch sec; seqNo:496 2021-10-10T03:08:51Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 0.44 psi 2021-10-10T03:08:51Z- handleDepth()-Depth_Keller msg: 1633835331849 epoch sec; seqNo:510; depth 18.97 2021-10-10T03:08:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835331.86 epoch sec; seqNo:510; 4061329.88 north; 594150.16 east 2021-10-10T03:08:52Z- AHRS_M2 msg: 1633835332.26 epoch sec; seqNo:497 2021-10-10T03:08:52Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 0.43 psi 2021-10-10T03:08:52Z- handleDepth()-Depth_Keller msg: 1633835332260 epoch sec; seqNo:511; depth 19.03 2021-10-10T03:08:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835332.27 epoch sec; seqNo:511; 4061330.26 north; 594150.16 east 2021-10-10T03:08:52Z- AHRS_M2 msg: 1633835332.65 epoch sec; seqNo:498 2021-10-10T03:08:52Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 0.43 psi 2021-10-10T03:08:52Z- handleDepth()-Depth_Keller msg: 1633835332654 epoch sec; seqNo:512; depth 19.12 2021-10-10T03:08:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:08:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:08:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:08:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:08:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:08:52Z- handleDvl() - RDI_Pathfinder msg: 1633835332.66 epoch sec; seqNo:129 2021-10-10T03:08:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:08:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.17 , 0.06 2021-10-10T03:08:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835332.67 epoch sec; seqNo:512; 4061330.64 north; 594150.15 east 2021-10-10T03:08:53Z- handleDepth()-Depth_Keller msg: 1633835333096 epoch sec; seqNo:513; depth 19.17 2021-10-10T03:08:53Z- handleDvl() - RDI_Pathfinder msg: 1633835333.12 epoch sec; seqNo:130 2021-10-10T03:08:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.64 , 0.00 , 66.40 , 91.54 2021-10-10T03:08:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.05 , 0.08 2021-10-10T03:08:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835333.13 epoch sec; seqNo:513; 4061331.02 north; 594150.15 east 2021-10-10T03:08:53Z- AHRS_M2 msg: 1633835333.45 epoch sec; seqNo:499 2021-10-10T03:08:53Z- AHRS_M2 msg: -0.23 phi; -0.24 theta; 0.44 psi 2021-10-10T03:08:53Z- handleDepth()-Depth_Keller msg: 1633835333463 epoch sec; seqNo:514; depth 19.26 2021-10-10T03:08:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835333.48 epoch sec; seqNo:514; 4061331.02 north; 594150.15 east 2021-10-10T03:08:53Z- AHRS_M2 msg: 1633835333.86 epoch sec; seqNo:500 2021-10-10T03:08:53Z- AHRS_M2 msg: -0.23 phi; -0.24 theta; 0.44 psi 2021-10-10T03:08:53Z- handleDepth()-Depth_Keller msg: 1633835333865 epoch sec; seqNo:515; depth 19.31 2021-10-10T03:08:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835333.89 epoch sec; seqNo:515; 4061331.40 north; 594150.15 east 2021-10-10T03:08:54Z- AHRS_M2 msg: 1633835334.27 epoch sec; seqNo:501 2021-10-10T03:08:54Z- AHRS_M2 msg: -0.23 phi; -0.24 theta; 0.44 psi 2021-10-10T03:08:54Z- handleDepth()-Depth_Keller msg: 1633835334272 epoch sec; seqNo:516; depth 19.38 2021-10-10T03:08:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835334.28 epoch sec; seqNo:516; 4061331.40 north; 594150.15 east 2021-10-10T03:08:54Z- AHRS_M2 msg: 1633835334.67 epoch sec; seqNo:502 2021-10-10T03:08:54Z- AHRS_M2 msg: -0.24 phi; -0.24 theta; 0.44 psi 2021-10-10T03:08:54Z- handleDepth()-Depth_Keller msg: 1633835334672 epoch sec; seqNo:517; depth 19.45 2021-10-10T03:08:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835334.68 epoch sec; seqNo:517; 4061331.78 north; 594150.14 east 2021-10-10T03:08:55Z- AHRS_M2 msg: 1633835335.08 epoch sec; seqNo:503 2021-10-10T03:08:55Z- AHRS_M2 msg: -0.24 phi; -0.24 theta; 0.44 psi 2021-10-10T03:08:55Z- handleDepth()-Depth_Keller msg: 1633835335087 epoch sec; seqNo:518; depth 19.53 2021-10-10T03:08:55Z- handleDvl() - RDI_Pathfinder msg: 1633835335.11 epoch sec; seqNo:131 2021-10-10T03:08:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.22 , 0.00 , 65.99 , 92.63 2021-10-10T03:08:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , 0.00 2021-10-10T03:08:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835335.12 epoch sec; seqNo:518; 4061332.16 north; 594150.14 east 2021-10-10T03:08:55Z- LcmTrn::handleMessages() - handling 43 messages took 0.63 ms and 130 calls... 2021-10-10T03:08:55Z- waiting for 1633835332.83, time is 1633835335.12 2021-10-10T03:08:55Z- LcmTrn::updateTrn() equating pose 1633835335.12 and meas times 1633835335.12 2021-10-10T03:08:55Z- LcmTrn::updateTrn() >>>> pose time 1633835335.12, meas time 1633835335.12 <<<< 2021-10-10T03:08:55Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835335.12 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:08:55Z- TerrainNav::motionUpdate() - currEstimate = (4061332, 594150.14, 19.53) 2021-10-10T03:08:55Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:08:55Z- TerrainNav:: SubcloudNIS is 0.69, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:08:55Z- TerrainNav::Measurement type 1 not incorporated from time = 1633835335.12 sec.; No relevant navigation data available 2021-10-10T03:08:55Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:08:55Z- TNavBF::mmse selected from filter -1 2021-10-10T03:08:55Z- variances([0], [2], and psi_berg) = 1110.391672 111.972293 0.000000 2021-10-10T03:08:55Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:08:55Z- LcmTrn::publishEstimates() - MLE : 4061381.66 594134.64 19.53 2021-10-10T03:08:55Z- LcmTrn::publishEstimates() - MMSE : 4061365.51 594134.14 5.84 2021-10-10T03:08:55Z- LcmTrn::publishEstimates() - COVAR: 1110.39 111.97 43.45 0.00 2021-10-10T03:08:55Z- AHRS_M2 msg: 1633835335.47 epoch sec; seqNo:504 2021-10-10T03:08:55Z- AHRS_M2 msg: -0.24 phi; -0.24 theta; 0.44 psi 2021-10-10T03:08:55Z- handleDepth()-Depth_Keller msg: 1633835335479 epoch sec; seqNo:519; depth 19.61 2021-10-10T03:08:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835335.51 epoch sec; seqNo:519; 4061332.54 north; 594150.13 east 2021-10-10T03:08:55Z- AHRS_M2 msg: 1633835335.88 epoch sec; seqNo:505 2021-10-10T03:08:55Z- AHRS_M2 msg: -0.24 phi; -0.25 theta; 0.44 psi 2021-10-10T03:08:55Z- handleDepth()-Depth_Keller msg: 1633835335892 epoch sec; seqNo:520; depth 19.69 2021-10-10T03:08:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835335.91 epoch sec; seqNo:520; 4061332.55 north; 594151.35 east 2021-10-10T03:08:56Z- AHRS_M2 msg: 1633835336.28 epoch sec; seqNo:506 2021-10-10T03:08:56Z- AHRS_M2 msg: -0.24 phi; -0.25 theta; 0.44 psi 2021-10-10T03:08:56Z- handleDepth()-Depth_Keller msg: 1633835336286 epoch sec; seqNo:521; depth 19.76 2021-10-10T03:08:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:08:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:08:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:08:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:08:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:08:56Z- handleDvl() - RDI_Pathfinder msg: 1633835336.29 epoch sec; seqNo:132 2021-10-10T03:08:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:08:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , 0.00 2021-10-10T03:08:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835336.31 epoch sec; seqNo:521; 4061332.93 north; 594151.35 east 2021-10-10T03:08:56Z- handleDepth()-Depth_Keller msg: 1633835336709 epoch sec; seqNo:522; depth 19.84 2021-10-10T03:08:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835336.72 epoch sec; seqNo:522; 4061333.31 north; 594151.34 east 2021-10-10T03:08:57Z- AHRS_M2 msg: 1633835337.10 epoch sec; seqNo:507 2021-10-10T03:08:57Z- AHRS_M2 msg: -0.23 phi; -0.25 theta; 0.44 psi 2021-10-10T03:08:57Z- handleDepth()-Depth_Keller msg: 1633835337105 epoch sec; seqNo:523; depth 19.91 2021-10-10T03:08:57Z- handleDvl() - RDI_Pathfinder msg: 1633835337.13 epoch sec; seqNo:133 2021-10-10T03:08:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.40 , 90.46 , 65.58 , 98.06 2021-10-10T03:08:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.07 , 0.06 2021-10-10T03:08:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835337.15 epoch sec; seqNo:523; 4061333.69 north; 594151.34 east 2021-10-10T03:08:57Z- AHRS_M2 msg: 1633835337.50 epoch sec; seqNo:508 2021-10-10T03:08:57Z- AHRS_M2 msg: -0.23 phi; -0.25 theta; 0.44 psi 2021-10-10T03:08:57Z- handleDepth()-Depth_Keller msg: 1633835337505 epoch sec; seqNo:524; depth 20.00 2021-10-10T03:08:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:08:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:08:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:08:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:08:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:08:57Z- handleDvl() - RDI_Pathfinder msg: 1633835337.51 epoch sec; seqNo:134 2021-10-10T03:08:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:08:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.07 , 0.06 2021-10-10T03:08:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835337.52 epoch sec; seqNo:524; 4061333.69 north; 594151.34 east 2021-10-10T03:08:57Z- AHRS_M2 msg: 1633835337.90 epoch sec; seqNo:509 2021-10-10T03:08:57Z- AHRS_M2 msg: -0.23 phi; -0.25 theta; 0.44 psi 2021-10-10T03:08:57Z- handleDepth()-Depth_Keller msg: 1633835337902 epoch sec; seqNo:525; depth 20.09 2021-10-10T03:08:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835337.93 epoch sec; seqNo:525; 4061334.07 north; 594151.34 east 2021-10-10T03:08:58Z- AHRS_M2 msg: 1633835338.30 epoch sec; seqNo:510 2021-10-10T03:08:58Z- AHRS_M2 msg: -0.23 phi; -0.25 theta; 0.44 psi 2021-10-10T03:08:58Z- handleDepth()-Depth_Keller msg: 1633835338306 epoch sec; seqNo:526; depth 20.16 2021-10-10T03:08:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835338.32 epoch sec; seqNo:526; 4061334.44 north; 594151.33 east 2021-10-10T03:08:58Z- AHRS_M2 msg: 1633835338.71 epoch sec; seqNo:511 2021-10-10T03:08:58Z- AHRS_M2 msg: -0.23 phi; -0.25 theta; 0.44 psi 2021-10-10T03:08:58Z- handleDepth()-Depth_Keller msg: 1633835338712 epoch sec; seqNo:527; depth 20.22 2021-10-10T03:08:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:08:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:08:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:08:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:08:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:08:58Z- handleDvl() - RDI_Pathfinder msg: 1633835338.71 epoch sec; seqNo:135 2021-10-10T03:08:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:08:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.07 , 0.06 2021-10-10T03:08:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835338.72 epoch sec; seqNo:527; 4061334.82 north; 594151.33 east 2021-10-10T03:08:59Z- AHRS_M2 msg: 1633835339.11 epoch sec; seqNo:512 2021-10-10T03:08:59Z- AHRS_M2 msg: -0.23 phi; -0.25 theta; 0.44 psi 2021-10-10T03:08:59Z- handleDepth()-Depth_Keller msg: 1633835339120 epoch sec; seqNo:528; depth 20.30 2021-10-10T03:08:59Z- handleDvl() - RDI_Pathfinder msg: 1633835339.15 epoch sec; seqNo:136 2021-10-10T03:08:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.99 , 90.46 , 65.17 , 92.63 2021-10-10T03:08:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.06 , 0.02 2021-10-10T03:08:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835339.18 epoch sec; seqNo:528; 4061334.82 north; 594151.33 east 2021-10-10T03:08:59Z- AHRS_M2 msg: 1633835339.51 epoch sec; seqNo:513 2021-10-10T03:08:59Z- AHRS_M2 msg: -0.23 phi; -0.25 theta; 0.44 psi 2021-10-10T03:08:59Z- handleDepth()-Depth_Keller msg: 1633835339519 epoch sec; seqNo:529; depth 20.39 2021-10-10T03:08:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835339.55 epoch sec; seqNo:529; 4061335.20 north; 594151.32 east 2021-10-10T03:08:59Z- AHRS_M2 msg: 1633835339.92 epoch sec; seqNo:514 2021-10-10T03:08:59Z- AHRS_M2 msg: -0.24 phi; -0.25 theta; 0.43 psi 2021-10-10T03:08:59Z- handleDepth()-Depth_Keller msg: 1633835339928 epoch sec; seqNo:530; depth 20.45 2021-10-10T03:08:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:08:59Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:08:59Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:08:59Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:08:59Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:08:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:08:59Z- handleDvl() - RDI_Pathfinder msg: 1633835339.93 epoch sec; seqNo:137 2021-10-10T03:08:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:08:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.06 , 0.02 2021-10-10T03:08:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835339.95 epoch sec; seqNo:530; 4061335.58 north; 594151.32 east 2021-10-10T03:09:00Z- AHRS_M2 msg: 1633835340.32 epoch sec; seqNo:515 2021-10-10T03:09:00Z- AHRS_M2 msg: -0.24 phi; -0.25 theta; 0.43 psi 2021-10-10T03:09:00Z- handleDepth()-Depth_Keller msg: 1633835340326 epoch sec; seqNo:531; depth 20.53 2021-10-10T03:09:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835340.34 epoch sec; seqNo:531; 4061335.96 north; 594151.32 east 2021-10-10T03:09:00Z- LcmTrn::handleMessages() - handling 44 messages took 0.75 ms and 129 calls... 2021-10-10T03:09:00Z- waiting for 1633835338.12, time is 1633835340.34 2021-10-10T03:09:00Z- LcmTrn::updateTrn() >>>> pose time 1633835340.34, meas time 1633835339.93 <<<< 2021-10-10T03:09:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835339.93, ping # 0. 2021-10-10T03:09:00Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835339.93 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:09:00Z- TerrainNav::motionUpdate() - currEstimate = (4061336, 594151.32, 20.53) 2021-10-10T03:09:00Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:09:00Z- TerrainNav:: SubcloudNIS is 0.69, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:09:00Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:09:00Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:09:00Z- TNavBF::Projecting Measurements 2021-10-10T03:09:00Z- TNavFilter::Measurement from time = 1633835339.93 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:09:00Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:09:00Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:09:00Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:09:00Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:09:00Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:09:00Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:09:00Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:09:00Z- Filter 0 NorthBias: 33.2 EastBias: -16.0 DepthBias: -13.7 NorthVariance: 1117.5 EastVariance: 113.0 DepthVariance: 43.9 this->DepthBiasCov: 1.2 2021-10-10T03:09:00Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:09:00Z- TNavBF::mmse selected from filter -1 2021-10-10T03:09:00Z- variances([0], [2], and psi_berg) = 1119.514819 113.332174 0.000000 2021-10-10T03:09:00Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:09:00Z- LcmTrn::publishEstimates() - MLE : 4061385.46 594135.82 20.53 2021-10-10T03:09:00Z- LcmTrn::publishEstimates() - MMSE : 4061369.12 594135.33 6.88 2021-10-10T03:09:00Z- LcmTrn::publishEstimates() - COVAR: 1119.51 113.33 44.00 0.00 2021-10-10T03:09:00Z- AHRS_M2 msg: 1633835340.73 epoch sec; seqNo:516 2021-10-10T03:09:00Z- AHRS_M2 msg: -0.24 phi; -0.25 theta; 0.43 psi 2021-10-10T03:09:00Z- handleDepth()-Depth_Keller msg: 1633835340732 epoch sec; seqNo:532; depth 20.60 2021-10-10T03:09:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835340.74 epoch sec; seqNo:532; 4061335.97 north; 594152.54 east 2021-10-10T03:09:01Z- AHRS_M2 msg: 1633835341.13 epoch sec; seqNo:517 2021-10-10T03:09:01Z- AHRS_M2 msg: -0.24 phi; -0.26 theta; 0.43 psi 2021-10-10T03:09:01Z- handleDepth()-Depth_Keller msg: 1633835341141 epoch sec; seqNo:533; depth 20.70 2021-10-10T03:09:01Z- handleDvl() - RDI_Pathfinder msg: 1633835341.18 epoch sec; seqNo:138 2021-10-10T03:09:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.99 , 90.46 , 65.58 , 92.63 2021-10-10T03:09:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.10 , 0.01 2021-10-10T03:09:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835341.20 epoch sec; seqNo:533; 4061336.35 north; 594152.53 east 2021-10-10T03:09:01Z- AHRS_M2 msg: 1633835341.54 epoch sec; seqNo:518 2021-10-10T03:09:01Z- AHRS_M2 msg: -0.24 phi; -0.26 theta; 0.43 psi 2021-10-10T03:09:01Z- handleDepth()-Depth_Keller msg: 1633835341543 epoch sec; seqNo:534; depth 20.76 2021-10-10T03:09:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835341.59 epoch sec; seqNo:534; 4061336.73 north; 594152.53 east 2021-10-10T03:09:01Z- AHRS_M2 msg: 1633835341.94 epoch sec; seqNo:519 2021-10-10T03:09:01Z- AHRS_M2 msg: -0.24 phi; -0.26 theta; 0.43 psi 2021-10-10T03:09:01Z- handleDepth()-Depth_Keller msg: 1633835341945 epoch sec; seqNo:535; depth 20.85 2021-10-10T03:09:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835341.96 epoch sec; seqNo:535; 4061337.11 north; 594152.52 east 2021-10-10T03:09:02Z- AHRS_M2 msg: 1633835342.34 epoch sec; seqNo:520 2021-10-10T03:09:02Z- AHRS_M2 msg: -0.24 phi; -0.26 theta; 0.43 psi 2021-10-10T03:09:02Z- handleDepth()-Depth_Keller msg: 1633835342347 epoch sec; seqNo:536; depth 20.92 2021-10-10T03:09:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835342.36 epoch sec; seqNo:536; 4061337.49 north; 594152.52 east 2021-10-10T03:09:02Z- AHRS_M2 msg: 1633835342.74 epoch sec; seqNo:521 2021-10-10T03:09:02Z- AHRS_M2 msg: -0.23 phi; -0.26 theta; 0.43 psi 2021-10-10T03:09:02Z- handleDepth()-Depth_Keller msg: 1633835342756 epoch sec; seqNo:537; depth 20.99 2021-10-10T03:09:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835342.77 epoch sec; seqNo:537; 4061337.49 north; 594152.52 east 2021-10-10T03:09:03Z- AHRS_M2 msg: 1633835343.15 epoch sec; seqNo:522 2021-10-10T03:09:03Z- AHRS_M2 msg: -0.23 phi; -0.26 theta; 0.43 psi 2021-10-10T03:09:03Z- handleDepth()-Depth_Keller msg: 1633835343160 epoch sec; seqNo:538; depth 21.09 2021-10-10T03:09:03Z- handleDvl() - RDI_Pathfinder msg: 1633835343.19 epoch sec; seqNo:139 2021-10-10T03:09:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.40 , 90.46 , 64.35 , 98.06 2021-10-10T03:09:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.06 , 0.02 2021-10-10T03:09:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835343.21 epoch sec; seqNo:538; 4061337.87 north; 594152.51 east 2021-10-10T03:09:03Z- AHRS_M2 msg: 1633835343.55 epoch sec; seqNo:523 2021-10-10T03:09:03Z- AHRS_M2 msg: -0.23 phi; -0.26 theta; 0.43 psi 2021-10-10T03:09:03Z- handleDepth()-Depth_Keller msg: 1633835343558 epoch sec; seqNo:539; depth 21.17 2021-10-10T03:09:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835343.57 epoch sec; seqNo:539; 4061338.25 north; 594152.51 east 2021-10-10T03:09:03Z- AHRS_M2 msg: 1633835343.96 epoch sec; seqNo:524 2021-10-10T03:09:03Z- AHRS_M2 msg: -0.23 phi; -0.26 theta; 0.43 psi 2021-10-10T03:09:03Z- handleDepth()-Depth_Keller msg: 1633835343962 epoch sec; seqNo:540; depth 21.25 2021-10-10T03:09:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835343.97 epoch sec; seqNo:540; 4061338.63 north; 594152.51 east 2021-10-10T03:09:04Z- AHRS_M2 msg: 1633835344.36 epoch sec; seqNo:525 2021-10-10T03:09:04Z- AHRS_M2 msg: -0.23 phi; -0.26 theta; 0.43 psi 2021-10-10T03:09:04Z- handleDepth()-Depth_Keller msg: 1633835344369 epoch sec; seqNo:541; depth 21.33 2021-10-10T03:09:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835344.38 epoch sec; seqNo:541; 4061338.63 north; 594152.51 east 2021-10-10T03:09:04Z- AHRS_M2 msg: 1633835344.77 epoch sec; seqNo:526 2021-10-10T03:09:04Z- AHRS_M2 msg: -0.23 phi; -0.27 theta; 0.43 psi 2021-10-10T03:09:04Z- handleDepth()-Depth_Keller msg: 1633835344771 epoch sec; seqNo:542; depth 21.40 2021-10-10T03:09:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835344.79 epoch sec; seqNo:542; 4061339.00 north; 594152.50 east 2021-10-10T03:09:05Z- AHRS_M2 msg: 1633835345.17 epoch sec; seqNo:527 2021-10-10T03:09:05Z- AHRS_M2 msg: -0.24 phi; -0.27 theta; 0.43 psi 2021-10-10T03:09:05Z- handleDepth()-Depth_Keller msg: 1633835345176 epoch sec; seqNo:543; depth 21.48 2021-10-10T03:09:05Z- handleDvl() - RDI_Pathfinder msg: 1633835345.20 epoch sec; seqNo:140 2021-10-10T03:09:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.58 , 89.37 , 63.94 , 98.06 2021-10-10T03:09:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.06 , -0.02 2021-10-10T03:09:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835345.25 epoch sec; seqNo:543; 4061339.40 north; 594153.72 east 2021-10-10T03:09:05Z- LcmTrn::handleMessages() - handling 39 messages took 0.79 ms and 123 calls... 2021-10-10T03:09:05Z- waiting for 1633835343.34, time is 1633835345.25 2021-10-10T03:09:05Z- LcmTrn::updateTrn() equating pose 1633835345.25 and meas times 1633835345.25 2021-10-10T03:09:05Z- LcmTrn::updateTrn() >>>> pose time 1633835345.25, meas time 1633835345.25 <<<< 2021-10-10T03:09:05Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835345.25 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:09:05Z- TerrainNav::motionUpdate() - currEstimate = (4061339, 594153.72, 21.48) 2021-10-10T03:09:05Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:09:05Z- TerrainNav:: SubcloudNIS is 0.69, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:09:05Z- TNavBF::Projecting Measurements 2021-10-10T03:09:05Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:09:05Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:09:05Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:09:05Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:09:05Z- TNavFilter::4 good beams. 2021-10-10T03:09:05Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:09:05Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:09:05Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:09:05Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:09:05Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:09:05Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:09:05Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:09:05Z- TNavBF::mmse selected from filter -1 2021-10-10T03:09:05Z- TerrainMapOctree: (vehN, vehE ) = (4061339.40, 594153.72). 2021-10-10T03:09:05Z- TerrainMapOctree: Min Distance = 131.38. 2021-10-10T03:09:05Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:09:05Z- There is no specific good beam that all particles have in common. 2021-10-10T03:09:05Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 0 2021-10-10T03:09:05Z- Old Depth Bias: 0.00 DepthBiasCov: 1.47 K: 0.145 ExpectedMeasDiff: nan currMeas.covariance: 6.88 2021-10-10T03:09:05Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:09:05Z- Old Depth Bias: 0.00 DepthBiasCov: 1.25 K: 0.079 ExpectedMeasDiff: nan currMeas.covariance: 12.78 2021-10-10T03:09:05Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 2 2021-10-10T03:09:05Z- Old Depth Bias: 0.00 DepthBiasCov: 1.15 K: 0.122 ExpectedMeasDiff: nan currMeas.covariance: 6.54 2021-10-10T03:09:05Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 3 2021-10-10T03:09:05Z- Old Depth Bias: 0.00 DepthBiasCov: 1.01 K: 0.056 ExpectedMeasDiff: nan currMeas.covariance: 15.39 2021-10-10T03:09:05Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:09:05Z- Filter 0 beam number: 0 num in subcloud: 8425 num not in subcloud: 1575 2021-10-10T03:09:05Z- Filter 0 partialDeltaRmsComputation: 32.753832 terrainVariance: 6.693718 1-SumSquareWeights: 0.946933 2021-10-10T03:09:05Z- Filter 0 meanExpectedMeasDiff: 5.104911 delta_rms_squared: 6.684249 alpha: 0.997017 2021-10-10T03:09:05Z- Filter 0 beam number: 1 num in subcloud: 780 num not in subcloud: 9220 2021-10-10T03:09:05Z- Filter 0 partialDeltaRmsComputation: 67.911789 terrainVariance: 0.052187 1-SumSquareWeights: 0.984124 2021-10-10T03:09:05Z- Filter 0 meanExpectedMeasDiff: -8.237694 delta_rms_squared: 0.042346 alpha: 0.679210 2021-10-10T03:09:05Z- Filter 0 beam number: 2 num in subcloud: 8527 num not in subcloud: 1473 2021-10-10T03:09:05Z- Filter 0 partialDeltaRmsComputation: 90.648194 terrainVariance: 9.701966 1-SumSquareWeights: 0.947774 2021-10-10T03:09:05Z- Filter 0 meanExpectedMeasDiff: -8.997012 delta_rms_squared: 9.692488 alpha: 0.997941 2021-10-10T03:09:05Z- Filter 0 beam number: 3 num in subcloud: 1981 num not in subcloud: 8019 2021-10-10T03:09:05Z- Filter 0 partialDeltaRmsComputation: 429.468568 terrainVariance: 0.127120 1-SumSquareWeights: 0.940361 2021-10-10T03:09:05Z- Filter 0 meanExpectedMeasDiff: 20.720556 delta_rms_squared: 0.117717 alpha: 0.854774 2021-10-10T03:09:05Z- Filter 0 SubcloudNIS: 0.836035 2021-10-10T03:09:05Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:09:05Z- TNavBF:: Filter 0 sumWeights = 0.000000 2021-10-10T03:09:05Z- Filter 0 NorthBias: 36.9 EastBias: -16.8 DepthBias: -13.3 NorthVariance: 926.2 EastVariance: 60.6 DepthVariance: 29.3 this->DepthBiasCov: 1.0 2021-10-10T03:09:05Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835345.25 sec. 2021-10-10T03:09:05Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:09:05Z- TNavBF::mmse selected from filter -1 2021-10-10T03:09:05Z- variances([0], [2], and psi_berg) = 926.244514 60.573807 0.000000 2021-10-10T03:09:05Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:09:05Z- LcmTrn::publishEstimates() - MLE : 4061388.90 594138.22 21.48 2021-10-10T03:09:05Z- LcmTrn::publishEstimates() - MMSE : 4061376.33 594136.96 8.16 2021-10-10T03:09:05Z- LcmTrn::publishEstimates() - COVAR: 926.24 60.57 29.25 0.00 2021-10-10T03:09:05Z- AHRS_M2 msg: 1633835345.58 epoch sec; seqNo:528 2021-10-10T03:09:05Z- AHRS_M2 msg: -0.24 phi; -0.27 theta; 0.43 psi 2021-10-10T03:09:05Z- handleDepth()-Depth_Keller msg: 1633835345580 epoch sec; seqNo:544; depth 21.57 2021-10-10T03:09:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835345.60 epoch sec; seqNo:544; 4061339.78 north; 594153.71 east 2021-10-10T03:09:05Z- AHRS_M2 msg: 1633835345.98 epoch sec; seqNo:529 2021-10-10T03:09:05Z- AHRS_M2 msg: -0.24 phi; -0.27 theta; 0.42 psi 2021-10-10T03:09:05Z- handleDepth()-Depth_Keller msg: 1633835345983 epoch sec; seqNo:545; depth 21.63 2021-10-10T03:09:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835346.00 epoch sec; seqNo:545; 4061340.15 north; 594153.71 east 2021-10-10T03:09:06Z- AHRS_M2 msg: 1633835346.38 epoch sec; seqNo:530 2021-10-10T03:09:06Z- AHRS_M2 msg: -0.25 phi; -0.27 theta; 0.42 psi 2021-10-10T03:09:06Z- handleDepth()-Depth_Keller msg: 1633835346387 epoch sec; seqNo:546; depth 21.71 2021-10-10T03:09:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835346.40 epoch sec; seqNo:546; 4061340.15 north; 594153.71 east 2021-10-10T03:09:06Z- AHRS_M2 msg: 1633835346.79 epoch sec; seqNo:531 2021-10-10T03:09:06Z- AHRS_M2 msg: -0.25 phi; -0.27 theta; 0.42 psi 2021-10-10T03:09:06Z- handleDepth()-Depth_Keller msg: 1633835346790 epoch sec; seqNo:547; depth 21.80 2021-10-10T03:09:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835346.80 epoch sec; seqNo:547; 4061340.53 north; 594153.71 east 2021-10-10T03:09:07Z- AHRS_M2 msg: 1633835347.19 epoch sec; seqNo:532 2021-10-10T03:09:07Z- AHRS_M2 msg: -0.25 phi; -0.27 theta; 0.42 psi 2021-10-10T03:09:07Z- handleDepth()-Depth_Keller msg: 1633835347199 epoch sec; seqNo:548; depth 21.88 2021-10-10T03:09:07Z- handleDvl() - RDI_Pathfinder msg: 1633835347.22 epoch sec; seqNo:141 2021-10-10T03:09:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.34 , 90.46 , 64.34 , 92.63 2021-10-10T03:09:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.13 , 0.01 2021-10-10T03:09:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835347.23 epoch sec; seqNo:548; 4061340.91 north; 594153.70 east 2021-10-10T03:09:07Z- AHRS_M2 msg: 1633835347.59 epoch sec; seqNo:533 2021-10-10T03:09:07Z- AHRS_M2 msg: -0.25 phi; -0.27 theta; 0.42 psi 2021-10-10T03:09:07Z- handleDepth()-Depth_Keller msg: 1633835347600 epoch sec; seqNo:549; depth 21.96 2021-10-10T03:09:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835347.63 epoch sec; seqNo:549; 4061341.29 north; 594153.70 east 2021-10-10T03:09:08Z- AHRS_M2 msg: 1633835348.00 epoch sec; seqNo:534 2021-10-10T03:09:08Z- AHRS_M2 msg: -0.24 phi; -0.27 theta; 0.42 psi 2021-10-10T03:09:08Z- handleDepth()-Depth_Keller msg: 1633835348003 epoch sec; seqNo:550; depth 22.04 2021-10-10T03:09:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835348.01 epoch sec; seqNo:550; 4061341.29 north; 594153.70 east 2021-10-10T03:09:08Z- AHRS_M2 msg: 1633835348.40 epoch sec; seqNo:535 2021-10-10T03:09:08Z- AHRS_M2 msg: -0.24 phi; -0.27 theta; 0.42 psi 2021-10-10T03:09:08Z- handleDepth()-Depth_Keller msg: 1633835348406 epoch sec; seqNo:551; depth 22.13 2021-10-10T03:09:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835348.41 epoch sec; seqNo:551; 4061341.67 north; 594153.69 east 2021-10-10T03:09:08Z- AHRS_M2 msg: 1633835348.81 epoch sec; seqNo:536 2021-10-10T03:09:08Z- AHRS_M2 msg: -0.24 phi; -0.27 theta; 0.42 psi 2021-10-10T03:09:08Z- handleDepth()-Depth_Keller msg: 1633835348812 epoch sec; seqNo:552; depth 22.20 2021-10-10T03:09:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835348.83 epoch sec; seqNo:552; 4061342.05 north; 594153.69 east 2021-10-10T03:09:09Z- AHRS_M2 msg: 1633835349.21 epoch sec; seqNo:537 2021-10-10T03:09:09Z- AHRS_M2 msg: -0.22 phi; -0.27 theta; 0.42 psi 2021-10-10T03:09:09Z- handleDepth()-Depth_Keller msg: 1633835349224 epoch sec; seqNo:553; depth 22.28 2021-10-10T03:09:09Z- handleDvl() - RDI_Pathfinder msg: 1633835349.24 epoch sec; seqNo:142 2021-10-10T03:09:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.75 , 89.37 , 63.52 , 93.71 2021-10-10T03:09:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.05 , 0.06 2021-10-10T03:09:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835349.26 epoch sec; seqNo:553; 4061342.43 north; 594153.69 east 2021-10-10T03:09:09Z- AHRS_M2 msg: 1633835349.62 epoch sec; seqNo:538 2021-10-10T03:09:09Z- AHRS_M2 msg: -0.22 phi; -0.27 theta; 0.42 psi 2021-10-10T03:09:09Z- handleDepth()-Depth_Keller msg: 1633835349623 epoch sec; seqNo:554; depth 22.38 2021-10-10T03:09:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835349.64 epoch sec; seqNo:554; 4061342.43 north; 594153.69 east 2021-10-10T03:09:10Z- AHRS_M2 msg: 1633835350.02 epoch sec; seqNo:539 2021-10-10T03:09:10Z- AHRS_M2 msg: -0.22 phi; -0.27 theta; 0.42 psi 2021-10-10T03:09:10Z- handleDepth()-Depth_Keller msg: 1633835350025 epoch sec; seqNo:555; depth 22.45 2021-10-10T03:09:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835350.04 epoch sec; seqNo:555; 4061342.81 north; 594153.68 east 2021-10-10T03:09:10Z- AHRS_M2 msg: 1633835350.42 epoch sec; seqNo:540 2021-10-10T03:09:10Z- AHRS_M2 msg: -0.22 phi; -0.27 theta; 0.43 psi 2021-10-10T03:09:10Z- handleDepth()-Depth_Keller msg: 1633835350426 epoch sec; seqNo:556; depth 22.53 2021-10-10T03:09:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835350.44 epoch sec; seqNo:556; 4061343.20 north; 594154.90 east 2021-10-10T03:09:10Z- LcmTrn::handleMessages() - handling 41 messages took 0.63 ms and 128 calls... 2021-10-10T03:09:10Z- waiting for 1633835348.25, time is 1633835350.44 2021-10-10T03:09:10Z- LcmTrn::updateTrn() >>>> pose time 1633835350.44, meas time 1633835349.24 <<<< 2021-10-10T03:09:10Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835349.24 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:09:10Z- TerrainNav::motionUpdate() - currEstimate = (4061343, 594154.90, 22.53) 2021-10-10T03:09:10Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:09:10Z- TerrainNav:: SubcloudNIS is 0.84, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:09:10Z- TNavBF::Projecting Measurements 2021-10-10T03:09:10Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:09:10Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:09:10Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:09:10Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:09:10Z- TNavFilter::4 good beams. 2021-10-10T03:09:10Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:09:10Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:09:10Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:09:10Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:09:10Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:09:10Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:09:10Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:09:10Z- TNavBF::mmse selected from filter -1 2021-10-10T03:09:10Z- TerrainMapOctree: (vehN, vehE ) = (4061342.32, 594154.63). 2021-10-10T03:09:10Z- TerrainMapOctree: Min Distance = 132.74. 2021-10-10T03:09:10Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:09:10Z- There is no specific good beam that all particles have in common. 2021-10-10T03:09:10Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 0 2021-10-10T03:09:10Z- Old Depth Bias: 0.00 DepthBiasCov: 1.11 K: 0.116 ExpectedMeasDiff: nan currMeas.covariance: 6.71 2021-10-10T03:09:10Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:09:10Z- Old Depth Bias: 0.00 DepthBiasCov: 0.98 K: 0.063 ExpectedMeasDiff: nan currMeas.covariance: 12.78 2021-10-10T03:09:10Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 2 2021-10-10T03:09:10Z- Old Depth Bias: 0.00 DepthBiasCov: 0.92 K: 0.101 ExpectedMeasDiff: nan currMeas.covariance: 6.46 2021-10-10T03:09:10Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 3 2021-10-10T03:09:10Z- Old Depth Bias: 0.00 DepthBiasCov: 0.83 K: 0.050 ExpectedMeasDiff: nan currMeas.covariance: 14.05 2021-10-10T03:09:10Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:09:10Z- Filter 0 beam number: 0 num in subcloud: 8716 num not in subcloud: 1284 2021-10-10T03:09:10Z- Filter 0 partialDeltaRmsComputation: 26.431575 terrainVariance: 3.062708 1-SumSquareWeights: 0.936866 2021-10-10T03:09:10Z- Filter 0 meanExpectedMeasDiff: 4.834136 delta_rms_squared: 3.053339 alpha: 0.993492 2021-10-10T03:09:11Z- Filter 0 beam number: 1 num in subcloud: 1018 num not in subcloud: 8982 2021-10-10T03:09:11Z- Filter 0 partialDeltaRmsComputation: 39.947145 terrainVariance: 0.047679 1-SumSquareWeights: 0.918103 2021-10-10T03:09:11Z- Filter 0 meanExpectedMeasDiff: -6.316602 delta_rms_squared: 0.038498 alpha: 0.658109 2021-10-10T03:09:11Z- Filter 0 beam number: 2 num in subcloud: 8731 num not in subcloud: 1269 2021-10-10T03:09:11Z- Filter 0 partialDeltaRmsComputation: 56.498018 terrainVariance: 2.682380 1-SumSquareWeights: 0.936411 2021-10-10T03:09:11Z- Filter 0 meanExpectedMeasDiff: -7.335914 delta_rms_squared: 2.673016 alpha: 0.992573 2021-10-10T03:09:11Z- Filter 0 beam number: 3 num in subcloud: 2339 num not in subcloud: 7661 2021-10-10T03:09:11Z- Filter 0 partialDeltaRmsComputation: 265.645961 terrainVariance: 0.046937 1-SumSquareWeights: 0.934384 2021-10-10T03:09:11Z- Filter 0 meanExpectedMeasDiff: 16.297209 delta_rms_squared: 0.037594 alpha: 0.652739 2021-10-10T03:09:11Z- Filter 0 SubcloudNIS: 0.935554 2021-10-10T03:09:11Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:09:11Z- TNavBF:: Filter 0 sumWeights = 0.000033 2021-10-10T03:09:11Z- Filter 0 NorthBias: 38.4 EastBias: -16.8 DepthBias: -13.2 NorthVariance: 842.6 EastVariance: 51.1 DepthVariance: 24.4 this->DepthBiasCov: 0.8 2021-10-10T03:09:11Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835349.24 sec. 2021-10-10T03:09:11Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:09:11Z- TNavBF::mmse selected from filter -1 2021-10-10T03:09:11Z- variances([0], [2], and psi_berg) = 845.432507 51.392066 0.000000 2021-10-10T03:09:11Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:09:11Z- LcmTrn::publishEstimates() - MLE : 4061392.70 594139.40 22.53 2021-10-10T03:09:11Z- LcmTrn::publishEstimates() - MMSE : 4061381.55 594138.13 9.31 2021-10-10T03:09:11Z- LcmTrn::publishEstimates() - COVAR: 845.43 51.39 24.53 0.00 2021-10-10T03:09:11Z- AHRS_M2 msg: 1633835350.83 epoch sec; seqNo:541 2021-10-10T03:09:11Z- AHRS_M2 msg: -0.22 phi; -0.27 theta; 0.43 psi 2021-10-10T03:09:11Z- handleDepth()-Depth_Keller msg: 1633835350830 epoch sec; seqNo:557; depth 22.63 2021-10-10T03:09:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835350.84 epoch sec; seqNo:557; 4061343.58 north; 594154.89 east 2021-10-10T03:09:11Z- AHRS_M2 msg: 1633835351.23 epoch sec; seqNo:542 2021-10-10T03:09:11Z- AHRS_M2 msg: -0.22 phi; -0.27 theta; 0.42 psi 2021-10-10T03:09:11Z- handleDepth()-Depth_Keller msg: 1633835351246 epoch sec; seqNo:558; depth 22.70 2021-10-10T03:09:11Z- handleDvl() - RDI_Pathfinder msg: 1633835351.27 epoch sec; seqNo:143 2021-10-10T03:09:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.75 , 88.28 , 63.12 , 89.37 2021-10-10T03:09:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.01 , 0.02 2021-10-10T03:09:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835351.29 epoch sec; seqNo:558; 4061343.58 north; 594154.89 east 2021-10-10T03:09:11Z- handleDepth()-Depth_Keller msg: 1633835351656 epoch sec; seqNo:559; depth 22.79 2021-10-10T03:09:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835351.68 epoch sec; seqNo:559; 4061343.96 north; 594154.89 east 2021-10-10T03:09:12Z- AHRS_M2 msg: 1633835352.04 epoch sec; seqNo:543 2021-10-10T03:09:12Z- AHRS_M2 msg: -0.23 phi; -0.27 theta; 0.42 psi 2021-10-10T03:09:12Z- handleDepth()-Depth_Keller msg: 1633835352043 epoch sec; seqNo:560; depth 22.87 2021-10-10T03:09:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835352.05 epoch sec; seqNo:560; 4061344.33 north; 594154.88 east 2021-10-10T03:09:12Z- AHRS_M2 msg: 1633835352.44 epoch sec; seqNo:544 2021-10-10T03:09:12Z- AHRS_M2 msg: -0.24 phi; -0.27 theta; 0.42 psi 2021-10-10T03:09:12Z- handleDepth()-Depth_Keller msg: 1633835352448 epoch sec; seqNo:561; depth 22.94 2021-10-10T03:09:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835352.46 epoch sec; seqNo:561; 4061344.71 north; 594154.88 east 2021-10-10T03:09:12Z- AHRS_M2 msg: 1633835352.85 epoch sec; seqNo:545 2021-10-10T03:09:12Z- AHRS_M2 msg: -0.24 phi; -0.28 theta; 0.42 psi 2021-10-10T03:09:12Z- handleDepth()-Depth_Keller msg: 1633835352860 epoch sec; seqNo:562; depth 23.02 2021-10-10T03:09:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835352.87 epoch sec; seqNo:562; 4061344.71 north; 594154.88 east 2021-10-10T03:09:13Z- AHRS_M2 msg: 1633835353.25 epoch sec; seqNo:546 2021-10-10T03:09:13Z- AHRS_M2 msg: -0.24 phi; -0.28 theta; 0.42 psi 2021-10-10T03:09:13Z- handleDepth()-Depth_Keller msg: 1633835353269 epoch sec; seqNo:563; depth 23.11 2021-10-10T03:09:13Z- handleDvl() - RDI_Pathfinder msg: 1633835353.29 epoch sec; seqNo:144 2021-10-10T03:09:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.93 , 87.20 , 62.71 , 90.46 2021-10-10T03:09:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.04 , 0.03 2021-10-10T03:09:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835353.30 epoch sec; seqNo:563; 4061345.09 north; 594154.88 east 2021-10-10T03:09:13Z- AHRS_M2 msg: 1633835353.65 epoch sec; seqNo:547 2021-10-10T03:09:13Z- AHRS_M2 msg: -0.25 phi; -0.28 theta; 0.42 psi 2021-10-10T03:09:13Z- handleDepth()-Depth_Keller msg: 1633835353658 epoch sec; seqNo:564; depth 23.21 2021-10-10T03:09:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835353.67 epoch sec; seqNo:564; 4061345.47 north; 594154.87 east 2021-10-10T03:09:14Z- AHRS_M2 msg: 1633835354.06 epoch sec; seqNo:548 2021-10-10T03:09:14Z- AHRS_M2 msg: -0.25 phi; -0.28 theta; 0.41 psi 2021-10-10T03:09:14Z- handleDepth()-Depth_Keller msg: 1633835354063 epoch sec; seqNo:565; depth 23.27 2021-10-10T03:09:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835354.07 epoch sec; seqNo:565; 4061345.85 north; 594154.87 east 2021-10-10T03:09:14Z- AHRS_M2 msg: 1633835354.46 epoch sec; seqNo:549 2021-10-10T03:09:14Z- AHRS_M2 msg: -0.25 phi; -0.28 theta; 0.41 psi 2021-10-10T03:09:14Z- handleDepth()-Depth_Keller msg: 1633835354472 epoch sec; seqNo:566; depth 23.37 2021-10-10T03:09:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835354.48 epoch sec; seqNo:566; 4061345.85 north; 594154.87 east 2021-10-10T03:09:14Z- AHRS_M2 msg: 1633835354.87 epoch sec; seqNo:550 2021-10-10T03:09:14Z- AHRS_M2 msg: -0.25 phi; -0.28 theta; 0.41 psi 2021-10-10T03:09:14Z- handleDepth()-Depth_Keller msg: 1633835354888 epoch sec; seqNo:567; depth 23.48 2021-10-10T03:09:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835354.90 epoch sec; seqNo:567; 4061346.24 north; 594156.08 east 2021-10-10T03:09:15Z- AHRS_M2 msg: 1633835355.27 epoch sec; seqNo:551 2021-10-10T03:09:15Z- AHRS_M2 msg: -0.25 phi; -0.28 theta; 0.41 psi 2021-10-10T03:09:15Z- handleDepth()-Depth_Keller msg: 1633835355278 epoch sec; seqNo:568; depth 23.55 2021-10-10T03:09:15Z- handleDvl() - RDI_Pathfinder msg: 1633835355.31 epoch sec; seqNo:145 2021-10-10T03:09:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.52 , 89.37 , 62.71 , 90.46 2021-10-10T03:09:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.02 , 0.06 2021-10-10T03:09:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835355.32 epoch sec; seqNo:568; 4061346.62 north; 594156.08 east 2021-10-10T03:09:15Z- AHRS_M2 msg: 1633835355.67 epoch sec; seqNo:552 2021-10-10T03:09:15Z- AHRS_M2 msg: -0.25 phi; -0.29 theta; 0.41 psi 2021-10-10T03:09:15Z- handleDepth()-Depth_Keller msg: 1633835355679 epoch sec; seqNo:569; depth 23.65 2021-10-10T03:09:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835355.69 epoch sec; seqNo:569; 4061347.00 north; 594156.08 east 2021-10-10T03:09:16Z- LcmTrn::handleMessages() - handling 41 messages took 0.74 ms and 126 calls... 2021-10-10T03:09:16Z- waiting for 1633835353.44, time is 1633835355.69 2021-10-10T03:09:16Z- LcmTrn::updateTrn() >>>> pose time 1633835355.69, meas time 1633835355.31 <<<< 2021-10-10T03:09:16Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835355.31 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:09:16Z- TerrainNav::motionUpdate() - currEstimate = (4061347, 594156.08, 23.65) 2021-10-10T03:09:16Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:09:16Z- TerrainNav:: SubcloudNIS is 0.94, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:09:16Z- TNavBF::Projecting Measurements 2021-10-10T03:09:16Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:09:16Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:09:16Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:09:16Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:09:16Z- TNavFilter::4 good beams. 2021-10-10T03:09:16Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:09:16Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:09:16Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:09:16Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:09:16Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:09:16Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:09:16Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:09:16Z- TNavBF::mmse selected from filter -1 2021-10-10T03:09:16Z- TerrainMapOctree: (vehN, vehE ) = (4061346.72, 594155.99). 2021-10-10T03:09:16Z- TerrainMapOctree: Min Distance = 134.88. 2021-10-10T03:09:16Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:09:16Z- There is no specific good beam that all particles have in common. 2021-10-10T03:09:16Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 0 2021-10-10T03:09:16Z- Old Depth Bias: 0.00 DepthBiasCov: 1.02 K: 0.111 ExpectedMeasDiff: nan currMeas.covariance: 6.46 2021-10-10T03:09:16Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:09:16Z- Old Depth Bias: 0.00 DepthBiasCov: 0.91 K: 0.059 ExpectedMeasDiff: nan currMeas.covariance: 12.78 2021-10-10T03:09:16Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 2 2021-10-10T03:09:16Z- Old Depth Bias: 0.00 DepthBiasCov: 0.85 K: 0.096 ExpectedMeasDiff: nan currMeas.covariance: 6.29 2021-10-10T03:09:16Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 3 2021-10-10T03:09:16Z- Old Depth Bias: 0.00 DepthBiasCov: 0.77 K: 0.049 ExpectedMeasDiff: nan currMeas.covariance: 13.09 2021-10-10T03:09:16Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:09:16Z- Filter 0 beam number: 0 num in subcloud: 8980 num not in subcloud: 1020 2021-10-10T03:09:16Z- Filter 0 partialDeltaRmsComputation: 30.698048 terrainVariance: 3.181989 1-SumSquareWeights: 0.938502 2021-10-10T03:09:16Z- Filter 0 meanExpectedMeasDiff: 5.245575 delta_rms_squared: 3.172604 alpha: 0.993736 2021-10-10T03:09:16Z- Filter 0 beam number: 1 num in subcloud: 1409 num not in subcloud: 8591 2021-10-10T03:09:16Z- Filter 0 partialDeltaRmsComputation: 66.338832 terrainVariance: 0.021584 1-SumSquareWeights: 0.935862 2021-10-10T03:09:16Z- Filter 0 meanExpectedMeasDiff: -8.143540 delta_rms_squared: 0.012225 alpha: 0.379364 2021-10-10T03:09:16Z- Filter 0 beam number: 2 num in subcloud: 9070 num not in subcloud: 930 2021-10-10T03:09:16Z- Filter 0 partialDeltaRmsComputation: 82.972800 terrainVariance: 4.596316 1-SumSquareWeights: 0.939595 2021-10-10T03:09:16Z- Filter 0 meanExpectedMeasDiff: -8.853049 delta_rms_squared: 4.586920 alpha: 0.995659 2021-10-10T03:09:16Z- Filter 0 beam number: 3 num in subcloud: 2728 num not in subcloud: 7272 2021-10-10T03:09:16Z- Filter 0 partialDeltaRmsComputation: 196.645345 terrainVariance: 0.021989 1-SumSquareWeights: 0.935946 2021-10-10T03:09:16Z- Filter 0 meanExpectedMeasDiff: 14.022245 delta_rms_squared: 0.012630 alpha: 0.387061 2021-10-10T03:09:16Z- Filter 0 SubcloudNIS: 1.062485 2021-10-10T03:09:16Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:09:16Z- TNavBF:: Filter 0 sumWeights = 0.000127 2021-10-10T03:09:16Z- Filter 0 NorthBias: 40.9 EastBias: -17.9 DepthBias: -13.7 NorthVariance: 659.5 EastVariance: 36.1 DepthVariance: 18.8 this->DepthBiasCov: 0.7 2021-10-10T03:09:16Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835355.31 sec. 2021-10-10T03:09:16Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:09:16Z- TNavBF::mmse selected from filter -1 2021-10-10T03:09:16Z- variances([0], [2], and psi_berg) = 660.567424 36.169932 0.000000 2021-10-10T03:09:16Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:09:16Z- LcmTrn::publishEstimates() - MLE : 4061396.50 594136.58 23.65 2021-10-10T03:09:16Z- LcmTrn::publishEstimates() - MMSE : 4061387.88 594138.21 9.97 2021-10-10T03:09:16Z- LcmTrn::publishEstimates() - COVAR: 660.57 36.17 18.89 0.00 2021-10-10T03:09:16Z- AHRS_M2 msg: 1633835356.08 epoch sec; seqNo:553 2021-10-10T03:09:16Z- AHRS_M2 msg: -0.25 phi; -0.29 theta; 0.41 psi 2021-10-10T03:09:16Z- handleDepth()-Depth_Keller msg: 1633835356085 epoch sec; seqNo:570; depth 23.72 2021-10-10T03:09:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835356.09 epoch sec; seqNo:570; 4061347.00 north; 594156.08 east 2021-10-10T03:09:16Z- AHRS_M2 msg: 1633835356.48 epoch sec; seqNo:554 2021-10-10T03:09:16Z- AHRS_M2 msg: -0.25 phi; -0.29 theta; 0.40 psi 2021-10-10T03:09:16Z- handleDepth()-Depth_Keller msg: 1633835356488 epoch sec; seqNo:571; depth 23.80 2021-10-10T03:09:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835356.51 epoch sec; seqNo:571; 4061347.38 north; 594156.07 east 2021-10-10T03:09:16Z- AHRS_M2 msg: 1633835356.89 epoch sec; seqNo:555 2021-10-10T03:09:16Z- AHRS_M2 msg: -0.26 phi; -0.29 theta; 0.40 psi 2021-10-10T03:09:16Z- handleDepth()-Depth_Keller msg: 1633835356894 epoch sec; seqNo:572; depth 23.90 2021-10-10T03:09:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835356.91 epoch sec; seqNo:572; 4061347.76 north; 594156.07 east 2021-10-10T03:09:17Z- AHRS_M2 msg: 1633835357.29 epoch sec; seqNo:556 2021-10-10T03:09:17Z- AHRS_M2 msg: -0.26 phi; -0.29 theta; 0.40 psi 2021-10-10T03:09:17Z- handleDepth()-Depth_Keller msg: 1633835357298 epoch sec; seqNo:573; depth 23.99 2021-10-10T03:09:17Z- handleDvl() - RDI_Pathfinder msg: 1633835357.34 epoch sec; seqNo:146 2021-10-10T03:09:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.11 , 89.37 , 62.29 , 91.54 2021-10-10T03:09:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.02 , 0.04 2021-10-10T03:09:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835357.35 epoch sec; seqNo:573; 4061348.14 north; 594156.06 east 2021-10-10T03:09:17Z- AHRS_M2 msg: 1633835357.69 epoch sec; seqNo:557 2021-10-10T03:09:17Z- AHRS_M2 msg: -0.26 phi; -0.29 theta; 0.40 psi 2021-10-10T03:09:17Z- handleDepth()-Depth_Keller msg: 1633835357704 epoch sec; seqNo:574; depth 24.09 2021-10-10T03:09:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835357.72 epoch sec; seqNo:574; 4061348.14 north; 594156.06 east 2021-10-10T03:09:18Z- AHRS_M2 msg: 1633835358.10 epoch sec; seqNo:558 2021-10-10T03:09:18Z- AHRS_M2 msg: -0.26 phi; -0.29 theta; 0.40 psi 2021-10-10T03:09:18Z- handleDepth()-Depth_Keller msg: 1633835358104 epoch sec; seqNo:575; depth 24.15 2021-10-10T03:09:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835358.12 epoch sec; seqNo:575; 4061348.52 north; 594156.06 east 2021-10-10T03:09:18Z- AHRS_M2 msg: 1633835358.50 epoch sec; seqNo:559 2021-10-10T03:09:18Z- AHRS_M2 msg: -0.26 phi; -0.29 theta; 0.39 psi 2021-10-10T03:09:18Z- handleDepth()-Depth_Keller msg: 1633835358507 epoch sec; seqNo:576; depth 24.26 2021-10-10T03:09:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835358.52 epoch sec; seqNo:576; 4061348.89 north; 594156.06 east 2021-10-10T03:09:18Z- AHRS_M2 msg: 1633835358.91 epoch sec; seqNo:560 2021-10-10T03:09:18Z- AHRS_M2 msg: -0.26 phi; -0.30 theta; 0.39 psi 2021-10-10T03:09:18Z- handleDepth()-Depth_Keller msg: 1633835358921 epoch sec; seqNo:577; depth 24.35 2021-10-10T03:09:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835358.93 epoch sec; seqNo:577; 4061349.29 north; 594157.27 east 2021-10-10T03:09:19Z- AHRS_M2 msg: 1633835359.31 epoch sec; seqNo:561 2021-10-10T03:09:19Z- AHRS_M2 msg: -0.26 phi; -0.30 theta; 0.39 psi 2021-10-10T03:09:19Z- handleDepth()-Depth_Keller msg: 1633835359324 epoch sec; seqNo:578; depth 24.43 2021-10-10T03:09:19Z- handleDvl() - RDI_Pathfinder msg: 1633835359.35 epoch sec; seqNo:147 2021-10-10T03:09:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.29 , 0.00 , 61.06 , 91.54 2021-10-10T03:09:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.05 , 0.06 2021-10-10T03:09:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835359.38 epoch sec; seqNo:578; 4061349.67 north; 594157.27 east 2021-10-10T03:09:19Z- AHRS_M2 msg: 1633835359.71 epoch sec; seqNo:562 2021-10-10T03:09:19Z- AHRS_M2 msg: -0.26 phi; -0.30 theta; 0.38 psi 2021-10-10T03:09:19Z- handleDepth()-Depth_Keller msg: 1633835359720 epoch sec; seqNo:579; depth 24.53 2021-10-10T03:09:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835359.74 epoch sec; seqNo:579; 4061349.67 north; 594157.27 east 2021-10-10T03:09:20Z- AHRS_M2 msg: 1633835360.12 epoch sec; seqNo:563 2021-10-10T03:09:20Z- AHRS_M2 msg: -0.27 phi; -0.30 theta; 0.38 psi 2021-10-10T03:09:20Z- handleDepth()-Depth_Keller msg: 1633835360123 epoch sec; seqNo:580; depth 24.61 2021-10-10T03:09:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835360.13 epoch sec; seqNo:580; 4061350.04 north; 594157.26 east 2021-10-10T03:09:20Z- AHRS_M2 msg: 1633835360.52 epoch sec; seqNo:564 2021-10-10T03:09:20Z- AHRS_M2 msg: -0.27 phi; -0.30 theta; 0.38 psi 2021-10-10T03:09:20Z- handleDepth()-Depth_Keller msg: 1633835360528 epoch sec; seqNo:581; depth 24.71 2021-10-10T03:09:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835360.54 epoch sec; seqNo:581; 4061350.42 north; 594157.26 east 2021-10-10T03:09:20Z- AHRS_M2 msg: 1633835360.94 epoch sec; seqNo:565 2021-10-10T03:09:20Z- AHRS_M2 msg: -0.27 phi; -0.30 theta; 0.38 psi 2021-10-10T03:09:20Z- handleDepth()-Depth_Keller msg: 1633835360945 epoch sec; seqNo:582; depth 24.79 2021-10-10T03:09:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835360.96 epoch sec; seqNo:582; 4061350.80 north; 594157.25 east 2021-10-10T03:09:21Z- LcmTrn::handleMessages() - handling 41 messages took 0.70 ms and 127 calls... 2021-10-10T03:09:21Z- waiting for 1633835358.69, time is 1633835360.96 2021-10-10T03:09:21Z- LcmTrn::updateTrn() >>>> pose time 1633835360.96, meas time 1633835359.35 <<<< 2021-10-10T03:09:21Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835359.35 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:09:21Z- TerrainNav::motionUpdate() - currEstimate = (4061351, 594157.25, 24.79) 2021-10-10T03:09:21Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:09:21Z- TerrainNav:: SubcloudNIS is 1.06, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:09:21Z- TNavBF::Projecting Measurements 2021-10-10T03:09:21Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:09:21Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:09:21Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:09:21Z- TNavFilter::Excluded 1 beam(s) from correlation due to poor sonar data. 2021-10-10T03:09:21Z- TNavFilter::3 good beams. 2021-10-10T03:09:21Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:09:21Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:09:21Z- TNavBF:: beamIndex[1] = 2 2021-10-10T03:09:21Z- TNavBF:: beamIndex[2] = 3 2021-10-10T03:09:21Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:09:21Z- TNavBF:: *** beamsVF.Ncols() = 3 *** 2021-10-10T03:09:21Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:09:21Z- TNavBF::mmse selected from filter -1 2021-10-10T03:09:21Z- TerrainMapOctree: (vehN, vehE ) = (4061349.64, 594156.89). 2021-10-10T03:09:21Z- TerrainMapOctree: Min Distance = 136.37. 2021-10-10T03:09:21Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:09:21Z- There is no specific good beam that all particles have in common. 2021-10-10T03:09:21Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 0 2021-10-10T03:09:21Z- Old Depth Bias: 0.00 DepthBiasCov: 0.89 K: 0.101 ExpectedMeasDiff: nan currMeas.covariance: 6.21 2021-10-10T03:09:21Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:09:21Z- Old Depth Bias: 0.00 DepthBiasCov: 0.80 K: 0.094 ExpectedMeasDiff: nan currMeas.covariance: 5.97 2021-10-10T03:09:21Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 2 2021-10-10T03:09:21Z- Old Depth Bias: 0.00 DepthBiasCov: 0.72 K: 0.046 ExpectedMeasDiff: nan currMeas.covariance: 13.41 2021-10-10T03:09:21Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:09:21Z- Filter 0 beam number: 0 num in subcloud: 9117 num not in subcloud: 883 2021-10-10T03:09:21Z- Filter 0 partialDeltaRmsComputation: 25.883047 terrainVariance: 0.728327 1-SumSquareWeights: 0.955617 2021-10-10T03:09:21Z- Filter 0 meanExpectedMeasDiff: 5.015448 delta_rms_squared: 0.718771 alpha: 0.972928 2021-10-10T03:09:21Z- Filter 0 beam number: 1 num in subcloud: 9305 num not in subcloud: 695 2021-10-10T03:09:21Z- Filter 0 partialDeltaRmsComputation: 114.055763 terrainVariance: 2.705390 1-SumSquareWeights: 0.956854 2021-10-10T03:09:21Z- Filter 0 meanExpectedMeasDiff: -10.552269 delta_rms_squared: 2.695821 alpha: 0.992636 2021-10-10T03:09:21Z- Filter 0 beam number: 2 num in subcloud: 2941 num not in subcloud: 7059 2021-10-10T03:09:21Z- Filter 0 partialDeltaRmsComputation: 231.336564 terrainVariance: 0.014733 1-SumSquareWeights: 0.955183 2021-10-10T03:09:21Z- Filter 0 meanExpectedMeasDiff: 15.209268 delta_rms_squared: 0.005181 alpha: 0.205765 2021-10-10T03:09:21Z- Filter 0 SubcloudNIS: 1.292310 2021-10-10T03:09:21Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:09:21Z- TNavBF:: Filter 0 sumWeights = 0.000095 2021-10-10T03:09:21Z- Filter 0 NorthBias: 42.5 EastBias: -18.3 DepthBias: -13.7 NorthVariance: 536.6 EastVariance: 32.1 DepthVariance: 14.8 this->DepthBiasCov: 0.7 2021-10-10T03:09:21Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835359.35 sec. 2021-10-10T03:09:21Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:09:21Z- TNavBF::mmse selected from filter -1 2021-10-10T03:09:21Z- variances([0], [2], and psi_berg) = 538.429240 32.282851 0.000000 2021-10-10T03:09:21Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:09:21Z- LcmTrn::publishEstimates() - MLE : 4061400.30 594137.75 24.79 2021-10-10T03:09:21Z- LcmTrn::publishEstimates() - MMSE : 4061393.30 594138.95 11.09 2021-10-10T03:09:21Z- LcmTrn::publishEstimates() - COVAR: 538.43 32.28 14.87 0.00 2021-10-10T03:09:21Z- handleDepth()-Depth_Keller msg: 1633835361349 epoch sec; seqNo:583; depth 24.87 2021-10-10T03:09:21Z- handleDvl() - RDI_Pathfinder msg: 1633835361.37 epoch sec; seqNo:148 2021-10-10T03:09:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.88 , 87.19 , 61.47 , 89.37 2021-10-10T03:09:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.02 , 0.04 2021-10-10T03:09:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835361.39 epoch sec; seqNo:583; 4061351.18 north; 594157.25 east 2021-10-10T03:09:21Z- AHRS_M2 msg: 1633835361.73 epoch sec; seqNo:566 2021-10-10T03:09:21Z- AHRS_M2 msg: -0.27 phi; -0.31 theta; 0.37 psi 2021-10-10T03:09:21Z- handleDepth()-Depth_Keller msg: 1633835361739 epoch sec; seqNo:584; depth 24.98 2021-10-10T03:09:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835361.76 epoch sec; seqNo:584; 4061351.18 north; 594157.25 east 2021-10-10T03:09:22Z- AHRS_M2 msg: 1633835362.14 epoch sec; seqNo:567 2021-10-10T03:09:22Z- AHRS_M2 msg: -0.27 phi; -0.31 theta; 0.37 psi 2021-10-10T03:09:22Z- handleDepth()-Depth_Keller msg: 1633835362143 epoch sec; seqNo:585; depth 25.05 2021-10-10T03:09:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835362.15 epoch sec; seqNo:585; 4061351.56 north; 594157.25 east 2021-10-10T03:09:22Z- AHRS_M2 msg: 1633835362.54 epoch sec; seqNo:568 2021-10-10T03:09:22Z- AHRS_M2 msg: -0.27 phi; -0.31 theta; 0.37 psi 2021-10-10T03:09:22Z- handleDepth()-Depth_Keller msg: 1633835362552 epoch sec; seqNo:586; depth 25.15 2021-10-10T03:09:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835362.56 epoch sec; seqNo:586; 4061351.94 north; 594157.24 east 2021-10-10T03:09:22Z- AHRS_M2 msg: 1633835362.95 epoch sec; seqNo:569 2021-10-10T03:09:22Z- AHRS_M2 msg: -0.27 phi; -0.31 theta; 0.37 psi 2021-10-10T03:09:22Z- handleDepth()-Depth_Keller msg: 1633835362965 epoch sec; seqNo:587; depth 25.24 2021-10-10T03:09:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835362.98 epoch sec; seqNo:587; 4061352.33 north; 594158.46 east 2021-10-10T03:09:23Z- AHRS_M2 msg: 1633835363.35 epoch sec; seqNo:570 2021-10-10T03:09:23Z- AHRS_M2 msg: -0.27 phi; -0.32 theta; 0.37 psi 2021-10-10T03:09:23Z- handleDepth()-Depth_Keller msg: 1633835363355 epoch sec; seqNo:588; depth 25.32 2021-10-10T03:09:23Z- handleDvl() - RDI_Pathfinder msg: 1633835363.37 epoch sec; seqNo:149 2021-10-10T03:09:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.47 , 88.28 , 60.24 , 91.54 2021-10-10T03:09:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.00 , -0.03 2021-10-10T03:09:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835363.40 epoch sec; seqNo:588; 4061352.71 north; 594158.45 east 2021-10-10T03:09:23Z- AHRS_M2 msg: 1633835363.76 epoch sec; seqNo:571 2021-10-10T03:09:23Z- AHRS_M2 msg: -0.27 phi; -0.32 theta; 0.37 psi 2021-10-10T03:09:23Z- handleDepth()-Depth_Keller msg: 1633835363764 epoch sec; seqNo:589; depth 25.44 2021-10-10T03:09:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835363.78 epoch sec; seqNo:589; 4061352.71 north; 594158.45 east 2021-10-10T03:09:24Z- AHRS_M2 msg: 1633835364.16 epoch sec; seqNo:572 2021-10-10T03:09:24Z- AHRS_M2 msg: -0.27 phi; -0.32 theta; 0.37 psi 2021-10-10T03:09:24Z- handleDepth()-Depth_Keller msg: 1633835364168 epoch sec; seqNo:590; depth 25.52 2021-10-10T03:09:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835364.18 epoch sec; seqNo:590; 4061353.09 north; 594158.45 east 2021-10-10T03:09:24Z- AHRS_M2 msg: 1633835364.56 epoch sec; seqNo:573 2021-10-10T03:09:24Z- AHRS_M2 msg: -0.27 phi; -0.32 theta; 0.37 psi 2021-10-10T03:09:24Z- handleDepth()-Depth_Keller msg: 1633835364569 epoch sec; seqNo:591; depth 25.62 2021-10-10T03:09:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835364.59 epoch sec; seqNo:591; 4061353.47 north; 594158.45 east 2021-10-10T03:09:24Z- AHRS_M2 msg: 1633835364.97 epoch sec; seqNo:574 2021-10-10T03:09:24Z- AHRS_M2 msg: -0.27 phi; -0.32 theta; 0.36 psi 2021-10-10T03:09:24Z- handleDepth()-Depth_Keller msg: 1633835364977 epoch sec; seqNo:592; depth 25.72 2021-10-10T03:09:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835364.99 epoch sec; seqNo:592; 4061353.85 north; 594158.44 east 2021-10-10T03:09:25Z- handleDepth()-Depth_Keller msg: 1633835365386 epoch sec; seqNo:593; depth 25.82 2021-10-10T03:09:25Z- handleDvl() - RDI_Pathfinder msg: 1633835365.41 epoch sec; seqNo:150 2021-10-10T03:09:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.65 , 89.36 , 59.42 , 92.62 2021-10-10T03:09:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.08 , -0.02 2021-10-10T03:09:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835365.42 epoch sec; seqNo:593; 4061354.22 north; 594158.44 east 2021-10-10T03:09:25Z- AHRS_M2 msg: 1633835365.78 epoch sec; seqNo:575 2021-10-10T03:09:25Z- AHRS_M2 msg: -0.27 phi; -0.33 theta; 0.36 psi 2021-10-10T03:09:25Z- handleDepth()-Depth_Keller msg: 1633835365785 epoch sec; seqNo:594; depth 25.91 2021-10-10T03:09:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835365.81 epoch sec; seqNo:594; 4061354.22 north; 594158.44 east 2021-10-10T03:09:26Z- AHRS_M2 msg: 1633835366.18 epoch sec; seqNo:576 2021-10-10T03:09:26Z- AHRS_M2 msg: -0.27 phi; -0.33 theta; 0.35 psi 2021-10-10T03:09:26Z- handleDepth()-Depth_Keller msg: 1633835366188 epoch sec; seqNo:595; depth 26.01 2021-10-10T03:09:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835366.20 epoch sec; seqNo:595; 4061354.60 north; 594158.43 east 2021-10-10T03:09:26Z- LcmTrn::handleMessages() - handling 40 messages took 0.72 ms and 125 calls... 2021-10-10T03:09:26Z- waiting for 1633835363.96, time is 1633835366.20 2021-10-10T03:09:26Z- LcmTrn::updateTrn() >>>> pose time 1633835366.20, meas time 1633835365.41 <<<< 2021-10-10T03:09:26Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835365.41 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:09:26Z- TerrainNav::motionUpdate() - currEstimate = (4061355, 594158.43, 26.01) 2021-10-10T03:09:26Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:09:26Z- TerrainNav:: SubcloudNIS is 1.29, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:09:26Z- TNavBF::Projecting Measurements 2021-10-10T03:09:26Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:09:26Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:09:26Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:09:26Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:09:26Z- TNavFilter::4 good beams. 2021-10-10T03:09:26Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:09:26Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:09:26Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:09:26Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:09:26Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:09:26Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:09:26Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:09:26Z- TNavBF::mmse selected from filter -1 2021-10-10T03:09:26Z- TerrainMapOctree: (vehN, vehE ) = (4061354.03, 594158.26). 2021-10-10T03:09:26Z- TerrainMapOctree: Min Distance = 138.71. 2021-10-10T03:09:26Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:09:26Z- There is no specific good beam that all particles have in common. 2021-10-10T03:09:26Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 0 2021-10-10T03:09:26Z- Old Depth Bias: 0.00 DepthBiasCov: 0.93 K: 0.108 ExpectedMeasDiff: nan currMeas.covariance: 5.88 2021-10-10T03:09:26Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:09:26Z- Old Depth Bias: 0.00 DepthBiasCov: 0.83 K: 0.054 ExpectedMeasDiff: nan currMeas.covariance: 12.78 2021-10-10T03:09:26Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 2 2021-10-10T03:09:26Z- Old Depth Bias: 0.00 DepthBiasCov: 0.78 K: 0.096 ExpectedMeasDiff: nan currMeas.covariance: 5.65 2021-10-10T03:09:26Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 3 2021-10-10T03:09:26Z- Old Depth Bias: 0.00 DepthBiasCov: 0.71 K: 0.044 ExpectedMeasDiff: nan currMeas.covariance: 13.73 2021-10-10T03:09:26Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:09:26Z- Filter 0 beam number: 0 num in subcloud: 9310 num not in subcloud: 690 2021-10-10T03:09:26Z- Filter 0 partialDeltaRmsComputation: 28.870303 terrainVariance: 0.901501 1-SumSquareWeights: 0.959893 2021-10-10T03:09:26Z- Filter 0 meanExpectedMeasDiff: 5.288554 delta_rms_squared: 0.891902 alpha: 0.978068 2021-10-10T03:09:26Z- Filter 0 beam number: 1 num in subcloud: 2143 num not in subcloud: 7857 2021-10-10T03:09:26Z- Filter 0 partialDeltaRmsComputation: 125.006407 terrainVariance: 0.008801 1-SumSquareWeights: 0.959236 2021-10-10T03:09:26Z- Filter 0 meanExpectedMeasDiff: -11.180233 delta_rms_squared: -0.000792 alpha: 0.000000 2021-10-10T03:09:26Z- Filter 0 beam number: 2 num in subcloud: 9547 num not in subcloud: 453 2021-10-10T03:09:26Z- Filter 0 partialDeltaRmsComputation: 115.550492 terrainVariance: 3.051171 1-SumSquareWeights: 0.961248 2021-10-10T03:09:26Z- Filter 0 meanExpectedMeasDiff: -10.606570 delta_rms_squared: 3.041559 alpha: 0.993467 2021-10-10T03:09:26Z- Filter 0 beam number: 3 num in subcloud: 3218 num not in subcloud: 6782 2021-10-10T03:09:26Z- Filter 0 partialDeltaRmsComputation: 280.465560 terrainVariance: 0.010223 1-SumSquareWeights: 0.959340 2021-10-10T03:09:26Z- Filter 0 meanExpectedMeasDiff: 16.746801 delta_rms_squared: 0.000630 alpha: 0.030523 2021-10-10T03:09:26Z- Filter 0 SubcloudNIS: 1.443685 2021-10-10T03:09:26Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:09:26Z- TNavBF:: Filter 0 sumWeights = 0.000190 2021-10-10T03:09:26Z- Filter 0 NorthBias: 44.4 EastBias: -18.3 DepthBias: -14.4 NorthVariance: 387.8 EastVariance: 29.6 DepthVariance: 11.0 this->DepthBiasCov: 0.7 2021-10-10T03:09:26Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835365.41 sec. 2021-10-10T03:09:26Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:09:26Z- TNavBF::mmse selected from filter -1 2021-10-10T03:09:26Z- variances([0], [2], and psi_berg) = 388.823297 29.686488 0.000000 2021-10-10T03:09:26Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T03:09:26Z- LcmTrn::publishEstimates() - MLE : 4061404.10 594138.93 26.01 2021-10-10T03:09:26Z- LcmTrn::publishEstimates() - MMSE : 4061399.00 594140.10 11.65 2021-10-10T03:09:26Z- LcmTrn::publishEstimates() - COVAR: 388.82 29.69 11.09 0.00 2021-10-10T03:09:26Z- handleDepth()-Depth_Keller msg: 1633835366643 epoch sec; seqNo:596; depth 26.11 2021-10-10T03:09:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835366.66 epoch sec; seqNo:596; 4061354.98 north; 594158.43 east 2021-10-10T03:09:27Z- AHRS_M2 msg: 1633835366.99 epoch sec; seqNo:577 2021-10-10T03:09:27Z- AHRS_M2 msg: -0.27 phi; -0.33 theta; 0.34 psi 2021-10-10T03:09:27Z- handleDepth()-Depth_Keller msg: 1633835367018 epoch sec; seqNo:597; depth 26.22 2021-10-10T03:09:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835367.07 epoch sec; seqNo:597; 4061355.36 north; 594158.43 east 2021-10-10T03:09:27Z- AHRS_M2 msg: 1633835367.39 epoch sec; seqNo:578 2021-10-10T03:09:27Z- AHRS_M2 msg: -0.28 phi; -0.33 theta; 0.34 psi 2021-10-10T03:09:27Z- handleDepth()-Depth_Keller msg: 1633835367394 epoch sec; seqNo:598; depth 26.33 2021-10-10T03:09:27Z- handleDvl() - RDI_Pathfinder msg: 1633835367.42 epoch sec; seqNo:151 2021-10-10T03:09:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.65 , 88.28 , 59.01 , 91.54 2021-10-10T03:09:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.06 , 0.03 2021-10-10T03:09:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835367.45 epoch sec; seqNo:598; 4061355.74 north; 594158.42 east 2021-10-10T03:09:27Z- AHRS_M2 msg: 1633835367.80 epoch sec; seqNo:579 2021-10-10T03:09:27Z- AHRS_M2 msg: -0.28 phi; -0.33 theta; 0.33 psi 2021-10-10T03:09:27Z- handleDepth()-Depth_Keller msg: 1633835367800 epoch sec; seqNo:599; depth 26.44 2021-10-10T03:09:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835367.82 epoch sec; seqNo:599; 4061355.74 north; 594158.42 east 2021-10-10T03:09:28Z- AHRS_M2 msg: 1633835368.20 epoch sec; seqNo:580 2021-10-10T03:09:28Z- AHRS_M2 msg: -0.28 phi; -0.33 theta; 0.33 psi 2021-10-10T03:09:28Z- handleDepth()-Depth_Keller msg: 1633835368202 epoch sec; seqNo:600; depth 26.52 2021-10-10T03:09:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835368.22 epoch sec; seqNo:600; 4061356.13 north; 594159.64 east 2021-10-10T03:09:28Z- AHRS_M2 msg: 1633835368.61 epoch sec; seqNo:581 2021-10-10T03:09:28Z- AHRS_M2 msg: -0.28 phi; -0.33 theta; 0.32 psi 2021-10-10T03:09:28Z- handleDepth()-Depth_Keller msg: 1633835368618 epoch sec; seqNo:601; depth 26.63 2021-10-10T03:09:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835368.64 epoch sec; seqNo:601; 4061356.51 north; 594159.63 east 2021-10-10T03:09:29Z- AHRS_M2 msg: 1633835369.06 epoch sec; seqNo:582 2021-10-10T03:09:29Z- AHRS_M2 msg: -0.28 phi; -0.33 theta; 0.32 psi 2021-10-10T03:09:29Z- handleDepth()-Depth_Keller msg: 1633835369073 epoch sec; seqNo:602; depth 26.73 2021-10-10T03:09:29Z- handleDvl() - RDI_Pathfinder msg: 1633835369.09 epoch sec; seqNo:152 2021-10-10T03:09:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.65 , 0.00 , 59.01 , 91.54 2021-10-10T03:09:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , 0.02 , 0.04 2021-10-10T03:09:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835369.13 epoch sec; seqNo:602; 4061356.89 north; 594159.63 east 2021-10-10T03:09:29Z- AHRS_M2 msg: 1633835369.41 epoch sec; seqNo:583 2021-10-10T03:09:29Z- AHRS_M2 msg: -0.28 phi; -0.33 theta; 0.31 psi 2021-10-10T03:09:29Z- handleDepth()-Depth_Keller msg: 1633835369414 epoch sec; seqNo:603; depth 26.84 2021-10-10T03:09:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835369.44 epoch sec; seqNo:603; 4061356.89 north; 594159.63 east 2021-10-10T03:09:29Z- AHRS_M2 msg: 1633835369.81 epoch sec; seqNo:584 2021-10-10T03:09:29Z- AHRS_M2 msg: -0.28 phi; -0.33 theta; 0.31 psi 2021-10-10T03:09:29Z- handleDepth()-Depth_Keller msg: 1633835369819 epoch sec; seqNo:604; depth 26.94 2021-10-10T03:09:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835369.83 epoch sec; seqNo:604; 4061357.27 north; 594159.62 east 2021-10-10T03:09:30Z- AHRS_M2 msg: 1633835370.22 epoch sec; seqNo:585 2021-10-10T03:09:30Z- AHRS_M2 msg: -0.28 phi; -0.33 theta; 0.30 psi 2021-10-10T03:09:30Z- handleDepth()-Depth_Keller msg: 1633835370223 epoch sec; seqNo:605; depth 27.04 2021-10-10T03:09:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835370.23 epoch sec; seqNo:605; 4061357.65 north; 594159.62 east 2021-10-10T03:09:30Z- AHRS_M2 msg: 1633835370.62 epoch sec; seqNo:586 2021-10-10T03:09:30Z- AHRS_M2 msg: -0.28 phi; -0.33 theta; 0.30 psi 2021-10-10T03:09:30Z- handleDepth()-Depth_Keller msg: 1633835370628 epoch sec; seqNo:606; depth 27.14 2021-10-10T03:09:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835370.64 epoch sec; seqNo:606; 4061358.03 north; 594159.62 east 2021-10-10T03:09:31Z- AHRS_M2 msg: 1633835371.06 epoch sec; seqNo:587 2021-10-10T03:09:31Z- AHRS_M2 msg: -0.28 phi; -0.33 theta; 0.29 psi 2021-10-10T03:09:31Z- handleDepth()-Depth_Keller msg: 1633835371071 epoch sec; seqNo:607; depth 27.23 2021-10-10T03:09:31Z- handleDvl() - RDI_Pathfinder msg: 1633835371.10 epoch sec; seqNo:153 2021-10-10T03:09:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 59.82 , 88.28 , 57.36 , 0.00 2021-10-10T03:09:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , -0.01 , 0.03 2021-10-10T03:09:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835371.11 epoch sec; seqNo:607; 4061358.03 north; 594159.62 east 2021-10-10T03:09:31Z- AHRS_M2 msg: 1633835371.43 epoch sec; seqNo:588 2021-10-10T03:09:31Z- AHRS_M2 msg: -0.28 phi; -0.33 theta; 0.29 psi 2021-10-10T03:09:31Z- handleDepth()-Depth_Keller msg: 1633835371435 epoch sec; seqNo:608; depth 27.35 2021-10-10T03:09:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835371.46 epoch sec; seqNo:608; 4061358.41 north; 594159.61 east 2021-10-10T03:09:31Z- LcmTrn::handleMessages() - handling 41 messages took 0.70 ms and 127 calls... 2021-10-10T03:09:31Z- waiting for 1633835369.20, time is 1633835371.46 2021-10-10T03:09:31Z- LcmTrn::updateTrn() >>>> pose time 1633835371.46, meas time 1633835371.10 <<<< 2021-10-10T03:09:31Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835371.10 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:09:31Z- TerrainNav::motionUpdate() - currEstimate = (4061358, 594159.61, 27.35) 2021-10-10T03:09:31Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:09:31Z- TerrainNav:: SubcloudNIS of 1.44 exceeds the maximum allowed of 1.40. Re-initializing the filter. 2021-10-10T03:09:31Z- reinitFilter: getDistribToSave == 0 2021-10-10T03:09:31Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-10T03:09:31Z- parseSensorSpecs parsing sensor of type 1. 2021-10-10T03:09:31Z- Sensor 0 is of type 1. 2021-10-10T03:09:31Z- parseSensorSpecs parsing sensor of type 2. 2021-10-10T03:09:31Z- Sensor 1 is of type 2. 2021-10-10T03:09:31Z- parseSensorSpecs parsing sensor of type 5. 2021-10-10T03:09:31Z- Sensor 2 is of type 5. 2021-10-10T03:09:31Z- Random noise maker initialized with 1633835371 2021-10-10T03:09:31Z- setDistribToSave(0) 2021-10-10T03:09:31Z- setDistribToSave set to 0 2021-10-10T03:09:31Z- Vehicle name: mappingAUV Number of sensors: 3 2021-10-10T03:09:31Z- Sensor #1: 2021-10-10T03:09:31Z- Sensor name: rdiDVL 2021-10-10T03:09:31Z- Sensor type: 1 2021-10-10T03:09:31Z- Number of beams per measurement: 4 2021-10-10T03:09:31Z- Sensor #1 to vehicle transformation information: 2021-10-10T03:09:31Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T03:09:31Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T03:09:31Z- 2021-10-10T03:09:31Z- Sensor #2: 2021-10-10T03:09:31Z- Sensor name: resonSeabat8101 2021-10-10T03:09:31Z- Sensor type: 2 2021-10-10T03:09:31Z- Number of beams per measurement: 11 2021-10-10T03:09:31Z- Sensor #2 to vehicle transformation information: 2021-10-10T03:09:31Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T03:09:31Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T03:09:31Z- 2021-10-10T03:09:31Z- Sensor #3: 2021-10-10T03:09:31Z- Sensor name: imagenexdeltat 2021-10-10T03:09:31Z- Sensor type: 5 2021-10-10T03:09:31Z- Number of beams per measurement: 120 2021-10-10T03:09:31Z- Sensor #3 to vehicle transformation information: 2021-10-10T03:09:31Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T03:09:31Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T03:09:31Z- 2021-10-10T03:09:31Z- TNavBF::nParticles: 10000 numFilters: 2 PMF Grid Resolution: 1.0 PMF Grid Size: 100 2021-10-10T03:09:31Z- TerrainNav::TNavFilter initialized with type 3 2021-10-10T03:09:31Z- TNavBF::setModifiedWeighting umw: 4 2021-10-10T03:09:31Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20 2021-10-10T03:09:31Z- TNavBF::numFilters: 1 2021-10-10T03:09:31Z- TerrainNav::modified weighting set to 0 2021-10-10T03:09:31Z- setDistribToSave(0) 2021-10-10T03:09:31Z- setDistribToSave set to 0 2021-10-10T03:09:31Z- TerrainNav::motionUpdate() - filter unhealthy, skipping this update 2021-10-10T03:09:31Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T03:09:31Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T03:09:31Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:09:31Z- LcmTrn::publishEstimates() - MLE : 4061404.10 594138.93 26.01 2021-10-10T03:09:31Z- LcmTrn::publishEstimates() - MMSE : 4061399.00 594140.10 11.65 2021-10-10T03:09:31Z- LcmTrn::publishEstimates() - COVAR: 388.82 29.69 11.09 0.00 2021-10-10T03:09:31Z- AHRS_M2 msg: 1633835371.84 epoch sec; seqNo:589 2021-10-10T03:09:31Z- AHRS_M2 msg: -0.28 phi; -0.33 theta; 0.29 psi 2021-10-10T03:09:31Z- handleDepth()-Depth_Keller msg: 1633835371840 epoch sec; seqNo:609; depth 27.45 2021-10-10T03:09:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835371.85 epoch sec; seqNo:609; 4061358.78 north; 594159.61 east 2021-10-10T03:09:32Z- AHRS_M2 msg: 1633835372.24 epoch sec; seqNo:590 2021-10-10T03:09:32Z- AHRS_M2 msg: -0.28 phi; -0.33 theta; 0.28 psi 2021-10-10T03:09:32Z- handleDepth()-Depth_Keller msg: 1633835372248 epoch sec; seqNo:610; depth 27.55 2021-10-10T03:09:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835372.26 epoch sec; seqNo:610; 4061358.78 north; 594159.61 east 2021-10-10T03:09:32Z- AHRS_M2 msg: 1633835372.64 epoch sec; seqNo:591 2021-10-10T03:09:32Z- AHRS_M2 msg: -0.28 phi; -0.33 theta; 0.28 psi 2021-10-10T03:09:32Z- handleDepth()-Depth_Keller msg: 1633835372646 epoch sec; seqNo:611; depth 27.66 2021-10-10T03:09:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835372.66 epoch sec; seqNo:611; 4061359.16 north; 594159.60 east 2021-10-10T03:09:33Z- AHRS_M2 msg: 1633835373.07 epoch sec; seqNo:592 2021-10-10T03:09:33Z- AHRS_M2 msg: -0.28 phi; -0.32 theta; 0.27 psi 2021-10-10T03:09:33Z- handleDepth()-Depth_Keller msg: 1633835373079 epoch sec; seqNo:612; depth 27.77 2021-10-10T03:09:33Z- handleDvl() - RDI_Pathfinder msg: 1633835373.11 epoch sec; seqNo:154 2021-10-10T03:09:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 59.00 , 85.03 , 58.59 , 88.28 2021-10-10T03:09:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , 0.01 , 0.03 2021-10-10T03:09:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835373.14 epoch sec; seqNo:612; 4061359.54 north; 594159.60 east 2021-10-10T03:09:33Z- AHRS_M2 msg: 1633835373.45 epoch sec; seqNo:593 2021-10-10T03:09:33Z- AHRS_M2 msg: -0.28 phi; -0.32 theta; 0.27 psi 2021-10-10T03:09:33Z- handleDepth()-Depth_Keller msg: 1633835373463 epoch sec; seqNo:613; depth 27.89 2021-10-10T03:09:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835373.48 epoch sec; seqNo:613; 4061359.54 north; 594159.60 east 2021-10-10T03:09:33Z- AHRS_M2 msg: 1633835373.85 epoch sec; seqNo:594 2021-10-10T03:09:33Z- AHRS_M2 msg: -0.28 phi; -0.32 theta; 0.27 psi 2021-10-10T03:09:33Z- handleDepth()-Depth_Keller msg: 1633835373858 epoch sec; seqNo:614; depth 27.98 2021-10-10T03:09:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835373.88 epoch sec; seqNo:614; 4061359.93 north; 594160.82 east 2021-10-10T03:09:34Z- AHRS_M2 msg: 1633835374.26 epoch sec; seqNo:595 2021-10-10T03:09:34Z- AHRS_M2 msg: -0.28 phi; -0.32 theta; 0.26 psi 2021-10-10T03:09:34Z- handleDepth()-Depth_Keller msg: 1633835374263 epoch sec; seqNo:615; depth 28.06 2021-10-10T03:09:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835374.28 epoch sec; seqNo:615; 4061360.31 north; 594160.81 east 2021-10-10T03:09:34Z- AHRS_M2 msg: 1633835374.66 epoch sec; seqNo:596 2021-10-10T03:09:34Z- AHRS_M2 msg: -0.27 phi; -0.32 theta; 0.26 psi 2021-10-10T03:09:34Z- handleDepth()-Depth_Keller msg: 1633835374675 epoch sec; seqNo:616; depth 28.19 2021-10-10T03:09:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835374.68 epoch sec; seqNo:616; 4061360.69 north; 594160.81 east 2021-10-10T03:09:35Z- AHRS_M2 msg: 1633835375.08 epoch sec; seqNo:597 2021-10-10T03:09:35Z- AHRS_M2 msg: -0.27 phi; -0.32 theta; 0.26 psi 2021-10-10T03:09:35Z- handleDepth()-Depth_Keller msg: 1633835375085 epoch sec; seqNo:617; depth 28.29 2021-10-10T03:09:35Z- handleDvl() - RDI_Pathfinder msg: 1633835375.11 epoch sec; seqNo:155 2021-10-10T03:09:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 58.17 , 85.02 , 57.77 , 87.19 2021-10-10T03:09:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , 0.02 , 0.01 2021-10-10T03:09:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835375.12 epoch sec; seqNo:617; 4061361.07 north; 594160.80 east 2021-10-10T03:09:35Z- AHRS_M2 msg: 1633835375.47 epoch sec; seqNo:598 2021-10-10T03:09:35Z- AHRS_M2 msg: -0.27 phi; -0.32 theta; 0.25 psi 2021-10-10T03:09:35Z- handleDepth()-Depth_Keller msg: 1633835375476 epoch sec; seqNo:618; depth 28.41 2021-10-10T03:09:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835375.51 epoch sec; seqNo:618; 4061361.07 north; 594160.80 east 2021-10-10T03:09:35Z- AHRS_M2 msg: 1633835375.88 epoch sec; seqNo:599 2021-10-10T03:09:35Z- AHRS_M2 msg: -0.26 phi; -0.31 theta; 0.25 psi 2021-10-10T03:09:35Z- handleDepth()-Depth_Keller msg: 1633835375879 epoch sec; seqNo:619; depth 28.50 2021-10-10T03:09:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835375.89 epoch sec; seqNo:619; 4061361.45 north; 594160.80 east 2021-10-10T03:09:36Z- AHRS_M2 msg: 1633835376.28 epoch sec; seqNo:600 2021-10-10T03:09:36Z- AHRS_M2 msg: -0.26 phi; -0.31 theta; 0.24 psi 2021-10-10T03:09:36Z- handleDepth()-Depth_Keller msg: 1633835376282 epoch sec; seqNo:620; depth 28.61 2021-10-10T03:09:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835376.30 epoch sec; seqNo:620; 4061361.83 north; 594160.80 east 2021-10-10T03:09:36Z- AHRS_M2 msg: 1633835376.68 epoch sec; seqNo:601 2021-10-10T03:09:36Z- AHRS_M2 msg: -0.26 phi; -0.31 theta; 0.24 psi 2021-10-10T03:09:36Z- handleDepth()-Depth_Keller msg: 1633835376688 epoch sec; seqNo:621; depth 28.69 2021-10-10T03:09:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835376.70 epoch sec; seqNo:621; 4061362.21 north; 594160.79 east 2021-10-10T03:09:36Z- LcmTrn::handleMessages() - handling 41 messages took 0.82 ms and 124 calls... 2021-10-10T03:09:36Z- waiting for 1633835374.46, time is 1633835376.70 2021-10-10T03:09:36Z- LcmTrn::updateTrn() >>>> pose time 1633835376.70, meas time 1633835375.11 <<<< 2021-10-10T03:09:36Z- TerrainNav::Measurement type 1 from time = 1633835375.11 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T03:09:36Z- TerrainNav::motionUpdate() - currEstimate = (4061362, 594160.79, 28.69) 2021-10-10T03:09:36Z- TerrainNav::attemptInitFilter is increasing Init Search Window by 0.000000 m 2021-10-10T03:09:36Z- TNavBF: Successfully initialized particles 2021-10-10T03:09:36Z- TerrainNav:: vehicle motion has been initialized 2021-10-10T03:09:36Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:09:36Z- TNavBF::mmse selected from filter -1 2021-10-10T03:09:36Z- variances([0], [2], and psi_berg) = 833.250000 833.250000 0.000000 2021-10-10T03:09:36Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:09:36Z- LcmTrn::publishEstimates() - MLE : 4061312.71 594111.29 28.69 2021-10-10T03:09:36Z- LcmTrn::publishEstimates() - MMSE : 4061362.21 594160.79 28.69 2021-10-10T03:09:36Z- LcmTrn::publishEstimates() - COVAR: 833.25 833.25 25.00 0.00 2021-10-10T03:09:37Z- AHRS_M2 msg: 1633835377.09 epoch sec; seqNo:602 2021-10-10T03:09:37Z- AHRS_M2 msg: -0.26 phi; -0.31 theta; 0.23 psi 2021-10-10T03:09:37Z- handleDepth()-Depth_Keller msg: 1633835377091 epoch sec; seqNo:622; depth 28.79 2021-10-10T03:09:37Z- handleDvl() - RDI_Pathfinder msg: 1633835377.11 epoch sec; seqNo:156 2021-10-10T03:09:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 58.58 , 83.94 , 57.36 , 85.02 2021-10-10T03:09:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , 0.00 , -0.04 2021-10-10T03:09:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835377.14 epoch sec; seqNo:622; 4061362.59 north; 594160.79 east 2021-10-10T03:09:37Z- AHRS_M2 msg: 1633835377.49 epoch sec; seqNo:603 2021-10-10T03:09:37Z- AHRS_M2 msg: -0.26 phi; -0.31 theta; 0.23 psi 2021-10-10T03:09:37Z- handleDepth()-Depth_Keller msg: 1633835377496 epoch sec; seqNo:623; depth 28.91 2021-10-10T03:09:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:09:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:09:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:09:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:09:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:09:37Z- handleDvl() - RDI_Pathfinder msg: 1633835377.50 epoch sec; seqNo:157 2021-10-10T03:09:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:09:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , 0.00 , -0.04 2021-10-10T03:09:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835377.52 epoch sec; seqNo:623; 4061362.59 north; 594160.79 east 2021-10-10T03:09:37Z- AHRS_M2 msg: 1633835377.89 epoch sec; seqNo:604 2021-10-10T03:09:37Z- AHRS_M2 msg: -0.26 phi; -0.30 theta; 0.23 psi 2021-10-10T03:09:37Z- handleDepth()-Depth_Keller msg: 1633835377898 epoch sec; seqNo:624; depth 28.99 2021-10-10T03:09:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835377.92 epoch sec; seqNo:624; 4061362.97 north; 594160.78 east 2021-10-10T03:09:38Z- AHRS_M2 msg: 1633835378.30 epoch sec; seqNo:605 2021-10-10T03:09:38Z- AHRS_M2 msg: -0.26 phi; -0.30 theta; 0.22 psi 2021-10-10T03:09:38Z- handleDepth()-Depth_Keller msg: 1633835378308 epoch sec; seqNo:625; depth 29.07 2021-10-10T03:09:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835378.33 epoch sec; seqNo:625; 4061363.34 north; 594160.78 east 2021-10-10T03:09:38Z- AHRS_M2 msg: 1633835378.71 epoch sec; seqNo:606 2021-10-10T03:09:38Z- AHRS_M2 msg: -0.26 phi; -0.30 theta; 0.22 psi 2021-10-10T03:09:38Z- handleDepth()-Depth_Keller msg: 1633835378711 epoch sec; seqNo:626; depth 29.19 2021-10-10T03:09:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:09:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:09:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:09:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:09:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:09:38Z- handleDvl() - RDI_Pathfinder msg: 1633835378.71 epoch sec; seqNo:158 2021-10-10T03:09:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:09:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , 0.00 , -0.04 2021-10-10T03:09:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835378.72 epoch sec; seqNo:626; 4061363.72 north; 594160.77 east 2021-10-10T03:09:39Z- AHRS_M2 msg: 1633835379.11 epoch sec; seqNo:607 2021-10-10T03:09:39Z- AHRS_M2 msg: -0.26 phi; -0.30 theta; 0.21 psi 2021-10-10T03:09:39Z- handleDepth()-Depth_Keller msg: 1633835379113 epoch sec; seqNo:627; depth 29.27 2021-10-10T03:09:39Z- handleDvl() - RDI_Pathfinder msg: 1633835379.14 epoch sec; seqNo:159 2021-10-10T03:09:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 58.17 , 82.85 , 56.13 , 79.48 2021-10-10T03:09:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.05 , -0.03 2021-10-10T03:09:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835379.17 epoch sec; seqNo:627; 4061364.10 north; 594160.77 east 2021-10-10T03:09:39Z- AHRS_M2 msg: 1633835379.51 epoch sec; seqNo:608 2021-10-10T03:09:39Z- AHRS_M2 msg: -0.25 phi; -0.30 theta; 0.21 psi 2021-10-10T03:09:39Z- handleDepth()-Depth_Keller msg: 1633835379513 epoch sec; seqNo:628; depth 29.39 2021-10-10T03:09:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835379.54 epoch sec; seqNo:628; 4061364.10 north; 594160.77 east 2021-10-10T03:09:39Z- AHRS_M2 msg: 1633835379.91 epoch sec; seqNo:609 2021-10-10T03:09:39Z- AHRS_M2 msg: -0.26 phi; -0.29 theta; 0.20 psi 2021-10-10T03:09:39Z- handleDepth()-Depth_Keller msg: 1633835379918 epoch sec; seqNo:629; depth 29.48 2021-10-10T03:09:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:39Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:09:39Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:09:39Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:09:39Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:09:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:09:39Z- handleDvl() - RDI_Pathfinder msg: 1633835379.92 epoch sec; seqNo:160 2021-10-10T03:09:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:09:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.05 , -0.03 2021-10-10T03:09:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835379.94 epoch sec; seqNo:629; 4061364.48 north; 594160.77 east 2021-10-10T03:09:40Z- AHRS_M2 msg: 1633835380.31 epoch sec; seqNo:610 2021-10-10T03:09:40Z- AHRS_M2 msg: -0.26 phi; -0.29 theta; 0.19 psi 2021-10-10T03:09:40Z- handleDepth()-Depth_Keller msg: 1633835380323 epoch sec; seqNo:630; depth 29.57 2021-10-10T03:09:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835380.33 epoch sec; seqNo:630; 4061364.86 north; 594160.76 east 2021-10-10T03:09:40Z- AHRS_M2 msg: 1633835380.72 epoch sec; seqNo:611 2021-10-10T03:09:40Z- AHRS_M2 msg: -0.26 phi; -0.29 theta; 0.19 psi 2021-10-10T03:09:40Z- handleDepth()-Depth_Keller msg: 1633835380729 epoch sec; seqNo:631; depth 29.66 2021-10-10T03:09:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835380.74 epoch sec; seqNo:631; 4061365.24 north; 594160.76 east 2021-10-10T03:09:41Z- AHRS_M2 msg: 1633835381.12 epoch sec; seqNo:612 2021-10-10T03:09:41Z- AHRS_M2 msg: -0.26 phi; -0.29 theta; 0.18 psi 2021-10-10T03:09:41Z- handleDepth()-Depth_Keller msg: 1633835381126 epoch sec; seqNo:632; depth 29.76 2021-10-10T03:09:41Z- handleDvl() - RDI_Pathfinder msg: 1633835381.16 epoch sec; seqNo:161 2021-10-10T03:09:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.35 , 77.42 , 56.94 , 78.65 2021-10-10T03:09:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.05 , 0.05 2021-10-10T03:09:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835381.17 epoch sec; seqNo:632; 4061365.62 north; 594160.75 east 2021-10-10T03:09:41Z- AHRS_M2 msg: 1633835381.53 epoch sec; seqNo:613 2021-10-10T03:09:41Z- AHRS_M2 msg: -0.25 phi; -0.28 theta; 0.17 psi 2021-10-10T03:09:41Z- handleDepth()-Depth_Keller msg: 1633835381530 epoch sec; seqNo:633; depth 29.86 2021-10-10T03:09:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835381.55 epoch sec; seqNo:633; 4061365.63 north; 594161.97 east 2021-10-10T03:09:41Z- LcmTrn::handleMessages() - handling 42 messages took 0.70 ms and 127 calls... 2021-10-10T03:09:41Z- waiting for 1633835379.70, time is 1633835381.55 2021-10-10T03:09:41Z- LcmTrn::updateTrn() >>>> pose time 1633835381.55, meas time 1633835381.16 <<<< 2021-10-10T03:09:41Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835381.16 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:09:41Z- TerrainNav::motionUpdate() - currEstimate = (4061366, 594161.97, 29.86) 2021-10-10T03:09:41Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:09:41Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:09:41Z- TNavBF::Projecting Measurements 2021-10-10T03:09:41Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:09:41Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:09:41Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:09:41Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:09:41Z- TNavFilter::4 good beams. 2021-10-10T03:09:41Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:09:41Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:09:41Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:09:41Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:09:41Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:09:41Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:09:41Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:09:41Z- TNavBF::mmse selected from filter -1 2021-10-10T03:09:41Z- TerrainMapOctree: (vehN, vehE ) = (4061365.35, 594161.88). 2021-10-10T03:09:41Z- TerrainMapOctree: Min Distance = 145.16. 2021-10-10T03:09:41Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:09:41Z- Forcing Subcloud Comparison 2021-10-10T03:09:41Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 0 2021-10-10T03:09:41Z- Old Depth Bias: 0.00 DepthBiasCov: 25.17 K: 0.783 ExpectedMeasDiff: nan currMeas.covariance: 5.26 2021-10-10T03:09:41Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:09:41Z- Old Depth Bias: 0.00 DepthBiasCov: 5.47 K: 0.326 ExpectedMeasDiff: nan currMeas.covariance: 9.59 2021-10-10T03:09:42Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 3 2021-10-10T03:09:42Z- Old Depth Bias: -7.40 DepthBiasCov: 2.41 K: 0.171 ExpectedMeasDiff: nan currMeas.covariance: 9.90 2021-10-10T03:09:42Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:09:42Z- Filter 0 beam number: 0 num in subcloud: 9922 num not in subcloud: 78 2021-10-10T03:09:42Z- Filter 0 partialDeltaRmsComputation: 25.774275 terrainVariance: 2.186013 1-SumSquareWeights: 0.999899 2021-10-10T03:09:42Z- Filter 0 meanExpectedMeasDiff: 4.856775 delta_rms_squared: 2.176014 alpha: 0.990893 2021-10-10T03:09:42Z- Filter 0 beam number: 1 num in subcloud: 5634 num not in subcloud: 4366 2021-10-10T03:09:42Z- Filter 0 partialDeltaRmsComputation: 157.035274 terrainVariance: 1.129059 1-SumSquareWeights: 0.999823 2021-10-10T03:09:42Z- Filter 0 meanExpectedMeasDiff: -12.486241 delta_rms_squared: 1.119060 alpha: 0.982442 2021-10-10T03:09:42Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:09:42Z- Filter 0 partialDeltaRmsComputation: 79.038388 terrainVariance: 1.698778 1-SumSquareWeights: 0.999900 2021-10-10T03:09:42Z- Filter 0 meanExpectedMeasDiff: -8.794294 delta_rms_squared: 1.688779 alpha: 0.988296 2021-10-10T03:09:42Z- Filter 0 beam number: 3 num in subcloud: 5113 num not in subcloud: 4887 2021-10-10T03:09:42Z- Filter 0 partialDeltaRmsComputation: 117.099961 terrainVariance: 0.793383 1-SumSquareWeights: 0.999804 2021-10-10T03:09:42Z- Filter 0 meanExpectedMeasDiff: 10.784553 delta_rms_squared: 0.783385 alpha: 0.975105 2021-10-10T03:09:42Z- Filter 0 SubcloudNIS: 0.125595 2021-10-10T03:09:42Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:09:42Z- TNavBF:: Filter 0 sumWeights = 0.000001 2021-10-10T03:09:42Z- Filter 0 NorthBias: 15.8 EastBias: -28.2 DepthBias: -14.0 NorthVariance: 524.2 EastVariance: 327.9 DepthVariance: 3.6 this->DepthBiasCov: 2.0 2021-10-10T03:09:42Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835381.16 sec. 2021-10-10T03:09:42Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:09:42Z- TNavBF::mmse selected from filter -1 2021-10-10T03:09:42Z- variances([0], [2], and psi_berg) = 524.163242 328.834991 0.000000 2021-10-10T03:09:42Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:09:42Z- LcmTrn::publishEstimates() - MLE : 4061379.13 594113.47 29.86 2021-10-10T03:09:42Z- LcmTrn::publishEstimates() - MMSE : 4061381.39 594133.75 15.86 2021-10-10T03:09:42Z- LcmTrn::publishEstimates() - COVAR: 524.16 328.83 3.62 0.00 2021-10-10T03:09:42Z- AHRS_M2 msg: 1633835381.93 epoch sec; seqNo:614 2021-10-10T03:09:42Z- AHRS_M2 msg: -0.25 phi; -0.28 theta; 0.17 psi 2021-10-10T03:09:42Z- handleDepth()-Depth_Keller msg: 1633835381942 epoch sec; seqNo:634; depth 29.97 2021-10-10T03:09:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835381.95 epoch sec; seqNo:634; 4061366.01 north; 594161.97 east 2021-10-10T03:09:42Z- AHRS_M2 msg: 1633835382.33 epoch sec; seqNo:615 2021-10-10T03:09:42Z- AHRS_M2 msg: -0.25 phi; -0.28 theta; 0.17 psi 2021-10-10T03:09:42Z- handleDepth()-Depth_Keller msg: 1633835382354 epoch sec; seqNo:635; depth 30.04 2021-10-10T03:09:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:09:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:09:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:09:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:09:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:09:42Z- handleDvl() - RDI_Pathfinder msg: 1633835382.36 epoch sec; seqNo:162 2021-10-10T03:09:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:09:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.05 , 0.05 2021-10-10T03:09:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835382.37 epoch sec; seqNo:635; 4061366.39 north; 594161.97 east 2021-10-10T03:09:42Z- AHRS_M2 msg: 1633835382.74 epoch sec; seqNo:616 2021-10-10T03:09:42Z- AHRS_M2 msg: -0.24 phi; -0.27 theta; 0.16 psi 2021-10-10T03:09:42Z- handleDepth()-Depth_Keller msg: 1633835382744 epoch sec; seqNo:636; depth 30.14 2021-10-10T03:09:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835382.78 epoch sec; seqNo:636; 4061366.77 north; 594161.96 east 2021-10-10T03:09:43Z- AHRS_M2 msg: 1633835383.14 epoch sec; seqNo:617 2021-10-10T03:09:43Z- AHRS_M2 msg: -0.24 phi; -0.27 theta; 0.16 psi 2021-10-10T03:09:43Z- handleDepth()-Depth_Keller msg: 1633835383152 epoch sec; seqNo:637; depth 30.22 2021-10-10T03:09:43Z- handleDvl() - RDI_Pathfinder msg: 1633835383.19 epoch sec; seqNo:163 2021-10-10T03:09:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 57.75 , 0.00 , 56.78 , 0.00 2021-10-10T03:09:43Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T03:09:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835383.20 epoch sec; seqNo:637; 4061367.15 north; 594161.96 east 2021-10-10T03:09:43Z- AHRS_M2 msg: 1633835383.55 epoch sec; seqNo:618 2021-10-10T03:09:43Z- AHRS_M2 msg: -0.24 phi; -0.27 theta; 0.16 psi 2021-10-10T03:09:43Z- handleDepth()-Depth_Keller msg: 1633835383558 epoch sec; seqNo:638; depth 30.35 2021-10-10T03:09:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:09:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:09:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:09:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:09:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:09:43Z- handleDvl() - RDI_Pathfinder msg: 1633835383.56 epoch sec; seqNo:164 2021-10-10T03:09:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:09:43Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T03:09:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835383.58 epoch sec; seqNo:638; 4061367.15 north; 594161.96 east 2021-10-10T03:09:43Z- AHRS_M2 msg: 1633835383.96 epoch sec; seqNo:619 2021-10-10T03:09:43Z- AHRS_M2 msg: -0.23 phi; -0.26 theta; 0.16 psi 2021-10-10T03:09:43Z- handleDepth()-Depth_Keller msg: 1633835383962 epoch sec; seqNo:639; depth 30.42 2021-10-10T03:09:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835383.97 epoch sec; seqNo:639; 4061367.52 north; 594161.95 east 2021-10-10T03:09:44Z- AHRS_M2 msg: 1633835384.36 epoch sec; seqNo:620 2021-10-10T03:09:44Z- AHRS_M2 msg: -0.22 phi; -0.26 theta; 0.16 psi 2021-10-10T03:09:44Z- handleDepth()-Depth_Keller msg: 1633835384363 epoch sec; seqNo:640; depth 30.50 2021-10-10T03:09:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835384.38 epoch sec; seqNo:640; 4061367.90 north; 594161.95 east 2021-10-10T03:09:44Z- AHRS_M2 msg: 1633835384.76 epoch sec; seqNo:621 2021-10-10T03:09:44Z- AHRS_M2 msg: -0.21 phi; -0.26 theta; 0.16 psi 2021-10-10T03:09:44Z- handleDepth()-Depth_Keller msg: 1633835384772 epoch sec; seqNo:641; depth 30.60 2021-10-10T03:09:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:09:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:09:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:09:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:09:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:09:44Z- handleDvl() - RDI_Pathfinder msg: 1633835384.78 epoch sec; seqNo:165 2021-10-10T03:09:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:09:44Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T03:09:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835384.78 epoch sec; seqNo:641; 4061368.28 north; 594161.94 east 2021-10-10T03:09:45Z- AHRS_M2 msg: 1633835385.16 epoch sec; seqNo:622 2021-10-10T03:09:45Z- AHRS_M2 msg: -0.20 phi; -0.25 theta; 0.16 psi 2021-10-10T03:09:45Z- handleDepth()-Depth_Keller msg: 1633835385167 epoch sec; seqNo:642; depth 30.69 2021-10-10T03:09:45Z- handleDvl() - RDI_Pathfinder msg: 1633835385.19 epoch sec; seqNo:166 2021-10-10T03:09:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.63 , 75.13 , 56.35 , 75.13 2021-10-10T03:09:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , 0.03 , 0.02 2021-10-10T03:09:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835385.21 epoch sec; seqNo:642; 4061368.28 north; 594161.94 east 2021-10-10T03:09:45Z- AHRS_M2 msg: 1633835385.57 epoch sec; seqNo:623 2021-10-10T03:09:45Z- AHRS_M2 msg: -0.20 phi; -0.25 theta; 0.16 psi 2021-10-10T03:09:45Z- handleDepth()-Depth_Keller msg: 1633835385576 epoch sec; seqNo:643; depth 30.78 2021-10-10T03:09:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835385.59 epoch sec; seqNo:643; 4061368.66 north; 594161.94 east 2021-10-10T03:09:45Z- AHRS_M2 msg: 1633835385.97 epoch sec; seqNo:624 2021-10-10T03:09:45Z- AHRS_M2 msg: -0.20 phi; -0.25 theta; 0.16 psi 2021-10-10T03:09:45Z- handleDepth()-Depth_Keller msg: 1633835385974 epoch sec; seqNo:644; depth 30.88 2021-10-10T03:09:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:09:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:09:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:09:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:09:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:09:45Z- handleDvl() - RDI_Pathfinder msg: 1633835385.98 epoch sec; seqNo:167 2021-10-10T03:09:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:09:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , 0.03 , 0.02 2021-10-10T03:09:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835386.00 epoch sec; seqNo:644; 4061369.04 north; 594161.94 east 2021-10-10T03:09:46Z- AHRS_M2 msg: 1633835386.38 epoch sec; seqNo:625 2021-10-10T03:09:46Z- AHRS_M2 msg: -0.20 phi; -0.24 theta; 0.16 psi 2021-10-10T03:09:46Z- handleDepth()-Depth_Keller msg: 1633835386380 epoch sec; seqNo:645; depth 30.94 2021-10-10T03:09:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835386.39 epoch sec; seqNo:645; 4061369.42 north; 594161.93 east 2021-10-10T03:09:46Z- AHRS_M2 msg: 1633835386.78 epoch sec; seqNo:626 2021-10-10T03:09:46Z- AHRS_M2 msg: -0.20 phi; -0.24 theta; 0.16 psi 2021-10-10T03:09:46Z- handleDepth()-Depth_Keller msg: 1633835386786 epoch sec; seqNo:646; depth 31.04 2021-10-10T03:09:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835386.79 epoch sec; seqNo:646; 4061369.80 north; 594161.93 east 2021-10-10T03:09:47Z- LcmTrn::handleMessages() - handling 45 messages took 0.70 ms and 130 calls... 2021-10-10T03:09:47Z- waiting for 1633835384.55, time is 1633835386.79 2021-10-10T03:09:47Z- LcmTrn::updateTrn() >>>> pose time 1633835386.79, meas time 1633835385.98 <<<< 2021-10-10T03:09:47Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835385.98, ping # 0. 2021-10-10T03:09:47Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835385.98 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:09:47Z- TerrainNav::motionUpdate() - currEstimate = (4061370, 594161.93, 31.04) 2021-10-10T03:09:47Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:09:47Z- TerrainNav:: SubcloudNIS is 0.13, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:09:47Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:09:47Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:09:47Z- TNavBF::Projecting Measurements 2021-10-10T03:09:47Z- TNavFilter::Measurement from time = 1633835385.98 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:09:47Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:09:47Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:09:47Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:09:47Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:09:47Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:09:47Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:09:47Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:09:47Z- Filter 0 NorthBias: 15.8 EastBias: -28.2 DepthBias: -14.0 NorthVariance: 524.0 EastVariance: 331.9 DepthVariance: 3.8 this->DepthBiasCov: 2.2 2021-10-10T03:09:47Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:09:47Z- TNavBF::mmse selected from filter -1 2021-10-10T03:09:47Z- variances([0], [2], and psi_berg) = 523.867309 333.209717 0.000000 2021-10-10T03:09:47Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:09:47Z- LcmTrn::publishEstimates() - MLE : 4061383.30 594113.43 31.04 2021-10-10T03:09:47Z- LcmTrn::publishEstimates() - MMSE : 4061385.55 594133.79 17.04 2021-10-10T03:09:47Z- LcmTrn::publishEstimates() - COVAR: 523.87 333.21 3.83 0.00 2021-10-10T03:09:47Z- AHRS_M2 msg: 1633835387.18 epoch sec; seqNo:627 2021-10-10T03:09:47Z- AHRS_M2 msg: -0.20 phi; -0.23 theta; 0.16 psi 2021-10-10T03:09:47Z- handleDepth()-Depth_Keller msg: 1633835387192 epoch sec; seqNo:647; depth 31.13 2021-10-10T03:09:47Z- handleDvl() - RDI_Pathfinder msg: 1633835387.22 epoch sec; seqNo:168 2021-10-10T03:09:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 58.09 , 0.00 , 56.55 , 71.61 2021-10-10T03:09:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , 0.00 , -0.03 2021-10-10T03:09:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835387.24 epoch sec; seqNo:647; 4061370.18 north; 594161.92 east 2021-10-10T03:09:47Z- AHRS_M2 msg: 1633835387.59 epoch sec; seqNo:628 2021-10-10T03:09:47Z- AHRS_M2 msg: -0.20 phi; -0.23 theta; 0.17 psi 2021-10-10T03:09:47Z- handleDepth()-Depth_Keller msg: 1633835387591 epoch sec; seqNo:648; depth 31.21 2021-10-10T03:09:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835387.61 epoch sec; seqNo:648; 4061370.18 north; 594161.92 east 2021-10-10T03:09:48Z- AHRS_M2 msg: 1633835387.99 epoch sec; seqNo:629 2021-10-10T03:09:48Z- AHRS_M2 msg: -0.20 phi; -0.23 theta; 0.17 psi 2021-10-10T03:09:48Z- handleDepth()-Depth_Keller msg: 1633835387996 epoch sec; seqNo:649; depth 31.30 2021-10-10T03:09:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835388.01 epoch sec; seqNo:649; 4061370.56 north; 594161.92 east 2021-10-10T03:09:48Z- AHRS_M2 msg: 1633835388.39 epoch sec; seqNo:630 2021-10-10T03:09:48Z- AHRS_M2 msg: -0.20 phi; -0.22 theta; 0.17 psi 2021-10-10T03:09:48Z- handleDepth()-Depth_Keller msg: 1633835388408 epoch sec; seqNo:650; depth 31.37 2021-10-10T03:09:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:09:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:09:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:09:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:09:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:09:48Z- handleDvl() - RDI_Pathfinder msg: 1633835388.41 epoch sec; seqNo:169 2021-10-10T03:09:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:09:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , 0.00 , -0.03 2021-10-10T03:09:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835388.42 epoch sec; seqNo:650; 4061370.93 north; 594161.92 east 2021-10-10T03:09:48Z- AHRS_M2 msg: 1633835388.80 epoch sec; seqNo:631 2021-10-10T03:09:48Z- AHRS_M2 msg: -0.20 phi; -0.22 theta; 0.17 psi 2021-10-10T03:09:48Z- handleDepth()-Depth_Keller msg: 1633835388804 epoch sec; seqNo:651; depth 31.45 2021-10-10T03:09:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835388.81 epoch sec; seqNo:651; 4061371.31 north; 594161.91 east 2021-10-10T03:09:49Z- AHRS_M2 msg: 1633835389.21 epoch sec; seqNo:632 2021-10-10T03:09:49Z- AHRS_M2 msg: -0.20 phi; -0.22 theta; 0.17 psi 2021-10-10T03:09:49Z- handleDepth()-Depth_Keller msg: 1633835389211 epoch sec; seqNo:652; depth 31.52 2021-10-10T03:09:49Z- handleDvl() - RDI_Pathfinder msg: 1633835389.23 epoch sec; seqNo:170 2021-10-10T03:09:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 58.05 , 70.53 , 56.02 , 70.24 2021-10-10T03:09:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.04 , -0.04 2021-10-10T03:09:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835389.26 epoch sec; seqNo:652; 4061371.69 north; 594161.91 east 2021-10-10T03:09:49Z- AHRS_M2 msg: 1633835389.61 epoch sec; seqNo:633 2021-10-10T03:09:49Z- AHRS_M2 msg: -0.20 phi; -0.22 theta; 0.17 psi 2021-10-10T03:09:49Z- handleDepth()-Depth_Keller msg: 1633835389616 epoch sec; seqNo:653; depth 31.60 2021-10-10T03:09:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:09:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:09:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:09:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:09:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:09:49Z- handleDvl() - RDI_Pathfinder msg: 1633835389.62 epoch sec; seqNo:171 2021-10-10T03:09:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:09:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.04 , -0.04 2021-10-10T03:09:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835389.63 epoch sec; seqNo:653; 4061372.07 north; 594161.90 east 2021-10-10T03:09:50Z- AHRS_M2 msg: 1633835390.04 epoch sec; seqNo:634 2021-10-10T03:09:50Z- AHRS_M2 msg: -0.19 phi; -0.21 theta; 0.18 psi 2021-10-10T03:09:50Z- handleDepth()-Depth_Keller msg: 1633835390044 epoch sec; seqNo:654; depth 31.68 2021-10-10T03:09:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835390.05 epoch sec; seqNo:654; 4061372.45 north; 594161.90 east 2021-10-10T03:09:50Z- AHRS_M2 msg: 1633835390.42 epoch sec; seqNo:635 2021-10-10T03:09:50Z- AHRS_M2 msg: -0.19 phi; -0.21 theta; 0.18 psi 2021-10-10T03:09:50Z- handleDepth()-Depth_Keller msg: 1633835390422 epoch sec; seqNo:655; depth 31.76 2021-10-10T03:09:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835390.45 epoch sec; seqNo:655; 4061372.45 north; 594161.90 east 2021-10-10T03:09:50Z- AHRS_M2 msg: 1633835390.82 epoch sec; seqNo:636 2021-10-10T03:09:50Z- AHRS_M2 msg: -0.19 phi; -0.21 theta; 0.18 psi 2021-10-10T03:09:50Z- handleDepth()-Depth_Keller msg: 1633835390825 epoch sec; seqNo:656; depth 31.82 2021-10-10T03:09:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:09:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:09:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:09:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:09:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:09:50Z- handleDvl() - RDI_Pathfinder msg: 1633835390.83 epoch sec; seqNo:172 2021-10-10T03:09:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:09:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.04 , -0.04 2021-10-10T03:09:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835390.84 epoch sec; seqNo:656; 4061372.83 north; 594161.89 east 2021-10-10T03:09:51Z- AHRS_M2 msg: 1633835391.22 epoch sec; seqNo:637 2021-10-10T03:09:51Z- AHRS_M2 msg: -0.19 phi; -0.21 theta; 0.18 psi 2021-10-10T03:09:51Z- handleDepth()-Depth_Keller msg: 1633835391233 epoch sec; seqNo:657; depth 31.88 2021-10-10T03:09:51Z- handleDvl() - RDI_Pathfinder msg: 1633835391.25 epoch sec; seqNo:173 2021-10-10T03:09:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.75 , 69.65 , 55.43 , 68.78 2021-10-10T03:09:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.07 , -0.03 2021-10-10T03:09:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835391.27 epoch sec; seqNo:657; 4061373.21 north; 594161.89 east 2021-10-10T03:09:51Z- AHRS_M2 msg: 1633835391.64 epoch sec; seqNo:638 2021-10-10T03:09:51Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 0.18 psi 2021-10-10T03:09:51Z- handleDepth()-Depth_Keller msg: 1633835391648 epoch sec; seqNo:658; depth 31.97 2021-10-10T03:09:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835391.66 epoch sec; seqNo:658; 4061373.59 north; 594161.89 east 2021-10-10T03:09:52Z- AHRS_M2 msg: 1633835392.04 epoch sec; seqNo:639 2021-10-10T03:09:52Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 0.18 psi 2021-10-10T03:09:52Z- handleDepth()-Depth_Keller msg: 1633835392047 epoch sec; seqNo:659; depth 32.05 2021-10-10T03:09:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:09:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:09:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:09:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:09:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:09:52Z- handleDvl() - RDI_Pathfinder msg: 1633835392.05 epoch sec; seqNo:174 2021-10-10T03:09:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:09:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.07 , -0.03 2021-10-10T03:09:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835392.07 epoch sec; seqNo:659; 4061373.97 north; 594161.88 east 2021-10-10T03:09:52Z- LcmTrn::handleMessages() - handling 46 messages took 0.70 ms and 132 calls... 2021-10-10T03:09:52Z- waiting for 1633835389.79, time is 1633835392.07 2021-10-10T03:09:52Z- LcmTrn::updateTrn() equating pose 1633835392.07 and meas times 1633835392.07 2021-10-10T03:09:52Z- LcmTrn::updateTrn() >>>> pose time 1633835392.07, meas time 1633835392.07 <<<< 2021-10-10T03:09:52Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835392.07, ping # 0. 2021-10-10T03:09:52Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835392.07 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:09:52Z- TerrainNav::motionUpdate() - currEstimate = (4061374, 594161.88, 32.05) 2021-10-10T03:09:52Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:09:52Z- TerrainNav:: SubcloudNIS is 0.13, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:09:52Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:09:52Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:09:52Z- TerrainNav::Measurement type 1 not incorporated from time = 1633835392.07 sec.; No relevant navigation data available 2021-10-10T03:09:52Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:09:52Z- TNavBF::mmse selected from filter -1 2021-10-10T03:09:52Z- variances([0], [2], and psi_berg) = 523.646143 336.405785 0.000000 2021-10-10T03:09:52Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:09:52Z- LcmTrn::publishEstimates() - MLE : 4061387.47 594113.38 32.05 2021-10-10T03:09:52Z- LcmTrn::publishEstimates() - MMSE : 4061389.71 594133.80 18.06 2021-10-10T03:09:52Z- LcmTrn::publishEstimates() - COVAR: 523.65 336.41 4.04 0.00 2021-10-10T03:09:52Z- AHRS_M2 msg: 1633835392.44 epoch sec; seqNo:640 2021-10-10T03:09:52Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 0.18 psi 2021-10-10T03:09:52Z- handleDepth()-Depth_Keller msg: 1633835392442 epoch sec; seqNo:660; depth 32.11 2021-10-10T03:09:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835392.45 epoch sec; seqNo:660; 4061374.34 north; 594161.88 east 2021-10-10T03:09:52Z- AHRS_M2 msg: 1633835392.84 epoch sec; seqNo:641 2021-10-10T03:09:52Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 0.19 psi 2021-10-10T03:09:52Z- handleDepth()-Depth_Keller msg: 1633835392844 epoch sec; seqNo:661; depth 32.17 2021-10-10T03:09:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835392.86 epoch sec; seqNo:661; 4061374.34 north; 594161.88 east 2021-10-10T03:09:53Z- handleDepth()-Depth_Keller msg: 1633835393264 epoch sec; seqNo:662; depth 32.25 2021-10-10T03:09:53Z- handleDvl() - RDI_Pathfinder msg: 1633835393.29 epoch sec; seqNo:175 2021-10-10T03:09:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.59 , 69.36 , 55.14 , 68.20 2021-10-10T03:09:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.09 , -0.01 2021-10-10T03:09:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835393.32 epoch sec; seqNo:662; 4061374.74 north; 594163.09 east 2021-10-10T03:09:53Z- AHRS_M2 msg: 1633835393.65 epoch sec; seqNo:642 2021-10-10T03:09:53Z- AHRS_M2 msg: -0.20 phi; -0.20 theta; 0.19 psi 2021-10-10T03:09:53Z- handleDepth()-Depth_Keller msg: 1633835393654 epoch sec; seqNo:663; depth 32.33 2021-10-10T03:09:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835393.67 epoch sec; seqNo:663; 4061375.12 north; 594163.09 east 2021-10-10T03:09:54Z- AHRS_M2 msg: 1633835394.05 epoch sec; seqNo:643 2021-10-10T03:09:54Z- AHRS_M2 msg: -0.20 phi; -0.20 theta; 0.19 psi 2021-10-10T03:09:54Z- handleDepth()-Depth_Keller msg: 1633835394077 epoch sec; seqNo:664; depth 32.39 2021-10-10T03:09:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835394.09 epoch sec; seqNo:664; 4061375.49 north; 594163.09 east 2021-10-10T03:09:54Z- AHRS_M2 msg: 1633835394.45 epoch sec; seqNo:644 2021-10-10T03:09:54Z- AHRS_M2 msg: -0.20 phi; -0.20 theta; 0.19 psi 2021-10-10T03:09:54Z- handleDepth()-Depth_Keller msg: 1633835394459 epoch sec; seqNo:665; depth 32.47 2021-10-10T03:09:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:09:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:09:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:09:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:09:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:09:54Z- handleDvl() - RDI_Pathfinder msg: 1633835394.46 epoch sec; seqNo:176 2021-10-10T03:09:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:09:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.09 , -0.01 2021-10-10T03:09:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835394.48 epoch sec; seqNo:665; 4061375.87 north; 594163.08 east 2021-10-10T03:09:54Z- AHRS_M2 msg: 1633835394.86 epoch sec; seqNo:645 2021-10-10T03:09:54Z- AHRS_M2 msg: -0.20 phi; -0.20 theta; 0.19 psi 2021-10-10T03:09:54Z- handleDepth()-Depth_Keller msg: 1633835394863 epoch sec; seqNo:666; depth 32.53 2021-10-10T03:09:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835394.87 epoch sec; seqNo:666; 4061376.25 north; 594163.08 east 2021-10-10T03:09:55Z- AHRS_M2 msg: 1633835395.26 epoch sec; seqNo:646 2021-10-10T03:09:55Z- AHRS_M2 msg: -0.20 phi; -0.20 theta; 0.19 psi 2021-10-10T03:09:55Z- handleDepth()-Depth_Keller msg: 1633835395268 epoch sec; seqNo:667; depth 32.61 2021-10-10T03:09:55Z- handleDvl() - RDI_Pathfinder msg: 1633835395.30 epoch sec; seqNo:177 2021-10-10T03:09:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.88 , 69.06 , 54.85 , 67.03 2021-10-10T03:09:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.10 , 0.03 2021-10-10T03:09:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835395.32 epoch sec; seqNo:667; 4061376.25 north; 594163.08 east 2021-10-10T03:09:55Z- AHRS_M2 msg: 1633835395.67 epoch sec; seqNo:647 2021-10-10T03:09:55Z- AHRS_M2 msg: -0.20 phi; -0.20 theta; 0.19 psi 2021-10-10T03:09:55Z- handleDepth()-Depth_Keller msg: 1633835395678 epoch sec; seqNo:668; depth 32.69 2021-10-10T03:09:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:09:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:09:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:09:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:09:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:09:55Z- handleDvl() - RDI_Pathfinder msg: 1633835395.68 epoch sec; seqNo:178 2021-10-10T03:09:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:09:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.10 , 0.03 2021-10-10T03:09:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835395.71 epoch sec; seqNo:668; 4061376.63 north; 594163.07 east 2021-10-10T03:09:56Z- AHRS_M2 msg: 1633835396.07 epoch sec; seqNo:648 2021-10-10T03:09:56Z- AHRS_M2 msg: -0.20 phi; -0.20 theta; 0.19 psi 2021-10-10T03:09:56Z- handleDepth()-Depth_Keller msg: 1633835396077 epoch sec; seqNo:669; depth 32.75 2021-10-10T03:09:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835396.09 epoch sec; seqNo:669; 4061377.01 north; 594163.07 east 2021-10-10T03:09:56Z- AHRS_M2 msg: 1633835396.48 epoch sec; seqNo:649 2021-10-10T03:09:56Z- AHRS_M2 msg: -0.19 phi; -0.20 theta; 0.19 psi 2021-10-10T03:09:56Z- handleDepth()-Depth_Keller msg: 1633835396483 epoch sec; seqNo:670; depth 32.83 2021-10-10T03:09:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835396.49 epoch sec; seqNo:670; 4061377.39 north; 594163.07 east 2021-10-10T03:09:56Z- AHRS_M2 msg: 1633835396.88 epoch sec; seqNo:650 2021-10-10T03:09:56Z- AHRS_M2 msg: -0.19 phi; -0.20 theta; 0.20 psi 2021-10-10T03:09:56Z- handleDepth()-Depth_Keller msg: 1633835396882 epoch sec; seqNo:671; depth 32.89 2021-10-10T03:09:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:09:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:09:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:09:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:09:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:09:56Z- handleDvl() - RDI_Pathfinder msg: 1633835396.88 epoch sec; seqNo:179 2021-10-10T03:09:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:09:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.10 , 0.03 2021-10-10T03:09:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835396.90 epoch sec; seqNo:671; 4061377.77 north; 594163.06 east 2021-10-10T03:09:57Z- LcmTrn::handleMessages() - handling 40 messages took 0.62 ms and 127 calls... 2021-10-10T03:09:57Z- waiting for 1633835395.07, time is 1633835396.90 2021-10-10T03:09:57Z- LcmTrn::updateTrn() equating pose 1633835396.90 and meas times 1633835396.90 2021-10-10T03:09:57Z- LcmTrn::updateTrn() >>>> pose time 1633835396.90, meas time 1633835396.90 <<<< 2021-10-10T03:09:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835396.90, ping # 0. 2021-10-10T03:09:57Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835396.90 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:09:57Z- TerrainNav::motionUpdate() - currEstimate = (4061378, 594163.06, 32.89) 2021-10-10T03:09:57Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:09:57Z- TerrainNav:: SubcloudNIS is 0.13, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:09:57Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:09:57Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:09:57Z- TNavBF::Projecting Measurements 2021-10-10T03:09:57Z- TNavFilter::Measurement from time = 1633835396.90 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:09:57Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:09:57Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:09:57Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:09:57Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:09:57Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:09:57Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:09:57Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:09:57Z- Filter 0 NorthBias: 15.7 EastBias: -28.0 DepthBias: -14.0 NorthVariance: 523.4 EastVariance: 339.4 DepthVariance: 4.2 this->DepthBiasCov: 2.6 2021-10-10T03:09:57Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:09:57Z- TNavBF::mmse selected from filter -1 2021-10-10T03:09:57Z- variances([0], [2], and psi_berg) = 523.433765 339.410272 0.000000 2021-10-10T03:09:57Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:09:57Z- LcmTrn::publishEstimates() - MLE : 4061391.27 594114.56 32.89 2021-10-10T03:09:57Z- LcmTrn::publishEstimates() - MMSE : 4061393.50 594135.03 18.91 2021-10-10T03:09:57Z- LcmTrn::publishEstimates() - COVAR: 523.43 339.41 4.25 0.00 2021-10-10T03:09:57Z- AHRS_M2 msg: 1633835397.28 epoch sec; seqNo:651 2021-10-10T03:09:57Z- AHRS_M2 msg: -0.18 phi; -0.19 theta; 0.20 psi 2021-10-10T03:09:57Z- handleDepth()-Depth_Keller msg: 1633835397291 epoch sec; seqNo:672; depth 32.98 2021-10-10T03:09:57Z- handleDvl() - RDI_Pathfinder msg: 1633835397.31 epoch sec; seqNo:180 2021-10-10T03:09:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.88 , 68.19 , 55.13 , 66.45 2021-10-10T03:09:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.06 , 0.05 2021-10-10T03:09:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835397.34 epoch sec; seqNo:672; 4061378.15 north; 594163.06 east 2021-10-10T03:09:57Z- AHRS_M2 msg: 1633835397.69 epoch sec; seqNo:652 2021-10-10T03:09:57Z- AHRS_M2 msg: -0.18 phi; -0.19 theta; 0.20 psi 2021-10-10T03:09:57Z- handleDepth()-Depth_Keller msg: 1633835397693 epoch sec; seqNo:673; depth 33.06 2021-10-10T03:09:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835397.71 epoch sec; seqNo:673; 4061378.15 north; 594163.06 east 2021-10-10T03:09:58Z- AHRS_M2 msg: 1633835398.09 epoch sec; seqNo:653 2021-10-10T03:09:58Z- AHRS_M2 msg: -0.18 phi; -0.19 theta; 0.20 psi 2021-10-10T03:09:58Z- handleDepth()-Depth_Keller msg: 1633835398103 epoch sec; seqNo:674; depth 33.11 2021-10-10T03:09:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:09:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:09:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:09:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:09:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:09:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:09:58Z- handleDvl() - RDI_Pathfinder msg: 1633835398.11 epoch sec; seqNo:181 2021-10-10T03:09:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:09:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.06 , 0.05 2021-10-10T03:09:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835398.13 epoch sec; seqNo:674; 4061378.52 north; 594163.05 east 2021-10-10T03:09:58Z- AHRS_M2 msg: 1633835398.49 epoch sec; seqNo:654 2021-10-10T03:09:58Z- AHRS_M2 msg: -0.18 phi; -0.19 theta; 0.21 psi 2021-10-10T03:09:58Z- handleDepth()-Depth_Keller msg: 1633835398503 epoch sec; seqNo:675; depth 33.20 2021-10-10T03:09:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835398.53 epoch sec; seqNo:675; 4061378.90 north; 594163.05 east 2021-10-10T03:09:58Z- AHRS_M2 msg: 1633835398.90 epoch sec; seqNo:655 2021-10-10T03:09:58Z- AHRS_M2 msg: -0.18 phi; -0.19 theta; 0.21 psi 2021-10-10T03:09:58Z- handleDepth()-Depth_Keller msg: 1633835398904 epoch sec; seqNo:676; depth 33.28 2021-10-10T03:09:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835398.92 epoch sec; seqNo:676; 4061379.28 north; 594163.04 east 2021-10-10T03:09:59Z- AHRS_M2 msg: 1633835399.30 epoch sec; seqNo:656 2021-10-10T03:09:59Z- AHRS_M2 msg: -0.18 phi; -0.19 theta; 0.21 psi 2021-10-10T03:09:59Z- handleDepth()-Depth_Keller msg: 1633835399308 epoch sec; seqNo:677; depth 33.33 2021-10-10T03:09:59Z- handleDvl() - RDI_Pathfinder msg: 1633835399.33 epoch sec; seqNo:182 2021-10-10T03:09:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.87 , 67.03 , 55.13 , 65.87 2021-10-10T03:09:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.04 , 0.01 2021-10-10T03:09:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835399.35 epoch sec; seqNo:677; 4061379.66 north; 594163.04 east 2021-10-10T03:09:59Z- AHRS_M2 msg: 1633835399.71 epoch sec; seqNo:657 2021-10-10T03:09:59Z- AHRS_M2 msg: -0.18 phi; -0.19 theta; 0.21 psi 2021-10-10T03:09:59Z- handleDepth()-Depth_Keller msg: 1633835399722 epoch sec; seqNo:678; depth 33.41 2021-10-10T03:09:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835399.74 epoch sec; seqNo:678; 4061379.66 north; 594163.04 east 2021-10-10T03:10:00Z- AHRS_M2 msg: 1633835400.11 epoch sec; seqNo:658 2021-10-10T03:10:00Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.22 psi 2021-10-10T03:10:00Z- handleDepth()-Depth_Keller msg: 1633835400116 epoch sec; seqNo:679; depth 33.48 2021-10-10T03:10:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835400.12 epoch sec; seqNo:679; 4061380.04 north; 594163.04 east 2021-10-10T03:10:00Z- AHRS_M2 msg: 1633835400.52 epoch sec; seqNo:659 2021-10-10T03:10:00Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.22 psi 2021-10-10T03:10:00Z- handleDepth()-Depth_Keller msg: 1633835400531 epoch sec; seqNo:680; depth 33.54 2021-10-10T03:10:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:00Z- handleDvl() - RDI_Pathfinder msg: 1633835400.53 epoch sec; seqNo:183 2021-10-10T03:10:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.04 , 0.01 2021-10-10T03:10:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835400.54 epoch sec; seqNo:680; 4061380.42 north; 594163.03 east 2021-10-10T03:10:00Z- AHRS_M2 msg: 1633835400.93 epoch sec; seqNo:660 2021-10-10T03:10:00Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.22 psi 2021-10-10T03:10:00Z- handleDepth()-Depth_Keller msg: 1633835400936 epoch sec; seqNo:681; depth 33.60 2021-10-10T03:10:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835400.95 epoch sec; seqNo:681; 4061380.80 north; 594163.03 east 2021-10-10T03:10:01Z- AHRS_M2 msg: 1633835401.33 epoch sec; seqNo:661 2021-10-10T03:10:01Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.23 psi 2021-10-10T03:10:01Z- handleDepth()-Depth_Keller msg: 1633835401338 epoch sec; seqNo:682; depth 33.68 2021-10-10T03:10:01Z- handleDvl() - RDI_Pathfinder msg: 1633835401.36 epoch sec; seqNo:184 2021-10-10T03:10:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.29 , 66.45 , 54.84 , 65.58 2021-10-10T03:10:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.06 , -0.00 2021-10-10T03:10:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835401.37 epoch sec; seqNo:682; 4061381.18 north; 594163.02 east 2021-10-10T03:10:01Z- AHRS_M2 msg: 1633835401.73 epoch sec; seqNo:662 2021-10-10T03:10:01Z- AHRS_M2 msg: -0.17 phi; -0.18 theta; 0.23 psi 2021-10-10T03:10:01Z- handleDepth()-Depth_Keller msg: 1633835401735 epoch sec; seqNo:683; depth 33.74 2021-10-10T03:10:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:01Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:01Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:01Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:01Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:01Z- handleDvl() - RDI_Pathfinder msg: 1633835401.74 epoch sec; seqNo:185 2021-10-10T03:10:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.06 , -0.00 2021-10-10T03:10:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835401.76 epoch sec; seqNo:683; 4061381.56 north; 594163.02 east 2021-10-10T03:10:02Z- AHRS_M2 msg: 1633835402.13 epoch sec; seqNo:663 2021-10-10T03:10:02Z- AHRS_M2 msg: -0.17 phi; -0.18 theta; 0.23 psi 2021-10-10T03:10:02Z- handleDepth()-Depth_Keller msg: 1633835402136 epoch sec; seqNo:684; depth 33.82 2021-10-10T03:10:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835402.15 epoch sec; seqNo:684; 4061381.56 north; 594163.02 east 2021-10-10T03:10:02Z- LcmTrn::handleMessages() - handling 45 messages took 0.82 ms and 128 calls... 2021-10-10T03:10:02Z- waiting for 1633835399.90, time is 1633835402.15 2021-10-10T03:10:02Z- LcmTrn::updateTrn() >>>> pose time 1633835402.15, meas time 1633835401.74 <<<< 2021-10-10T03:10:02Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835401.74, ping # 0. 2021-10-10T03:10:02Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835401.74 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:10:02Z- TerrainNav::motionUpdate() - currEstimate = (4061382, 594163.02, 33.82) 2021-10-10T03:10:02Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:10:02Z- TerrainNav:: SubcloudNIS is 0.13, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:10:02Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:10:02Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:10:02Z- TNavBF::Projecting Measurements 2021-10-10T03:10:02Z- TNavFilter::Measurement from time = 1633835401.74 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:10:02Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:10:02Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:10:02Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:10:02Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:10:02Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:10:02Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:10:02Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:10:02Z- Filter 0 NorthBias: 15.7 EastBias: -28.0 DepthBias: -14.0 NorthVariance: 523.2 EastVariance: 342.1 DepthVariance: 4.4 this->DepthBiasCov: 2.8 2021-10-10T03:10:02Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:10:02Z- TNavBF::mmse selected from filter -1 2021-10-10T03:10:02Z- variances([0], [2], and psi_berg) = 523.182033 342.885812 0.000000 2021-10-10T03:10:02Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:10:02Z- LcmTrn::publishEstimates() - MLE : 4061395.06 594114.52 33.82 2021-10-10T03:10:02Z- LcmTrn::publishEstimates() - MMSE : 4061397.28 594135.05 19.84 2021-10-10T03:10:02Z- LcmTrn::publishEstimates() - COVAR: 523.18 342.89 4.44 0.00 2021-10-10T03:10:02Z- AHRS_M2 msg: 1633835402.53 epoch sec; seqNo:664 2021-10-10T03:10:02Z- AHRS_M2 msg: -0.17 phi; -0.18 theta; 0.24 psi 2021-10-10T03:10:02Z- handleDepth()-Depth_Keller msg: 1633835402548 epoch sec; seqNo:685; depth 33.88 2021-10-10T03:10:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835402.56 epoch sec; seqNo:685; 4061381.93 north; 594163.02 east 2021-10-10T03:10:02Z- AHRS_M2 msg: 1633835402.94 epoch sec; seqNo:665 2021-10-10T03:10:02Z- AHRS_M2 msg: -0.17 phi; -0.18 theta; 0.24 psi 2021-10-10T03:10:02Z- handleDepth()-Depth_Keller msg: 1633835402945 epoch sec; seqNo:686; depth 33.94 2021-10-10T03:10:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:02Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:02Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:02Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:02Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:02Z- handleDvl() - RDI_Pathfinder msg: 1633835402.95 epoch sec; seqNo:186 2021-10-10T03:10:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.06 , -0.00 2021-10-10T03:10:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835402.96 epoch sec; seqNo:686; 4061382.31 north; 594163.01 east 2021-10-10T03:10:03Z- AHRS_M2 msg: 1633835403.34 epoch sec; seqNo:666 2021-10-10T03:10:03Z- AHRS_M2 msg: -0.17 phi; -0.18 theta; 0.24 psi 2021-10-10T03:10:03Z- handleDepth()-Depth_Keller msg: 1633835403348 epoch sec; seqNo:687; depth 34.01 2021-10-10T03:10:03Z- handleDvl() - RDI_Pathfinder msg: 1633835403.37 epoch sec; seqNo:187 2021-10-10T03:10:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 55.99 , 65.57 , 54.83 , 64.70 2021-10-10T03:10:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.08 , -0.01 2021-10-10T03:10:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835403.38 epoch sec; seqNo:687; 4061382.69 north; 594163.01 east 2021-10-10T03:10:03Z- AHRS_M2 msg: 1633835403.74 epoch sec; seqNo:667 2021-10-10T03:10:03Z- AHRS_M2 msg: -0.17 phi; -0.18 theta; 0.25 psi 2021-10-10T03:10:03Z- handleDepth()-Depth_Keller msg: 1633835403751 epoch sec; seqNo:688; depth 34.08 2021-10-10T03:10:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835403.77 epoch sec; seqNo:688; 4061383.07 north; 594163.00 east 2021-10-10T03:10:04Z- AHRS_M2 msg: 1633835404.15 epoch sec; seqNo:668 2021-10-10T03:10:04Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.25 psi 2021-10-10T03:10:04Z- handleDepth()-Depth_Keller msg: 1633835404156 epoch sec; seqNo:689; depth 34.13 2021-10-10T03:10:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:04Z- handleDvl() - RDI_Pathfinder msg: 1633835404.16 epoch sec; seqNo:188 2021-10-10T03:10:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.08 , -0.01 2021-10-10T03:10:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835404.18 epoch sec; seqNo:689; 4061383.45 north; 594163.00 east 2021-10-10T03:10:04Z- AHRS_M2 msg: 1633835404.55 epoch sec; seqNo:669 2021-10-10T03:10:04Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.25 psi 2021-10-10T03:10:04Z- handleDepth()-Depth_Keller msg: 1633835404558 epoch sec; seqNo:690; depth 34.21 2021-10-10T03:10:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835404.57 epoch sec; seqNo:690; 4061383.83 north; 594162.99 east 2021-10-10T03:10:04Z- AHRS_M2 msg: 1633835404.96 epoch sec; seqNo:670 2021-10-10T03:10:04Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.26 psi 2021-10-10T03:10:04Z- handleDepth()-Depth_Keller msg: 1633835404964 epoch sec; seqNo:691; depth 34.26 2021-10-10T03:10:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835404.97 epoch sec; seqNo:691; 4061383.83 north; 594162.99 east 2021-10-10T03:10:05Z- AHRS_M2 msg: 1633835405.36 epoch sec; seqNo:671 2021-10-10T03:10:05Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.26 psi 2021-10-10T03:10:05Z- handleDepth()-Depth_Keller msg: 1633835405377 epoch sec; seqNo:692; depth 34.35 2021-10-10T03:10:05Z- handleDvl() - RDI_Pathfinder msg: 1633835405.40 epoch sec; seqNo:189 2021-10-10T03:10:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 55.99 , 66.15 , 54.25 , 64.99 2021-10-10T03:10:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.08 , 0.00 2021-10-10T03:10:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835405.41 epoch sec; seqNo:692; 4061384.22 north; 594164.21 east 2021-10-10T03:10:05Z- AHRS_M2 msg: 1633835405.77 epoch sec; seqNo:672 2021-10-10T03:10:05Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.27 psi 2021-10-10T03:10:05Z- handleDepth()-Depth_Keller msg: 1633835405770 epoch sec; seqNo:693; depth 34.41 2021-10-10T03:10:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835405.79 epoch sec; seqNo:693; 4061384.60 north; 594164.21 east 2021-10-10T03:10:06Z- handleDepth()-Depth_Keller msg: 1633835406196 epoch sec; seqNo:694; depth 34.45 2021-10-10T03:10:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835406.21 epoch sec; seqNo:694; 4061384.98 north; 594164.20 east 2021-10-10T03:10:06Z- AHRS_M2 msg: 1633835406.58 epoch sec; seqNo:673 2021-10-10T03:10:06Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.27 psi 2021-10-10T03:10:06Z- handleDepth()-Depth_Keller msg: 1633835406584 epoch sec; seqNo:695; depth 34.53 2021-10-10T03:10:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:06Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:06Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:06Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:06Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:06Z- handleDvl() - RDI_Pathfinder msg: 1633835406.59 epoch sec; seqNo:190 2021-10-10T03:10:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.08 , 0.00 2021-10-10T03:10:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835406.60 epoch sec; seqNo:695; 4061385.36 north; 594164.20 east 2021-10-10T03:10:06Z- AHRS_M2 msg: 1633835406.98 epoch sec; seqNo:674 2021-10-10T03:10:06Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.28 psi 2021-10-10T03:10:06Z- handleDepth()-Depth_Keller msg: 1633835406983 epoch sec; seqNo:696; depth 34.58 2021-10-10T03:10:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835407.02 epoch sec; seqNo:696; 4061385.74 north; 594164.19 east 2021-10-10T03:10:07Z- LcmTrn::handleMessages() - handling 40 messages took 0.66 ms and 126 calls... 2021-10-10T03:10:07Z- waiting for 1633835405.15, time is 1633835407.02 2021-10-10T03:10:07Z- LcmTrn::updateTrn() >>>> pose time 1633835407.02, meas time 1633835406.59 <<<< 2021-10-10T03:10:07Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835406.59, ping # 0. 2021-10-10T03:10:07Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835406.59 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:10:07Z- TerrainNav::motionUpdate() - currEstimate = (4061386, 594164.19, 34.58) 2021-10-10T03:10:07Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:10:07Z- TerrainNav:: SubcloudNIS is 0.13, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:10:07Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:10:07Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:10:07Z- TNavBF::Projecting Measurements 2021-10-10T03:10:07Z- TNavFilter::Measurement from time = 1633835406.59 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:10:07Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:10:07Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:10:07Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:10:07Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:10:07Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:10:07Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:10:07Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:10:07Z- Filter 0 NorthBias: 15.7 EastBias: -27.9 DepthBias: -14.0 NorthVariance: 523.0 EastVariance: 345.6 DepthVariance: 4.6 this->DepthBiasCov: 3.0 2021-10-10T03:10:07Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:10:07Z- TNavBF::mmse selected from filter -1 2021-10-10T03:10:07Z- variances([0], [2], and psi_berg) = 522.915106 346.481736 0.000000 2021-10-10T03:10:07Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:10:07Z- LcmTrn::publishEstimates() - MLE : 4061399.24 594115.69 34.58 2021-10-10T03:10:07Z- LcmTrn::publishEstimates() - MMSE : 4061401.45 594136.29 20.61 2021-10-10T03:10:07Z- LcmTrn::publishEstimates() - COVAR: 522.92 346.48 4.66 0.00 2021-10-10T03:10:07Z- AHRS_M2 msg: 1633835407.38 epoch sec; seqNo:675 2021-10-10T03:10:07Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.28 psi 2021-10-10T03:10:07Z- handleDepth()-Depth_Keller msg: 1633835407386 epoch sec; seqNo:697; depth 34.65 2021-10-10T03:10:07Z- handleDvl() - RDI_Pathfinder msg: 1633835407.41 epoch sec; seqNo:191 2021-10-10T03:10:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 55.41 , 64.98 , 53.67 , 64.40 2021-10-10T03:10:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.07 , -0.01 2021-10-10T03:10:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835407.43 epoch sec; seqNo:697; 4061386.12 north; 594164.19 east 2021-10-10T03:10:07Z- AHRS_M2 msg: 1633835407.79 epoch sec; seqNo:676 2021-10-10T03:10:07Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.29 psi 2021-10-10T03:10:07Z- handleDepth()-Depth_Keller msg: 1633835407791 epoch sec; seqNo:698; depth 34.73 2021-10-10T03:10:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:07Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:07Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:07Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:07Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:07Z- handleDvl() - RDI_Pathfinder msg: 1633835407.79 epoch sec; seqNo:192 2021-10-10T03:10:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.07 , -0.01 2021-10-10T03:10:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835407.81 epoch sec; seqNo:698; 4061386.12 north; 594164.19 east 2021-10-10T03:10:08Z- AHRS_M2 msg: 1633835408.19 epoch sec; seqNo:677 2021-10-10T03:10:08Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.29 psi 2021-10-10T03:10:08Z- handleDepth()-Depth_Keller msg: 1633835408200 epoch sec; seqNo:699; depth 34.79 2021-10-10T03:10:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835408.21 epoch sec; seqNo:699; 4061386.49 north; 594164.19 east 2021-10-10T03:10:08Z- AHRS_M2 msg: 1633835408.59 epoch sec; seqNo:678 2021-10-10T03:10:08Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.29 psi 2021-10-10T03:10:08Z- handleDepth()-Depth_Keller msg: 1633835408598 epoch sec; seqNo:700; depth 34.84 2021-10-10T03:10:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835408.62 epoch sec; seqNo:700; 4061386.87 north; 594164.18 east 2021-10-10T03:10:09Z- AHRS_M2 msg: 1633835409.00 epoch sec; seqNo:679 2021-10-10T03:10:09Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.30 psi 2021-10-10T03:10:09Z- handleDepth()-Depth_Keller msg: 1633835409018 epoch sec; seqNo:701; depth 34.91 2021-10-10T03:10:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:09Z- handleDvl() - RDI_Pathfinder msg: 1633835409.03 epoch sec; seqNo:193 2021-10-10T03:10:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.07 , -0.01 2021-10-10T03:10:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835409.08 epoch sec; seqNo:701; 4061387.25 north; 594164.18 east 2021-10-10T03:10:09Z- AHRS_M2 msg: 1633835409.40 epoch sec; seqNo:680 2021-10-10T03:10:09Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.30 psi 2021-10-10T03:10:09Z- handleDepth()-Depth_Keller msg: 1633835409406 epoch sec; seqNo:702; depth 34.98 2021-10-10T03:10:09Z- handleDvl() - RDI_Pathfinder msg: 1633835409.43 epoch sec; seqNo:194 2021-10-10T03:10:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 55.15 , 64.98 , 54.06 , 64.43 2021-10-10T03:10:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.09 , -0.01 2021-10-10T03:10:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835409.45 epoch sec; seqNo:702; 4061387.63 north; 594164.17 east 2021-10-10T03:10:09Z- AHRS_M2 msg: 1633835409.81 epoch sec; seqNo:681 2021-10-10T03:10:09Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.30 psi 2021-10-10T03:10:09Z- handleDepth()-Depth_Keller msg: 1633835409810 epoch sec; seqNo:703; depth 35.05 2021-10-10T03:10:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835409.84 epoch sec; seqNo:703; 4061387.63 north; 594164.17 east 2021-10-10T03:10:10Z- AHRS_M2 msg: 1633835410.21 epoch sec; seqNo:682 2021-10-10T03:10:10Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.30 psi 2021-10-10T03:10:10Z- handleDepth()-Depth_Keller msg: 1633835410213 epoch sec; seqNo:704; depth 35.10 2021-10-10T03:10:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:10Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:10Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:10Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:10Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:10Z- handleDvl() - RDI_Pathfinder msg: 1633835410.22 epoch sec; seqNo:195 2021-10-10T03:10:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.09 , -0.01 2021-10-10T03:10:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835410.23 epoch sec; seqNo:704; 4061388.01 north; 594164.17 east 2021-10-10T03:10:10Z- AHRS_M2 msg: 1633835410.62 epoch sec; seqNo:683 2021-10-10T03:10:10Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.31 psi 2021-10-10T03:10:10Z- handleDepth()-Depth_Keller msg: 1633835410636 epoch sec; seqNo:705; depth 35.18 2021-10-10T03:10:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835410.65 epoch sec; seqNo:705; 4061388.39 north; 594164.16 east 2021-10-10T03:10:11Z- AHRS_M2 msg: 1633835411.06 epoch sec; seqNo:684 2021-10-10T03:10:11Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.31 psi 2021-10-10T03:10:11Z- handleDepth()-Depth_Keller msg: 1633835411072 epoch sec; seqNo:706; depth 35.25 2021-10-10T03:10:11Z- handleDvl() - RDI_Pathfinder msg: 1633835411.10 epoch sec; seqNo:196 2021-10-10T03:10:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.60 , 64.98 , 53.51 , 64.16 2021-10-10T03:10:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.10 , 0.00 2021-10-10T03:10:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835411.12 epoch sec; seqNo:706; 4061388.77 north; 594164.16 east 2021-10-10T03:10:11Z- AHRS_M2 msg: 1633835411.42 epoch sec; seqNo:685 2021-10-10T03:10:11Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.32 psi 2021-10-10T03:10:11Z- handleDepth()-Depth_Keller msg: 1633835411426 epoch sec; seqNo:707; depth 35.30 2021-10-10T03:10:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:11Z- handleDvl() - RDI_Pathfinder msg: 1633835411.43 epoch sec; seqNo:197 2021-10-10T03:10:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.10 , 0.00 2021-10-10T03:10:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835411.46 epoch sec; seqNo:707; 4061389.15 north; 594164.16 east 2021-10-10T03:10:11Z- AHRS_M2 msg: 1633835411.83 epoch sec; seqNo:686 2021-10-10T03:10:11Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.32 psi 2021-10-10T03:10:11Z- handleDepth()-Depth_Keller msg: 1633835411830 epoch sec; seqNo:708; depth 35.36 2021-10-10T03:10:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835411.84 epoch sec; seqNo:708; 4061389.52 north; 594164.15 east 2021-10-10T03:10:12Z- AHRS_M2 msg: 1633835412.23 epoch sec; seqNo:687 2021-10-10T03:10:12Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.32 psi 2021-10-10T03:10:12Z- handleDepth()-Depth_Keller msg: 1633835412238 epoch sec; seqNo:709; depth 35.43 2021-10-10T03:10:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835412.25 epoch sec; seqNo:709; 4061389.90 north; 594164.15 east 2021-10-10T03:10:12Z- LcmTrn::handleMessages() - handling 46 messages took 0.79 ms and 130 calls... 2021-10-10T03:10:12Z- waiting for 1633835410.02, time is 1633835412.25 2021-10-10T03:10:12Z- LcmTrn::updateTrn() >>>> pose time 1633835412.25, meas time 1633835411.43 <<<< 2021-10-10T03:10:12Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835411.43, ping # 0. 2021-10-10T03:10:12Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835411.43 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:10:12Z- TerrainNav::motionUpdate() - currEstimate = (4061390, 594164.15, 35.43) 2021-10-10T03:10:12Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:10:12Z- TerrainNav:: SubcloudNIS is 0.13, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:10:12Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:10:12Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:10:12Z- TNavBF::Projecting Measurements 2021-10-10T03:10:12Z- TNavFilter::Measurement from time = 1633835411.43 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:10:12Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:10:12Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:10:12Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:10:12Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:10:12Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:10:12Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:10:12Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:10:12Z- Filter 0 NorthBias: 15.7 EastBias: -27.9 DepthBias: -14.0 NorthVariance: 522.7 EastVariance: 349.0 DepthVariance: 4.8 this->DepthBiasCov: 3.2 2021-10-10T03:10:12Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:10:12Z- TNavBF::mmse selected from filter -1 2021-10-10T03:10:12Z- variances([0], [2], and psi_berg) = 522.646738 350.003554 0.000000 2021-10-10T03:10:12Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:10:12Z- LcmTrn::publishEstimates() - MLE : 4061403.40 594115.65 35.43 2021-10-10T03:10:12Z- LcmTrn::publishEstimates() - MMSE : 4061405.61 594136.31 21.46 2021-10-10T03:10:12Z- LcmTrn::publishEstimates() - COVAR: 522.65 350.00 4.87 0.00 2021-10-10T03:10:12Z- AHRS_M2 msg: 1633835412.63 epoch sec; seqNo:688 2021-10-10T03:10:12Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.33 psi 2021-10-10T03:10:12Z- handleDepth()-Depth_Keller msg: 1633835412639 epoch sec; seqNo:710; depth 35.50 2021-10-10T03:10:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:12Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:12Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:12Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:12Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:12Z- handleDvl() - RDI_Pathfinder msg: 1633835412.65 epoch sec; seqNo:198 2021-10-10T03:10:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.10 , 0.00 2021-10-10T03:10:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835412.66 epoch sec; seqNo:710; 4061389.90 north; 594164.15 east 2021-10-10T03:10:13Z- AHRS_M2 msg: 1633835413.07 epoch sec; seqNo:689 2021-10-10T03:10:13Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.33 psi 2021-10-10T03:10:13Z- handleDepth()-Depth_Keller msg: 1633835413074 epoch sec; seqNo:711; depth 35.57 2021-10-10T03:10:13Z- handleDvl() - RDI_Pathfinder msg: 1633835413.10 epoch sec; seqNo:199 2021-10-10T03:10:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.33 , 63.88 , 52.96 , 63.88 2021-10-10T03:10:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.08 , 0.01 2021-10-10T03:10:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835413.14 epoch sec; seqNo:711; 4061390.30 north; 594165.36 east 2021-10-10T03:10:13Z- AHRS_M2 msg: 1633835413.44 epoch sec; seqNo:690 2021-10-10T03:10:13Z- AHRS_M2 msg: -0.18 phi; -0.18 theta; 0.33 psi 2021-10-10T03:10:13Z- handleDepth()-Depth_Keller msg: 1633835413446 epoch sec; seqNo:712; depth 35.64 2021-10-10T03:10:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835413.46 epoch sec; seqNo:712; 4061390.67 north; 594165.36 east 2021-10-10T03:10:13Z- AHRS_M2 msg: 1633835413.85 epoch sec; seqNo:691 2021-10-10T03:10:13Z- AHRS_M2 msg: -0.19 phi; -0.18 theta; 0.33 psi 2021-10-10T03:10:13Z- handleDepth()-Depth_Keller msg: 1633835413853 epoch sec; seqNo:713; depth 35.69 2021-10-10T03:10:13Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:13Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:13Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:13Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:13Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:13Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:13Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:13Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:13Z- handleDvl() - RDI_Pathfinder msg: 1633835413.86 epoch sec; seqNo:200 2021-10-10T03:10:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.08 , 0.01 2021-10-10T03:10:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835413.86 epoch sec; seqNo:713; 4061391.05 north; 594165.36 east 2021-10-10T03:10:14Z- AHRS_M2 msg: 1633835414.25 epoch sec; seqNo:692 2021-10-10T03:10:14Z- AHRS_M2 msg: -0.19 phi; -0.18 theta; 0.34 psi 2021-10-10T03:10:14Z- handleDepth()-Depth_Keller msg: 1633835414268 epoch sec; seqNo:714; depth 35.76 2021-10-10T03:10:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835414.28 epoch sec; seqNo:714; 4061391.43 north; 594165.35 east 2021-10-10T03:10:14Z- AHRS_M2 msg: 1633835414.65 epoch sec; seqNo:693 2021-10-10T03:10:14Z- AHRS_M2 msg: -0.19 phi; -0.18 theta; 0.34 psi 2021-10-10T03:10:14Z- handleDepth()-Depth_Keller msg: 1633835414658 epoch sec; seqNo:715; depth 35.83 2021-10-10T03:10:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835414.67 epoch sec; seqNo:715; 4061391.43 north; 594165.35 east 2021-10-10T03:10:15Z- AHRS_M2 msg: 1633835415.08 epoch sec; seqNo:694 2021-10-10T03:10:15Z- AHRS_M2 msg: -0.19 phi; -0.18 theta; 0.34 psi 2021-10-10T03:10:15Z- handleDepth()-Depth_Keller msg: 1633835415080 epoch sec; seqNo:716; depth 35.88 2021-10-10T03:10:15Z- handleDvl() - RDI_Pathfinder msg: 1633835415.12 epoch sec; seqNo:201 2021-10-10T03:10:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.78 , 64.70 , 52.14 , 63.88 2021-10-10T03:10:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.08 , 0.01 2021-10-10T03:10:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835415.14 epoch sec; seqNo:716; 4061391.81 north; 594165.35 east 2021-10-10T03:10:15Z- AHRS_M2 msg: 1633835415.46 epoch sec; seqNo:695 2021-10-10T03:10:15Z- AHRS_M2 msg: -0.19 phi; -0.18 theta; 0.34 psi 2021-10-10T03:10:15Z- handleDepth()-Depth_Keller msg: 1633835415469 epoch sec; seqNo:717; depth 35.96 2021-10-10T03:10:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835415.49 epoch sec; seqNo:717; 4061392.19 north; 594165.34 east 2021-10-10T03:10:15Z- AHRS_M2 msg: 1633835415.87 epoch sec; seqNo:696 2021-10-10T03:10:15Z- AHRS_M2 msg: -0.19 phi; -0.18 theta; 0.34 psi 2021-10-10T03:10:15Z- handleDepth()-Depth_Keller msg: 1633835415877 epoch sec; seqNo:718; depth 36.01 2021-10-10T03:10:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835415.89 epoch sec; seqNo:718; 4061392.57 north; 594165.34 east 2021-10-10T03:10:16Z- AHRS_M2 msg: 1633835416.27 epoch sec; seqNo:697 2021-10-10T03:10:16Z- AHRS_M2 msg: -0.19 phi; -0.19 theta; 0.35 psi 2021-10-10T03:10:16Z- handleDepth()-Depth_Keller msg: 1633835416275 epoch sec; seqNo:719; depth 36.09 2021-10-10T03:10:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835416.29 epoch sec; seqNo:719; 4061392.95 north; 594165.34 east 2021-10-10T03:10:16Z- AHRS_M2 msg: 1633835416.68 epoch sec; seqNo:698 2021-10-10T03:10:16Z- AHRS_M2 msg: -0.19 phi; -0.19 theta; 0.35 psi 2021-10-10T03:10:16Z- handleDepth()-Depth_Keller msg: 1633835416688 epoch sec; seqNo:720; depth 36.13 2021-10-10T03:10:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835416.73 epoch sec; seqNo:720; 4061393.33 north; 594165.33 east 2021-10-10T03:10:17Z- handleDepth()-Depth_Keller msg: 1633835417117 epoch sec; seqNo:721; depth 36.23 2021-10-10T03:10:17Z- handleDvl() - RDI_Pathfinder msg: 1633835417.16 epoch sec; seqNo:202 2021-10-10T03:10:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.50 , 64.42 , 52.41 , 63.87 2021-10-10T03:10:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.09 , 0.00 2021-10-10T03:10:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835417.17 epoch sec; seqNo:721; 4061393.33 north; 594165.33 east 2021-10-10T03:10:17Z- LcmTrn::handleMessages() - handling 40 messages took 0.69 ms and 126 calls... 2021-10-10T03:10:17Z- waiting for 1633835415.25, time is 1633835417.17 2021-10-10T03:10:17Z- LcmTrn::updateTrn() equating pose 1633835417.17 and meas times 1633835417.17 2021-10-10T03:10:17Z- LcmTrn::updateTrn() >>>> pose time 1633835417.17, meas time 1633835417.17 <<<< 2021-10-10T03:10:17Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835417.17 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:10:17Z- TerrainNav::motionUpdate() - currEstimate = (4061393, 594165.33, 36.23) 2021-10-10T03:10:17Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:10:17Z- TerrainNav:: SubcloudNIS is 0.13, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:10:17Z- TNavBF::Projecting Measurements 2021-10-10T03:10:17Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:10:17Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:10:17Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:10:17Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:10:17Z- TNavFilter::4 good beams. 2021-10-10T03:10:17Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:10:17Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:10:17Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:10:17Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:10:17Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:10:17Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:10:17Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:10:17Z- TNavBF::mmse selected from filter -1 2021-10-10T03:10:17Z- TerrainMapOctree: (vehN, vehE ) = (4061393.33, 594165.33). 2021-10-10T03:10:17Z- TerrainMapOctree: Min Distance = 166.47. 2021-10-10T03:10:17Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:10:17Z- Forcing Subcloud Comparison 2021-10-10T03:10:17Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:10:17Z- Old Depth Bias: -7.63 DepthBiasCov: 2.23 K: 0.210 ExpectedMeasDiff: nan currMeas.covariance: 6.64 2021-10-10T03:10:17Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 3 2021-10-10T03:10:17Z- Old Depth Bias: -9.63 DepthBiasCov: 1.37 K: 0.142 ExpectedMeasDiff: nan currMeas.covariance: 6.53 2021-10-10T03:10:17Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:10:17Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:10:17Z- Filter 0 partialDeltaRmsComputation: 29.806172 terrainVariance: 0.466286 1-SumSquareWeights: 0.999524 2021-10-10T03:10:17Z- Filter 0 meanExpectedMeasDiff: 5.416630 delta_rms_squared: 0.456291 alpha: 0.958009 2021-10-10T03:10:17Z- Filter 0 beam number: 1 num in subcloud: 8953 num not in subcloud: 1047 2021-10-10T03:10:17Z- Filter 0 partialDeltaRmsComputation: 22.673724 terrainVariance: 0.477995 1-SumSquareWeights: 0.999475 2021-10-10T03:10:17Z- Filter 0 meanExpectedMeasDiff: -4.711234 delta_rms_squared: 0.468001 alpha: 0.959016 2021-10-10T03:10:17Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:10:17Z- Filter 0 partialDeltaRmsComputation: 20.018259 terrainVariance: 0.361907 1-SumSquareWeights: 0.999524 2021-10-10T03:10:17Z- Filter 0 meanExpectedMeasDiff: -4.433549 delta_rms_squared: 0.351911 alpha: 0.946224 2021-10-10T03:10:17Z- Filter 0 beam number: 3 num in subcloud: 9343 num not in subcloud: 657 2021-10-10T03:10:17Z- Filter 0 partialDeltaRmsComputation: 32.319362 terrainVariance: 0.624147 1-SumSquareWeights: 0.999494 2021-10-10T03:10:17Z- Filter 0 meanExpectedMeasDiff: 5.629850 delta_rms_squared: 0.614152 alpha: 0.968462 2021-10-10T03:10:17Z- Filter 0 SubcloudNIS: 0.155990 2021-10-10T03:10:17Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:10:17Z- TNavBF:: Filter 0 sumWeights = 0.003441 2021-10-10T03:10:17Z- Filter 0 NorthBias: 13.4 EastBias: -34.6 DepthBias: -13.0 NorthVariance: 523.7 EastVariance: 120.5 DepthVariance: 1.7 this->DepthBiasCov: 1.2 2021-10-10T03:10:17Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835417.17 sec. 2021-10-10T03:10:17Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:10:17Z- TNavBF::mmse selected from filter -1 2021-10-10T03:10:17Z- variances([0], [2], and psi_berg) = 523.721578 120.483507 0.000000 2021-10-10T03:10:17Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:10:17Z- LcmTrn::publishEstimates() - MLE : 4061402.83 594126.83 36.23 2021-10-10T03:10:17Z- LcmTrn::publishEstimates() - MMSE : 4061406.71 594130.76 23.24 2021-10-10T03:10:17Z- LcmTrn::publishEstimates() - COVAR: 523.72 120.48 1.68 0.00 2021-10-10T03:10:17Z- AHRS_M2 msg: 1633835417.49 epoch sec; seqNo:699 2021-10-10T03:10:17Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 0.35 psi 2021-10-10T03:10:17Z- handleDepth()-Depth_Keller msg: 1633835417499 epoch sec; seqNo:722; depth 36.28 2021-10-10T03:10:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835417.52 epoch sec; seqNo:722; 4061393.71 north; 594165.33 east 2021-10-10T03:10:17Z- AHRS_M2 msg: 1633835417.89 epoch sec; seqNo:700 2021-10-10T03:10:17Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 0.36 psi 2021-10-10T03:10:17Z- handleDepth()-Depth_Keller msg: 1633835417899 epoch sec; seqNo:723; depth 36.33 2021-10-10T03:10:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835417.92 epoch sec; seqNo:723; 4061394.08 north; 594165.32 east 2021-10-10T03:10:18Z- AHRS_M2 msg: 1633835418.30 epoch sec; seqNo:701 2021-10-10T03:10:18Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 0.36 psi 2021-10-10T03:10:18Z- handleDepth()-Depth_Keller msg: 1633835418307 epoch sec; seqNo:724; depth 36.40 2021-10-10T03:10:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835418.32 epoch sec; seqNo:724; 4061394.46 north; 594165.32 east 2021-10-10T03:10:18Z- AHRS_M2 msg: 1633835418.71 epoch sec; seqNo:702 2021-10-10T03:10:18Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 0.36 psi 2021-10-10T03:10:18Z- handleDepth()-Depth_Keller msg: 1633835418716 epoch sec; seqNo:725; depth 36.47 2021-10-10T03:10:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:18Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:18Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:18Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:18Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:18Z- handleDvl() - RDI_Pathfinder msg: 1633835418.72 epoch sec; seqNo:203 2021-10-10T03:10:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.09 , 0.00 2021-10-10T03:10:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835418.73 epoch sec; seqNo:725; 4061394.84 north; 594165.31 east 2021-10-10T03:10:19Z- AHRS_M2 msg: 1633835419.10 epoch sec; seqNo:703 2021-10-10T03:10:19Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 0.36 psi 2021-10-10T03:10:19Z- handleDepth()-Depth_Keller msg: 1633835419106 epoch sec; seqNo:726; depth 36.53 2021-10-10T03:10:19Z- handleDvl() - RDI_Pathfinder msg: 1633835419.14 epoch sec; seqNo:204 2021-10-10T03:10:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.22 , 64.69 , 52.13 , 63.32 2021-10-10T03:10:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.10 , -0.01 2021-10-10T03:10:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835419.16 epoch sec; seqNo:726; 4061394.84 north; 594165.31 east 2021-10-10T03:10:19Z- AHRS_M2 msg: 1633835419.51 epoch sec; seqNo:704 2021-10-10T03:10:19Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:19Z- handleDepth()-Depth_Keller msg: 1633835419513 epoch sec; seqNo:727; depth 36.60 2021-10-10T03:10:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835419.54 epoch sec; seqNo:727; 4061395.23 north; 594166.53 east 2021-10-10T03:10:19Z- AHRS_M2 msg: 1633835419.91 epoch sec; seqNo:705 2021-10-10T03:10:19Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:19Z- handleDepth()-Depth_Keller msg: 1633835419918 epoch sec; seqNo:728; depth 36.66 2021-10-10T03:10:19Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:19Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:19Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:19Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:19Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:19Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:19Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:19Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:19Z- handleDvl() - RDI_Pathfinder msg: 1633835419.92 epoch sec; seqNo:205 2021-10-10T03:10:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.10 , -0.01 2021-10-10T03:10:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835419.93 epoch sec; seqNo:728; 4061395.61 north; 594166.53 east 2021-10-10T03:10:20Z- AHRS_M2 msg: 1633835420.32 epoch sec; seqNo:706 2021-10-10T03:10:20Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:20Z- handleDepth()-Depth_Keller msg: 1633835420321 epoch sec; seqNo:729; depth 36.74 2021-10-10T03:10:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835420.33 epoch sec; seqNo:729; 4061395.99 north; 594166.52 east 2021-10-10T03:10:20Z- AHRS_M2 msg: 1633835420.72 epoch sec; seqNo:707 2021-10-10T03:10:20Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:20Z- handleDepth()-Depth_Keller msg: 1633835420723 epoch sec; seqNo:730; depth 36.79 2021-10-10T03:10:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835420.74 epoch sec; seqNo:730; 4061396.37 north; 594166.52 east 2021-10-10T03:10:21Z- AHRS_M2 msg: 1633835421.12 epoch sec; seqNo:708 2021-10-10T03:10:21Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:21Z- handleDepth()-Depth_Keller msg: 1633835421126 epoch sec; seqNo:731; depth 36.86 2021-10-10T03:10:21Z- handleDvl() - RDI_Pathfinder msg: 1633835421.16 epoch sec; seqNo:206 2021-10-10T03:10:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.95 , 64.41 , 52.40 , 63.05 2021-10-10T03:10:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.12 , 0.01 2021-10-10T03:10:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835421.18 epoch sec; seqNo:731; 4061396.75 north; 594166.51 east 2021-10-10T03:10:21Z- AHRS_M2 msg: 1633835421.53 epoch sec; seqNo:709 2021-10-10T03:10:21Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:21Z- handleDepth()-Depth_Keller msg: 1633835421537 epoch sec; seqNo:732; depth 36.93 2021-10-10T03:10:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835421.55 epoch sec; seqNo:732; 4061396.75 north; 594166.51 east 2021-10-10T03:10:21Z- AHRS_M2 msg: 1633835421.93 epoch sec; seqNo:710 2021-10-10T03:10:21Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:21Z- handleDepth()-Depth_Keller msg: 1633835421941 epoch sec; seqNo:733; depth 37.00 2021-10-10T03:10:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835421.95 epoch sec; seqNo:733; 4061397.13 north; 594166.51 east 2021-10-10T03:10:22Z- AHRS_M2 msg: 1633835422.33 epoch sec; seqNo:711 2021-10-10T03:10:22Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:22Z- handleDepth()-Depth_Keller msg: 1633835422338 epoch sec; seqNo:734; depth 37.07 2021-10-10T03:10:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835422.36 epoch sec; seqNo:734; 4061397.51 north; 594166.51 east 2021-10-10T03:10:22Z- LcmTrn::handleMessages() - handling 43 messages took 0.68 ms and 129 calls... 2021-10-10T03:10:22Z- waiting for 1633835420.17, time is 1633835422.36 2021-10-10T03:10:22Z- LcmTrn::updateTrn() >>>> pose time 1633835422.36, meas time 1633835421.16 <<<< 2021-10-10T03:10:22Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835421.16 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:10:22Z- TerrainNav::motionUpdate() - currEstimate = (4061398, 594166.51, 37.07) 2021-10-10T03:10:22Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:10:22Z- TerrainNav:: SubcloudNIS is 0.16, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:10:22Z- TNavBF::Projecting Measurements 2021-10-10T03:10:22Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:10:22Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:10:22Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:10:22Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:10:22Z- TNavFilter::4 good beams. 2021-10-10T03:10:22Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:10:22Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:10:22Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:10:22Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:10:22Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:10:22Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:10:22Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:10:22Z- TNavBF::mmse selected from filter -1 2021-10-10T03:10:22Z- TerrainMapOctree: (vehN, vehE ) = (4061396.55, 594166.24). 2021-10-10T03:10:22Z- TerrainMapOctree: Min Distance = 168.80. 2021-10-10T03:10:22Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:10:22Z- Forcing Subcloud Comparison 2021-10-10T03:10:22Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:10:22Z- Old Depth Bias: -9.29 DepthBiasCov: 1.11 K: 0.117 ExpectedMeasDiff: nan currMeas.covariance: 6.64 2021-10-10T03:10:22Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 3 2021-10-10T03:10:22Z- Old Depth Bias: -10.25 DepthBiasCov: 0.84 K: 0.094 ExpectedMeasDiff: nan currMeas.covariance: 6.36 2021-10-10T03:10:22Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:10:22Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:10:22Z- Filter 0 partialDeltaRmsComputation: 27.373053 terrainVariance: 0.427720 1-SumSquareWeights: 0.999246 2021-10-10T03:10:22Z- Filter 0 meanExpectedMeasDiff: 5.190889 delta_rms_squared: 0.417727 alpha: 0.954309 2021-10-10T03:10:22Z- Filter 0 beam number: 1 num in subcloud: 9103 num not in subcloud: 897 2021-10-10T03:10:22Z- Filter 0 partialDeltaRmsComputation: 24.428267 terrainVariance: 0.350406 1-SumSquareWeights: 0.999121 2021-10-10T03:10:22Z- Filter 0 meanExpectedMeasDiff: -4.906920 delta_rms_squared: 0.340415 alpha: 0.944508 2021-10-10T03:10:22Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:10:22Z- Filter 0 partialDeltaRmsComputation: 18.097228 terrainVariance: 0.314445 1-SumSquareWeights: 0.999246 2021-10-10T03:10:22Z- Filter 0 meanExpectedMeasDiff: -4.216964 delta_rms_squared: 0.304452 alpha: 0.938358 2021-10-10T03:10:22Z- Filter 0 beam number: 3 num in subcloud: 9560 num not in subcloud: 440 2021-10-10T03:10:22Z- Filter 0 partialDeltaRmsComputation: 24.853759 terrainVariance: 0.284321 1-SumSquareWeights: 0.999196 2021-10-10T03:10:22Z- Filter 0 meanExpectedMeasDiff: 4.956757 delta_rms_squared: 0.274329 alpha: 0.932049 2021-10-10T03:10:22Z- Filter 0 SubcloudNIS: 0.218129 2021-10-10T03:10:22Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:10:22Z- TNavBF:: Filter 0 sumWeights = 0.004343 2021-10-10T03:10:22Z- Filter 0 NorthBias: 7.6 EastBias: -36.3 DepthBias: -12.6 NorthVariance: 537.7 EastVariance: 61.5 DepthVariance: 1.2 this->DepthBiasCov: 0.8 2021-10-10T03:10:22Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835421.16 sec. 2021-10-10T03:10:22Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:10:22Z- TNavBF::mmse selected from filter -1 2021-10-10T03:10:22Z- variances([0], [2], and psi_berg) = 537.726311 63.099933 0.000000 2021-10-10T03:10:22Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:10:22Z- LcmTrn::publishEstimates() - MLE : 4061407.01 594128.01 37.07 2021-10-10T03:10:22Z- LcmTrn::publishEstimates() - MMSE : 4061405.13 594130.18 24.48 2021-10-10T03:10:22Z- LcmTrn::publishEstimates() - COVAR: 537.73 63.10 1.26 0.00 2021-10-10T03:10:22Z- AHRS_M2 msg: 1633835422.74 epoch sec; seqNo:712 2021-10-10T03:10:22Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:22Z- handleDepth()-Depth_Keller msg: 1633835422745 epoch sec; seqNo:735; depth 37.14 2021-10-10T03:10:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835422.76 epoch sec; seqNo:735; 4061397.89 north; 594166.50 east 2021-10-10T03:10:23Z- AHRS_M2 msg: 1633835423.14 epoch sec; seqNo:713 2021-10-10T03:10:23Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:23Z- handleDepth()-Depth_Keller msg: 1633835423151 epoch sec; seqNo:736; depth 37.21 2021-10-10T03:10:23Z- handleDvl() - RDI_Pathfinder msg: 1633835423.17 epoch sec; seqNo:207 2021-10-10T03:10:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.40 , 64.96 , 52.13 , 63.32 2021-10-10T03:10:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.09 , 0.03 2021-10-10T03:10:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835423.22 epoch sec; seqNo:736; 4061398.26 north; 594166.50 east 2021-10-10T03:10:23Z- AHRS_M2 msg: 1633835423.55 epoch sec; seqNo:714 2021-10-10T03:10:23Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:23Z- handleDepth()-Depth_Keller msg: 1633835423557 epoch sec; seqNo:737; depth 37.29 2021-10-10T03:10:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835423.58 epoch sec; seqNo:737; 4061398.26 north; 594166.50 east 2021-10-10T03:10:23Z- AHRS_M2 msg: 1633835423.95 epoch sec; seqNo:715 2021-10-10T03:10:23Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:23Z- handleDepth()-Depth_Keller msg: 1633835423956 epoch sec; seqNo:738; depth 37.34 2021-10-10T03:10:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835423.97 epoch sec; seqNo:738; 4061398.64 north; 594166.49 east 2021-10-10T03:10:24Z- AHRS_M2 msg: 1633835424.35 epoch sec; seqNo:716 2021-10-10T03:10:24Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:24Z- handleDepth()-Depth_Keller msg: 1633835424363 epoch sec; seqNo:739; depth 37.43 2021-10-10T03:10:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835424.37 epoch sec; seqNo:739; 4061399.02 north; 594166.49 east 2021-10-10T03:10:24Z- AHRS_M2 msg: 1633835424.76 epoch sec; seqNo:717 2021-10-10T03:10:24Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:24Z- handleDepth()-Depth_Keller msg: 1633835424763 epoch sec; seqNo:740; depth 37.50 2021-10-10T03:10:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835424.77 epoch sec; seqNo:740; 4061399.40 north; 594166.48 east 2021-10-10T03:10:25Z- AHRS_M2 msg: 1633835425.17 epoch sec; seqNo:718 2021-10-10T03:10:25Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:25Z- handleDepth()-Depth_Keller msg: 1633835425172 epoch sec; seqNo:741; depth 37.56 2021-10-10T03:10:25Z- handleDvl() - RDI_Pathfinder msg: 1633835425.21 epoch sec; seqNo:208 2021-10-10T03:10:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.40 , 64.68 , 51.85 , 63.59 2021-10-10T03:10:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.08 , 0.03 2021-10-10T03:10:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835425.23 epoch sec; seqNo:741; 4061399.78 north; 594166.48 east 2021-10-10T03:10:25Z- AHRS_M2 msg: 1633835425.56 epoch sec; seqNo:719 2021-10-10T03:10:25Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:25Z- handleDepth()-Depth_Keller msg: 1633835425572 epoch sec; seqNo:742; depth 37.64 2021-10-10T03:10:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835425.61 epoch sec; seqNo:742; 4061399.78 north; 594166.48 east 2021-10-10T03:10:25Z- AHRS_M2 msg: 1633835425.97 epoch sec; seqNo:720 2021-10-10T03:10:25Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:25Z- handleDepth()-Depth_Keller msg: 1633835425974 epoch sec; seqNo:743; depth 37.71 2021-10-10T03:10:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:25Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:25Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:25Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:25Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:25Z- handleDvl() - RDI_Pathfinder msg: 1633835425.98 epoch sec; seqNo:209 2021-10-10T03:10:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.08 , 0.03 2021-10-10T03:10:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835425.99 epoch sec; seqNo:743; 4061400.17 north; 594167.70 east 2021-10-10T03:10:26Z- AHRS_M2 msg: 1633835426.38 epoch sec; seqNo:721 2021-10-10T03:10:26Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:26Z- handleDepth()-Depth_Keller msg: 1633835426384 epoch sec; seqNo:744; depth 37.77 2021-10-10T03:10:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835426.39 epoch sec; seqNo:744; 4061400.55 north; 594167.69 east 2021-10-10T03:10:26Z- AHRS_M2 msg: 1633835426.78 epoch sec; seqNo:722 2021-10-10T03:10:26Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:26Z- handleDepth()-Depth_Keller msg: 1633835426793 epoch sec; seqNo:745; depth 37.83 2021-10-10T03:10:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835426.80 epoch sec; seqNo:745; 4061400.93 north; 594167.69 east 2021-10-10T03:10:27Z- AHRS_M2 msg: 1633835427.18 epoch sec; seqNo:723 2021-10-10T03:10:27Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:27Z- handleDepth()-Depth_Keller msg: 1633835427188 epoch sec; seqNo:746; depth 37.91 2021-10-10T03:10:27Z- handleDvl() - RDI_Pathfinder msg: 1633835427.23 epoch sec; seqNo:210 2021-10-10T03:10:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.13 , 64.68 , 51.85 , 64.13 2021-10-10T03:10:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.07 , 0.02 2021-10-10T03:10:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835427.25 epoch sec; seqNo:746; 4061401.31 north; 594167.68 east 2021-10-10T03:10:27Z- AHRS_M2 msg: 1633835427.59 epoch sec; seqNo:724 2021-10-10T03:10:27Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:27Z- handleDepth()-Depth_Keller msg: 1633835427591 epoch sec; seqNo:747; depth 37.97 2021-10-10T03:10:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835427.61 epoch sec; seqNo:747; 4061401.69 north; 594167.68 east 2021-10-10T03:10:27Z- LcmTrn::handleMessages() - handling 43 messages took 0.74 ms and 128 calls... 2021-10-10T03:10:27Z- waiting for 1633835425.36, time is 1633835427.61 2021-10-10T03:10:27Z- LcmTrn::updateTrn() >>>> pose time 1633835427.61, meas time 1633835427.23 <<<< 2021-10-10T03:10:27Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835427.23 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:10:27Z- TerrainNav::motionUpdate() - currEstimate = (4061402, 594167.68, 37.97) 2021-10-10T03:10:27Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:10:27Z- TerrainNav:: SubcloudNIS is 0.22, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:10:27Z- TNavBF::Projecting Measurements 2021-10-10T03:10:27Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:10:27Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:10:27Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:10:27Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:10:27Z- TNavFilter::4 good beams. 2021-10-10T03:10:27Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:10:27Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:10:27Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:10:27Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:10:27Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:10:27Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:10:27Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:10:27Z- TNavBF::mmse selected from filter -1 2021-10-10T03:10:27Z- TerrainMapOctree: (vehN, vehE ) = (4061401.39, 594167.60). 2021-10-10T03:10:27Z- TerrainMapOctree: Min Distance = 172.36. 2021-10-10T03:10:27Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:10:28Z- Forcing Subcloud Comparison 2021-10-10T03:10:28Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:10:28Z- Old Depth Bias: -9.84 DepthBiasCov: 0.87 K: 0.094 ExpectedMeasDiff: nan currMeas.covariance: 6.69 2021-10-10T03:10:28Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 3 2021-10-10T03:10:28Z- Old Depth Bias: -10.53 DepthBiasCov: 0.70 K: 0.078 ExpectedMeasDiff: nan currMeas.covariance: 6.58 2021-10-10T03:10:28Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:10:28Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:10:28Z- Filter 0 partialDeltaRmsComputation: 25.041542 terrainVariance: 0.410492 1-SumSquareWeights: 0.998432 2021-10-10T03:10:28Z- Filter 0 meanExpectedMeasDiff: 4.962968 delta_rms_squared: 0.400508 alpha: 0.952438 2021-10-10T03:10:28Z- Filter 0 beam number: 1 num in subcloud: 9432 num not in subcloud: 568 2021-10-10T03:10:28Z- Filter 0 partialDeltaRmsComputation: 19.968428 terrainVariance: 0.446395 1-SumSquareWeights: 0.998206 2021-10-10T03:10:28Z- Filter 0 meanExpectedMeasDiff: -4.418375 delta_rms_squared: 0.436413 alpha: 0.956180 2021-10-10T03:10:28Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:10:28Z- Filter 0 partialDeltaRmsComputation: 18.348688 terrainVariance: 0.261467 1-SumSquareWeights: 0.998432 2021-10-10T03:10:28Z- Filter 0 meanExpectedMeasDiff: -4.252907 delta_rms_squared: 0.251483 alpha: 0.926331 2021-10-10T03:10:28Z- Filter 0 beam number: 3 num in subcloud: 9815 num not in subcloud: 185 2021-10-10T03:10:28Z- Filter 0 partialDeltaRmsComputation: 45.256256 terrainVariance: 0.235371 1-SumSquareWeights: 0.998369 2021-10-10T03:10:28Z- Filter 0 meanExpectedMeasDiff: 6.709760 delta_rms_squared: 0.225388 alpha: 0.918496 2021-10-10T03:10:28Z- Filter 0 SubcloudNIS: 0.300969 2021-10-10T03:10:28Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:10:28Z- TNavBF:: Filter 0 sumWeights = 0.002055 2021-10-10T03:10:28Z- Filter 0 NorthBias: 1.9 EastBias: -37.3 DepthBias: -12.1 NorthVariance: 534.8 EastVariance: 36.3 DepthVariance: 1.0 this->DepthBiasCov: 0.6 2021-10-10T03:10:28Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835427.23 sec. 2021-10-10T03:10:28Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:10:28Z- TNavBF::mmse selected from filter -1 2021-10-10T03:10:28Z- variances([0], [2], and psi_berg) = 534.791348 37.078482 0.000000 2021-10-10T03:10:28Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:10:28Z- LcmTrn::publishEstimates() - MLE : 4061412.19 594130.18 37.97 2021-10-10T03:10:28Z- LcmTrn::publishEstimates() - MMSE : 4061403.57 594130.39 25.91 2021-10-10T03:10:28Z- LcmTrn::publishEstimates() - COVAR: 534.79 37.08 0.97 0.00 2021-10-10T03:10:28Z- AHRS_M2 msg: 1633835427.99 epoch sec; seqNo:725 2021-10-10T03:10:28Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:28Z- handleDepth()-Depth_Keller msg: 1633835427997 epoch sec; seqNo:748; depth 38.04 2021-10-10T03:10:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835428.01 epoch sec; seqNo:748; 4061401.69 north; 594167.68 east 2021-10-10T03:10:28Z- AHRS_M2 msg: 1633835428.39 epoch sec; seqNo:726 2021-10-10T03:10:28Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:28Z- handleDepth()-Depth_Keller msg: 1633835428406 epoch sec; seqNo:749; depth 38.10 2021-10-10T03:10:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:28Z- handleDvl() - RDI_Pathfinder msg: 1633835428.41 epoch sec; seqNo:211 2021-10-10T03:10:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.07 , 0.02 2021-10-10T03:10:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835428.42 epoch sec; seqNo:749; 4061402.07 north; 594167.68 east 2021-10-10T03:10:28Z- AHRS_M2 msg: 1633835428.80 epoch sec; seqNo:727 2021-10-10T03:10:28Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:28Z- handleDepth()-Depth_Keller msg: 1633835428802 epoch sec; seqNo:750; depth 38.18 2021-10-10T03:10:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835428.81 epoch sec; seqNo:750; 4061402.45 north; 594167.67 east 2021-10-10T03:10:29Z- AHRS_M2 msg: 1633835429.21 epoch sec; seqNo:728 2021-10-10T03:10:29Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:29Z- handleDepth()-Depth_Keller msg: 1633835429212 epoch sec; seqNo:751; depth 38.24 2021-10-10T03:10:29Z- handleDvl() - RDI_Pathfinder msg: 1633835429.23 epoch sec; seqNo:212 2021-10-10T03:10:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.58 , 64.95 , 51.30 , 63.58 2021-10-10T03:10:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.09 , 0.00 2021-10-10T03:10:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835429.26 epoch sec; seqNo:751; 4061402.82 north; 594167.67 east 2021-10-10T03:10:29Z- AHRS_M2 msg: 1633835429.60 epoch sec; seqNo:729 2021-10-10T03:10:29Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:29Z- handleDepth()-Depth_Keller msg: 1633835429623 epoch sec; seqNo:752; depth 38.31 2021-10-10T03:10:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:29Z- handleDvl() - RDI_Pathfinder msg: 1633835429.63 epoch sec; seqNo:213 2021-10-10T03:10:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.09 , 0.00 2021-10-10T03:10:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835429.64 epoch sec; seqNo:752; 4061403.20 north; 594167.66 east 2021-10-10T03:10:30Z- AHRS_M2 msg: 1633835430.01 epoch sec; seqNo:730 2021-10-10T03:10:30Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:30Z- handleDepth()-Depth_Keller msg: 1633835430015 epoch sec; seqNo:753; depth 38.36 2021-10-10T03:10:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835430.04 epoch sec; seqNo:753; 4061403.58 north; 594167.66 east 2021-10-10T03:10:30Z- AHRS_M2 msg: 1633835430.41 epoch sec; seqNo:731 2021-10-10T03:10:30Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:30Z- handleDepth()-Depth_Keller msg: 1633835430420 epoch sec; seqNo:754; depth 38.42 2021-10-10T03:10:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835430.43 epoch sec; seqNo:754; 4061403.58 north; 594167.66 east 2021-10-10T03:10:30Z- AHRS_M2 msg: 1633835430.82 epoch sec; seqNo:732 2021-10-10T03:10:30Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:30Z- handleDepth()-Depth_Keller msg: 1633835430824 epoch sec; seqNo:755; depth 38.50 2021-10-10T03:10:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835430.83 epoch sec; seqNo:755; 4061403.96 north; 594167.66 east 2021-10-10T03:10:31Z- AHRS_M2 msg: 1633835431.22 epoch sec; seqNo:733 2021-10-10T03:10:31Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:31Z- handleDepth()-Depth_Keller msg: 1633835431238 epoch sec; seqNo:756; depth 38.56 2021-10-10T03:10:31Z- handleDvl() - RDI_Pathfinder msg: 1633835431.26 epoch sec; seqNo:214 2021-10-10T03:10:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.03 , 64.13 , 51.03 , 63.31 2021-10-10T03:10:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.10 , 0.00 2021-10-10T03:10:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835431.27 epoch sec; seqNo:756; 4061404.35 north; 594168.87 east 2021-10-10T03:10:31Z- AHRS_M2 msg: 1633835431.63 epoch sec; seqNo:734 2021-10-10T03:10:31Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:31Z- handleDepth()-Depth_Keller msg: 1633835431637 epoch sec; seqNo:757; depth 38.62 2021-10-10T03:10:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835431.68 epoch sec; seqNo:757; 4061404.73 north; 594168.87 east 2021-10-10T03:10:32Z- AHRS_M2 msg: 1633835432.03 epoch sec; seqNo:735 2021-10-10T03:10:32Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:32Z- handleDepth()-Depth_Keller msg: 1633835432040 epoch sec; seqNo:758; depth 38.69 2021-10-10T03:10:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835432.05 epoch sec; seqNo:758; 4061405.11 north; 594168.86 east 2021-10-10T03:10:32Z- AHRS_M2 msg: 1633835432.43 epoch sec; seqNo:736 2021-10-10T03:10:32Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:32Z- handleDepth()-Depth_Keller msg: 1633835432438 epoch sec; seqNo:759; depth 38.75 2021-10-10T03:10:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835432.46 epoch sec; seqNo:759; 4061405.49 north; 594168.86 east 2021-10-10T03:10:32Z- AHRS_M2 msg: 1633835432.84 epoch sec; seqNo:737 2021-10-10T03:10:32Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:32Z- handleDepth()-Depth_Keller msg: 1633835432847 epoch sec; seqNo:760; depth 38.81 2021-10-10T03:10:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835432.87 epoch sec; seqNo:760; 4061405.87 north; 594168.85 east 2021-10-10T03:10:33Z- LcmTrn::handleMessages() - handling 43 messages took 0.76 ms and 127 calls... 2021-10-10T03:10:33Z- waiting for 1633835430.61, time is 1633835432.87 2021-10-10T03:10:33Z- LcmTrn::updateTrn() >>>> pose time 1633835432.87, meas time 1633835431.26 <<<< 2021-10-10T03:10:33Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835431.26 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:10:33Z- TerrainNav::motionUpdate() - currEstimate = (4061406, 594168.85, 38.81) 2021-10-10T03:10:33Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:10:33Z- TerrainNav:: SubcloudNIS is 0.30, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:10:33Z- TNavBF::Projecting Measurements 2021-10-10T03:10:33Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:10:33Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:10:33Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:10:33Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:10:33Z- TNavFilter::4 good beams. 2021-10-10T03:10:33Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:10:33Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:10:33Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:10:33Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:10:33Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:10:33Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:10:33Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:10:33Z- TNavBF::mmse selected from filter -1 2021-10-10T03:10:33Z- TerrainMapOctree: (vehN, vehE ) = (4061404.59, 594168.49). 2021-10-10T03:10:33Z- TerrainMapOctree: Min Distance = 174.76. 2021-10-10T03:10:33Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:10:33Z- Forcing Subcloud Comparison 2021-10-10T03:10:33Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:10:33Z- Old Depth Bias: -10.20 DepthBiasCov: 0.72 K: 0.079 ExpectedMeasDiff: nan currMeas.covariance: 6.58 2021-10-10T03:10:33Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 3 2021-10-10T03:10:33Z- Old Depth Bias: -10.77 DepthBiasCov: 0.59 K: 0.068 ExpectedMeasDiff: nan currMeas.covariance: 6.41 2021-10-10T03:10:33Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:10:33Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:10:33Z- Filter 0 partialDeltaRmsComputation: 17.312597 terrainVariance: 0.325661 1-SumSquareWeights: 0.996790 2021-10-10T03:10:33Z- Filter 0 meanExpectedMeasDiff: 4.121521 delta_rms_squared: 0.315693 alpha: 0.940422 2021-10-10T03:10:33Z- Filter 0 beam number: 1 num in subcloud: 9625 num not in subcloud: 375 2021-10-10T03:10:33Z- Filter 0 partialDeltaRmsComputation: 17.351232 terrainVariance: 0.414093 1-SumSquareWeights: 0.996323 2021-10-10T03:10:33Z- Filter 0 meanExpectedMeasDiff: -4.115476 delta_rms_squared: 0.404129 alpha: 0.952845 2021-10-10T03:10:33Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:10:33Z- Filter 0 partialDeltaRmsComputation: 21.802076 terrainVariance: 0.178829 1-SumSquareWeights: 0.996790 2021-10-10T03:10:33Z- Filter 0 meanExpectedMeasDiff: -4.650080 delta_rms_squared: 0.168861 alpha: 0.894102 2021-10-10T03:10:33Z- Filter 0 beam number: 3 num in subcloud: 9956 num not in subcloud: 44 2021-10-10T03:10:33Z- Filter 0 partialDeltaRmsComputation: 43.555220 terrainVariance: 0.194083 1-SumSquareWeights: 0.996756 2021-10-10T03:10:33Z- Filter 0 meanExpectedMeasDiff: 6.584917 delta_rms_squared: 0.184115 alpha: 0.902016 2021-10-10T03:10:33Z- Filter 0 SubcloudNIS: 0.391696 2021-10-10T03:10:33Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:10:33Z- TNavBF:: Filter 0 sumWeights = 0.003010 2021-10-10T03:10:33Z- Filter 0 NorthBias: -4.6 EastBias: -37.7 DepthBias: -11.7 NorthVariance: 573.1 EastVariance: 29.0 DepthVariance: 0.8 this->DepthBiasCov: 0.6 2021-10-10T03:10:33Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835431.26 sec. 2021-10-10T03:10:33Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:10:33Z- TNavBF::mmse selected from filter -1 2021-10-10T03:10:33Z- variances([0], [2], and psi_berg) = 573.151392 30.787912 0.000000 2021-10-10T03:10:33Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:10:33Z- LcmTrn::publishEstimates() - MLE : 4061416.37 594132.35 38.81 2021-10-10T03:10:33Z- LcmTrn::publishEstimates() - MMSE : 4061401.30 594131.15 27.07 2021-10-10T03:10:33Z- LcmTrn::publishEstimates() - COVAR: 573.15 30.79 0.87 0.00 2021-10-10T03:10:33Z- AHRS_M2 msg: 1633835433.24 epoch sec; seqNo:738 2021-10-10T03:10:33Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:33Z- handleDepth()-Depth_Keller msg: 1633835433246 epoch sec; seqNo:761; depth 38.86 2021-10-10T03:10:33Z- handleDvl() - RDI_Pathfinder msg: 1633835433.28 epoch sec; seqNo:215 2021-10-10T03:10:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.75 , 63.85 , 50.75 , 62.76 2021-10-10T03:10:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.12 , 0.00 2021-10-10T03:10:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835433.32 epoch sec; seqNo:761; 4061406.25 north; 594168.85 east 2021-10-10T03:10:33Z- AHRS_M2 msg: 1633835433.64 epoch sec; seqNo:739 2021-10-10T03:10:33Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:33Z- handleDepth()-Depth_Keller msg: 1633835433650 epoch sec; seqNo:762; depth 38.94 2021-10-10T03:10:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835433.67 epoch sec; seqNo:762; 4061406.25 north; 594168.85 east 2021-10-10T03:10:34Z- AHRS_M2 msg: 1633835434.05 epoch sec; seqNo:740 2021-10-10T03:10:34Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:34Z- handleDepth()-Depth_Keller msg: 1633835434054 epoch sec; seqNo:763; depth 38.98 2021-10-10T03:10:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835434.07 epoch sec; seqNo:763; 4061406.63 north; 594168.85 east 2021-10-10T03:10:34Z- AHRS_M2 msg: 1633835434.45 epoch sec; seqNo:741 2021-10-10T03:10:34Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:34Z- handleDepth()-Depth_Keller msg: 1633835434464 epoch sec; seqNo:764; depth 39.07 2021-10-10T03:10:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835434.49 epoch sec; seqNo:764; 4061407.01 north; 594168.84 east 2021-10-10T03:10:34Z- AHRS_M2 msg: 1633835434.86 epoch sec; seqNo:742 2021-10-10T03:10:34Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:34Z- handleDepth()-Depth_Keller msg: 1633835434871 epoch sec; seqNo:765; depth 39.12 2021-10-10T03:10:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835434.88 epoch sec; seqNo:765; 4061407.38 north; 594168.84 east 2021-10-10T03:10:35Z- AHRS_M2 msg: 1633835435.27 epoch sec; seqNo:743 2021-10-10T03:10:35Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:35Z- handleDepth()-Depth_Keller msg: 1633835435274 epoch sec; seqNo:766; depth 39.18 2021-10-10T03:10:35Z- handleDvl() - RDI_Pathfinder msg: 1633835435.30 epoch sec; seqNo:216 2021-10-10T03:10:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.48 , 63.30 , 49.93 , 62.21 2021-10-10T03:10:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.10 , 0.00 2021-10-10T03:10:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835435.33 epoch sec; seqNo:766; 4061407.76 north; 594168.83 east 2021-10-10T03:10:35Z- AHRS_M2 msg: 1633835435.67 epoch sec; seqNo:744 2021-10-10T03:10:35Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:35Z- handleDepth()-Depth_Keller msg: 1633835435678 epoch sec; seqNo:767; depth 39.26 2021-10-10T03:10:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835435.70 epoch sec; seqNo:767; 4061407.76 north; 594168.83 east 2021-10-10T03:10:36Z- AHRS_M2 msg: 1633835436.07 epoch sec; seqNo:745 2021-10-10T03:10:36Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:36Z- handleDepth()-Depth_Keller msg: 1633835436076 epoch sec; seqNo:768; depth 39.31 2021-10-10T03:10:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835436.09 epoch sec; seqNo:768; 4061408.14 north; 594168.83 east 2021-10-10T03:10:36Z- AHRS_M2 msg: 1633835436.47 epoch sec; seqNo:746 2021-10-10T03:10:36Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:36Z- handleDepth()-Depth_Keller msg: 1633835436480 epoch sec; seqNo:769; depth 39.37 2021-10-10T03:10:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835436.49 epoch sec; seqNo:769; 4061408.52 north; 594168.83 east 2021-10-10T03:10:36Z- AHRS_M2 msg: 1633835436.88 epoch sec; seqNo:747 2021-10-10T03:10:36Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:36Z- handleDepth()-Depth_Keller msg: 1633835436884 epoch sec; seqNo:770; depth 39.43 2021-10-10T03:10:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835436.89 epoch sec; seqNo:770; 4061408.90 north; 594168.82 east 2021-10-10T03:10:37Z- AHRS_M2 msg: 1633835437.28 epoch sec; seqNo:748 2021-10-10T03:10:37Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:37Z- handleDepth()-Depth_Keller msg: 1633835437286 epoch sec; seqNo:771; depth 39.49 2021-10-10T03:10:37Z- handleDvl() - RDI_Pathfinder msg: 1633835437.32 epoch sec; seqNo:217 2021-10-10T03:10:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.48 , 63.30 , 50.21 , 61.67 2021-10-10T03:10:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.11 , 0.02 2021-10-10T03:10:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835437.33 epoch sec; seqNo:771; 4061409.28 north; 594168.82 east 2021-10-10T03:10:37Z- AHRS_M2 msg: 1633835437.69 epoch sec; seqNo:749 2021-10-10T03:10:37Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:37Z- handleDepth()-Depth_Keller msg: 1633835437693 epoch sec; seqNo:772; depth 39.58 2021-10-10T03:10:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835437.71 epoch sec; seqNo:772; 4061409.29 north; 594170.04 east 2021-10-10T03:10:38Z- AHRS_M2 msg: 1633835438.09 epoch sec; seqNo:750 2021-10-10T03:10:38Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:38Z- handleDepth()-Depth_Keller msg: 1633835438094 epoch sec; seqNo:773; depth 39.62 2021-10-10T03:10:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835438.11 epoch sec; seqNo:773; 4061409.67 north; 594170.03 east 2021-10-10T03:10:38Z- LcmTrn::handleMessages() - handling 42 messages took 0.67 ms and 128 calls... 2021-10-10T03:10:38Z- waiting for 1633835435.87, time is 1633835438.11 2021-10-10T03:10:38Z- LcmTrn::updateTrn() >>>> pose time 1633835438.11, meas time 1633835437.32 <<<< 2021-10-10T03:10:38Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835437.32 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:10:38Z- TerrainNav::motionUpdate() - currEstimate = (4061410, 594170.03, 39.62) 2021-10-10T03:10:38Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:10:38Z- TerrainNav:: SubcloudNIS is 0.39, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:10:38Z- TNavBF::Projecting Measurements 2021-10-10T03:10:38Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:10:38Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:10:38Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:10:38Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:10:38Z- TNavFilter::4 good beams. 2021-10-10T03:10:38Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:10:38Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:10:38Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:10:38Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:10:38Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:10:38Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:10:38Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:10:38Z- TNavBF::mmse selected from filter -1 2021-10-10T03:10:38Z- TerrainMapOctree: (vehN, vehE ) = (4061409.10, 594169.86). 2021-10-10T03:10:38Z- TerrainMapOctree: Min Distance = 178.14. 2021-10-10T03:10:38Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:10:38Z- Forcing Subcloud Comparison 2021-10-10T03:10:38Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 1 2021-10-10T03:10:38Z- Old Depth Bias: -10.37 DepthBiasCov: 0.70 K: 0.079 ExpectedMeasDiff: nan currMeas.covariance: 6.41 2021-10-10T03:10:38Z- Filter 0 deapthBias would have been set to Nan. indexP: 0 indexM: 3 2021-10-10T03:10:38Z- Old Depth Bias: -10.89 DepthBiasCov: 0.58 K: 0.069 ExpectedMeasDiff: nan currMeas.covariance: 6.08 2021-10-10T03:10:38Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:10:38Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:10:38Z- Filter 0 partialDeltaRmsComputation: 17.867822 terrainVariance: 0.333244 1-SumSquareWeights: 0.996812 2021-10-10T03:10:38Z- Filter 0 meanExpectedMeasDiff: 4.187431 delta_rms_squared: 0.323275 alpha: 0.941738 2021-10-10T03:10:38Z- Filter 0 beam number: 1 num in subcloud: 9876 num not in subcloud: 124 2021-10-10T03:10:38Z- Filter 0 partialDeltaRmsComputation: 13.268840 terrainVariance: 0.401581 1-SumSquareWeights: 0.996597 2021-10-10T03:10:38Z- Filter 0 meanExpectedMeasDiff: -3.587096 delta_rms_squared: 0.391615 alpha: 0.951411 2021-10-10T03:10:38Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:10:38Z- Filter 0 partialDeltaRmsComputation: 22.026963 terrainVariance: 0.150766 1-SumSquareWeights: 0.996812 2021-10-10T03:10:38Z- Filter 0 meanExpectedMeasDiff: -4.677200 delta_rms_squared: 0.140798 alpha: 0.875620 2021-10-10T03:10:38Z- Filter 0 beam number: 3 num in subcloud: 9995 num not in subcloud: 5 2021-10-10T03:10:38Z- Filter 0 partialDeltaRmsComputation: 36.834549 terrainVariance: 0.137698 1-SumSquareWeights: 0.996812 2021-10-10T03:10:38Z- Filter 0 meanExpectedMeasDiff: 6.057793 delta_rms_squared: 0.127730 alpha: 0.864618 2021-10-10T03:10:38Z- Filter 0 SubcloudNIS: 0.493254 2021-10-10T03:10:38Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:10:38Z- TNavBF:: Filter 0 sumWeights = 0.004810 2021-10-10T03:10:38Z- Filter 0 NorthBias: -13.2 EastBias: -37.7 DepthBias: -11.4 NorthVariance: 558.2 EastVariance: 26.4 DepthVariance: 0.7 this->DepthBiasCov: 0.5 2021-10-10T03:10:38Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835437.32 sec. 2021-10-10T03:10:38Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:10:38Z- TNavBF::mmse selected from filter -1 2021-10-10T03:10:38Z- variances([0], [2], and psi_berg) = 558.187475 27.500266 0.000000 2021-10-10T03:10:38Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:10:38Z- LcmTrn::publishEstimates() - MLE : 4061420.17 594133.53 39.62 2021-10-10T03:10:38Z- LcmTrn::publishEstimates() - MMSE : 4061396.52 594132.39 28.22 2021-10-10T03:10:38Z- LcmTrn::publishEstimates() - COVAR: 558.19 27.50 0.73 0.00 2021-10-10T03:10:38Z- AHRS_M2 msg: 1633835438.50 epoch sec; seqNo:751 2021-10-10T03:10:38Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:38Z- handleDepth()-Depth_Keller msg: 1633835438505 epoch sec; seqNo:774; depth 39.69 2021-10-10T03:10:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835438.52 epoch sec; seqNo:774; 4061410.05 north; 594170.03 east 2021-10-10T03:10:38Z- AHRS_M2 msg: 1633835438.90 epoch sec; seqNo:752 2021-10-10T03:10:38Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:38Z- handleDepth()-Depth_Keller msg: 1633835438902 epoch sec; seqNo:775; depth 39.76 2021-10-10T03:10:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835438.92 epoch sec; seqNo:775; 4061410.43 north; 594170.03 east 2021-10-10T03:10:39Z- AHRS_M2 msg: 1633835439.30 epoch sec; seqNo:753 2021-10-10T03:10:39Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:39Z- handleDepth()-Depth_Keller msg: 1633835439307 epoch sec; seqNo:776; depth 39.82 2021-10-10T03:10:39Z- handleDvl() - RDI_Pathfinder msg: 1633835439.33 epoch sec; seqNo:218 2021-10-10T03:10:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.93 , 62.75 , 49.93 , 61.66 2021-10-10T03:10:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.09 , 0.03 2021-10-10T03:10:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835439.36 epoch sec; seqNo:776; 4061410.81 north; 594170.02 east 2021-10-10T03:10:39Z- AHRS_M2 msg: 1633835439.71 epoch sec; seqNo:754 2021-10-10T03:10:39Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:39Z- handleDepth()-Depth_Keller msg: 1633835439716 epoch sec; seqNo:777; depth 39.88 2021-10-10T03:10:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835439.73 epoch sec; seqNo:777; 4061410.81 north; 594170.02 east 2021-10-10T03:10:40Z- AHRS_M2 msg: 1633835440.11 epoch sec; seqNo:755 2021-10-10T03:10:40Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:40Z- handleDepth()-Depth_Keller msg: 1633835440116 epoch sec; seqNo:778; depth 39.94 2021-10-10T03:10:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835440.15 epoch sec; seqNo:778; 4061411.19 north; 594170.02 east 2021-10-10T03:10:40Z- AHRS_M2 msg: 1633835440.51 epoch sec; seqNo:756 2021-10-10T03:10:40Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:40Z- handleDepth()-Depth_Keller msg: 1633835440518 epoch sec; seqNo:779; depth 40.00 2021-10-10T03:10:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:40Z- handleDvl() - RDI_Pathfinder msg: 1633835440.52 epoch sec; seqNo:219 2021-10-10T03:10:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.09 , 0.03 2021-10-10T03:10:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835440.53 epoch sec; seqNo:779; 4061411.56 north; 594170.01 east 2021-10-10T03:10:40Z- AHRS_M2 msg: 1633835440.92 epoch sec; seqNo:757 2021-10-10T03:10:40Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:40Z- handleDepth()-Depth_Keller msg: 1633835440926 epoch sec; seqNo:780; depth 40.08 2021-10-10T03:10:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835440.94 epoch sec; seqNo:780; 4061411.94 north; 594170.01 east 2021-10-10T03:10:41Z- AHRS_M2 msg: 1633835441.32 epoch sec; seqNo:758 2021-10-10T03:10:41Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 0.37 psi 2021-10-10T03:10:41Z- handleDepth()-Depth_Keller msg: 1633835441329 epoch sec; seqNo:781; depth 40.14 2021-10-10T03:10:41Z- handleDvl() - RDI_Pathfinder msg: 1633835441.36 epoch sec; seqNo:220 2021-10-10T03:10:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.62 , 62.92 , 49.62 , 61.13 2021-10-10T03:10:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.09 , 0.02 2021-10-10T03:10:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835441.37 epoch sec; seqNo:781; 4061412.32 north; 594170.00 east 2021-10-10T03:10:41Z- AHRS_M2 msg: 1633835441.72 epoch sec; seqNo:759 2021-10-10T03:10:41Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 0.38 psi 2021-10-10T03:10:41Z- handleDepth()-Depth_Keller msg: 1633835441732 epoch sec; seqNo:782; depth 40.21 2021-10-10T03:10:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:41Z- handleDvl() - RDI_Pathfinder msg: 1633835441.74 epoch sec; seqNo:221 2021-10-10T03:10:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.09 , 0.02 2021-10-10T03:10:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835441.77 epoch sec; seqNo:782; 4061412.70 north; 594170.00 east 2021-10-10T03:10:42Z- AHRS_M2 msg: 1633835442.13 epoch sec; seqNo:760 2021-10-10T03:10:42Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 0.38 psi 2021-10-10T03:10:42Z- handleDepth()-Depth_Keller msg: 1633835442135 epoch sec; seqNo:783; depth 40.26 2021-10-10T03:10:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835442.15 epoch sec; seqNo:783; 4061412.70 north; 594170.00 east 2021-10-10T03:10:42Z- AHRS_M2 msg: 1633835442.53 epoch sec; seqNo:761 2021-10-10T03:10:42Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 0.38 psi 2021-10-10T03:10:42Z- handleDepth()-Depth_Keller msg: 1633835442538 epoch sec; seqNo:784; depth 40.32 2021-10-10T03:10:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835442.55 epoch sec; seqNo:784; 4061413.08 north; 594170.00 east 2021-10-10T03:10:42Z- AHRS_M2 msg: 1633835442.94 epoch sec; seqNo:762 2021-10-10T03:10:42Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 0.38 psi 2021-10-10T03:10:42Z- handleDepth()-Depth_Keller msg: 1633835442945 epoch sec; seqNo:785; depth 40.39 2021-10-10T03:10:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:42Z- handleDvl() - RDI_Pathfinder msg: 1633835442.95 epoch sec; seqNo:222 2021-10-10T03:10:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.09 , 0.02 2021-10-10T03:10:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835442.96 epoch sec; seqNo:785; 4061413.46 north; 594169.99 east 2021-10-10T03:10:43Z- AHRS_M2 msg: 1633835443.34 epoch sec; seqNo:763 2021-10-10T03:10:43Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 0.38 psi 2021-10-10T03:10:43Z- handleDepth()-Depth_Keller msg: 1633835443356 epoch sec; seqNo:786; depth 40.45 2021-10-10T03:10:43Z- handleDvl() - RDI_Pathfinder msg: 1633835443.38 epoch sec; seqNo:223 2021-10-10T03:10:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.37 , 62.67 , 49.37 , 60.88 2021-10-10T03:10:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.10 , 0.02 2021-10-10T03:10:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835443.41 epoch sec; seqNo:786; 4061413.84 north; 594169.99 east 2021-10-10T03:10:43Z- LcmTrn::handleMessages() - handling 45 messages took 0.70 ms and 131 calls... 2021-10-10T03:10:43Z- waiting for 1633835441.11, time is 1633835443.41 2021-10-10T03:10:43Z- LcmTrn::updateTrn() equating pose 1633835443.41 and meas times 1633835443.41 2021-10-10T03:10:43Z- LcmTrn::updateTrn() >>>> pose time 1633835443.41, meas time 1633835443.41 <<<< 2021-10-10T03:10:43Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835443.41 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:10:43Z- TerrainNav::motionUpdate() - currEstimate = (4061414, 594169.99, 40.45) 2021-10-10T03:10:43Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:10:43Z- TerrainNav:: SubcloudNIS is 0.49, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:10:43Z- TerrainNav::Measurement type 1 not incorporated from time = 1633835443.41 sec.; No relevant navigation data available 2021-10-10T03:10:43Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:10:43Z- TNavBF::mmse selected from filter -1 2021-10-10T03:10:43Z- variances([0], [2], and psi_berg) = 558.209887 30.478120 0.000000 2021-10-10T03:10:43Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:10:43Z- LcmTrn::publishEstimates() - MLE : 4061424.34 594133.49 40.45 2021-10-10T03:10:43Z- LcmTrn::publishEstimates() - MMSE : 4061400.68 594132.39 29.05 2021-10-10T03:10:43Z- LcmTrn::publishEstimates() - COVAR: 558.21 30.48 0.95 0.00 2021-10-10T03:10:43Z- AHRS_M2 msg: 1633835443.74 epoch sec; seqNo:764 2021-10-10T03:10:43Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 0.38 psi 2021-10-10T03:10:43Z- handleDepth()-Depth_Keller msg: 1633835443756 epoch sec; seqNo:787; depth 40.52 2021-10-10T03:10:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835443.78 epoch sec; seqNo:787; 4061414.23 north; 594171.20 east 2021-10-10T03:10:44Z- AHRS_M2 msg: 1633835444.16 epoch sec; seqNo:765 2021-10-10T03:10:44Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.38 psi 2021-10-10T03:10:44Z- handleDepth()-Depth_Keller msg: 1633835444162 epoch sec; seqNo:788; depth 40.59 2021-10-10T03:10:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835444.17 epoch sec; seqNo:788; 4061414.23 north; 594171.20 east 2021-10-10T03:10:44Z- AHRS_M2 msg: 1633835444.56 epoch sec; seqNo:766 2021-10-10T03:10:44Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.38 psi 2021-10-10T03:10:44Z- handleDepth()-Depth_Keller msg: 1633835444564 epoch sec; seqNo:789; depth 40.65 2021-10-10T03:10:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835444.57 epoch sec; seqNo:789; 4061414.61 north; 594171.20 east 2021-10-10T03:10:44Z- AHRS_M2 msg: 1633835444.96 epoch sec; seqNo:767 2021-10-10T03:10:44Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.38 psi 2021-10-10T03:10:44Z- handleDepth()-Depth_Keller msg: 1633835444962 epoch sec; seqNo:790; depth 40.71 2021-10-10T03:10:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835444.98 epoch sec; seqNo:790; 4061414.99 north; 594171.20 east 2021-10-10T03:10:45Z- AHRS_M2 msg: 1633835445.37 epoch sec; seqNo:768 2021-10-10T03:10:45Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.39 psi 2021-10-10T03:10:45Z- handleDepth()-Depth_Keller msg: 1633835445370 epoch sec; seqNo:791; depth 40.76 2021-10-10T03:10:45Z- handleDvl() - RDI_Pathfinder msg: 1633835445.40 epoch sec; seqNo:224 2021-10-10T03:10:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.11 , 61.90 , 48.85 , 60.37 2021-10-10T03:10:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.12 , 0.03 2021-10-10T03:10:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835445.42 epoch sec; seqNo:791; 4061415.37 north; 594171.19 east 2021-10-10T03:10:45Z- AHRS_M2 msg: 1633835445.77 epoch sec; seqNo:769 2021-10-10T03:10:45Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.39 psi 2021-10-10T03:10:45Z- handleDepth()-Depth_Keller msg: 1633835445774 epoch sec; seqNo:792; depth 40.84 2021-10-10T03:10:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835445.79 epoch sec; seqNo:792; 4061415.75 north; 594171.19 east 2021-10-10T03:10:46Z- AHRS_M2 msg: 1633835446.17 epoch sec; seqNo:770 2021-10-10T03:10:46Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.39 psi 2021-10-10T03:10:46Z- handleDepth()-Depth_Keller msg: 1633835446176 epoch sec; seqNo:793; depth 40.91 2021-10-10T03:10:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835446.19 epoch sec; seqNo:793; 4061416.12 north; 594171.18 east 2021-10-10T03:10:46Z- AHRS_M2 msg: 1633835446.57 epoch sec; seqNo:771 2021-10-10T03:10:46Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.39 psi 2021-10-10T03:10:46Z- handleDepth()-Depth_Keller msg: 1633835446578 epoch sec; seqNo:794; depth 40.97 2021-10-10T03:10:46Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:46Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:46Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:46Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:46Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:46Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:46Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:46Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:46Z- handleDvl() - RDI_Pathfinder msg: 1633835446.58 epoch sec; seqNo:225 2021-10-10T03:10:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.12 , 0.03 2021-10-10T03:10:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835446.60 epoch sec; seqNo:794; 4061416.12 north; 594171.18 east 2021-10-10T03:10:46Z- AHRS_M2 msg: 1633835446.98 epoch sec; seqNo:772 2021-10-10T03:10:46Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.39 psi 2021-10-10T03:10:46Z- handleDepth()-Depth_Keller msg: 1633835446984 epoch sec; seqNo:795; depth 41.03 2021-10-10T03:10:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835447.00 epoch sec; seqNo:795; 4061416.50 north; 594171.18 east 2021-10-10T03:10:47Z- AHRS_M2 msg: 1633835447.38 epoch sec; seqNo:773 2021-10-10T03:10:47Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 0.39 psi 2021-10-10T03:10:47Z- handleDepth()-Depth_Keller msg: 1633835447389 epoch sec; seqNo:796; depth 41.10 2021-10-10T03:10:47Z- handleDvl() - RDI_Pathfinder msg: 1633835447.41 epoch sec; seqNo:226 2021-10-10T03:10:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 48.59 , 61.89 , 48.85 , 60.10 2021-10-10T03:10:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.11 , 0.05 2021-10-10T03:10:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835447.42 epoch sec; seqNo:796; 4061416.88 north; 594171.17 east 2021-10-10T03:10:47Z- AHRS_M2 msg: 1633835447.79 epoch sec; seqNo:774 2021-10-10T03:10:47Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 0.39 psi 2021-10-10T03:10:47Z- handleDepth()-Depth_Keller msg: 1633835447801 epoch sec; seqNo:797; depth 41.16 2021-10-10T03:10:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:47Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:47Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:47Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:47Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:47Z- handleDvl() - RDI_Pathfinder msg: 1633835447.80 epoch sec; seqNo:227 2021-10-10T03:10:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.11 , 0.05 2021-10-10T03:10:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835447.82 epoch sec; seqNo:797; 4061417.26 north; 594171.17 east 2021-10-10T03:10:48Z- AHRS_M2 msg: 1633835448.19 epoch sec; seqNo:775 2021-10-10T03:10:48Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 0.39 psi 2021-10-10T03:10:48Z- handleDepth()-Depth_Keller msg: 1633835448198 epoch sec; seqNo:798; depth 41.22 2021-10-10T03:10:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835448.21 epoch sec; seqNo:798; 4061417.64 north; 594171.17 east 2021-10-10T03:10:48Z- AHRS_M2 msg: 1633835448.59 epoch sec; seqNo:776 2021-10-10T03:10:48Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 0.39 psi 2021-10-10T03:10:48Z- LcmTrn::handleMessages() - handling 41 messages took 0.68 ms and 127 calls... 2021-10-10T03:10:48Z- waiting for 1633835446.41, time is 1633835448.59 2021-10-10T03:10:48Z- LcmTrn::updateTrn() >>>> pose time 1633835448.59, meas time 1633835447.80 <<<< 2021-10-10T03:10:48Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835447.80, ping # 0. 2021-10-10T03:10:48Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835447.80 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:10:48Z- TerrainNav::motionUpdate() - currEstimate = (4061418, 594171.17, 41.22) 2021-10-10T03:10:48Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:10:48Z- TerrainNav:: SubcloudNIS is 0.49, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:10:48Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:10:48Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:10:48Z- TNavBF::Projecting Measurements 2021-10-10T03:10:48Z- TNavFilter::Measurement from time = 1633835447.80 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:10:48Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:10:48Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:10:48Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:10:48Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:10:48Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:10:48Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:10:48Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:10:48Z- Filter 0 NorthBias: -13.2 EastBias: -37.6 DepthBias: -11.4 NorthVariance: 558.2 EastVariance: 33.1 DepthVariance: 1.1 this->DepthBiasCov: 1.0 2021-10-10T03:10:48Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:10:48Z- TNavBF::mmse selected from filter -1 2021-10-10T03:10:48Z- variances([0], [2], and psi_berg) = 558.238256 34.116692 0.000000 2021-10-10T03:10:48Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:10:48Z- LcmTrn::publishEstimates() - MLE : 4061427.14 594133.67 41.22 2021-10-10T03:10:48Z- LcmTrn::publishEstimates() - MMSE : 4061404.49 594133.61 29.82 2021-10-10T03:10:48Z- LcmTrn::publishEstimates() - COVAR: 558.24 34.12 1.15 0.00 2021-10-10T03:10:48Z- handleDepth()-Depth_Keller msg: 1633835448604 epoch sec; seqNo:799; depth 41.29 2021-10-10T03:10:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835448.62 epoch sec; seqNo:799; 4061418.02 north; 594171.16 east 2021-10-10T03:10:49Z- AHRS_M2 msg: 1633835449.00 epoch sec; seqNo:777 2021-10-10T03:10:49Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 0.40 psi 2021-10-10T03:10:49Z- handleDepth()-Depth_Keller msg: 1633835449030 epoch sec; seqNo:800; depth 41.34 2021-10-10T03:10:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:49Z- handleDvl() - RDI_Pathfinder msg: 1633835449.05 epoch sec; seqNo:228 2021-10-10T03:10:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.11 , 0.05 2021-10-10T03:10:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835449.08 epoch sec; seqNo:800; 4061418.40 north; 594171.16 east 2021-10-10T03:10:49Z- AHRS_M2 msg: 1633835449.40 epoch sec; seqNo:778 2021-10-10T03:10:49Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 0.40 psi 2021-10-10T03:10:49Z- handleDepth()-Depth_Keller msg: 1633835449411 epoch sec; seqNo:801; depth 41.42 2021-10-10T03:10:49Z- handleDvl() - RDI_Pathfinder msg: 1633835449.43 epoch sec; seqNo:229 2021-10-10T03:10:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 48.08 , 61.13 , 48.85 , 60.10 2021-10-10T03:10:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.08 , 0.04 2021-10-10T03:10:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835449.46 epoch sec; seqNo:801; 4061418.41 north; 594172.38 east 2021-10-10T03:10:49Z- AHRS_M2 msg: 1633835449.81 epoch sec; seqNo:779 2021-10-10T03:10:49Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 0.40 psi 2021-10-10T03:10:49Z- handleDepth()-Depth_Keller msg: 1633835449815 epoch sec; seqNo:802; depth 41.47 2021-10-10T03:10:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835449.83 epoch sec; seqNo:802; 4061418.79 north; 594172.37 east 2021-10-10T03:10:50Z- AHRS_M2 msg: 1633835450.21 epoch sec; seqNo:780 2021-10-10T03:10:50Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 0.40 psi 2021-10-10T03:10:50Z- handleDepth()-Depth_Keller msg: 1633835450219 epoch sec; seqNo:803; depth 41.53 2021-10-10T03:10:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:50Z- handleDvl() - RDI_Pathfinder msg: 1633835450.22 epoch sec; seqNo:230 2021-10-10T03:10:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.08 , 0.04 2021-10-10T03:10:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835450.24 epoch sec; seqNo:803; 4061419.17 north; 594172.37 east 2021-10-10T03:10:50Z- AHRS_M2 msg: 1633835450.61 epoch sec; seqNo:781 2021-10-10T03:10:50Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 0.40 psi 2021-10-10T03:10:50Z- handleDepth()-Depth_Keller msg: 1633835450618 epoch sec; seqNo:804; depth 41.59 2021-10-10T03:10:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835450.63 epoch sec; seqNo:804; 4061419.55 north; 594172.37 east 2021-10-10T03:10:51Z- AHRS_M2 msg: 1633835451.05 epoch sec; seqNo:782 2021-10-10T03:10:51Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 0.40 psi 2021-10-10T03:10:51Z- handleDepth()-Depth_Keller msg: 1633835451074 epoch sec; seqNo:805; depth 41.64 2021-10-10T03:10:51Z- handleDvl() - RDI_Pathfinder msg: 1633835451.10 epoch sec; seqNo:231 2021-10-10T03:10:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 47.83 , 61.13 , 48.85 , 59.34 2021-10-10T03:10:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.05 , 0.01 2021-10-10T03:10:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835451.11 epoch sec; seqNo:805; 4061419.93 north; 594172.36 east 2021-10-10T03:10:51Z- AHRS_M2 msg: 1633835451.42 epoch sec; seqNo:783 2021-10-10T03:10:51Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 0.40 psi 2021-10-10T03:10:51Z- handleDepth()-Depth_Keller msg: 1633835451435 epoch sec; seqNo:806; depth 41.71 2021-10-10T03:10:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:51Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:51Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:51Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:51Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:51Z- handleDvl() - RDI_Pathfinder msg: 1633835451.44 epoch sec; seqNo:232 2021-10-10T03:10:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.05 , 0.01 2021-10-10T03:10:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835451.46 epoch sec; seqNo:806; 4061419.93 north; 594172.36 east 2021-10-10T03:10:51Z- AHRS_M2 msg: 1633835451.83 epoch sec; seqNo:784 2021-10-10T03:10:51Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 0.40 psi 2021-10-10T03:10:51Z- handleDepth()-Depth_Keller msg: 1633835451830 epoch sec; seqNo:807; depth 41.78 2021-10-10T03:10:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835451.86 epoch sec; seqNo:807; 4061420.31 north; 594172.36 east 2021-10-10T03:10:52Z- AHRS_M2 msg: 1633835452.25 epoch sec; seqNo:785 2021-10-10T03:10:52Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 0.40 psi 2021-10-10T03:10:52Z- handleDepth()-Depth_Keller msg: 1633835452252 epoch sec; seqNo:808; depth 41.82 2021-10-10T03:10:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835452.28 epoch sec; seqNo:808; 4061420.68 north; 594172.35 east 2021-10-10T03:10:52Z- AHRS_M2 msg: 1633835452.64 epoch sec; seqNo:786 2021-10-10T03:10:52Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 0.40 psi 2021-10-10T03:10:52Z- handleDepth()-Depth_Keller msg: 1633835452644 epoch sec; seqNo:809; depth 41.89 2021-10-10T03:10:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:52Z- handleDvl() - RDI_Pathfinder msg: 1633835452.65 epoch sec; seqNo:233 2021-10-10T03:10:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.05 , 0.01 2021-10-10T03:10:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835452.66 epoch sec; seqNo:809; 4061421.06 north; 594172.35 east 2021-10-10T03:10:53Z- AHRS_M2 msg: 1633835453.07 epoch sec; seqNo:787 2021-10-10T03:10:53Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 0.41 psi 2021-10-10T03:10:53Z- handleDepth()-Depth_Keller msg: 1633835453077 epoch sec; seqNo:810; depth 41.94 2021-10-10T03:10:53Z- handleDvl() - RDI_Pathfinder msg: 1633835453.10 epoch sec; seqNo:234 2021-10-10T03:10:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 47.06 , 60.87 , 48.59 , 58.82 2021-10-10T03:10:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.05 , -0.01 2021-10-10T03:10:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835453.12 epoch sec; seqNo:810; 4061421.44 north; 594172.34 east 2021-10-10T03:10:53Z- AHRS_M2 msg: 1633835453.44 epoch sec; seqNo:788 2021-10-10T03:10:53Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 0.40 psi 2021-10-10T03:10:53Z- handleDepth()-Depth_Keller msg: 1633835453451 epoch sec; seqNo:811; depth 42.00 2021-10-10T03:10:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835453.48 epoch sec; seqNo:811; 4061421.44 north; 594172.34 east 2021-10-10T03:10:53Z- LcmTrn::handleMessages() - handling 45 messages took 0.72 ms and 130 calls... 2021-10-10T03:10:53Z- waiting for 1633835451.59, time is 1633835453.48 2021-10-10T03:10:53Z- LcmTrn::updateTrn() >>>> pose time 1633835453.48, meas time 1633835453.10 <<<< 2021-10-10T03:10:53Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835453.10 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:10:53Z- TerrainNav::motionUpdate() - currEstimate = (4061421, 594172.34, 42.00) 2021-10-10T03:10:53Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:10:53Z- TerrainNav:: SubcloudNIS is 0.49, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:10:53Z- TNavBF::Projecting Measurements 2021-10-10T03:10:53Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:10:53Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:10:53Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:10:53Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:10:53Z- TNavFilter::4 good beams. 2021-10-10T03:10:53Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:10:53Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:10:53Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:10:53Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:10:53Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:10:53Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:10:53Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:10:53Z- TNavBF::mmse selected from filter -1 2021-10-10T03:10:53Z- TerrainMapOctree: (vehN, vehE ) = (4061421.15, 594172.25). 2021-10-10T03:10:53Z- TerrainMapOctree: Min Distance = 187.98. 2021-10-10T03:10:53Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:10:53Z- Forcing Subcloud Comparison 2021-10-10T03:10:53Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:10:53Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:10:53Z- Filter 0 partialDeltaRmsComputation: 10.825340 terrainVariance: 0.486164 1-SumSquareWeights: 0.998056 2021-10-10T03:10:53Z- Filter 0 meanExpectedMeasDiff: 3.215459 delta_rms_squared: 0.476183 alpha: 0.959692 2021-10-10T03:10:53Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:10:53Z- Filter 0 partialDeltaRmsComputation: 12.930682 terrainVariance: 0.327039 1-SumSquareWeights: 0.998056 2021-10-10T03:10:53Z- Filter 0 meanExpectedMeasDiff: -3.550161 delta_rms_squared: 0.317058 alpha: 0.940663 2021-10-10T03:10:53Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:10:53Z- Filter 0 partialDeltaRmsComputation: 22.432833 terrainVariance: 0.188692 1-SumSquareWeights: 0.998056 2021-10-10T03:10:53Z- Filter 0 meanExpectedMeasDiff: -4.716369 delta_rms_squared: 0.178712 alpha: 0.899352 2021-10-10T03:10:53Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:10:53Z- Filter 0 partialDeltaRmsComputation: 43.370964 terrainVariance: 0.078558 1-SumSquareWeights: 0.998056 2021-10-10T03:10:53Z- Filter 0 meanExpectedMeasDiff: 6.579696 delta_rms_squared: 0.068577 alpha: 0.774209 2021-10-10T03:10:53Z- Filter 0 SubcloudNIS: 0.614004 2021-10-10T03:10:53Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:10:53Z- TNavBF:: Filter 0 sumWeights = 0.006061 2021-10-10T03:10:53Z- Filter 0 NorthBias: -25.2 EastBias: -37.2 DepthBias: -11.0 NorthVariance: 361.3 EastVariance: 21.8 DepthVariance: 0.7 this->DepthBiasCov: 0.7 2021-10-10T03:10:53Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835453.10 sec. 2021-10-10T03:10:53Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:10:53Z- TNavBF::mmse selected from filter -1 2021-10-10T03:10:53Z- variances([0], [2], and psi_berg) = 361.294006 22.270655 0.000000 2021-10-10T03:10:53Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:10:53Z- LcmTrn::publishEstimates() - MLE : 4061385.94 594134.84 42.00 2021-10-10T03:10:53Z- LcmTrn::publishEstimates() - MMSE : 4061396.22 594135.11 30.97 2021-10-10T03:10:53Z- LcmTrn::publishEstimates() - COVAR: 361.29 22.27 0.74 0.00 2021-10-10T03:10:53Z- AHRS_M2 msg: 1633835453.85 epoch sec; seqNo:789 2021-10-10T03:10:53Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 0.41 psi 2021-10-10T03:10:53Z- handleDepth()-Depth_Keller msg: 1633835453853 epoch sec; seqNo:812; depth 42.03 2021-10-10T03:10:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:53Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:53Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:53Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:53Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:53Z- handleDvl() - RDI_Pathfinder msg: 1633835453.86 epoch sec; seqNo:235 2021-10-10T03:10:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.05 , -0.01 2021-10-10T03:10:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835453.87 epoch sec; seqNo:812; 4061421.83 north; 594173.56 east 2021-10-10T03:10:54Z- AHRS_M2 msg: 1633835454.25 epoch sec; seqNo:790 2021-10-10T03:10:54Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 0.40 psi 2021-10-10T03:10:54Z- handleDepth()-Depth_Keller msg: 1633835454255 epoch sec; seqNo:813; depth 42.10 2021-10-10T03:10:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835454.27 epoch sec; seqNo:813; 4061422.21 north; 594173.56 east 2021-10-10T03:10:54Z- AHRS_M2 msg: 1633835454.65 epoch sec; seqNo:791 2021-10-10T03:10:54Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 0.40 psi 2021-10-10T03:10:54Z- handleDepth()-Depth_Keller msg: 1633835454658 epoch sec; seqNo:814; depth 42.16 2021-10-10T03:10:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835454.68 epoch sec; seqNo:814; 4061422.59 north; 594173.55 east 2021-10-10T03:10:55Z- AHRS_M2 msg: 1633835455.08 epoch sec; seqNo:792 2021-10-10T03:10:55Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 0.40 psi 2021-10-10T03:10:55Z- handleDepth()-Depth_Keller msg: 1633835455088 epoch sec; seqNo:815; depth 42.21 2021-10-10T03:10:55Z- handleDvl() - RDI_Pathfinder msg: 1633835455.11 epoch sec; seqNo:236 2021-10-10T03:10:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.54 , 61.38 , 47.82 , 58.56 2021-10-10T03:10:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.07 , -0.02 2021-10-10T03:10:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835455.12 epoch sec; seqNo:815; 4061422.97 north; 594173.55 east 2021-10-10T03:10:55Z- AHRS_M2 msg: 1633835455.47 epoch sec; seqNo:793 2021-10-10T03:10:55Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 0.40 psi 2021-10-10T03:10:55Z- handleDepth()-Depth_Keller msg: 1633835455473 epoch sec; seqNo:816; depth 42.28 2021-10-10T03:10:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835455.49 epoch sec; seqNo:816; 4061422.97 north; 594173.55 east 2021-10-10T03:10:55Z- AHRS_M2 msg: 1633835455.87 epoch sec; seqNo:794 2021-10-10T03:10:55Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 0.40 psi 2021-10-10T03:10:55Z- handleDepth()-Depth_Keller msg: 1633835455875 epoch sec; seqNo:817; depth 42.31 2021-10-10T03:10:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835455.89 epoch sec; seqNo:817; 4061423.35 north; 594173.54 east 2021-10-10T03:10:56Z- AHRS_M2 msg: 1633835456.27 epoch sec; seqNo:795 2021-10-10T03:10:56Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 0.40 psi 2021-10-10T03:10:56Z- handleDepth()-Depth_Keller msg: 1633835456274 epoch sec; seqNo:818; depth 42.38 2021-10-10T03:10:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:56Z- handleDvl() - RDI_Pathfinder msg: 1633835456.28 epoch sec; seqNo:237 2021-10-10T03:10:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.07 , -0.02 2021-10-10T03:10:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835456.30 epoch sec; seqNo:818; 4061423.73 north; 594173.54 east 2021-10-10T03:10:56Z- AHRS_M2 msg: 1633835456.69 epoch sec; seqNo:796 2021-10-10T03:10:56Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 0.40 psi 2021-10-10T03:10:56Z- handleDepth()-Depth_Keller msg: 1633835456694 epoch sec; seqNo:819; depth 42.45 2021-10-10T03:10:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835456.72 epoch sec; seqNo:819; 4061424.11 north; 594173.54 east 2021-10-10T03:10:57Z- AHRS_M2 msg: 1633835457.08 epoch sec; seqNo:797 2021-10-10T03:10:57Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 0.40 psi 2021-10-10T03:10:57Z- handleDepth()-Depth_Keller msg: 1633835457092 epoch sec; seqNo:820; depth 42.50 2021-10-10T03:10:57Z- handleDvl() - RDI_Pathfinder msg: 1633835457.12 epoch sec; seqNo:238 2021-10-10T03:10:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.03 , 60.87 , 47.82 , 58.05 2021-10-10T03:10:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.11 , -0.01 2021-10-10T03:10:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835457.15 epoch sec; seqNo:820; 4061424.49 north; 594173.53 east 2021-10-10T03:10:57Z- AHRS_M2 msg: 1633835457.48 epoch sec; seqNo:798 2021-10-10T03:10:57Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 0.40 psi 2021-10-10T03:10:57Z- handleDepth()-Depth_Keller msg: 1633835457487 epoch sec; seqNo:821; depth 42.56 2021-10-10T03:10:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:57Z- handleDvl() - RDI_Pathfinder msg: 1633835457.49 epoch sec; seqNo:239 2021-10-10T03:10:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.11 , -0.01 2021-10-10T03:10:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835457.51 epoch sec; seqNo:821; 4061424.86 north; 594173.53 east 2021-10-10T03:10:57Z- AHRS_M2 msg: 1633835457.89 epoch sec; seqNo:799 2021-10-10T03:10:57Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 0.39 psi 2021-10-10T03:10:57Z- handleDepth()-Depth_Keller msg: 1633835457891 epoch sec; seqNo:822; depth 42.60 2021-10-10T03:10:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835457.90 epoch sec; seqNo:822; 4061424.86 north; 594173.53 east 2021-10-10T03:10:58Z- AHRS_M2 msg: 1633835458.29 epoch sec; seqNo:800 2021-10-10T03:10:58Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 0.39 psi 2021-10-10T03:10:58Z- handleDepth()-Depth_Keller msg: 1633835458296 epoch sec; seqNo:823; depth 42.68 2021-10-10T03:10:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835458.31 epoch sec; seqNo:823; 4061425.24 north; 594173.52 east 2021-10-10T03:10:58Z- AHRS_M2 msg: 1633835458.69 epoch sec; seqNo:801 2021-10-10T03:10:58Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 0.39 psi 2021-10-10T03:10:58Z- handleDepth()-Depth_Keller msg: 1633835458698 epoch sec; seqNo:824; depth 42.74 2021-10-10T03:10:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:58Z- handleDvl() - RDI_Pathfinder msg: 1633835458.71 epoch sec; seqNo:240 2021-10-10T03:10:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.11 , -0.01 2021-10-10T03:10:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835458.72 epoch sec; seqNo:824; 4061425.62 north; 594173.52 east 2021-10-10T03:10:58Z- LcmTrn::handleMessages() - handling 45 messages took 0.71 ms and 131 calls... 2021-10-10T03:10:58Z- waiting for 1633835456.48, time is 1633835458.72 2021-10-10T03:10:58Z- LcmTrn::updateTrn() equating pose 1633835458.72 and meas times 1633835458.72 2021-10-10T03:10:58Z- LcmTrn::updateTrn() >>>> pose time 1633835458.72, meas time 1633835458.72 <<<< 2021-10-10T03:10:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835458.72, ping # 0. 2021-10-10T03:10:58Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835458.72 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:10:58Z- TerrainNav::motionUpdate() - currEstimate = (4061426, 594173.52, 42.74) 2021-10-10T03:10:58Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:10:58Z- TerrainNav:: SubcloudNIS is 0.61, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:10:58Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:10:58Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:10:58Z- TerrainNav::Measurement type 1 not incorporated from time = 1633835458.72 sec.; No relevant navigation data available 2021-10-10T03:10:58Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:10:58Z- TNavBF::mmse selected from filter -1 2021-10-10T03:10:58Z- variances([0], [2], and psi_berg) = 361.325885 24.161071 0.000000 2021-10-10T03:10:58Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:10:58Z- LcmTrn::publishEstimates() - MLE : 4061390.12 594136.02 42.74 2021-10-10T03:10:58Z- LcmTrn::publishEstimates() - MMSE : 4061400.40 594136.31 31.71 2021-10-10T03:10:58Z- LcmTrn::publishEstimates() - COVAR: 361.33 24.16 0.96 0.00 2021-10-10T03:10:59Z- AHRS_M2 msg: 1633835459.10 epoch sec; seqNo:802 2021-10-10T03:10:59Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 0.38 psi 2021-10-10T03:10:59Z- handleDepth()-Depth_Keller msg: 1633835459107 epoch sec; seqNo:825; depth 42.80 2021-10-10T03:10:59Z- handleDvl() - RDI_Pathfinder msg: 1633835459.14 epoch sec; seqNo:241 2021-10-10T03:10:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.78 , 60.61 , 47.82 , 57.80 2021-10-10T03:10:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.12 , 0.02 2021-10-10T03:10:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835459.16 epoch sec; seqNo:825; 4061426.01 north; 594174.74 east 2021-10-10T03:10:59Z- AHRS_M2 msg: 1633835459.50 epoch sec; seqNo:803 2021-10-10T03:10:59Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 0.38 psi 2021-10-10T03:10:59Z- handleDepth()-Depth_Keller msg: 1633835459507 epoch sec; seqNo:826; depth 42.86 2021-10-10T03:10:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835459.52 epoch sec; seqNo:826; 4061426.39 north; 594174.73 east 2021-10-10T03:10:59Z- AHRS_M2 msg: 1633835459.91 epoch sec; seqNo:804 2021-10-10T03:10:59Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 0.38 psi 2021-10-10T03:10:59Z- handleDepth()-Depth_Keller msg: 1633835459917 epoch sec; seqNo:827; depth 42.91 2021-10-10T03:10:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:10:59Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:10:59Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:10:59Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:10:59Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:10:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:10:59Z- handleDvl() - RDI_Pathfinder msg: 1633835459.92 epoch sec; seqNo:242 2021-10-10T03:10:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:10:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.12 , 0.02 2021-10-10T03:10:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835459.93 epoch sec; seqNo:827; 4061426.39 north; 594174.73 east 2021-10-10T03:11:00Z- AHRS_M2 msg: 1633835460.32 epoch sec; seqNo:805 2021-10-10T03:11:00Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 0.37 psi 2021-10-10T03:11:00Z- handleDepth()-Depth_Keller msg: 1633835460335 epoch sec; seqNo:828; depth 42.98 2021-10-10T03:11:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835460.35 epoch sec; seqNo:828; 4061426.77 north; 594174.73 east 2021-10-10T03:11:00Z- AHRS_M2 msg: 1633835460.71 epoch sec; seqNo:806 2021-10-10T03:11:00Z- AHRS_M2 msg: -0.25 phi; -0.16 theta; 0.37 psi 2021-10-10T03:11:00Z- handleDepth()-Depth_Keller msg: 1633835460719 epoch sec; seqNo:829; depth 43.03 2021-10-10T03:11:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835460.74 epoch sec; seqNo:829; 4061427.15 north; 594174.72 east 2021-10-10T03:11:01Z- AHRS_M2 msg: 1633835461.12 epoch sec; seqNo:807 2021-10-10T03:11:01Z- AHRS_M2 msg: -0.24 phi; -0.16 theta; 0.37 psi 2021-10-10T03:11:01Z- handleDepth()-Depth_Keller msg: 1633835461122 epoch sec; seqNo:830; depth 43.10 2021-10-10T03:11:01Z- handleDvl() - RDI_Pathfinder msg: 1633835461.15 epoch sec; seqNo:243 2021-10-10T03:11:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.52 , 60.86 , 47.82 , 56.77 2021-10-10T03:11:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.09 , 0.05 2021-10-10T03:11:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835461.17 epoch sec; seqNo:830; 4061427.53 north; 594174.72 east 2021-10-10T03:11:01Z- AHRS_M2 msg: 1633835461.53 epoch sec; seqNo:808 2021-10-10T03:11:01Z- AHRS_M2 msg: -0.24 phi; -0.16 theta; 0.36 psi 2021-10-10T03:11:01Z- handleDepth()-Depth_Keller msg: 1633835461536 epoch sec; seqNo:831; depth 43.18 2021-10-10T03:11:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835461.55 epoch sec; seqNo:831; 4061427.91 north; 594174.71 east 2021-10-10T03:11:01Z- AHRS_M2 msg: 1633835461.93 epoch sec; seqNo:809 2021-10-10T03:11:01Z- AHRS_M2 msg: -0.24 phi; -0.16 theta; 0.36 psi 2021-10-10T03:11:01Z- handleDepth()-Depth_Keller msg: 1633835461937 epoch sec; seqNo:832; depth 43.23 2021-10-10T03:11:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835461.95 epoch sec; seqNo:832; 4061427.91 north; 594174.71 east 2021-10-10T03:11:02Z- AHRS_M2 msg: 1633835462.33 epoch sec; seqNo:810 2021-10-10T03:11:02Z- AHRS_M2 msg: -0.24 phi; -0.15 theta; 0.36 psi 2021-10-10T03:11:02Z- handleDepth()-Depth_Keller msg: 1633835462338 epoch sec; seqNo:833; depth 43.28 2021-10-10T03:11:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:02Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:02Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:02Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:02Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:02Z- handleDvl() - RDI_Pathfinder msg: 1633835462.34 epoch sec; seqNo:244 2021-10-10T03:11:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.09 , 0.05 2021-10-10T03:11:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835462.37 epoch sec; seqNo:833; 4061428.29 north; 594174.71 east 2021-10-10T03:11:02Z- AHRS_M2 msg: 1633835462.74 epoch sec; seqNo:811 2021-10-10T03:11:02Z- AHRS_M2 msg: -0.24 phi; -0.15 theta; 0.36 psi 2021-10-10T03:11:02Z- handleDepth()-Depth_Keller msg: 1633835462743 epoch sec; seqNo:834; depth 43.35 2021-10-10T03:11:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835462.75 epoch sec; seqNo:834; 4061428.67 north; 594174.71 east 2021-10-10T03:11:03Z- AHRS_M2 msg: 1633835463.14 epoch sec; seqNo:812 2021-10-10T03:11:03Z- AHRS_M2 msg: -0.24 phi; -0.15 theta; 0.35 psi 2021-10-10T03:11:03Z- handleDepth()-Depth_Keller msg: 1633835463151 epoch sec; seqNo:835; depth 43.40 2021-10-10T03:11:03Z- handleDvl() - RDI_Pathfinder msg: 1633835463.17 epoch sec; seqNo:245 2021-10-10T03:11:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.26 , 59.84 , 47.56 , 56.00 2021-10-10T03:11:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.05 , 0.04 2021-10-10T03:11:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835463.20 epoch sec; seqNo:835; 4061429.05 north; 594174.70 east 2021-10-10T03:11:03Z- AHRS_M2 msg: 1633835463.55 epoch sec; seqNo:813 2021-10-10T03:11:03Z- AHRS_M2 msg: -0.24 phi; -0.15 theta; 0.35 psi 2021-10-10T03:11:03Z- handleDepth()-Depth_Keller msg: 1633835463558 epoch sec; seqNo:836; depth 43.48 2021-10-10T03:11:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:03Z- handleDvl() - RDI_Pathfinder msg: 1633835463.56 epoch sec; seqNo:246 2021-10-10T03:11:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.05 , 0.04 2021-10-10T03:11:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835463.58 epoch sec; seqNo:836; 4061429.42 north; 594174.70 east 2021-10-10T03:11:03Z- LcmTrn::handleMessages() - handling 42 messages took 0.76 ms and 127 calls... 2021-10-10T03:11:03Z- waiting for 1633835461.72, time is 1633835463.58 2021-10-10T03:11:03Z- LcmTrn::updateTrn() equating pose 1633835463.58 and meas times 1633835463.58 2021-10-10T03:11:03Z- LcmTrn::updateTrn() >>>> pose time 1633835463.58, meas time 1633835463.58 <<<< 2021-10-10T03:11:03Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835463.58, ping # 0. 2021-10-10T03:11:03Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835463.58 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:11:03Z- TerrainNav::motionUpdate() - currEstimate = (4061429, 594174.70, 43.48) 2021-10-10T03:11:03Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:11:03Z- TerrainNav:: SubcloudNIS is 0.61, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:11:03Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:11:03Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:11:03Z- TNavBF::Projecting Measurements 2021-10-10T03:11:03Z- TNavFilter::Measurement from time = 1633835463.58 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:11:03Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:11:03Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:11:03Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:11:03Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:11:03Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:11:03Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:11:03Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:11:03Z- Filter 0 NorthBias: -25.2 EastBias: -37.2 DepthBias: -11.0 NorthVariance: 361.4 EastVariance: 25.9 DepthVariance: 1.2 this->DepthBiasCov: 1.1 2021-10-10T03:11:03Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:11:03Z- TNavBF::mmse selected from filter -1 2021-10-10T03:11:03Z- variances([0], [2], and psi_berg) = 361.356161 25.911335 0.000000 2021-10-10T03:11:03Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:11:03Z- LcmTrn::publishEstimates() - MLE : 4061393.92 594137.20 43.48 2021-10-10T03:11:03Z- LcmTrn::publishEstimates() - MMSE : 4061404.20 594137.51 32.45 2021-10-10T03:11:03Z- LcmTrn::publishEstimates() - COVAR: 361.36 25.91 1.16 0.00 2021-10-10T03:11:03Z- AHRS_M2 msg: 1633835463.95 epoch sec; seqNo:814 2021-10-10T03:11:03Z- AHRS_M2 msg: -0.24 phi; -0.15 theta; 0.35 psi 2021-10-10T03:11:03Z- handleDepth()-Depth_Keller msg: 1633835463956 epoch sec; seqNo:837; depth 43.54 2021-10-10T03:11:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835463.98 epoch sec; seqNo:837; 4061429.42 north; 594174.70 east 2021-10-10T03:11:04Z- AHRS_M2 msg: 1633835464.35 epoch sec; seqNo:815 2021-10-10T03:11:04Z- AHRS_M2 msg: -0.24 phi; -0.14 theta; 0.35 psi 2021-10-10T03:11:04Z- handleDepth()-Depth_Keller msg: 1633835464364 epoch sec; seqNo:838; depth 43.58 2021-10-10T03:11:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835464.37 epoch sec; seqNo:838; 4061429.80 north; 594174.69 east 2021-10-10T03:11:04Z- AHRS_M2 msg: 1633835464.76 epoch sec; seqNo:816 2021-10-10T03:11:04Z- AHRS_M2 msg: -0.24 phi; -0.14 theta; 0.35 psi 2021-10-10T03:11:04Z- handleDepth()-Depth_Keller msg: 1633835464762 epoch sec; seqNo:839; depth 43.64 2021-10-10T03:11:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:04Z- handleDvl() - RDI_Pathfinder msg: 1633835464.77 epoch sec; seqNo:247 2021-10-10T03:11:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.05 , 0.04 2021-10-10T03:11:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835464.78 epoch sec; seqNo:839; 4061430.18 north; 594174.69 east 2021-10-10T03:11:05Z- AHRS_M2 msg: 1633835465.16 epoch sec; seqNo:817 2021-10-10T03:11:05Z- AHRS_M2 msg: -0.24 phi; -0.14 theta; 0.34 psi 2021-10-10T03:11:05Z- handleDepth()-Depth_Keller msg: 1633835465174 epoch sec; seqNo:840; depth 43.69 2021-10-10T03:11:05Z- handleDvl() - RDI_Pathfinder msg: 1633835465.20 epoch sec; seqNo:248 2021-10-10T03:11:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.87 , 59.67 , 47.73 , 55.37 2021-10-10T03:11:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.04 , 0.00 2021-10-10T03:11:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835465.21 epoch sec; seqNo:840; 4061430.57 north; 594175.91 east 2021-10-10T03:11:05Z- AHRS_M2 msg: 1633835465.57 epoch sec; seqNo:818 2021-10-10T03:11:05Z- AHRS_M2 msg: -0.24 phi; -0.14 theta; 0.34 psi 2021-10-10T03:11:05Z- handleDepth()-Depth_Keller msg: 1633835465577 epoch sec; seqNo:841; depth 43.75 2021-10-10T03:11:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835465.60 epoch sec; seqNo:841; 4061430.95 north; 594175.90 east 2021-10-10T03:11:05Z- AHRS_M2 msg: 1633835465.97 epoch sec; seqNo:819 2021-10-10T03:11:05Z- AHRS_M2 msg: -0.24 phi; -0.14 theta; 0.34 psi 2021-10-10T03:11:05Z- handleDepth()-Depth_Keller msg: 1633835465980 epoch sec; seqNo:842; depth 43.79 2021-10-10T03:11:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:05Z- handleDvl() - RDI_Pathfinder msg: 1633835465.98 epoch sec; seqNo:249 2021-10-10T03:11:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.04 , 0.00 2021-10-10T03:11:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835465.99 epoch sec; seqNo:842; 4061430.95 north; 594175.90 east 2021-10-10T03:11:06Z- AHRS_M2 msg: 1633835466.37 epoch sec; seqNo:820 2021-10-10T03:11:06Z- AHRS_M2 msg: -0.24 phi; -0.14 theta; 0.34 psi 2021-10-10T03:11:06Z- handleDepth()-Depth_Keller msg: 1633835466386 epoch sec; seqNo:843; depth 43.85 2021-10-10T03:11:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835466.40 epoch sec; seqNo:843; 4061431.33 north; 594175.90 east 2021-10-10T03:11:06Z- AHRS_M2 msg: 1633835466.78 epoch sec; seqNo:821 2021-10-10T03:11:06Z- AHRS_M2 msg: -0.24 phi; -0.13 theta; 0.34 psi 2021-10-10T03:11:06Z- handleDepth()-Depth_Keller msg: 1633835466789 epoch sec; seqNo:844; depth 43.89 2021-10-10T03:11:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835466.80 epoch sec; seqNo:844; 4061431.71 north; 594175.89 east 2021-10-10T03:11:07Z- AHRS_M2 msg: 1633835467.18 epoch sec; seqNo:822 2021-10-10T03:11:07Z- AHRS_M2 msg: -0.24 phi; -0.13 theta; 0.33 psi 2021-10-10T03:11:07Z- handleDepth()-Depth_Keller msg: 1633835467188 epoch sec; seqNo:845; depth 43.95 2021-10-10T03:11:07Z- handleDvl() - RDI_Pathfinder msg: 1633835467.22 epoch sec; seqNo:250 2021-10-10T03:11:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.39 , 59.42 , 47.49 , 54.65 2021-10-10T03:11:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.06 , -0.01 2021-10-10T03:11:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835467.23 epoch sec; seqNo:845; 4061432.09 north; 594175.89 east 2021-10-10T03:11:07Z- AHRS_M2 msg: 1633835467.59 epoch sec; seqNo:823 2021-10-10T03:11:07Z- AHRS_M2 msg: -0.24 phi; -0.13 theta; 0.33 psi 2021-10-10T03:11:07Z- handleDepth()-Depth_Keller msg: 1633835467590 epoch sec; seqNo:846; depth 43.99 2021-10-10T03:11:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835467.61 epoch sec; seqNo:846; 4061432.47 north; 594175.89 east 2021-10-10T03:11:08Z- AHRS_M2 msg: 1633835467.99 epoch sec; seqNo:824 2021-10-10T03:11:08Z- AHRS_M2 msg: -0.24 phi; -0.13 theta; 0.33 psi 2021-10-10T03:11:08Z- handleDepth()-Depth_Keller msg: 1633835467997 epoch sec; seqNo:847; depth 44.04 2021-10-10T03:11:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835468.01 epoch sec; seqNo:847; 4061432.47 north; 594175.89 east 2021-10-10T03:11:08Z- AHRS_M2 msg: 1633835468.39 epoch sec; seqNo:825 2021-10-10T03:11:08Z- AHRS_M2 msg: -0.24 phi; -0.13 theta; 0.33 psi 2021-10-10T03:11:08Z- handleDepth()-Depth_Keller msg: 1633835468409 epoch sec; seqNo:848; depth 44.08 2021-10-10T03:11:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:08Z- handleDvl() - RDI_Pathfinder msg: 1633835468.41 epoch sec; seqNo:251 2021-10-10T03:11:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.06 , -0.01 2021-10-10T03:11:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835468.43 epoch sec; seqNo:848; 4061432.85 north; 594175.88 east 2021-10-10T03:11:08Z- AHRS_M2 msg: 1633835468.80 epoch sec; seqNo:826 2021-10-10T03:11:08Z- AHRS_M2 msg: -0.24 phi; -0.13 theta; 0.32 psi 2021-10-10T03:11:08Z- handleDepth()-Depth_Keller msg: 1633835468802 epoch sec; seqNo:849; depth 44.15 2021-10-10T03:11:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835468.81 epoch sec; seqNo:849; 4061433.23 north; 594175.88 east 2021-10-10T03:11:08Z- LcmTrn::handleMessages() - handling 44 messages took 0.70 ms and 130 calls... 2021-10-10T03:11:09Z- waiting for 1633835466.58, time is 1633835468.81 2021-10-10T03:11:09Z- LcmTrn::updateTrn() >>>> pose time 1633835468.81, meas time 1633835468.41 <<<< 2021-10-10T03:11:09Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835468.41, ping # 0. 2021-10-10T03:11:09Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835468.41 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:11:09Z- TerrainNav::motionUpdate() - currEstimate = (4061433, 594175.88, 44.15) 2021-10-10T03:11:09Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:11:09Z- TerrainNav:: SubcloudNIS is 0.61, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:11:09Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:11:09Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:11:09Z- TNavBF::Projecting Measurements 2021-10-10T03:11:09Z- TNavFilter::Measurement from time = 1633835468.41 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:11:09Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:11:09Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:11:09Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:11:09Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:11:09Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:11:09Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:11:09Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:11:09Z- Filter 0 NorthBias: -25.2 EastBias: -37.2 DepthBias: -11.0 NorthVariance: 361.4 EastVariance: 27.5 DepthVariance: 1.4 this->DepthBiasCov: 1.3 2021-10-10T03:11:09Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:11:09Z- TNavBF::mmse selected from filter -1 2021-10-10T03:11:09Z- variances([0], [2], and psi_berg) = 361.393278 27.996906 0.000000 2021-10-10T03:11:09Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:11:09Z- LcmTrn::publishEstimates() - MLE : 4061397.73 594138.38 44.15 2021-10-10T03:11:09Z- LcmTrn::publishEstimates() - MMSE : 4061408.00 594138.72 33.11 2021-10-10T03:11:09Z- LcmTrn::publishEstimates() - COVAR: 361.39 28.00 1.37 0.00 2021-10-10T03:11:09Z- AHRS_M2 msg: 1633835469.20 epoch sec; seqNo:827 2021-10-10T03:11:09Z- AHRS_M2 msg: -0.24 phi; -0.13 theta; 0.32 psi 2021-10-10T03:11:09Z- handleDepth()-Depth_Keller msg: 1633835469214 epoch sec; seqNo:850; depth 44.17 2021-10-10T03:11:09Z- handleDvl() - RDI_Pathfinder msg: 1633835469.23 epoch sec; seqNo:252 2021-10-10T03:11:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.15 , 58.71 , 47.49 , 54.17 2021-10-10T03:11:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.09 , -0.01 2021-10-10T03:11:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835469.26 epoch sec; seqNo:850; 4061433.61 north; 594175.87 east 2021-10-10T03:11:09Z- AHRS_M2 msg: 1633835469.61 epoch sec; seqNo:828 2021-10-10T03:11:09Z- AHRS_M2 msg: -0.24 phi; -0.12 theta; 0.32 psi 2021-10-10T03:11:09Z- handleDepth()-Depth_Keller msg: 1633835469620 epoch sec; seqNo:851; depth 44.22 2021-10-10T03:11:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:09Z- handleDvl() - RDI_Pathfinder msg: 1633835469.62 epoch sec; seqNo:253 2021-10-10T03:11:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.09 , -0.01 2021-10-10T03:11:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835469.64 epoch sec; seqNo:851; 4061433.98 north; 594175.87 east 2021-10-10T03:11:10Z- AHRS_M2 msg: 1633835470.01 epoch sec; seqNo:829 2021-10-10T03:11:10Z- AHRS_M2 msg: -0.24 phi; -0.12 theta; 0.31 psi 2021-10-10T03:11:10Z- handleDepth()-Depth_Keller msg: 1633835470022 epoch sec; seqNo:852; depth 44.27 2021-10-10T03:11:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835470.03 epoch sec; seqNo:852; 4061434.36 north; 594175.86 east 2021-10-10T03:11:10Z- AHRS_M2 msg: 1633835470.41 epoch sec; seqNo:830 2021-10-10T03:11:10Z- AHRS_M2 msg: -0.23 phi; -0.12 theta; 0.31 psi 2021-10-10T03:11:10Z- handleDepth()-Depth_Keller msg: 1633835470418 epoch sec; seqNo:853; depth 44.32 2021-10-10T03:11:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835470.43 epoch sec; seqNo:853; 4061434.36 north; 594175.86 east 2021-10-10T03:11:10Z- AHRS_M2 msg: 1633835470.82 epoch sec; seqNo:831 2021-10-10T03:11:10Z- AHRS_M2 msg: -0.23 phi; -0.12 theta; 0.31 psi 2021-10-10T03:11:10Z- handleDepth()-Depth_Keller msg: 1633835470828 epoch sec; seqNo:854; depth 44.34 2021-10-10T03:11:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:10Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:10Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:10Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:10Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:10Z- handleDvl() - RDI_Pathfinder msg: 1633835470.83 epoch sec; seqNo:254 2021-10-10T03:11:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.09 , -0.01 2021-10-10T03:11:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835470.84 epoch sec; seqNo:854; 4061434.74 north; 594175.86 east 2021-10-10T03:11:11Z- AHRS_M2 msg: 1633835471.23 epoch sec; seqNo:832 2021-10-10T03:11:11Z- AHRS_M2 msg: -0.23 phi; -0.12 theta; 0.31 psi 2021-10-10T03:11:11Z- handleDepth()-Depth_Keller msg: 1633835471235 epoch sec; seqNo:855; depth 44.40 2021-10-10T03:11:11Z- handleDvl() - RDI_Pathfinder msg: 1633835471.26 epoch sec; seqNo:255 2021-10-10T03:11:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.67 , 58.47 , 47.25 , 53.69 2021-10-10T03:11:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.10 , 0.01 2021-10-10T03:11:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835471.29 epoch sec; seqNo:855; 4061435.13 north; 594177.08 east 2021-10-10T03:11:11Z- AHRS_M2 msg: 1633835471.62 epoch sec; seqNo:833 2021-10-10T03:11:11Z- AHRS_M2 msg: -0.23 phi; -0.12 theta; 0.31 psi 2021-10-10T03:11:11Z- handleDepth()-Depth_Keller msg: 1633835471630 epoch sec; seqNo:856; depth 44.44 2021-10-10T03:11:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835471.66 epoch sec; seqNo:856; 4061435.51 north; 594177.07 east 2021-10-10T03:11:12Z- AHRS_M2 msg: 1633835472.03 epoch sec; seqNo:834 2021-10-10T03:11:12Z- AHRS_M2 msg: -0.23 phi; -0.11 theta; 0.31 psi 2021-10-10T03:11:12Z- handleDepth()-Depth_Keller msg: 1633835472034 epoch sec; seqNo:857; depth 44.49 2021-10-10T03:11:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:12Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:12Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:12Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:12Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:12Z- handleDvl() - RDI_Pathfinder msg: 1633835472.04 epoch sec; seqNo:256 2021-10-10T03:11:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.10 , 0.01 2021-10-10T03:11:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835472.05 epoch sec; seqNo:857; 4061435.89 north; 594177.07 east 2021-10-10T03:11:12Z- AHRS_M2 msg: 1633835472.43 epoch sec; seqNo:835 2021-10-10T03:11:12Z- AHRS_M2 msg: -0.23 phi; -0.11 theta; 0.31 psi 2021-10-10T03:11:12Z- handleDepth()-Depth_Keller msg: 1633835472443 epoch sec; seqNo:858; depth 44.53 2021-10-10T03:11:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835472.45 epoch sec; seqNo:858; 4061436.27 north; 594177.06 east 2021-10-10T03:11:12Z- AHRS_M2 msg: 1633835472.84 epoch sec; seqNo:836 2021-10-10T03:11:12Z- AHRS_M2 msg: -0.23 phi; -0.11 theta; 0.30 psi 2021-10-10T03:11:12Z- handleDepth()-Depth_Keller msg: 1633835472847 epoch sec; seqNo:859; depth 44.59 2021-10-10T03:11:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835472.86 epoch sec; seqNo:859; 4061436.65 north; 594177.06 east 2021-10-10T03:11:13Z- AHRS_M2 msg: 1633835473.24 epoch sec; seqNo:837 2021-10-10T03:11:13Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 0.30 psi 2021-10-10T03:11:13Z- handleDepth()-Depth_Keller msg: 1633835473245 epoch sec; seqNo:860; depth 44.62 2021-10-10T03:11:13Z- handleDvl() - RDI_Pathfinder msg: 1633835473.28 epoch sec; seqNo:257 2021-10-10T03:11:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.67 , 57.27 , 47.25 , 52.98 2021-10-10T03:11:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.10 , 0.02 2021-10-10T03:11:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835473.29 epoch sec; seqNo:860; 4061437.03 north; 594177.06 east 2021-10-10T03:11:13Z- AHRS_M2 msg: 1633835473.64 epoch sec; seqNo:838 2021-10-10T03:11:13Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 0.30 psi 2021-10-10T03:11:13Z- handleDepth()-Depth_Keller msg: 1633835473652 epoch sec; seqNo:861; depth 44.66 2021-10-10T03:11:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835473.67 epoch sec; seqNo:861; 4061437.03 north; 594177.06 east 2021-10-10T03:11:14Z- LcmTrn::handleMessages() - handling 42 messages took 0.73 ms and 127 calls... 2021-10-10T03:11:14Z- waiting for 1633835471.81, time is 1633835473.67 2021-10-10T03:11:14Z- LcmTrn::updateTrn() >>>> pose time 1633835473.67, meas time 1633835473.28 <<<< 2021-10-10T03:11:14Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835473.28 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:11:14Z- TerrainNav::motionUpdate() - currEstimate = (4061437, 594177.06, 44.66) 2021-10-10T03:11:14Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:11:14Z- TerrainNav:: SubcloudNIS is 0.61, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:11:14Z- TNavBF::Projecting Measurements 2021-10-10T03:11:14Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:11:14Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:11:14Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:11:14Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:11:14Z- TNavFilter::4 good beams. 2021-10-10T03:11:14Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:11:14Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:11:14Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:11:14Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:11:14Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:11:14Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:11:14Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:11:14Z- TNavBF::mmse selected from filter -1 2021-10-10T03:11:14Z- TerrainMapOctree: (vehN, vehE ) = (4061436.73, 594176.96). 2021-10-10T03:11:14Z- TerrainMapOctree: Min Distance = 200.50. 2021-10-10T03:11:14Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:11:14Z- Forcing Subcloud Comparison 2021-10-10T03:11:14Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:11:14Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:11:14Z- Filter 0 partialDeltaRmsComputation: 1.621701 terrainVariance: 0.309546 1-SumSquareWeights: 0.998044 2021-10-10T03:11:14Z- Filter 0 meanExpectedMeasDiff: 1.145493 delta_rms_squared: 0.299566 alpha: 0.937415 2021-10-10T03:11:14Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:11:14Z- Filter 0 partialDeltaRmsComputation: 0.064764 terrainVariance: 0.064733 1-SumSquareWeights: 0.998044 2021-10-10T03:11:14Z- Filter 0 meanExpectedMeasDiff: 0.005573 delta_rms_squared: 0.054753 alpha: 0.732452 2021-10-10T03:11:14Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:11:14Z- Filter 0 partialDeltaRmsComputation: 20.822907 terrainVariance: 0.217406 1-SumSquareWeights: 0.998044 2021-10-10T03:11:14Z- Filter 0 meanExpectedMeasDiff: -4.539328 delta_rms_squared: 0.207425 alpha: 0.912059 2021-10-10T03:11:14Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:11:14Z- Filter 0 partialDeltaRmsComputation: 30.166414 terrainVariance: 0.018649 1-SumSquareWeights: 0.998044 2021-10-10T03:11:14Z- Filter 0 meanExpectedMeasDiff: 5.490698 delta_rms_squared: 0.008669 alpha: 0.302372 2021-10-10T03:11:14Z- Filter 0 SubcloudNIS: 0.738799 2021-10-10T03:11:14Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:11:14Z- TNavBF:: Filter 0 sumWeights = 0.101183 2021-10-10T03:11:14Z- Filter 0 NorthBias: -29.5 EastBias: -38.4 DepthBias: -10.6 NorthVariance: 301.1 EastVariance: 27.2 DepthVariance: 0.7 this->DepthBiasCov: 0.7 2021-10-10T03:11:14Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835473.28 sec. 2021-10-10T03:11:14Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:11:14Z- TNavBF::mmse selected from filter -1 2021-10-10T03:11:14Z- variances([0], [2], and psi_berg) = 301.116560 27.869685 0.000000 2021-10-10T03:11:14Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:11:14Z- LcmTrn::publishEstimates() - MLE : 4061403.53 594137.56 44.66 2021-10-10T03:11:14Z- LcmTrn::publishEstimates() - MMSE : 4061407.49 594138.66 34.06 2021-10-10T03:11:14Z- LcmTrn::publishEstimates() - COVAR: 301.12 27.87 0.76 0.00 2021-10-10T03:11:14Z- AHRS_M2 msg: 1633835474.05 epoch sec; seqNo:839 2021-10-10T03:11:14Z- AHRS_M2 msg: -0.22 phi; -0.10 theta; 0.30 psi 2021-10-10T03:11:14Z- handleDepth()-Depth_Keller msg: 1633835474056 epoch sec; seqNo:862; depth 44.71 2021-10-10T03:11:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835474.07 epoch sec; seqNo:862; 4061437.41 north; 594177.05 east 2021-10-10T03:11:14Z- AHRS_M2 msg: 1633835474.45 epoch sec; seqNo:840 2021-10-10T03:11:14Z- AHRS_M2 msg: -0.22 phi; -0.10 theta; 0.30 psi 2021-10-10T03:11:14Z- handleDepth()-Depth_Keller msg: 1633835474463 epoch sec; seqNo:863; depth 44.73 2021-10-10T03:11:14Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:14Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:14Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:14Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:14Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:14Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:14Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:14Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:14Z- handleDvl() - RDI_Pathfinder msg: 1633835474.47 epoch sec; seqNo:258 2021-10-10T03:11:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.10 , 0.02 2021-10-10T03:11:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835474.48 epoch sec; seqNo:863; 4061437.79 north; 594177.05 east 2021-10-10T03:11:14Z- AHRS_M2 msg: 1633835474.86 epoch sec; seqNo:841 2021-10-10T03:11:14Z- AHRS_M2 msg: -0.22 phi; -0.10 theta; 0.30 psi 2021-10-10T03:11:14Z- handleDepth()-Depth_Keller msg: 1633835474862 epoch sec; seqNo:864; depth 44.78 2021-10-10T03:11:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835474.87 epoch sec; seqNo:864; 4061438.16 north; 594177.04 east 2021-10-10T03:11:15Z- AHRS_M2 msg: 1633835475.26 epoch sec; seqNo:842 2021-10-10T03:11:15Z- AHRS_M2 msg: -0.21 phi; -0.10 theta; 0.30 psi 2021-10-10T03:11:15Z- handleDepth()-Depth_Keller msg: 1633835475268 epoch sec; seqNo:865; depth 44.82 2021-10-10T03:11:15Z- handleDvl() - RDI_Pathfinder msg: 1633835475.30 epoch sec; seqNo:259 2021-10-10T03:11:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.91 , 56.79 , 47.25 , 52.26 2021-10-10T03:11:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.09 , 0.02 2021-10-10T03:11:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835475.32 epoch sec; seqNo:865; 4061438.54 north; 594177.04 east 2021-10-10T03:11:15Z- AHRS_M2 msg: 1633835475.67 epoch sec; seqNo:843 2021-10-10T03:11:15Z- AHRS_M2 msg: -0.21 phi; -0.10 theta; 0.30 psi 2021-10-10T03:11:15Z- handleDepth()-Depth_Keller msg: 1633835475672 epoch sec; seqNo:866; depth 44.87 2021-10-10T03:11:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:15Z- handleDvl() - RDI_Pathfinder msg: 1633835475.67 epoch sec; seqNo:260 2021-10-10T03:11:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.09 , 0.02 2021-10-10T03:11:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835475.69 epoch sec; seqNo:866; 4061438.92 north; 594177.03 east 2021-10-10T03:11:16Z- AHRS_M2 msg: 1633835476.07 epoch sec; seqNo:844 2021-10-10T03:11:16Z- AHRS_M2 msg: -0.21 phi; -0.10 theta; 0.30 psi 2021-10-10T03:11:16Z- handleDepth()-Depth_Keller msg: 1633835476079 epoch sec; seqNo:867; depth 44.90 2021-10-10T03:11:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835476.09 epoch sec; seqNo:867; 4061438.92 north; 594177.03 east 2021-10-10T03:11:16Z- AHRS_M2 msg: 1633835476.47 epoch sec; seqNo:845 2021-10-10T03:11:16Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.30 psi 2021-10-10T03:11:16Z- handleDepth()-Depth_Keller msg: 1633835476479 epoch sec; seqNo:868; depth 44.95 2021-10-10T03:11:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835476.50 epoch sec; seqNo:868; 4061439.30 north; 594177.03 east 2021-10-10T03:11:16Z- AHRS_M2 msg: 1633835476.88 epoch sec; seqNo:846 2021-10-10T03:11:16Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.30 psi 2021-10-10T03:11:16Z- handleDepth()-Depth_Keller msg: 1633835476883 epoch sec; seqNo:869; depth 44.99 2021-10-10T03:11:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:16Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:16Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:16Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:16Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:16Z- handleDvl() - RDI_Pathfinder msg: 1633835476.89 epoch sec; seqNo:261 2021-10-10T03:11:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.09 , 0.02 2021-10-10T03:11:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835476.89 epoch sec; seqNo:869; 4061439.68 north; 594177.03 east 2021-10-10T03:11:17Z- AHRS_M2 msg: 1633835477.29 epoch sec; seqNo:847 2021-10-10T03:11:17Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.31 psi 2021-10-10T03:11:17Z- handleDepth()-Depth_Keller msg: 1633835477296 epoch sec; seqNo:870; depth 45.01 2021-10-10T03:11:17Z- handleDvl() - RDI_Pathfinder msg: 1633835477.32 epoch sec; seqNo:262 2021-10-10T03:11:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.91 , 56.08 , 47.01 , 52.50 2021-10-10T03:11:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.07 , 0.01 2021-10-10T03:11:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835477.35 epoch sec; seqNo:870; 4061440.06 north; 594177.02 east 2021-10-10T03:11:17Z- AHRS_M2 msg: 1633835477.68 epoch sec; seqNo:848 2021-10-10T03:11:17Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.31 psi 2021-10-10T03:11:17Z- handleDepth()-Depth_Keller msg: 1633835477702 epoch sec; seqNo:871; depth 45.06 2021-10-10T03:11:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835477.72 epoch sec; seqNo:871; 4061440.44 north; 594177.02 east 2021-10-10T03:11:18Z- AHRS_M2 msg: 1633835478.09 epoch sec; seqNo:849 2021-10-10T03:11:18Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.31 psi 2021-10-10T03:11:18Z- handleDepth()-Depth_Keller msg: 1633835478095 epoch sec; seqNo:872; depth 45.08 2021-10-10T03:11:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:18Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:18Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:18Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:18Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:18Z- handleDvl() - RDI_Pathfinder msg: 1633835478.10 epoch sec; seqNo:263 2021-10-10T03:11:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.07 , 0.01 2021-10-10T03:11:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835478.11 epoch sec; seqNo:872; 4061440.82 north; 594177.01 east 2021-10-10T03:11:18Z- AHRS_M2 msg: 1633835478.49 epoch sec; seqNo:850 2021-10-10T03:11:18Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.31 psi 2021-10-10T03:11:18Z- handleDepth()-Depth_Keller msg: 1633835478500 epoch sec; seqNo:873; depth 45.12 2021-10-10T03:11:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835478.51 epoch sec; seqNo:873; 4061440.82 north; 594177.01 east 2021-10-10T03:11:18Z- AHRS_M2 msg: 1633835478.90 epoch sec; seqNo:851 2021-10-10T03:11:18Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.31 psi 2021-10-10T03:11:18Z- handleDepth()-Depth_Keller msg: 1633835478905 epoch sec; seqNo:874; depth 45.15 2021-10-10T03:11:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835478.92 epoch sec; seqNo:874; 4061441.21 north; 594178.23 east 2021-10-10T03:11:19Z- LcmTrn::handleMessages() - handling 45 messages took 0.68 ms and 131 calls... 2021-10-10T03:11:19Z- waiting for 1633835476.67, time is 1633835478.92 2021-10-10T03:11:19Z- LcmTrn::updateTrn() >>>> pose time 1633835478.92, meas time 1633835478.10 <<<< 2021-10-10T03:11:19Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835478.10, ping # 0. 2021-10-10T03:11:19Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835478.10 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:11:19Z- TerrainNav::motionUpdate() - currEstimate = (4061441, 594178.23, 45.15) 2021-10-10T03:11:19Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:11:19Z- TerrainNav:: SubcloudNIS is 0.74, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:11:19Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:11:19Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:11:19Z- TNavBF::Projecting Measurements 2021-10-10T03:11:19Z- TNavFilter::Measurement from time = 1633835478.10 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:11:19Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:11:19Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:11:19Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:11:19Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:11:19Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:11:19Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:11:19Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:11:19Z- Filter 0 NorthBias: -29.5 EastBias: -38.4 DepthBias: -10.6 NorthVariance: 301.1 EastVariance: 30.1 DepthVariance: 0.9 this->DepthBiasCov: 0.9 2021-10-10T03:11:19Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:11:19Z- TNavBF::mmse selected from filter -1 2021-10-10T03:11:19Z- variances([0], [2], and psi_berg) = 301.162686 31.006915 0.000000 2021-10-10T03:11:19Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:11:19Z- LcmTrn::publishEstimates() - MLE : 4061407.71 594138.73 45.15 2021-10-10T03:11:19Z- LcmTrn::publishEstimates() - MMSE : 4061411.67 594139.87 34.54 2021-10-10T03:11:19Z- LcmTrn::publishEstimates() - COVAR: 301.16 31.01 0.98 0.00 2021-10-10T03:11:19Z- AHRS_M2 msg: 1633835479.30 epoch sec; seqNo:852 2021-10-10T03:11:19Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.31 psi 2021-10-10T03:11:19Z- handleDepth()-Depth_Keller msg: 1633835479307 epoch sec; seqNo:875; depth 45.19 2021-10-10T03:11:19Z- handleDvl() - RDI_Pathfinder msg: 1633835479.34 epoch sec; seqNo:264 2021-10-10T03:11:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.14 , 55.60 , 46.77 , 51.54 2021-10-10T03:11:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.06 , 0.00 2021-10-10T03:11:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835479.36 epoch sec; seqNo:875; 4061441.59 north; 594178.23 east 2021-10-10T03:11:19Z- AHRS_M2 msg: 1633835479.71 epoch sec; seqNo:853 2021-10-10T03:11:19Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.31 psi 2021-10-10T03:11:19Z- handleDepth()-Depth_Keller msg: 1633835479716 epoch sec; seqNo:876; depth 45.22 2021-10-10T03:11:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835479.73 epoch sec; seqNo:876; 4061441.97 north; 594178.22 east 2021-10-10T03:11:20Z- AHRS_M2 msg: 1633835480.11 epoch sec; seqNo:854 2021-10-10T03:11:20Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.31 psi 2021-10-10T03:11:20Z- handleDepth()-Depth_Keller msg: 1633835480123 epoch sec; seqNo:877; depth 45.24 2021-10-10T03:11:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835480.13 epoch sec; seqNo:877; 4061442.35 north; 594178.22 east 2021-10-10T03:11:20Z- AHRS_M2 msg: 1633835480.51 epoch sec; seqNo:855 2021-10-10T03:11:20Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.31 psi 2021-10-10T03:11:20Z- handleDepth()-Depth_Keller msg: 1633835480520 epoch sec; seqNo:878; depth 45.27 2021-10-10T03:11:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:20Z- handleDvl() - RDI_Pathfinder msg: 1633835480.52 epoch sec; seqNo:265 2021-10-10T03:11:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.06 , 0.00 2021-10-10T03:11:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835480.54 epoch sec; seqNo:878; 4061442.35 north; 594178.22 east 2021-10-10T03:11:20Z- AHRS_M2 msg: 1633835480.92 epoch sec; seqNo:856 2021-10-10T03:11:20Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.31 psi 2021-10-10T03:11:20Z- handleDepth()-Depth_Keller msg: 1633835480927 epoch sec; seqNo:879; depth 45.32 2021-10-10T03:11:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835480.95 epoch sec; seqNo:879; 4061442.72 north; 594178.21 east 2021-10-10T03:11:21Z- AHRS_M2 msg: 1633835481.32 epoch sec; seqNo:857 2021-10-10T03:11:21Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.31 psi 2021-10-10T03:11:21Z- handleDepth()-Depth_Keller msg: 1633835481329 epoch sec; seqNo:880; depth 45.33 2021-10-10T03:11:21Z- handleDvl() - RDI_Pathfinder msg: 1633835481.36 epoch sec; seqNo:266 2021-10-10T03:11:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.14 , 55.84 , 47.01 , 51.54 2021-10-10T03:11:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.06 , -0.01 2021-10-10T03:11:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835481.39 epoch sec; seqNo:880; 4061443.10 north; 594178.21 east 2021-10-10T03:11:21Z- AHRS_M2 msg: 1633835481.74 epoch sec; seqNo:858 2021-10-10T03:11:21Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.32 psi 2021-10-10T03:11:21Z- handleDepth()-Depth_Keller msg: 1633835481744 epoch sec; seqNo:881; depth 45.37 2021-10-10T03:11:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:21Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:21Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:21Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:21Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:21Z- handleDvl() - RDI_Pathfinder msg: 1633835481.75 epoch sec; seqNo:267 2021-10-10T03:11:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.06 , -0.01 2021-10-10T03:11:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835481.76 epoch sec; seqNo:881; 4061443.48 north; 594178.21 east 2021-10-10T03:11:22Z- AHRS_M2 msg: 1633835482.13 epoch sec; seqNo:859 2021-10-10T03:11:22Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.32 psi 2021-10-10T03:11:22Z- handleDepth()-Depth_Keller msg: 1633835482135 epoch sec; seqNo:882; depth 45.39 2021-10-10T03:11:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835482.15 epoch sec; seqNo:882; 4061443.86 north; 594178.20 east 2021-10-10T03:11:22Z- AHRS_M2 msg: 1633835482.54 epoch sec; seqNo:860 2021-10-10T03:11:22Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.32 psi 2021-10-10T03:11:22Z- handleDepth()-Depth_Keller msg: 1633835482548 epoch sec; seqNo:883; depth 45.43 2021-10-10T03:11:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835482.57 epoch sec; seqNo:883; 4061444.24 north; 594178.20 east 2021-10-10T03:11:22Z- AHRS_M2 msg: 1633835482.94 epoch sec; seqNo:861 2021-10-10T03:11:22Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.32 psi 2021-10-10T03:11:22Z- handleDepth()-Depth_Keller msg: 1633835482946 epoch sec; seqNo:884; depth 45.45 2021-10-10T03:11:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:22Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:22Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:22Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:22Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:22Z- handleDvl() - RDI_Pathfinder msg: 1633835482.95 epoch sec; seqNo:268 2021-10-10T03:11:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.06 , -0.01 2021-10-10T03:11:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835482.96 epoch sec; seqNo:884; 4061444.24 north; 594178.20 east 2021-10-10T03:11:23Z- AHRS_M2 msg: 1633835483.34 epoch sec; seqNo:862 2021-10-10T03:11:23Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.32 psi 2021-10-10T03:11:23Z- handleDepth()-Depth_Keller msg: 1633835483348 epoch sec; seqNo:885; depth 45.49 2021-10-10T03:11:23Z- handleDvl() - RDI_Pathfinder msg: 1633835483.37 epoch sec; seqNo:269 2021-10-10T03:11:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.67 , 55.36 , 46.53 , 51.06 2021-10-10T03:11:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.09 , -0.02 2021-10-10T03:11:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835483.39 epoch sec; seqNo:885; 4061444.62 north; 594178.19 east 2021-10-10T03:11:23Z- AHRS_M2 msg: 1633835483.74 epoch sec; seqNo:863 2021-10-10T03:11:23Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.32 psi 2021-10-10T03:11:23Z- handleDepth()-Depth_Keller msg: 1633835483751 epoch sec; seqNo:886; depth 45.53 2021-10-10T03:11:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835483.78 epoch sec; seqNo:886; 4061445.00 north; 594178.19 east 2021-10-10T03:11:24Z- AHRS_M2 msg: 1633835484.15 epoch sec; seqNo:864 2021-10-10T03:11:24Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.32 psi 2021-10-10T03:11:24Z- handleDepth()-Depth_Keller msg: 1633835484154 epoch sec; seqNo:887; depth 45.56 2021-10-10T03:11:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:24Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:24Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:24Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:24Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:24Z- handleDvl() - RDI_Pathfinder msg: 1633835484.16 epoch sec; seqNo:270 2021-10-10T03:11:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.09 , -0.02 2021-10-10T03:11:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835484.17 epoch sec; seqNo:887; 4061445.38 north; 594178.18 east 2021-10-10T03:11:24Z- LcmTrn::handleMessages() - handling 46 messages took 0.75 ms and 131 calls... 2021-10-10T03:11:24Z- waiting for 1633835481.92, time is 1633835484.17 2021-10-10T03:11:24Z- LcmTrn::updateTrn() equating pose 1633835484.17 and meas times 1633835484.17 2021-10-10T03:11:24Z- LcmTrn::updateTrn() >>>> pose time 1633835484.17, meas time 1633835484.17 <<<< 2021-10-10T03:11:24Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835484.17, ping # 0. 2021-10-10T03:11:24Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835484.17 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:11:24Z- TerrainNav::motionUpdate() - currEstimate = (4061445, 594178.18, 45.56) 2021-10-10T03:11:24Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:11:24Z- TerrainNav:: SubcloudNIS is 0.74, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:11:24Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:11:24Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:11:24Z- TerrainNav::Measurement type 1 not incorporated from time = 1633835484.17 sec.; No relevant navigation data available 2021-10-10T03:11:24Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:11:24Z- TNavBF::mmse selected from filter -1 2021-10-10T03:11:24Z- variances([0], [2], and psi_berg) = 301.196827 33.273890 0.000000 2021-10-10T03:11:24Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:11:24Z- LcmTrn::publishEstimates() - MLE : 4061411.88 594138.68 45.56 2021-10-10T03:11:24Z- LcmTrn::publishEstimates() - MMSE : 4061415.84 594139.85 34.96 2021-10-10T03:11:24Z- LcmTrn::publishEstimates() - COVAR: 301.20 33.27 1.19 0.00 2021-10-10T03:11:24Z- AHRS_M2 msg: 1633835484.56 epoch sec; seqNo:865 2021-10-10T03:11:24Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.32 psi 2021-10-10T03:11:24Z- handleDepth()-Depth_Keller msg: 1633835484565 epoch sec; seqNo:888; depth 45.59 2021-10-10T03:11:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835484.58 epoch sec; seqNo:888; 4061445.75 north; 594178.18 east 2021-10-10T03:11:24Z- AHRS_M2 msg: 1633835484.96 epoch sec; seqNo:866 2021-10-10T03:11:24Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.32 psi 2021-10-10T03:11:24Z- handleDepth()-Depth_Keller msg: 1633835484964 epoch sec; seqNo:889; depth 45.63 2021-10-10T03:11:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835484.97 epoch sec; seqNo:889; 4061445.75 north; 594178.18 east 2021-10-10T03:11:25Z- AHRS_M2 msg: 1633835485.36 epoch sec; seqNo:867 2021-10-10T03:11:25Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.32 psi 2021-10-10T03:11:25Z- handleDepth()-Depth_Keller msg: 1633835485367 epoch sec; seqNo:890; depth 45.64 2021-10-10T03:11:25Z- handleDvl() - RDI_Pathfinder msg: 1633835485.40 epoch sec; seqNo:271 2021-10-10T03:11:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.91 , 55.84 , 46.53 , 51.06 2021-10-10T03:11:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.11 , 0.01 2021-10-10T03:11:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835485.42 epoch sec; seqNo:890; 4061446.13 north; 594178.18 east 2021-10-10T03:11:25Z- AHRS_M2 msg: 1633835485.77 epoch sec; seqNo:868 2021-10-10T03:11:25Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.32 psi 2021-10-10T03:11:25Z- handleDepth()-Depth_Keller msg: 1633835485770 epoch sec; seqNo:891; depth 45.69 2021-10-10T03:11:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835485.79 epoch sec; seqNo:891; 4061446.53 north; 594179.39 east 2021-10-10T03:11:26Z- AHRS_M2 msg: 1633835486.17 epoch sec; seqNo:869 2021-10-10T03:11:26Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.32 psi 2021-10-10T03:11:26Z- handleDepth()-Depth_Keller msg: 1633835486176 epoch sec; seqNo:892; depth 45.73 2021-10-10T03:11:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835486.19 epoch sec; seqNo:892; 4061446.90 north; 594179.39 east 2021-10-10T03:11:26Z- AHRS_M2 msg: 1633835486.57 epoch sec; seqNo:870 2021-10-10T03:11:26Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.32 psi 2021-10-10T03:11:26Z- handleDepth()-Depth_Keller msg: 1633835486593 epoch sec; seqNo:893; depth 45.75 2021-10-10T03:11:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:26Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:26Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:26Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:26Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:26Z- handleDvl() - RDI_Pathfinder msg: 1633835486.60 epoch sec; seqNo:272 2021-10-10T03:11:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.11 , 0.01 2021-10-10T03:11:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835486.61 epoch sec; seqNo:893; 4061447.28 north; 594179.38 east 2021-10-10T03:11:27Z- AHRS_M2 msg: 1633835486.99 epoch sec; seqNo:871 2021-10-10T03:11:27Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.32 psi 2021-10-10T03:11:27Z- handleDepth()-Depth_Keller msg: 1633835487004 epoch sec; seqNo:894; depth 45.78 2021-10-10T03:11:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835487.06 epoch sec; seqNo:894; 4061447.66 north; 594179.38 east 2021-10-10T03:11:27Z- AHRS_M2 msg: 1633835487.39 epoch sec; seqNo:872 2021-10-10T03:11:27Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.32 psi 2021-10-10T03:11:27Z- handleDepth()-Depth_Keller msg: 1633835487390 epoch sec; seqNo:895; depth 45.82 2021-10-10T03:11:27Z- handleDvl() - RDI_Pathfinder msg: 1633835487.43 epoch sec; seqNo:273 2021-10-10T03:11:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.90 , 55.35 , 46.05 , 51.06 2021-10-10T03:11:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.11 , 0.04 2021-10-10T03:11:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835487.44 epoch sec; seqNo:895; 4061448.04 north; 594179.38 east 2021-10-10T03:11:27Z- AHRS_M2 msg: 1633835487.79 epoch sec; seqNo:873 2021-10-10T03:11:27Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.32 psi 2021-10-10T03:11:27Z- handleDepth()-Depth_Keller msg: 1633835487790 epoch sec; seqNo:896; depth 45.85 2021-10-10T03:11:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:27Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:27Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:27Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:27Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:27Z- handleDvl() - RDI_Pathfinder msg: 1633835487.79 epoch sec; seqNo:274 2021-10-10T03:11:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.11 , 0.04 2021-10-10T03:11:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835487.81 epoch sec; seqNo:896; 4061448.04 north; 594179.38 east 2021-10-10T03:11:28Z- AHRS_M2 msg: 1633835488.19 epoch sec; seqNo:874 2021-10-10T03:11:28Z- AHRS_M2 msg: -0.21 phi; -0.10 theta; 0.32 psi 2021-10-10T03:11:28Z- handleDepth()-Depth_Keller msg: 1633835488196 epoch sec; seqNo:897; depth 45.89 2021-10-10T03:11:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835488.21 epoch sec; seqNo:897; 4061448.42 north; 594179.37 east 2021-10-10T03:11:28Z- AHRS_M2 msg: 1633835488.59 epoch sec; seqNo:875 2021-10-10T03:11:28Z- AHRS_M2 msg: -0.22 phi; -0.10 theta; 0.32 psi 2021-10-10T03:11:28Z- handleDepth()-Depth_Keller msg: 1633835488604 epoch sec; seqNo:898; depth 45.93 2021-10-10T03:11:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835488.62 epoch sec; seqNo:898; 4061448.80 north; 594179.37 east 2021-10-10T03:11:29Z- AHRS_M2 msg: 1633835489.00 epoch sec; seqNo:876 2021-10-10T03:11:29Z- AHRS_M2 msg: -0.22 phi; -0.10 theta; 0.32 psi 2021-10-10T03:11:29Z- handleDepth()-Depth_Keller msg: 1633835489034 epoch sec; seqNo:899; depth 45.97 2021-10-10T03:11:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:29Z- handleDvl() - RDI_Pathfinder msg: 1633835489.05 epoch sec; seqNo:275 2021-10-10T03:11:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.11 , 0.04 2021-10-10T03:11:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835489.08 epoch sec; seqNo:899; 4061449.18 north; 594179.36 east 2021-10-10T03:11:29Z- LcmTrn::handleMessages() - handling 41 messages took 0.78 ms and 125 calls... 2021-10-10T03:11:29Z- waiting for 1633835487.17, time is 1633835489.08 2021-10-10T03:11:29Z- LcmTrn::updateTrn() equating pose 1633835489.08 and meas times 1633835489.08 2021-10-10T03:11:29Z- LcmTrn::updateTrn() >>>> pose time 1633835489.08, meas time 1633835489.08 <<<< 2021-10-10T03:11:29Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835489.08, ping # 0. 2021-10-10T03:11:29Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835489.08 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:11:29Z- TerrainNav::motionUpdate() - currEstimate = (4061449, 594179.36, 45.97) 2021-10-10T03:11:29Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:11:29Z- TerrainNav:: SubcloudNIS is 0.74, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:11:29Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:11:29Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:11:29Z- TNavBF::Projecting Measurements 2021-10-10T03:11:29Z- TNavFilter::Measurement from time = 1633835489.08 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:11:29Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:11:29Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:11:29Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:11:29Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:11:29Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:11:29Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:11:29Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:11:29Z- Filter 0 NorthBias: -29.5 EastBias: -38.3 DepthBias: -10.6 NorthVariance: 301.2 EastVariance: 35.4 DepthVariance: 1.4 this->DepthBiasCov: 1.4 2021-10-10T03:11:29Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:11:29Z- TNavBF::mmse selected from filter -1 2021-10-10T03:11:29Z- variances([0], [2], and psi_berg) = 301.229966 35.426491 0.000000 2021-10-10T03:11:29Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:11:29Z- LcmTrn::publishEstimates() - MLE : 4061415.68 594139.86 45.97 2021-10-10T03:11:29Z- LcmTrn::publishEstimates() - MMSE : 4061419.64 594141.06 35.36 2021-10-10T03:11:29Z- LcmTrn::publishEstimates() - COVAR: 301.23 35.43 1.40 0.00 2021-10-10T03:11:29Z- AHRS_M2 msg: 1633835489.40 epoch sec; seqNo:877 2021-10-10T03:11:29Z- AHRS_M2 msg: -0.22 phi; -0.10 theta; 0.32 psi 2021-10-10T03:11:29Z- handleDepth()-Depth_Keller msg: 1633835489407 epoch sec; seqNo:900; depth 46.01 2021-10-10T03:11:29Z- handleDvl() - RDI_Pathfinder msg: 1633835489.43 epoch sec; seqNo:276 2021-10-10T03:11:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.66 , 55.35 , 46.05 , 51.30 2021-10-10T03:11:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.07 , 0.04 2021-10-10T03:11:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835489.47 epoch sec; seqNo:900; 4061449.56 north; 594179.36 east 2021-10-10T03:11:29Z- AHRS_M2 msg: 1633835489.81 epoch sec; seqNo:878 2021-10-10T03:11:29Z- AHRS_M2 msg: -0.22 phi; -0.10 theta; 0.32 psi 2021-10-10T03:11:29Z- handleDepth()-Depth_Keller msg: 1633835489811 epoch sec; seqNo:901; depth 46.05 2021-10-10T03:11:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835489.83 epoch sec; seqNo:901; 4061449.94 north; 594179.35 east 2021-10-10T03:11:30Z- AHRS_M2 msg: 1633835490.21 epoch sec; seqNo:879 2021-10-10T03:11:30Z- AHRS_M2 msg: -0.22 phi; -0.10 theta; 0.32 psi 2021-10-10T03:11:30Z- handleDepth()-Depth_Keller msg: 1633835490215 epoch sec; seqNo:902; depth 46.07 2021-10-10T03:11:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:30Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:30Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:30Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:30Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:30Z- handleDvl() - RDI_Pathfinder msg: 1633835490.22 epoch sec; seqNo:277 2021-10-10T03:11:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.07 , 0.04 2021-10-10T03:11:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835490.24 epoch sec; seqNo:902; 4061449.94 north; 594179.35 east 2021-10-10T03:11:30Z- AHRS_M2 msg: 1633835490.61 epoch sec; seqNo:880 2021-10-10T03:11:30Z- AHRS_M2 msg: -0.22 phi; -0.10 theta; 0.32 psi 2021-10-10T03:11:30Z- handleDepth()-Depth_Keller msg: 1633835490620 epoch sec; seqNo:903; depth 46.11 2021-10-10T03:11:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835490.65 epoch sec; seqNo:903; 4061450.31 north; 594179.35 east 2021-10-10T03:11:31Z- AHRS_M2 msg: 1633835491.04 epoch sec; seqNo:881 2021-10-10T03:11:31Z- AHRS_M2 msg: -0.21 phi; -0.10 theta; 0.32 psi 2021-10-10T03:11:31Z- handleDepth()-Depth_Keller msg: 1633835491072 epoch sec; seqNo:904; depth 46.15 2021-10-10T03:11:31Z- handleDvl() - RDI_Pathfinder msg: 1633835491.09 epoch sec; seqNo:278 2021-10-10T03:11:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.66 , 55.12 , 46.05 , 51.78 2021-10-10T03:11:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.05 , 0.02 2021-10-10T03:11:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835491.12 epoch sec; seqNo:904; 4061450.69 north; 594179.35 east 2021-10-10T03:11:31Z- AHRS_M2 msg: 1633835491.42 epoch sec; seqNo:882 2021-10-10T03:11:31Z- AHRS_M2 msg: -0.21 phi; -0.10 theta; 0.33 psi 2021-10-10T03:11:31Z- handleDepth()-Depth_Keller msg: 1633835491428 epoch sec; seqNo:905; depth 46.20 2021-10-10T03:11:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:31Z- handleDvl() - RDI_Pathfinder msg: 1633835491.43 epoch sec; seqNo:279 2021-10-10T03:11:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.05 , 0.02 2021-10-10T03:11:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835491.45 epoch sec; seqNo:905; 4061451.07 north; 594179.34 east 2021-10-10T03:11:31Z- AHRS_M2 msg: 1633835491.83 epoch sec; seqNo:883 2021-10-10T03:11:31Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 0.33 psi 2021-10-10T03:11:31Z- handleDepth()-Depth_Keller msg: 1633835491829 epoch sec; seqNo:906; depth 46.23 2021-10-10T03:11:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835491.85 epoch sec; seqNo:906; 4061451.45 north; 594179.34 east 2021-10-10T03:11:32Z- AHRS_M2 msg: 1633835492.23 epoch sec; seqNo:884 2021-10-10T03:11:32Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 0.33 psi 2021-10-10T03:11:32Z- handleDepth()-Depth_Keller msg: 1633835492236 epoch sec; seqNo:907; depth 46.27 2021-10-10T03:11:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835492.24 epoch sec; seqNo:907; 4061451.45 north; 594179.34 east 2021-10-10T03:11:32Z- AHRS_M2 msg: 1633835492.64 epoch sec; seqNo:885 2021-10-10T03:11:32Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 0.33 psi 2021-10-10T03:11:32Z- handleDepth()-Depth_Keller msg: 1633835492651 epoch sec; seqNo:908; depth 46.30 2021-10-10T03:11:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:32Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:32Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:32Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:32Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:32Z- handleDvl() - RDI_Pathfinder msg: 1633835492.65 epoch sec; seqNo:280 2021-10-10T03:11:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.05 , 0.02 2021-10-10T03:11:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835492.66 epoch sec; seqNo:908; 4061451.84 north; 594180.55 east 2021-10-10T03:11:33Z- AHRS_M2 msg: 1633835493.07 epoch sec; seqNo:886 2021-10-10T03:11:33Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 0.33 psi 2021-10-10T03:11:33Z- handleDepth()-Depth_Keller msg: 1633835493075 epoch sec; seqNo:909; depth 46.33 2021-10-10T03:11:33Z- handleDvl() - RDI_Pathfinder msg: 1633835493.10 epoch sec; seqNo:281 2021-10-10T03:11:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.42 , 55.12 , 45.57 , 51.54 2021-10-10T03:11:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.06 , -0.00 2021-10-10T03:11:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835493.12 epoch sec; seqNo:909; 4061452.22 north; 594180.55 east 2021-10-10T03:11:33Z- AHRS_M2 msg: 1633835493.44 epoch sec; seqNo:887 2021-10-10T03:11:33Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 0.33 psi 2021-10-10T03:11:33Z- handleDepth()-Depth_Keller msg: 1633835493456 epoch sec; seqNo:910; depth 46.39 2021-10-10T03:11:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835493.48 epoch sec; seqNo:910; 4061452.60 north; 594180.55 east 2021-10-10T03:11:33Z- AHRS_M2 msg: 1633835493.85 epoch sec; seqNo:888 2021-10-10T03:11:33Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 0.33 psi 2021-10-10T03:11:33Z- handleDepth()-Depth_Keller msg: 1633835493851 epoch sec; seqNo:911; depth 46.42 2021-10-10T03:11:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:33Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:33Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:33Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:33Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:33Z- handleDvl() - RDI_Pathfinder msg: 1633835493.85 epoch sec; seqNo:282 2021-10-10T03:11:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.06 , -0.00 2021-10-10T03:11:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835493.86 epoch sec; seqNo:911; 4061452.98 north; 594180.54 east 2021-10-10T03:11:34Z- AHRS_M2 msg: 1633835494.25 epoch sec; seqNo:889 2021-10-10T03:11:34Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 0.33 psi 2021-10-10T03:11:34Z- handleDepth()-Depth_Keller msg: 1633835494256 epoch sec; seqNo:912; depth 46.45 2021-10-10T03:11:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835494.27 epoch sec; seqNo:912; 4061453.36 north; 594180.54 east 2021-10-10T03:11:34Z- LcmTrn::handleMessages() - handling 46 messages took 0.72 ms and 131 calls... 2021-10-10T03:11:34Z- waiting for 1633835492.08, time is 1633835494.27 2021-10-10T03:11:34Z- LcmTrn::updateTrn() >>>> pose time 1633835494.27, meas time 1633835493.85 <<<< 2021-10-10T03:11:34Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835493.85, ping # 0. 2021-10-10T03:11:34Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835493.85 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:11:34Z- TerrainNav::motionUpdate() - currEstimate = (4061453, 594180.54, 46.45) 2021-10-10T03:11:34Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:11:34Z- TerrainNav:: SubcloudNIS is 0.74, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:11:34Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:11:34Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:11:34Z- TNavBF::Projecting Measurements 2021-10-10T03:11:34Z- TNavFilter::Measurement from time = 1633835493.85 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:11:34Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:11:34Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:11:34Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:11:34Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:11:34Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:11:34Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:11:34Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:11:34Z- Filter 0 NorthBias: -29.5 EastBias: -38.3 DepthBias: -10.6 NorthVariance: 301.3 EastVariance: 37.5 DepthVariance: 1.6 this->DepthBiasCov: 1.6 2021-10-10T03:11:34Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:11:34Z- TNavBF::mmse selected from filter -1 2021-10-10T03:11:34Z- variances([0], [2], and psi_berg) = 301.272611 38.126986 0.000000 2021-10-10T03:11:34Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:11:34Z- LcmTrn::publishEstimates() - MLE : 4061419.86 594141.04 46.45 2021-10-10T03:11:34Z- LcmTrn::publishEstimates() - MMSE : 4061423.82 594142.27 35.85 2021-10-10T03:11:34Z- LcmTrn::publishEstimates() - COVAR: 301.27 38.13 1.62 0.00 2021-10-10T03:11:34Z- AHRS_M2 msg: 1633835494.65 epoch sec; seqNo:890 2021-10-10T03:11:34Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 0.33 psi 2021-10-10T03:11:34Z- handleDepth()-Depth_Keller msg: 1633835494662 epoch sec; seqNo:913; depth 46.49 2021-10-10T03:11:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835494.67 epoch sec; seqNo:913; 4061453.74 north; 594180.53 east 2021-10-10T03:11:35Z- AHRS_M2 msg: 1633835495.08 epoch sec; seqNo:891 2021-10-10T03:11:35Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 0.33 psi 2021-10-10T03:11:35Z- handleDepth()-Depth_Keller msg: 1633835495081 epoch sec; seqNo:914; depth 46.52 2021-10-10T03:11:35Z- handleDvl() - RDI_Pathfinder msg: 1633835495.10 epoch sec; seqNo:283 2021-10-10T03:11:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.20 , 55.16 , 45.19 , 51.62 2021-10-10T03:11:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.08 , -0.02 2021-10-10T03:11:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835495.12 epoch sec; seqNo:914; 4061453.74 north; 594180.53 east 2021-10-10T03:11:35Z- AHRS_M2 msg: 1633835495.47 epoch sec; seqNo:892 2021-10-10T03:11:35Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 0.33 psi 2021-10-10T03:11:35Z- handleDepth()-Depth_Keller msg: 1633835495472 epoch sec; seqNo:915; depth 46.59 2021-10-10T03:11:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835495.50 epoch sec; seqNo:915; 4061454.12 north; 594180.53 east 2021-10-10T03:11:35Z- AHRS_M2 msg: 1633835495.87 epoch sec; seqNo:893 2021-10-10T03:11:35Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 0.33 psi 2021-10-10T03:11:35Z- handleDepth()-Depth_Keller msg: 1633835495870 epoch sec; seqNo:916; depth 46.60 2021-10-10T03:11:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835495.88 epoch sec; seqNo:916; 4061454.50 north; 594180.53 east 2021-10-10T03:11:36Z- AHRS_M2 msg: 1633835496.27 epoch sec; seqNo:894 2021-10-10T03:11:36Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 0.33 psi 2021-10-10T03:11:36Z- handleDepth()-Depth_Keller msg: 1633835496280 epoch sec; seqNo:917; depth 46.64 2021-10-10T03:11:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:36Z- handleDvl() - RDI_Pathfinder msg: 1633835496.28 epoch sec; seqNo:284 2021-10-10T03:11:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.08 , -0.02 2021-10-10T03:11:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835496.29 epoch sec; seqNo:917; 4061454.87 north; 594180.52 east 2021-10-10T03:11:36Z- AHRS_M2 msg: 1633835496.67 epoch sec; seqNo:895 2021-10-10T03:11:36Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 0.33 psi 2021-10-10T03:11:36Z- handleDepth()-Depth_Keller msg: 1633835496680 epoch sec; seqNo:918; depth 46.69 2021-10-10T03:11:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835496.72 epoch sec; seqNo:918; 4061455.25 north; 594180.52 east 2021-10-10T03:11:37Z- AHRS_M2 msg: 1633835497.08 epoch sec; seqNo:896 2021-10-10T03:11:37Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 0.34 psi 2021-10-10T03:11:37Z- handleDepth()-Depth_Keller msg: 1633835497086 epoch sec; seqNo:919; depth 46.74 2021-10-10T03:11:37Z- handleDvl() - RDI_Pathfinder msg: 1633835497.12 epoch sec; seqNo:285 2021-10-10T03:11:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.98 , 54.50 , 44.75 , 51.62 2021-10-10T03:11:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.10 , -0.02 2021-10-10T03:11:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835497.14 epoch sec; seqNo:919; 4061455.63 north; 594180.51 east 2021-10-10T03:11:37Z- AHRS_M2 msg: 1633835497.49 epoch sec; seqNo:897 2021-10-10T03:11:37Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 0.34 psi 2021-10-10T03:11:37Z- handleDepth()-Depth_Keller msg: 1633835497493 epoch sec; seqNo:920; depth 46.78 2021-10-10T03:11:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:37Z- handleDvl() - RDI_Pathfinder msg: 1633835497.49 epoch sec; seqNo:286 2021-10-10T03:11:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.10 , -0.02 2021-10-10T03:11:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835497.51 epoch sec; seqNo:920; 4061455.63 north; 594180.51 east 2021-10-10T03:11:37Z- AHRS_M2 msg: 1633835497.89 epoch sec; seqNo:898 2021-10-10T03:11:37Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 0.34 psi 2021-10-10T03:11:37Z- handleDepth()-Depth_Keller msg: 1633835497896 epoch sec; seqNo:921; depth 46.81 2021-10-10T03:11:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835497.91 epoch sec; seqNo:921; 4061456.01 north; 594180.51 east 2021-10-10T03:11:38Z- AHRS_M2 msg: 1633835498.29 epoch sec; seqNo:899 2021-10-10T03:11:38Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 0.34 psi 2021-10-10T03:11:38Z- handleDepth()-Depth_Keller msg: 1633835498294 epoch sec; seqNo:922; depth 46.85 2021-10-10T03:11:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835498.32 epoch sec; seqNo:922; 4061456.39 north; 594180.50 east 2021-10-10T03:11:38Z- AHRS_M2 msg: 1633835498.69 epoch sec; seqNo:900 2021-10-10T03:11:38Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 0.34 psi 2021-10-10T03:11:38Z- handleDepth()-Depth_Keller msg: 1633835498704 epoch sec; seqNo:923; depth 46.90 2021-10-10T03:11:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:38Z- handleDvl() - RDI_Pathfinder msg: 1633835498.71 epoch sec; seqNo:287 2021-10-10T03:11:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.10 , -0.02 2021-10-10T03:11:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835498.72 epoch sec; seqNo:923; 4061456.77 north; 594180.50 east 2021-10-10T03:11:39Z- AHRS_M2 msg: 1633835499.10 epoch sec; seqNo:901 2021-10-10T03:11:39Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 0.34 psi 2021-10-10T03:11:39Z- handleDepth()-Depth_Keller msg: 1633835499104 epoch sec; seqNo:924; depth 46.96 2021-10-10T03:11:39Z- handleDvl() - RDI_Pathfinder msg: 1633835499.12 epoch sec; seqNo:288 2021-10-10T03:11:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.76 , 53.83 , 44.53 , 51.62 2021-10-10T03:11:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.12 , 0.00 2021-10-10T03:11:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835499.14 epoch sec; seqNo:924; 4061457.16 north; 594181.72 east 2021-10-10T03:11:39Z- LcmTrn::handleMessages() - handling 42 messages took 0.73 ms and 127 calls... 2021-10-10T03:11:39Z- waiting for 1633835497.27, time is 1633835499.14 2021-10-10T03:11:39Z- LcmTrn::updateTrn() equating pose 1633835499.14 and meas times 1633835499.14 2021-10-10T03:11:39Z- LcmTrn::updateTrn() >>>> pose time 1633835499.14, meas time 1633835499.14 <<<< 2021-10-10T03:11:39Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835499.14 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:11:39Z- TerrainNav::motionUpdate() - currEstimate = (4061457, 594181.72, 46.96) 2021-10-10T03:11:39Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:11:39Z- TerrainNav:: SubcloudNIS is 0.74, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:11:39Z- TNavBF::Projecting Measurements 2021-10-10T03:11:39Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:11:39Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:11:39Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:11:39Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:11:39Z- TNavFilter::4 good beams. 2021-10-10T03:11:39Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:11:39Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:11:39Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:11:39Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:11:39Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:11:39Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:11:39Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:11:39Z- TNavBF::mmse selected from filter -1 2021-10-10T03:11:39Z- TerrainMapOctree: (vehN, vehE ) = (4061457.16, 594181.72). 2021-10-10T03:11:39Z- TerrainMapOctree: Min Distance = 218.12. 2021-10-10T03:11:39Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:11:39Z- Forcing Subcloud Comparison 2021-10-10T03:11:39Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:11:39Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:11:39Z- Filter 0 partialDeltaRmsComputation: 7.358208 terrainVariance: 0.177546 1-SumSquareWeights: 0.997849 2021-10-10T03:11:39Z- Filter 0 meanExpectedMeasDiff: 2.679676 delta_rms_squared: 0.167568 alpha: 0.893372 2021-10-10T03:11:39Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:11:39Z- Filter 0 partialDeltaRmsComputation: 2.046893 terrainVariance: 0.228159 1-SumSquareWeights: 0.997849 2021-10-10T03:11:39Z- Filter 0 meanExpectedMeasDiff: -1.348604 delta_rms_squared: 0.218180 alpha: 0.916030 2021-10-10T03:11:39Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:11:39Z- Filter 0 partialDeltaRmsComputation: 22.706393 terrainVariance: 0.110226 1-SumSquareWeights: 0.997849 2021-10-10T03:11:39Z- Filter 0 meanExpectedMeasDiff: -4.753543 delta_rms_squared: 0.100248 alpha: 0.833677 2021-10-10T03:11:39Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:11:39Z- Filter 0 partialDeltaRmsComputation: 33.057013 terrainVariance: 0.143983 1-SumSquareWeights: 0.997849 2021-10-10T03:11:39Z- Filter 0 meanExpectedMeasDiff: 5.736988 delta_rms_squared: 0.134004 alpha: 0.870133 2021-10-10T03:11:39Z- Filter 0 SubcloudNIS: 0.845927 2021-10-10T03:11:39Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:11:39Z- TNavBF:: Filter 0 sumWeights = 0.012194 2021-10-10T03:11:39Z- Filter 0 NorthBias: -34.3 EastBias: -39.5 DepthBias: -10.0 NorthVariance: 174.8 EastVariance: 30.7 DepthVariance: 0.8 this->DepthBiasCov: 0.8 2021-10-10T03:11:39Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835499.14 sec. 2021-10-10T03:11:39Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:11:39Z- TNavBF::mmse selected from filter -1 2021-10-10T03:11:39Z- variances([0], [2], and psi_berg) = 174.750243 30.683894 0.000000 2021-10-10T03:11:39Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:11:39Z- LcmTrn::publishEstimates() - MLE : 4061412.66 594137.22 46.96 2021-10-10T03:11:39Z- LcmTrn::publishEstimates() - MMSE : 4061422.85 594142.26 37.00 2021-10-10T03:11:39Z- LcmTrn::publishEstimates() - COVAR: 174.75 30.68 0.78 0.00 2021-10-10T03:11:39Z- AHRS_M2 msg: 1633835499.50 epoch sec; seqNo:902 2021-10-10T03:11:39Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 0.34 psi 2021-10-10T03:11:39Z- handleDepth()-Depth_Keller msg: 1633835499506 epoch sec; seqNo:925; depth 47.00 2021-10-10T03:11:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835499.53 epoch sec; seqNo:925; 4061457.54 north; 594181.71 east 2021-10-10T03:11:39Z- AHRS_M2 msg: 1633835499.91 epoch sec; seqNo:903 2021-10-10T03:11:39Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.34 psi 2021-10-10T03:11:39Z- handleDepth()-Depth_Keller msg: 1633835499912 epoch sec; seqNo:926; depth 47.03 2021-10-10T03:11:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:39Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:39Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:39Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:39Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:39Z- handleDvl() - RDI_Pathfinder msg: 1633835499.92 epoch sec; seqNo:289 2021-10-10T03:11:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.12 , 0.00 2021-10-10T03:11:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835499.94 epoch sec; seqNo:926; 4061457.54 north; 594181.71 east 2021-10-10T03:11:40Z- AHRS_M2 msg: 1633835500.31 epoch sec; seqNo:904 2021-10-10T03:11:40Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.34 psi 2021-10-10T03:11:40Z- handleDepth()-Depth_Keller msg: 1633835500314 epoch sec; seqNo:927; depth 47.09 2021-10-10T03:11:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835500.33 epoch sec; seqNo:927; 4061457.92 north; 594181.71 east 2021-10-10T03:11:40Z- AHRS_M2 msg: 1633835500.71 epoch sec; seqNo:905 2021-10-10T03:11:40Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.34 psi 2021-10-10T03:11:40Z- handleDepth()-Depth_Keller msg: 1633835500728 epoch sec; seqNo:928; depth 47.14 2021-10-10T03:11:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835500.74 epoch sec; seqNo:928; 4061458.30 north; 594181.70 east 2021-10-10T03:11:41Z- AHRS_M2 msg: 1633835501.12 epoch sec; seqNo:906 2021-10-10T03:11:41Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.34 psi 2021-10-10T03:11:41Z- handleDepth()-Depth_Keller msg: 1633835501123 epoch sec; seqNo:929; depth 47.19 2021-10-10T03:11:41Z- handleDvl() - RDI_Pathfinder msg: 1633835501.15 epoch sec; seqNo:290 2021-10-10T03:11:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.53 , 53.61 , 44.08 , 51.17 2021-10-10T03:11:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.11 , 0.02 2021-10-10T03:11:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835501.17 epoch sec; seqNo:929; 4061458.68 north; 594181.70 east 2021-10-10T03:11:41Z- AHRS_M2 msg: 1633835501.52 epoch sec; seqNo:907 2021-10-10T03:11:41Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.34 psi 2021-10-10T03:11:41Z- handleDepth()-Depth_Keller msg: 1633835501526 epoch sec; seqNo:930; depth 47.24 2021-10-10T03:11:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835501.54 epoch sec; seqNo:930; 4061459.05 north; 594181.70 east 2021-10-10T03:11:41Z- AHRS_M2 msg: 1633835501.94 epoch sec; seqNo:908 2021-10-10T03:11:41Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.35 psi 2021-10-10T03:11:41Z- handleDepth()-Depth_Keller msg: 1633835501942 epoch sec; seqNo:931; depth 47.30 2021-10-10T03:11:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835501.95 epoch sec; seqNo:931; 4061459.05 north; 594181.70 east 2021-10-10T03:11:42Z- AHRS_M2 msg: 1633835502.33 epoch sec; seqNo:909 2021-10-10T03:11:42Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.35 psi 2021-10-10T03:11:42Z- handleDepth()-Depth_Keller msg: 1633835502336 epoch sec; seqNo:932; depth 47.34 2021-10-10T03:11:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:42Z- handleDvl() - RDI_Pathfinder msg: 1633835502.34 epoch sec; seqNo:291 2021-10-10T03:11:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.11 , 0.02 2021-10-10T03:11:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835502.35 epoch sec; seqNo:932; 4061459.43 north; 594181.69 east 2021-10-10T03:11:42Z- AHRS_M2 msg: 1633835502.73 epoch sec; seqNo:910 2021-10-10T03:11:42Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.35 psi 2021-10-10T03:11:42Z- handleDepth()-Depth_Keller msg: 1633835502752 epoch sec; seqNo:933; depth 47.39 2021-10-10T03:11:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835502.77 epoch sec; seqNo:933; 4061459.81 north; 594181.69 east 2021-10-10T03:11:43Z- AHRS_M2 msg: 1633835503.14 epoch sec; seqNo:911 2021-10-10T03:11:43Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.35 psi 2021-10-10T03:11:43Z- handleDepth()-Depth_Keller msg: 1633835503144 epoch sec; seqNo:934; depth 47.44 2021-10-10T03:11:43Z- handleDvl() - RDI_Pathfinder msg: 1633835503.18 epoch sec; seqNo:292 2021-10-10T03:11:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.53 , 53.17 , 43.86 , 51.17 2021-10-10T03:11:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.08 , 0.02 2021-10-10T03:11:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835503.19 epoch sec; seqNo:934; 4061460.19 north; 594181.68 east 2021-10-10T03:11:43Z- AHRS_M2 msg: 1633835503.54 epoch sec; seqNo:912 2021-10-10T03:11:43Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.35 psi 2021-10-10T03:11:43Z- handleDepth()-Depth_Keller msg: 1633835503549 epoch sec; seqNo:935; depth 47.49 2021-10-10T03:11:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:43Z- handleDvl() - RDI_Pathfinder msg: 1633835503.55 epoch sec; seqNo:293 2021-10-10T03:11:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.08 , 0.02 2021-10-10T03:11:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835503.57 epoch sec; seqNo:935; 4061460.57 north; 594181.68 east 2021-10-10T03:11:43Z- AHRS_M2 msg: 1633835503.96 epoch sec; seqNo:913 2021-10-10T03:11:43Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 0.35 psi 2021-10-10T03:11:43Z- handleDepth()-Depth_Keller msg: 1633835503963 epoch sec; seqNo:936; depth 47.54 2021-10-10T03:11:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835503.97 epoch sec; seqNo:936; 4061460.57 north; 594181.68 east 2021-10-10T03:11:44Z- AHRS_M2 msg: 1633835504.35 epoch sec; seqNo:914 2021-10-10T03:11:44Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 0.35 psi 2021-10-10T03:11:44Z- handleDepth()-Depth_Keller msg: 1633835504361 epoch sec; seqNo:937; depth 47.59 2021-10-10T03:11:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835504.37 epoch sec; seqNo:937; 4061460.95 north; 594181.67 east 2021-10-10T03:11:44Z- LcmTrn::handleMessages() - handling 44 messages took 0.71 ms and 129 calls... 2021-10-10T03:11:44Z- waiting for 1633835502.14, time is 1633835504.37 2021-10-10T03:11:44Z- LcmTrn::updateTrn() >>>> pose time 1633835504.37, meas time 1633835503.55 <<<< 2021-10-10T03:11:44Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835503.55, ping # 0. 2021-10-10T03:11:44Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835503.55 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:11:44Z- TerrainNav::motionUpdate() - currEstimate = (4061461, 594181.67, 47.59) 2021-10-10T03:11:44Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:11:44Z- TerrainNav:: SubcloudNIS is 0.85, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:11:44Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:11:44Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:11:44Z- TNavBF::Projecting Measurements 2021-10-10T03:11:44Z- TNavFilter::Measurement from time = 1633835503.55 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:11:44Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:11:44Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:11:44Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:11:44Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:11:44Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:11:44Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:11:44Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:11:44Z- Filter 0 NorthBias: -34.3 EastBias: -39.4 DepthBias: -10.0 NorthVariance: 174.8 EastVariance: 32.9 DepthVariance: 0.9 this->DepthBiasCov: 0.9 2021-10-10T03:11:44Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:11:44Z- TNavBF::mmse selected from filter -1 2021-10-10T03:11:44Z- variances([0], [2], and psi_berg) = 174.793125 33.859164 0.000000 2021-10-10T03:11:44Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:11:44Z- LcmTrn::publishEstimates() - MLE : 4061416.45 594137.17 47.59 2021-10-10T03:11:44Z- LcmTrn::publishEstimates() - MMSE : 4061426.63 594142.25 37.63 2021-10-10T03:11:44Z- LcmTrn::publishEstimates() - COVAR: 174.79 33.86 0.97 0.00 2021-10-10T03:11:44Z- AHRS_M2 msg: 1633835504.76 epoch sec; seqNo:915 2021-10-10T03:11:44Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 0.35 psi 2021-10-10T03:11:44Z- handleDepth()-Depth_Keller msg: 1633835504762 epoch sec; seqNo:938; depth 47.65 2021-10-10T03:11:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:44Z- handleDvl() - RDI_Pathfinder msg: 1633835504.76 epoch sec; seqNo:294 2021-10-10T03:11:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.08 , 0.02 2021-10-10T03:11:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835504.77 epoch sec; seqNo:938; 4061461.33 north; 594181.67 east 2021-10-10T03:11:45Z- AHRS_M2 msg: 1633835505.16 epoch sec; seqNo:916 2021-10-10T03:11:45Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 0.35 psi 2021-10-10T03:11:45Z- handleDepth()-Depth_Keller msg: 1633835505168 epoch sec; seqNo:939; depth 47.71 2021-10-10T03:11:45Z- handleDvl() - RDI_Pathfinder msg: 1633835505.19 epoch sec; seqNo:295 2021-10-10T03:11:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.09 , 53.17 , 43.42 , 50.95 2021-10-10T03:11:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.07 , 0.01 2021-10-10T03:11:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835505.22 epoch sec; seqNo:939; 4061461.71 north; 594181.67 east 2021-10-10T03:11:45Z- AHRS_M2 msg: 1633835505.56 epoch sec; seqNo:917 2021-10-10T03:11:45Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 0.35 psi 2021-10-10T03:11:45Z- handleDepth()-Depth_Keller msg: 1633835505566 epoch sec; seqNo:940; depth 47.77 2021-10-10T03:11:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835505.59 epoch sec; seqNo:940; 4061462.09 north; 594181.66 east 2021-10-10T03:11:45Z- AHRS_M2 msg: 1633835505.96 epoch sec; seqNo:918 2021-10-10T03:11:45Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 0.36 psi 2021-10-10T03:11:45Z- handleDepth()-Depth_Keller msg: 1633835505970 epoch sec; seqNo:941; depth 47.80 2021-10-10T03:11:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:45Z- handleDvl() - RDI_Pathfinder msg: 1633835505.97 epoch sec; seqNo:296 2021-10-10T03:11:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.07 , 0.01 2021-10-10T03:11:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835505.98 epoch sec; seqNo:941; 4061462.10 north; 594182.88 east 2021-10-10T03:11:46Z- AHRS_M2 msg: 1633835506.37 epoch sec; seqNo:919 2021-10-10T03:11:46Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 0.36 psi 2021-10-10T03:11:46Z- handleDepth()-Depth_Keller msg: 1633835506375 epoch sec; seqNo:942; depth 47.85 2021-10-10T03:11:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835506.38 epoch sec; seqNo:942; 4061462.48 north; 594182.88 east 2021-10-10T03:11:46Z- AHRS_M2 msg: 1633835506.78 epoch sec; seqNo:920 2021-10-10T03:11:46Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 0.36 psi 2021-10-10T03:11:46Z- handleDepth()-Depth_Keller msg: 1633835506784 epoch sec; seqNo:943; depth 47.90 2021-10-10T03:11:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835506.79 epoch sec; seqNo:943; 4061462.86 north; 594182.87 east 2021-10-10T03:11:47Z- AHRS_M2 msg: 1633835507.18 epoch sec; seqNo:921 2021-10-10T03:11:47Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 0.36 psi 2021-10-10T03:11:47Z- handleDepth()-Depth_Keller msg: 1633835507190 epoch sec; seqNo:944; depth 47.95 2021-10-10T03:11:47Z- handleDvl() - RDI_Pathfinder msg: 1633835507.21 epoch sec; seqNo:297 2021-10-10T03:11:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.87 , 52.94 , 43.42 , 50.95 2021-10-10T03:11:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.06 , -0.00 2021-10-10T03:11:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835507.23 epoch sec; seqNo:944; 4061463.24 north; 594182.87 east 2021-10-10T03:11:47Z- AHRS_M2 msg: 1633835507.58 epoch sec; seqNo:922 2021-10-10T03:11:47Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.36 psi 2021-10-10T03:11:47Z- handleDepth()-Depth_Keller msg: 1633835507586 epoch sec; seqNo:945; depth 48.01 2021-10-10T03:11:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835507.61 epoch sec; seqNo:945; 4061463.61 north; 594182.87 east 2021-10-10T03:11:48Z- AHRS_M2 msg: 1633835507.99 epoch sec; seqNo:923 2021-10-10T03:11:48Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.36 psi 2021-10-10T03:11:48Z- handleDepth()-Depth_Keller msg: 1633835507994 epoch sec; seqNo:946; depth 48.06 2021-10-10T03:11:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835508.01 epoch sec; seqNo:946; 4061463.61 north; 594182.87 east 2021-10-10T03:11:48Z- AHRS_M2 msg: 1633835508.39 epoch sec; seqNo:924 2021-10-10T03:11:48Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.36 psi 2021-10-10T03:11:48Z- handleDepth()-Depth_Keller msg: 1633835508401 epoch sec; seqNo:947; depth 48.10 2021-10-10T03:11:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:48Z- handleDvl() - RDI_Pathfinder msg: 1633835508.40 epoch sec; seqNo:298 2021-10-10T03:11:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.06 , -0.00 2021-10-10T03:11:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835508.42 epoch sec; seqNo:947; 4061463.99 north; 594182.86 east 2021-10-10T03:11:48Z- AHRS_M2 msg: 1633835508.79 epoch sec; seqNo:925 2021-10-10T03:11:48Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.37 psi 2021-10-10T03:11:48Z- handleDepth()-Depth_Keller msg: 1633835508798 epoch sec; seqNo:948; depth 48.14 2021-10-10T03:11:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835508.82 epoch sec; seqNo:948; 4061464.37 north; 594182.86 east 2021-10-10T03:11:49Z- AHRS_M2 msg: 1633835509.20 epoch sec; seqNo:926 2021-10-10T03:11:49Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.37 psi 2021-10-10T03:11:49Z- handleDepth()-Depth_Keller msg: 1633835509204 epoch sec; seqNo:949; depth 48.20 2021-10-10T03:11:49Z- handleDvl() - RDI_Pathfinder msg: 1633835509.24 epoch sec; seqNo:299 2021-10-10T03:11:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.87 , 52.72 , 42.76 , 50.29 2021-10-10T03:11:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.07 , -0.02 2021-10-10T03:11:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835509.25 epoch sec; seqNo:949; 4061464.75 north; 594182.85 east 2021-10-10T03:11:49Z- AHRS_M2 msg: 1633835509.60 epoch sec; seqNo:927 2021-10-10T03:11:49Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.37 psi 2021-10-10T03:11:49Z- handleDepth()-Depth_Keller msg: 1633835509607 epoch sec; seqNo:950; depth 48.25 2021-10-10T03:11:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:49Z- handleDvl() - RDI_Pathfinder msg: 1633835509.61 epoch sec; seqNo:300 2021-10-10T03:11:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.07 , -0.02 2021-10-10T03:11:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835509.63 epoch sec; seqNo:950; 4061465.13 north; 594182.85 east 2021-10-10T03:11:49Z- LcmTrn::handleMessages() - handling 46 messages took 0.73 ms and 131 calls... 2021-10-10T03:11:49Z- waiting for 1633835507.37, time is 1633835509.63 2021-10-10T03:11:49Z- LcmTrn::updateTrn() equating pose 1633835509.63 and meas times 1633835509.63 2021-10-10T03:11:49Z- LcmTrn::updateTrn() >>>> pose time 1633835509.63, meas time 1633835509.63 <<<< 2021-10-10T03:11:49Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835509.63, ping # 0. 2021-10-10T03:11:49Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835509.63 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:11:49Z- TerrainNav::motionUpdate() - currEstimate = (4061465, 594182.85, 48.25) 2021-10-10T03:11:49Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:11:49Z- TerrainNav:: SubcloudNIS is 0.85, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:11:49Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:11:49Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:11:49Z- TerrainNav::Measurement type 1 not incorporated from time = 1633835509.63 sec.; No relevant navigation data available 2021-10-10T03:11:49Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:11:49Z- TNavBF::mmse selected from filter -1 2021-10-10T03:11:49Z- variances([0], [2], and psi_berg) = 174.827816 36.381103 0.000000 2021-10-10T03:11:49Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:11:49Z- LcmTrn::publishEstimates() - MLE : 4061420.63 594138.35 48.25 2021-10-10T03:11:49Z- LcmTrn::publishEstimates() - MMSE : 4061430.82 594143.46 38.29 2021-10-10T03:11:49Z- LcmTrn::publishEstimates() - COVAR: 174.83 36.38 1.20 0.00 2021-10-10T03:11:50Z- AHRS_M2 msg: 1633835510.01 epoch sec; seqNo:928 2021-10-10T03:11:50Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.37 psi 2021-10-10T03:11:50Z- handleDepth()-Depth_Keller msg: 1633835510020 epoch sec; seqNo:951; depth 48.30 2021-10-10T03:11:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835510.03 epoch sec; seqNo:951; 4061465.51 north; 594182.84 east 2021-10-10T03:11:50Z- AHRS_M2 msg: 1633835510.41 epoch sec; seqNo:929 2021-10-10T03:11:50Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.37 psi 2021-10-10T03:11:50Z- handleDepth()-Depth_Keller msg: 1633835510414 epoch sec; seqNo:952; depth 48.36 2021-10-10T03:11:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835510.43 epoch sec; seqNo:952; 4061465.51 north; 594182.84 east 2021-10-10T03:11:50Z- AHRS_M2 msg: 1633835510.81 epoch sec; seqNo:930 2021-10-10T03:11:50Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.37 psi 2021-10-10T03:11:50Z- handleDepth()-Depth_Keller msg: 1633835510818 epoch sec; seqNo:953; depth 48.40 2021-10-10T03:11:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:50Z- handleDvl() - RDI_Pathfinder msg: 1633835510.82 epoch sec; seqNo:301 2021-10-10T03:11:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.07 , -0.02 2021-10-10T03:11:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835510.83 epoch sec; seqNo:953; 4061465.89 north; 594182.84 east 2021-10-10T03:11:51Z- AHRS_M2 msg: 1633835511.22 epoch sec; seqNo:931 2021-10-10T03:11:51Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.37 psi 2021-10-10T03:11:51Z- handleDepth()-Depth_Keller msg: 1633835511232 epoch sec; seqNo:954; depth 48.44 2021-10-10T03:11:51Z- handleDvl() - RDI_Pathfinder msg: 1633835511.26 epoch sec; seqNo:302 2021-10-10T03:11:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.64 , 52.28 , 42.97 , 50.28 2021-10-10T03:11:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.09 , -0.02 2021-10-10T03:11:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835511.28 epoch sec; seqNo:954; 4061466.27 north; 594182.84 east 2021-10-10T03:11:51Z- AHRS_M2 msg: 1633835511.62 epoch sec; seqNo:932 2021-10-10T03:11:51Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.37 psi 2021-10-10T03:11:51Z- handleDepth()-Depth_Keller msg: 1633835511628 epoch sec; seqNo:955; depth 48.50 2021-10-10T03:11:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835511.64 epoch sec; seqNo:955; 4061466.66 north; 594184.05 east 2021-10-10T03:11:52Z- AHRS_M2 msg: 1633835512.03 epoch sec; seqNo:933 2021-10-10T03:11:52Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.37 psi 2021-10-10T03:11:52Z- handleDepth()-Depth_Keller msg: 1633835512032 epoch sec; seqNo:956; depth 48.55 2021-10-10T03:11:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:52Z- handleDvl() - RDI_Pathfinder msg: 1633835512.04 epoch sec; seqNo:303 2021-10-10T03:11:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.09 , -0.02 2021-10-10T03:11:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835512.06 epoch sec; seqNo:956; 4061467.04 north; 594184.05 east 2021-10-10T03:11:52Z- AHRS_M2 msg: 1633835512.43 epoch sec; seqNo:934 2021-10-10T03:11:52Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.37 psi 2021-10-10T03:11:52Z- handleDepth()-Depth_Keller msg: 1633835512435 epoch sec; seqNo:957; depth 48.60 2021-10-10T03:11:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835512.44 epoch sec; seqNo:957; 4061467.04 north; 594184.05 east 2021-10-10T03:11:52Z- AHRS_M2 msg: 1633835512.84 epoch sec; seqNo:935 2021-10-10T03:11:52Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.37 psi 2021-10-10T03:11:52Z- handleDepth()-Depth_Keller msg: 1633835512848 epoch sec; seqNo:958; depth 48.64 2021-10-10T03:11:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835512.86 epoch sec; seqNo:958; 4061467.42 north; 594184.04 east 2021-10-10T03:11:53Z- AHRS_M2 msg: 1633835513.24 epoch sec; seqNo:936 2021-10-10T03:11:53Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.38 psi 2021-10-10T03:11:53Z- handleDepth()-Depth_Keller msg: 1633835513250 epoch sec; seqNo:959; depth 48.68 2021-10-10T03:11:53Z- handleDvl() - RDI_Pathfinder msg: 1633835513.27 epoch sec; seqNo:304 2021-10-10T03:11:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.42 , 51.83 , 42.75 , 49.84 2021-10-10T03:11:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.11 , -0.00 2021-10-10T03:11:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835513.29 epoch sec; seqNo:959; 4061467.80 north; 594184.04 east 2021-10-10T03:11:53Z- AHRS_M2 msg: 1633835513.64 epoch sec; seqNo:937 2021-10-10T03:11:53Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.38 psi 2021-10-10T03:11:53Z- handleDepth()-Depth_Keller msg: 1633835513646 epoch sec; seqNo:960; depth 48.75 2021-10-10T03:11:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835513.67 epoch sec; seqNo:960; 4061468.17 north; 594184.04 east 2021-10-10T03:11:54Z- AHRS_M2 msg: 1633835514.05 epoch sec; seqNo:938 2021-10-10T03:11:54Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.38 psi 2021-10-10T03:11:54Z- handleDepth()-Depth_Keller msg: 1633835514057 epoch sec; seqNo:961; depth 48.79 2021-10-10T03:11:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835514.07 epoch sec; seqNo:961; 4061468.55 north; 594184.03 east 2021-10-10T03:11:54Z- AHRS_M2 msg: 1633835514.45 epoch sec; seqNo:939 2021-10-10T03:11:54Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.38 psi 2021-10-10T03:11:54Z- handleDepth()-Depth_Keller msg: 1633835514463 epoch sec; seqNo:962; depth 48.85 2021-10-10T03:11:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:54Z- handleDvl() - RDI_Pathfinder msg: 1633835514.47 epoch sec; seqNo:305 2021-10-10T03:11:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.11 , -0.00 2021-10-10T03:11:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835514.48 epoch sec; seqNo:962; 4061468.93 north; 594184.03 east 2021-10-10T03:11:54Z- LcmTrn::handleMessages() - handling 41 messages took 0.69 ms and 127 calls... 2021-10-10T03:11:54Z- waiting for 1633835512.63, time is 1633835514.48 2021-10-10T03:11:54Z- LcmTrn::updateTrn() equating pose 1633835514.48 and meas times 1633835514.48 2021-10-10T03:11:54Z- LcmTrn::updateTrn() >>>> pose time 1633835514.48, meas time 1633835514.48 <<<< 2021-10-10T03:11:54Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835514.48, ping # 0. 2021-10-10T03:11:54Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835514.48 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:11:54Z- TerrainNav::motionUpdate() - currEstimate = (4061469, 594184.03, 48.85) 2021-10-10T03:11:54Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:11:54Z- TerrainNav:: SubcloudNIS is 0.85, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:11:54Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:11:54Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:11:54Z- TNavBF::Projecting Measurements 2021-10-10T03:11:54Z- TNavFilter::Measurement from time = 1633835514.48 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:11:54Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:11:54Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:11:54Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:11:54Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:11:54Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:11:54Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:11:54Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:11:54Z- Filter 0 NorthBias: -34.3 EastBias: -39.4 DepthBias: -10.0 NorthVariance: 174.9 EastVariance: 38.7 DepthVariance: 1.4 this->DepthBiasCov: 1.4 2021-10-10T03:11:54Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:11:54Z- TNavBF::mmse selected from filter -1 2021-10-10T03:11:54Z- variances([0], [2], and psi_berg) = 174.860791 38.734630 0.000000 2021-10-10T03:11:54Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:11:54Z- LcmTrn::publishEstimates() - MLE : 4061424.43 594139.53 48.85 2021-10-10T03:11:54Z- LcmTrn::publishEstimates() - MMSE : 4061434.62 594144.67 38.88 2021-10-10T03:11:54Z- LcmTrn::publishEstimates() - COVAR: 174.86 38.73 1.40 0.00 2021-10-10T03:11:54Z- AHRS_M2 msg: 1633835514.85 epoch sec; seqNo:940 2021-10-10T03:11:54Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.38 psi 2021-10-10T03:11:54Z- handleDepth()-Depth_Keller msg: 1633835514858 epoch sec; seqNo:963; depth 48.90 2021-10-10T03:11:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835514.88 epoch sec; seqNo:963; 4061468.93 north; 594184.03 east 2021-10-10T03:11:55Z- AHRS_M2 msg: 1633835515.26 epoch sec; seqNo:941 2021-10-10T03:11:55Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.38 psi 2021-10-10T03:11:55Z- handleDepth()-Depth_Keller msg: 1633835515262 epoch sec; seqNo:964; depth 48.96 2021-10-10T03:11:55Z- handleDvl() - RDI_Pathfinder msg: 1633835515.29 epoch sec; seqNo:306 2021-10-10T03:11:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.98 , 51.61 , 42.53 , 48.95 2021-10-10T03:11:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.09 , 0.01 2021-10-10T03:11:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835515.31 epoch sec; seqNo:964; 4061469.31 north; 594184.02 east 2021-10-10T03:11:55Z- handleDepth()-Depth_Keller msg: 1633835515684 epoch sec; seqNo:965; depth 49.00 2021-10-10T03:11:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:55Z- handleDvl() - RDI_Pathfinder msg: 1633835515.69 epoch sec; seqNo:307 2021-10-10T03:11:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.09 , 0.01 2021-10-10T03:11:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835515.71 epoch sec; seqNo:965; 4061469.69 north; 594184.02 east 2021-10-10T03:11:56Z- AHRS_M2 msg: 1633835516.07 epoch sec; seqNo:942 2021-10-10T03:11:56Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.39 psi 2021-10-10T03:11:56Z- handleDepth()-Depth_Keller msg: 1633835516075 epoch sec; seqNo:966; depth 49.05 2021-10-10T03:11:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835516.08 epoch sec; seqNo:966; 4061470.07 north; 594184.02 east 2021-10-10T03:11:56Z- AHRS_M2 msg: 1633835516.47 epoch sec; seqNo:943 2021-10-10T03:11:56Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.39 psi 2021-10-10T03:11:56Z- handleDepth()-Depth_Keller msg: 1633835516480 epoch sec; seqNo:967; depth 49.10 2021-10-10T03:11:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835516.49 epoch sec; seqNo:967; 4061470.45 north; 594184.01 east 2021-10-10T03:11:56Z- AHRS_M2 msg: 1633835516.87 epoch sec; seqNo:944 2021-10-10T03:11:56Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.39 psi 2021-10-10T03:11:56Z- handleDepth()-Depth_Keller msg: 1633835516878 epoch sec; seqNo:968; depth 49.16 2021-10-10T03:11:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:56Z- handleDvl() - RDI_Pathfinder msg: 1633835516.88 epoch sec; seqNo:308 2021-10-10T03:11:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.09 , 0.01 2021-10-10T03:11:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835516.90 epoch sec; seqNo:968; 4061470.45 north; 594184.01 east 2021-10-10T03:11:57Z- AHRS_M2 msg: 1633835517.28 epoch sec; seqNo:945 2021-10-10T03:11:57Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.39 psi 2021-10-10T03:11:57Z- handleDepth()-Depth_Keller msg: 1633835517283 epoch sec; seqNo:969; depth 49.20 2021-10-10T03:11:57Z- handleDvl() - RDI_Pathfinder msg: 1633835517.31 epoch sec; seqNo:309 2021-10-10T03:11:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.76 , 51.17 , 42.53 , 48.73 2021-10-10T03:11:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.06 , 0.01 2021-10-10T03:11:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835517.33 epoch sec; seqNo:969; 4061470.83 north; 594184.01 east 2021-10-10T03:11:57Z- AHRS_M2 msg: 1633835517.68 epoch sec; seqNo:946 2021-10-10T03:11:57Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.39 psi 2021-10-10T03:11:57Z- handleDepth()-Depth_Keller msg: 1633835517692 epoch sec; seqNo:970; depth 49.26 2021-10-10T03:11:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835517.71 epoch sec; seqNo:970; 4061471.22 north; 594185.22 east 2021-10-10T03:11:58Z- AHRS_M2 msg: 1633835518.09 epoch sec; seqNo:947 2021-10-10T03:11:58Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.39 psi 2021-10-10T03:11:58Z- handleDepth()-Depth_Keller msg: 1633835518092 epoch sec; seqNo:971; depth 49.30 2021-10-10T03:11:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:11:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:11:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:11:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:11:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:11:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:11:58Z- handleDvl() - RDI_Pathfinder msg: 1633835518.10 epoch sec; seqNo:310 2021-10-10T03:11:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:11:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.06 , 0.01 2021-10-10T03:11:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835518.11 epoch sec; seqNo:971; 4061471.60 north; 594185.22 east 2021-10-10T03:11:58Z- AHRS_M2 msg: 1633835518.49 epoch sec; seqNo:948 2021-10-10T03:11:58Z- AHRS_M2 msg: -0.21 phi; -0.11 theta; 0.39 psi 2021-10-10T03:11:58Z- handleDepth()-Depth_Keller msg: 1633835518495 epoch sec; seqNo:972; depth 49.34 2021-10-10T03:11:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835518.51 epoch sec; seqNo:972; 4061471.60 north; 594185.22 east 2021-10-10T03:11:58Z- AHRS_M2 msg: 1633835518.89 epoch sec; seqNo:949 2021-10-10T03:11:58Z- AHRS_M2 msg: -0.21 phi; -0.11 theta; 0.39 psi 2021-10-10T03:11:58Z- handleDepth()-Depth_Keller msg: 1633835518899 epoch sec; seqNo:973; depth 49.40 2021-10-10T03:11:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835518.91 epoch sec; seqNo:973; 4061471.98 north; 594185.21 east 2021-10-10T03:11:59Z- handleDepth()-Depth_Keller msg: 1633835519319 epoch sec; seqNo:974; depth 49.44 2021-10-10T03:11:59Z- handleDvl() - RDI_Pathfinder msg: 1633835519.34 epoch sec; seqNo:311 2021-10-10T03:11:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.76 , 51.17 , 42.53 , 48.29 2021-10-10T03:11:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.05 , -0.00 2021-10-10T03:11:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835519.36 epoch sec; seqNo:974; 4061472.35 north; 594185.21 east 2021-10-10T03:11:59Z- AHRS_M2 msg: 1633835519.71 epoch sec; seqNo:950 2021-10-10T03:11:59Z- AHRS_M2 msg: -0.21 phi; -0.11 theta; 0.40 psi 2021-10-10T03:11:59Z- handleDepth()-Depth_Keller msg: 1633835519716 epoch sec; seqNo:975; depth 49.51 2021-10-10T03:11:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835519.73 epoch sec; seqNo:975; 4061472.73 north; 594185.21 east 2021-10-10T03:11:59Z- LcmTrn::handleMessages() - handling 43 messages took 0.74 ms and 128 calls... 2021-10-10T03:11:59Z- waiting for 1633835517.48, time is 1633835519.73 2021-10-10T03:11:59Z- LcmTrn::updateTrn() >>>> pose time 1633835519.73, meas time 1633835519.34 <<<< 2021-10-10T03:11:59Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835519.34 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:11:59Z- TerrainNav::motionUpdate() - currEstimate = (4061473, 594185.21, 49.51) 2021-10-10T03:11:59Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:11:59Z- TerrainNav:: SubcloudNIS is 0.85, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:11:59Z- TNavBF::Projecting Measurements 2021-10-10T03:11:59Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:11:59Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:11:59Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:11:59Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:11:59Z- TNavFilter::4 good beams. 2021-10-10T03:11:59Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:11:59Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:11:59Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:11:59Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:11:59Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:11:59Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:11:59Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:11:59Z- TNavBF::mmse selected from filter -1 2021-10-10T03:11:59Z- TerrainMapOctree: (vehN, vehE ) = (4061472.45, 594185.12). 2021-10-10T03:11:59Z- TerrainMapOctree: Min Distance = 231.72. 2021-10-10T03:11:59Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:11:59Z- Forcing Subcloud Comparison 2021-10-10T03:12:00Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:12:00Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:12:00Z- Filter 0 partialDeltaRmsComputation: 7.082313 terrainVariance: 0.081886 1-SumSquareWeights: 0.997355 2021-10-10T03:12:00Z- Filter 0 meanExpectedMeasDiff: 2.645832 delta_rms_squared: 0.071913 alpha: 0.782402 2021-10-10T03:12:00Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:12:00Z- Filter 0 partialDeltaRmsComputation: 0.912306 terrainVariance: 0.335559 1-SumSquareWeights: 0.997355 2021-10-10T03:12:00Z- Filter 0 meanExpectedMeasDiff: -0.759438 delta_rms_squared: 0.325586 alpha: 0.942127 2021-10-10T03:12:00Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:12:00Z- Filter 0 partialDeltaRmsComputation: 18.908285 terrainVariance: 0.021230 1-SumSquareWeights: 0.997355 2021-10-10T03:12:00Z- Filter 0 meanExpectedMeasDiff: -4.345924 delta_rms_squared: 0.011256 alpha: 0.360123 2021-10-10T03:12:00Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:12:00Z- Filter 0 partialDeltaRmsComputation: 24.354994 terrainVariance: 0.148281 1-SumSquareWeights: 0.997355 2021-10-10T03:12:00Z- Filter 0 meanExpectedMeasDiff: 4.920032 delta_rms_squared: 0.138307 alpha: 0.873664 2021-10-10T03:12:00Z- Filter 0 SubcloudNIS: 0.964982 2021-10-10T03:12:00Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:12:00Z- TNavBF:: Filter 0 sumWeights = 0.053440 2021-10-10T03:12:00Z- Filter 0 NorthBias: -36.4 EastBias: -39.5 DepthBias: -9.3 NorthVariance: 101.7 EastVariance: 30.7 DepthVariance: 0.7 this->DepthBiasCov: 0.7 2021-10-10T03:12:00Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835519.34 sec. 2021-10-10T03:12:00Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:12:00Z- TNavBF::mmse selected from filter -1 2021-10-10T03:12:00Z- variances([0], [2], and psi_berg) = 101.757919 31.200308 0.000000 2021-10-10T03:12:00Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:12:00Z- LcmTrn::publishEstimates() - MLE : 4061427.23 594142.71 49.51 2021-10-10T03:12:00Z- LcmTrn::publishEstimates() - MMSE : 4061436.35 594145.75 40.24 2021-10-10T03:12:00Z- LcmTrn::publishEstimates() - COVAR: 101.76 31.20 0.73 0.00 2021-10-10T03:12:00Z- AHRS_M2 msg: 1633835520.11 epoch sec; seqNo:951 2021-10-10T03:12:00Z- AHRS_M2 msg: -0.21 phi; -0.10 theta; 0.40 psi 2021-10-10T03:12:00Z- handleDepth()-Depth_Keller msg: 1633835520112 epoch sec; seqNo:976; depth 49.54 2021-10-10T03:12:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835520.12 epoch sec; seqNo:976; 4061473.11 north; 594185.20 east 2021-10-10T03:12:00Z- AHRS_M2 msg: 1633835520.51 epoch sec; seqNo:952 2021-10-10T03:12:00Z- AHRS_M2 msg: -0.21 phi; -0.10 theta; 0.40 psi 2021-10-10T03:12:00Z- handleDepth()-Depth_Keller msg: 1633835520518 epoch sec; seqNo:977; depth 49.59 2021-10-10T03:12:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:00Z- handleDvl() - RDI_Pathfinder msg: 1633835520.52 epoch sec; seqNo:312 2021-10-10T03:12:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.05 , -0.00 2021-10-10T03:12:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835520.54 epoch sec; seqNo:977; 4061473.11 north; 594185.20 east 2021-10-10T03:12:00Z- AHRS_M2 msg: 1633835520.92 epoch sec; seqNo:953 2021-10-10T03:12:00Z- AHRS_M2 msg: -0.21 phi; -0.10 theta; 0.40 psi 2021-10-10T03:12:00Z- handleDepth()-Depth_Keller msg: 1633835520934 epoch sec; seqNo:978; depth 49.61 2021-10-10T03:12:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835520.95 epoch sec; seqNo:978; 4061473.49 north; 594185.20 east 2021-10-10T03:12:01Z- AHRS_M2 msg: 1633835521.32 epoch sec; seqNo:954 2021-10-10T03:12:01Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.40 psi 2021-10-10T03:12:01Z- handleDepth()-Depth_Keller msg: 1633835521327 epoch sec; seqNo:979; depth 49.66 2021-10-10T03:12:01Z- handleDvl() - RDI_Pathfinder msg: 1633835521.36 epoch sec; seqNo:313 2021-10-10T03:12:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.53 , 50.94 , 42.75 , 47.62 2021-10-10T03:12:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.06 , -0.01 2021-10-10T03:12:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835521.37 epoch sec; seqNo:979; 4061473.87 north; 594185.19 east 2021-10-10T03:12:01Z- handleDepth()-Depth_Keller msg: 1633835521772 epoch sec; seqNo:980; depth 49.72 2021-10-10T03:12:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:01Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:01Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:01Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:01Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:01Z- handleDvl() - RDI_Pathfinder msg: 1633835521.77 epoch sec; seqNo:314 2021-10-10T03:12:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.06 , -0.01 2021-10-10T03:12:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835521.79 epoch sec; seqNo:980; 4061474.25 north; 594185.19 east 2021-10-10T03:12:02Z- AHRS_M2 msg: 1633835522.13 epoch sec; seqNo:955 2021-10-10T03:12:02Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.40 psi 2021-10-10T03:12:02Z- handleDepth()-Depth_Keller msg: 1633835522134 epoch sec; seqNo:981; depth 49.75 2021-10-10T03:12:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835522.14 epoch sec; seqNo:981; 4061474.63 north; 594185.19 east 2021-10-10T03:12:02Z- AHRS_M2 msg: 1633835522.53 epoch sec; seqNo:956 2021-10-10T03:12:02Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 0.39 psi 2021-10-10T03:12:02Z- handleDepth()-Depth_Keller msg: 1633835522534 epoch sec; seqNo:982; depth 49.79 2021-10-10T03:12:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835522.54 epoch sec; seqNo:982; 4061474.64 north; 594186.41 east 2021-10-10T03:12:02Z- AHRS_M2 msg: 1633835522.94 epoch sec; seqNo:957 2021-10-10T03:12:02Z- AHRS_M2 msg: -0.22 phi; -0.08 theta; 0.39 psi 2021-10-10T03:12:02Z- handleDepth()-Depth_Keller msg: 1633835522942 epoch sec; seqNo:983; depth 49.82 2021-10-10T03:12:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:02Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:02Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:02Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:02Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:02Z- handleDvl() - RDI_Pathfinder msg: 1633835522.94 epoch sec; seqNo:315 2021-10-10T03:12:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.06 , -0.01 2021-10-10T03:12:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835522.95 epoch sec; seqNo:983; 4061475.02 north; 594186.40 east 2021-10-10T03:12:03Z- AHRS_M2 msg: 1633835523.34 epoch sec; seqNo:958 2021-10-10T03:12:03Z- AHRS_M2 msg: -0.22 phi; -0.08 theta; 0.39 psi 2021-10-10T03:12:03Z- handleDepth()-Depth_Keller msg: 1633835523342 epoch sec; seqNo:984; depth 49.86 2021-10-10T03:12:03Z- handleDvl() - RDI_Pathfinder msg: 1633835523.37 epoch sec; seqNo:316 2021-10-10T03:12:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.09 , 50.50 , 42.75 , 47.18 2021-10-10T03:12:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.06 , -0.02 2021-10-10T03:12:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835523.38 epoch sec; seqNo:984; 4061475.40 north; 594186.40 east 2021-10-10T03:12:03Z- AHRS_M2 msg: 1633835523.74 epoch sec; seqNo:959 2021-10-10T03:12:03Z- AHRS_M2 msg: -0.22 phi; -0.08 theta; 0.39 psi 2021-10-10T03:12:03Z- handleDepth()-Depth_Keller msg: 1633835523746 epoch sec; seqNo:985; depth 49.90 2021-10-10T03:12:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835523.77 epoch sec; seqNo:985; 4061475.78 north; 594186.39 east 2021-10-10T03:12:04Z- AHRS_M2 msg: 1633835524.15 epoch sec; seqNo:960 2021-10-10T03:12:04Z- AHRS_M2 msg: -0.22 phi; -0.08 theta; 0.39 psi 2021-10-10T03:12:04Z- handleDepth()-Depth_Keller msg: 1633835524155 epoch sec; seqNo:986; depth 49.93 2021-10-10T03:12:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:04Z- handleDvl() - RDI_Pathfinder msg: 1633835524.16 epoch sec; seqNo:317 2021-10-10T03:12:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.06 , -0.02 2021-10-10T03:12:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835524.17 epoch sec; seqNo:986; 4061476.16 north; 594186.39 east 2021-10-10T03:12:04Z- AHRS_M2 msg: 1633835524.55 epoch sec; seqNo:961 2021-10-10T03:12:04Z- AHRS_M2 msg: -0.23 phi; -0.07 theta; 0.39 psi 2021-10-10T03:12:04Z- handleDepth()-Depth_Keller msg: 1633835524557 epoch sec; seqNo:987; depth 49.95 2021-10-10T03:12:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835524.57 epoch sec; seqNo:987; 4061476.16 north; 594186.39 east 2021-10-10T03:12:04Z- AHRS_M2 msg: 1633835524.95 epoch sec; seqNo:962 2021-10-10T03:12:04Z- AHRS_M2 msg: -0.23 phi; -0.07 theta; 0.39 psi 2021-10-10T03:12:04Z- handleDepth()-Depth_Keller msg: 1633835524970 epoch sec; seqNo:988; depth 50.00 2021-10-10T03:12:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835524.98 epoch sec; seqNo:988; 4061476.54 north; 594186.39 east 2021-10-10T03:12:05Z- LcmTrn::handleMessages() - handling 44 messages took 0.69 ms and 130 calls... 2021-10-10T03:12:05Z- waiting for 1633835522.73, time is 1633835524.98 2021-10-10T03:12:05Z- LcmTrn::updateTrn() >>>> pose time 1633835524.98, meas time 1633835524.16 <<<< 2021-10-10T03:12:05Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835524.16, ping # 0. 2021-10-10T03:12:05Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835524.16 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:12:05Z- TerrainNav::motionUpdate() - currEstimate = (4061477, 594186.39, 50.00) 2021-10-10T03:12:05Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:12:05Z- TerrainNav:: SubcloudNIS is 0.96, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:12:05Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:12:05Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:12:05Z- TNavBF::Projecting Measurements 2021-10-10T03:12:05Z- TNavFilter::Measurement from time = 1633835524.16 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:12:05Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:12:05Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:12:05Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:12:05Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:12:05Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:12:05Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:12:05Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:12:05Z- Filter 0 NorthBias: -36.4 EastBias: -39.4 DepthBias: -9.3 NorthVariance: 101.8 EastVariance: 33.0 DepthVariance: 0.9 this->DepthBiasCov: 0.9 2021-10-10T03:12:05Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:12:05Z- TNavBF::mmse selected from filter -1 2021-10-10T03:12:05Z- variances([0], [2], and psi_berg) = 101.800616 33.808645 0.000000 2021-10-10T03:12:05Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:12:05Z- LcmTrn::publishEstimates() - MLE : 4061431.04 594143.89 50.00 2021-10-10T03:12:05Z- LcmTrn::publishEstimates() - MMSE : 4061440.15 594146.96 40.73 2021-10-10T03:12:05Z- LcmTrn::publishEstimates() - COVAR: 101.80 33.81 0.93 0.00 2021-10-10T03:12:05Z- AHRS_M2 msg: 1633835525.36 epoch sec; seqNo:963 2021-10-10T03:12:05Z- AHRS_M2 msg: -0.23 phi; -0.07 theta; 0.38 psi 2021-10-10T03:12:05Z- handleDepth()-Depth_Keller msg: 1633835525362 epoch sec; seqNo:989; depth 50.01 2021-10-10T03:12:05Z- handleDvl() - RDI_Pathfinder msg: 1633835525.39 epoch sec; seqNo:318 2021-10-10T03:12:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.87 , 50.50 , 42.73 , 46.62 2021-10-10T03:12:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , -0.02 2021-10-10T03:12:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835525.41 epoch sec; seqNo:989; 4061476.91 north; 594186.38 east 2021-10-10T03:12:05Z- AHRS_M2 msg: 1633835525.76 epoch sec; seqNo:964 2021-10-10T03:12:05Z- AHRS_M2 msg: -0.23 phi; -0.07 theta; 0.38 psi 2021-10-10T03:12:05Z- handleDepth()-Depth_Keller msg: 1633835525767 epoch sec; seqNo:990; depth 50.06 2021-10-10T03:12:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835525.78 epoch sec; seqNo:990; 4061477.29 north; 594186.38 east 2021-10-10T03:12:06Z- AHRS_M2 msg: 1633835526.17 epoch sec; seqNo:965 2021-10-10T03:12:06Z- AHRS_M2 msg: -0.23 phi; -0.07 theta; 0.38 psi 2021-10-10T03:12:06Z- handleDepth()-Depth_Keller msg: 1633835526176 epoch sec; seqNo:991; depth 50.09 2021-10-10T03:12:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835526.19 epoch sec; seqNo:991; 4061477.67 north; 594186.37 east 2021-10-10T03:12:06Z- AHRS_M2 msg: 1633835526.57 epoch sec; seqNo:966 2021-10-10T03:12:06Z- AHRS_M2 msg: -0.23 phi; -0.06 theta; 0.38 psi 2021-10-10T03:12:06Z- handleDepth()-Depth_Keller msg: 1633835526574 epoch sec; seqNo:992; depth 50.12 2021-10-10T03:12:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:06Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:06Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:06Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:06Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:06Z- handleDvl() - RDI_Pathfinder msg: 1633835526.58 epoch sec; seqNo:319 2021-10-10T03:12:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , -0.02 2021-10-10T03:12:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835526.61 epoch sec; seqNo:992; 4061477.67 north; 594186.37 east 2021-10-10T03:12:06Z- AHRS_M2 msg: 1633835526.97 epoch sec; seqNo:967 2021-10-10T03:12:06Z- AHRS_M2 msg: -0.23 phi; -0.06 theta; 0.38 psi 2021-10-10T03:12:06Z- handleDepth()-Depth_Keller msg: 1633835526985 epoch sec; seqNo:993; depth 50.14 2021-10-10T03:12:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835527.00 epoch sec; seqNo:993; 4061478.05 north; 594186.37 east 2021-10-10T03:12:07Z- AHRS_M2 msg: 1633835527.38 epoch sec; seqNo:968 2021-10-10T03:12:07Z- AHRS_M2 msg: -0.23 phi; -0.06 theta; 0.38 psi 2021-10-10T03:12:07Z- handleDepth()-Depth_Keller msg: 1633835527384 epoch sec; seqNo:994; depth 50.17 2021-10-10T03:12:07Z- handleDvl() - RDI_Pathfinder msg: 1633835527.40 epoch sec; seqNo:320 2021-10-10T03:12:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.46 , 50.50 , 42.73 , 46.41 2021-10-10T03:12:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , -0.01 2021-10-10T03:12:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835527.42 epoch sec; seqNo:994; 4061478.43 north; 594186.36 east 2021-10-10T03:12:07Z- AHRS_M2 msg: 1633835527.78 epoch sec; seqNo:969 2021-10-10T03:12:07Z- AHRS_M2 msg: -0.23 phi; -0.06 theta; 0.37 psi 2021-10-10T03:12:07Z- handleDepth()-Depth_Keller msg: 1633835527786 epoch sec; seqNo:995; depth 50.22 2021-10-10T03:12:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:07Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:07Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:07Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:07Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:07Z- handleDvl() - RDI_Pathfinder msg: 1633835527.79 epoch sec; seqNo:321 2021-10-10T03:12:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , -0.01 2021-10-10T03:12:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835527.81 epoch sec; seqNo:995; 4061478.82 north; 594187.58 east 2021-10-10T03:12:08Z- AHRS_M2 msg: 1633835528.18 epoch sec; seqNo:970 2021-10-10T03:12:08Z- AHRS_M2 msg: -0.23 phi; -0.06 theta; 0.37 psi 2021-10-10T03:12:08Z- handleDepth()-Depth_Keller msg: 1633835528189 epoch sec; seqNo:996; depth 50.25 2021-10-10T03:12:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835528.20 epoch sec; seqNo:996; 4061478.82 north; 594187.58 east 2021-10-10T03:12:08Z- AHRS_M2 msg: 1633835528.59 epoch sec; seqNo:971 2021-10-10T03:12:08Z- AHRS_M2 msg: -0.23 phi; -0.06 theta; 0.37 psi 2021-10-10T03:12:08Z- handleDepth()-Depth_Keller msg: 1633835528604 epoch sec; seqNo:997; depth 50.28 2021-10-10T03:12:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835528.61 epoch sec; seqNo:997; 4061479.20 north; 594187.58 east 2021-10-10T03:12:09Z- AHRS_M2 msg: 1633835529.00 epoch sec; seqNo:972 2021-10-10T03:12:09Z- AHRS_M2 msg: -0.23 phi; -0.06 theta; 0.37 psi 2021-10-10T03:12:09Z- handleDepth()-Depth_Keller msg: 1633835529025 epoch sec; seqNo:998; depth 50.30 2021-10-10T03:12:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:09Z- handleDvl() - RDI_Pathfinder msg: 1633835529.04 epoch sec; seqNo:322 2021-10-10T03:12:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , -0.01 2021-10-10T03:12:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835529.07 epoch sec; seqNo:998; 4061479.58 north; 594187.57 east 2021-10-10T03:12:09Z- AHRS_M2 msg: 1633835529.40 epoch sec; seqNo:973 2021-10-10T03:12:09Z- AHRS_M2 msg: -0.23 phi; -0.05 theta; 0.37 psi 2021-10-10T03:12:09Z- handleDepth()-Depth_Keller msg: 1633835529407 epoch sec; seqNo:999; depth 50.34 2021-10-10T03:12:09Z- handleDvl() - RDI_Pathfinder msg: 1633835529.43 epoch sec; seqNo:323 2021-10-10T03:12:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.26 , 50.70 , 42.94 , 45.80 2021-10-10T03:12:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.08 , 0.00 2021-10-10T03:12:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835529.45 epoch sec; seqNo:999; 4061479.96 north; 594187.57 east 2021-10-10T03:12:09Z- AHRS_M2 msg: 1633835529.80 epoch sec; seqNo:974 2021-10-10T03:12:09Z- AHRS_M2 msg: -0.23 phi; -0.05 theta; 0.37 psi 2021-10-10T03:12:09Z- handleDepth()-Depth_Keller msg: 1633835529806 epoch sec; seqNo:1000; depth 50.36 2021-10-10T03:12:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835529.83 epoch sec; seqNo:1000; 4061480.34 north; 594187.56 east 2021-10-10T03:12:10Z- LcmTrn::handleMessages() - handling 42 messages took 0.77 ms and 126 calls... 2021-10-10T03:12:10Z- waiting for 1633835527.98, time is 1633835529.83 2021-10-10T03:12:10Z- LcmTrn::updateTrn() >>>> pose time 1633835529.83, meas time 1633835529.43 <<<< 2021-10-10T03:12:10Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835529.43 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:12:10Z- TerrainNav::motionUpdate() - currEstimate = (4061480, 594187.56, 50.36) 2021-10-10T03:12:10Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:12:10Z- TerrainNav:: SubcloudNIS is 0.96, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:12:10Z- TNavBF::Projecting Measurements 2021-10-10T03:12:10Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:12:10Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:12:10Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:12:10Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:12:10Z- TNavFilter::4 good beams. 2021-10-10T03:12:10Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:12:10Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:12:10Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:12:10Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:12:10Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:12:10Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:12:10Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:12:10Z- TNavBF::mmse selected from filter -1 2021-10-10T03:12:10Z- TerrainMapOctree: (vehN, vehE ) = (4061480.03, 594187.47). 2021-10-10T03:12:10Z- TerrainMapOctree: Min Distance = 238.38. 2021-10-10T03:12:10Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:12:10Z- Forcing Subcloud Comparison 2021-10-10T03:12:10Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:12:10Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:12:10Z- Filter 0 partialDeltaRmsComputation: 1.275729 terrainVariance: 0.074197 1-SumSquareWeights: 0.996828 2021-10-10T03:12:10Z- Filter 0 meanExpectedMeasDiff: 1.096144 delta_rms_squared: 0.064229 alpha: 0.762552 2021-10-10T03:12:10Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:12:10Z- Filter 0 partialDeltaRmsComputation: 0.794975 terrainVariance: 0.343892 1-SumSquareWeights: 0.996828 2021-10-10T03:12:10Z- Filter 0 meanExpectedMeasDiff: 0.671628 delta_rms_squared: 0.333923 alpha: 0.943491 2021-10-10T03:12:10Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:12:10Z- Filter 0 partialDeltaRmsComputation: 24.312446 terrainVariance: 0.013105 1-SumSquareWeights: 0.996828 2021-10-10T03:12:10Z- Filter 0 meanExpectedMeasDiff: -4.929436 delta_rms_squared: 0.003137 alpha: 0.135588 2021-10-10T03:12:10Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:12:10Z- Filter 0 partialDeltaRmsComputation: 23.432459 terrainVariance: 0.259692 1-SumSquareWeights: 0.996828 2021-10-10T03:12:10Z- Filter 0 meanExpectedMeasDiff: 4.813810 delta_rms_squared: 0.249724 alpha: 0.925850 2021-10-10T03:12:10Z- Filter 0 SubcloudNIS: 1.030492 2021-10-10T03:12:10Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:12:10Z- TNavBF:: Filter 0 sumWeights = 0.097634 2021-10-10T03:12:10Z- Filter 0 NorthBias: -38.3 EastBias: -40.2 DepthBias: -9.0 NorthVariance: 69.3 EastVariance: 27.6 DepthVariance: 0.6 this->DepthBiasCov: 0.6 2021-10-10T03:12:10Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835529.43 sec. 2021-10-10T03:12:10Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:12:10Z- TNavBF::mmse selected from filter -1 2021-10-10T03:12:10Z- variances([0], [2], and psi_berg) = 69.267685 28.181939 0.000000 2021-10-10T03:12:10Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:12:10Z- LcmTrn::publishEstimates() - MLE : 4061446.84 594148.06 50.36 2021-10-10T03:12:10Z- LcmTrn::publishEstimates() - MMSE : 4061442.03 594147.35 41.38 2021-10-10T03:12:10Z- LcmTrn::publishEstimates() - COVAR: 69.27 28.18 0.61 0.00 2021-10-10T03:12:10Z- AHRS_M2 msg: 1633835530.21 epoch sec; seqNo:975 2021-10-10T03:12:10Z- AHRS_M2 msg: -0.23 phi; -0.05 theta; 0.37 psi 2021-10-10T03:12:10Z- handleDepth()-Depth_Keller msg: 1633835530214 epoch sec; seqNo:1001; depth 50.39 2021-10-10T03:12:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:10Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:10Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:10Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:10Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:10Z- handleDvl() - RDI_Pathfinder msg: 1633835530.22 epoch sec; seqNo:324 2021-10-10T03:12:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.08 , 0.00 2021-10-10T03:12:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835530.23 epoch sec; seqNo:1001; 4061480.34 north; 594187.56 east 2021-10-10T03:12:10Z- AHRS_M2 msg: 1633835530.62 epoch sec; seqNo:976 2021-10-10T03:12:10Z- AHRS_M2 msg: -0.23 phi; -0.05 theta; 0.36 psi 2021-10-10T03:12:10Z- handleDepth()-Depth_Keller msg: 1633835530632 epoch sec; seqNo:1002; depth 50.42 2021-10-10T03:12:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835530.64 epoch sec; seqNo:1002; 4061480.72 north; 594187.56 east 2021-10-10T03:12:11Z- AHRS_M2 msg: 1633835531.04 epoch sec; seqNo:977 2021-10-10T03:12:11Z- AHRS_M2 msg: -0.23 phi; -0.05 theta; 0.36 psi 2021-10-10T03:12:11Z- handleDepth()-Depth_Keller msg: 1633835531058 epoch sec; seqNo:1003; depth 50.45 2021-10-10T03:12:11Z- handleDvl() - RDI_Pathfinder msg: 1633835531.09 epoch sec; seqNo:325 2021-10-10T03:12:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.46 , 50.29 , 42.94 , 45.59 2021-10-10T03:12:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.06 , 0.02 2021-10-10T03:12:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835531.11 epoch sec; seqNo:1003; 4061481.10 north; 594187.56 east 2021-10-10T03:12:11Z- AHRS_M2 msg: 1633835531.42 epoch sec; seqNo:978 2021-10-10T03:12:11Z- AHRS_M2 msg: -0.23 phi; -0.05 theta; 0.36 psi 2021-10-10T03:12:11Z- handleDepth()-Depth_Keller msg: 1633835531428 epoch sec; seqNo:1004; depth 50.48 2021-10-10T03:12:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:11Z- handleDvl() - RDI_Pathfinder msg: 1633835531.43 epoch sec; seqNo:326 2021-10-10T03:12:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.06 , 0.02 2021-10-10T03:12:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835531.45 epoch sec; seqNo:1004; 4061481.47 north; 594187.55 east 2021-10-10T03:12:11Z- AHRS_M2 msg: 1633835531.82 epoch sec; seqNo:979 2021-10-10T03:12:11Z- AHRS_M2 msg: -0.23 phi; -0.05 theta; 0.36 psi 2021-10-10T03:12:11Z- handleDepth()-Depth_Keller msg: 1633835531828 epoch sec; seqNo:1005; depth 50.49 2021-10-10T03:12:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835531.84 epoch sec; seqNo:1005; 4061481.85 north; 594187.55 east 2021-10-10T03:12:12Z- AHRS_M2 msg: 1633835532.22 epoch sec; seqNo:980 2021-10-10T03:12:12Z- AHRS_M2 msg: -0.23 phi; -0.04 theta; 0.36 psi 2021-10-10T03:12:12Z- handleDepth()-Depth_Keller msg: 1633835532229 epoch sec; seqNo:1006; depth 50.53 2021-10-10T03:12:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835532.25 epoch sec; seqNo:1006; 4061481.85 north; 594187.55 east 2021-10-10T03:12:12Z- AHRS_M2 msg: 1633835532.63 epoch sec; seqNo:981 2021-10-10T03:12:12Z- AHRS_M2 msg: -0.23 phi; -0.04 theta; 0.36 psi 2021-10-10T03:12:12Z- handleDepth()-Depth_Keller msg: 1633835532640 epoch sec; seqNo:1007; depth 50.55 2021-10-10T03:12:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:12Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:12Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:12Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:12Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:12Z- handleDvl() - RDI_Pathfinder msg: 1633835532.64 epoch sec; seqNo:327 2021-10-10T03:12:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.06 , 0.02 2021-10-10T03:12:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835532.67 epoch sec; seqNo:1007; 4061482.23 north; 594187.54 east 2021-10-10T03:12:13Z- AHRS_M2 msg: 1633835533.07 epoch sec; seqNo:982 2021-10-10T03:12:13Z- AHRS_M2 msg: -0.23 phi; -0.04 theta; 0.35 psi 2021-10-10T03:12:13Z- handleDepth()-Depth_Keller msg: 1633835533076 epoch sec; seqNo:1008; depth 50.57 2021-10-10T03:12:13Z- handleDvl() - RDI_Pathfinder msg: 1633835533.10 epoch sec; seqNo:328 2021-10-10T03:12:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.26 , 50.09 , 42.73 , 45.39 2021-10-10T03:12:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.04 , 0.00 2021-10-10T03:12:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835533.11 epoch sec; seqNo:1008; 4061482.61 north; 594187.54 east 2021-10-10T03:12:13Z- AHRS_M2 msg: 1633835533.44 epoch sec; seqNo:983 2021-10-10T03:12:13Z- AHRS_M2 msg: -0.23 phi; -0.04 theta; 0.35 psi 2021-10-10T03:12:13Z- handleDepth()-Depth_Keller msg: 1633835533446 epoch sec; seqNo:1009; depth 50.59 2021-10-10T03:12:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835533.46 epoch sec; seqNo:1009; 4061483.00 north; 594188.76 east 2021-10-10T03:12:13Z- AHRS_M2 msg: 1633835533.84 epoch sec; seqNo:984 2021-10-10T03:12:13Z- AHRS_M2 msg: -0.23 phi; -0.04 theta; 0.35 psi 2021-10-10T03:12:13Z- handleDepth()-Depth_Keller msg: 1633835533846 epoch sec; seqNo:1010; depth 50.62 2021-10-10T03:12:13Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:13Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:13Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:13Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:13Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:13Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:13Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:13Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:13Z- handleDvl() - RDI_Pathfinder msg: 1633835533.85 epoch sec; seqNo:329 2021-10-10T03:12:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.04 , 0.00 2021-10-10T03:12:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835533.87 epoch sec; seqNo:1010; 4061483.00 north; 594188.76 east 2021-10-10T03:12:14Z- AHRS_M2 msg: 1633835534.25 epoch sec; seqNo:985 2021-10-10T03:12:14Z- AHRS_M2 msg: -0.23 phi; -0.04 theta; 0.35 psi 2021-10-10T03:12:14Z- handleDepth()-Depth_Keller msg: 1633835534253 epoch sec; seqNo:1011; depth 50.64 2021-10-10T03:12:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835534.26 epoch sec; seqNo:1011; 4061483.38 north; 594188.75 east 2021-10-10T03:12:14Z- AHRS_M2 msg: 1633835534.66 epoch sec; seqNo:986 2021-10-10T03:12:14Z- AHRS_M2 msg: -0.23 phi; -0.04 theta; 0.35 psi 2021-10-10T03:12:14Z- handleDepth()-Depth_Keller msg: 1633835534670 epoch sec; seqNo:1012; depth 50.66 2021-10-10T03:12:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835534.68 epoch sec; seqNo:1012; 4061483.76 north; 594188.75 east 2021-10-10T03:12:15Z- AHRS_M2 msg: 1633835535.07 epoch sec; seqNo:987 2021-10-10T03:12:15Z- AHRS_M2 msg: -0.23 phi; -0.04 theta; 0.35 psi 2021-10-10T03:12:15Z- handleDepth()-Depth_Keller msg: 1633835535079 epoch sec; seqNo:1013; depth 50.69 2021-10-10T03:12:15Z- handleDvl() - RDI_Pathfinder msg: 1633835535.10 epoch sec; seqNo:330 2021-10-10T03:12:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.05 , 50.09 , 42.94 , 44.98 2021-10-10T03:12:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.05 , -0.01 2021-10-10T03:12:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835535.12 epoch sec; seqNo:1013; 4061484.14 north; 594188.74 east 2021-10-10T03:12:15Z- LcmTrn::handleMessages() - handling 46 messages took 0.69 ms and 132 calls... 2021-10-10T03:12:15Z- waiting for 1633835532.83, time is 1633835535.12 2021-10-10T03:12:15Z- LcmTrn::updateTrn() equating pose 1633835535.12 and meas times 1633835535.12 2021-10-10T03:12:15Z- LcmTrn::updateTrn() >>>> pose time 1633835535.12, meas time 1633835535.12 <<<< 2021-10-10T03:12:15Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835535.12 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:12:15Z- TerrainNav::motionUpdate() - currEstimate = (4061484, 594188.74, 50.69) 2021-10-10T03:12:15Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:12:15Z- TerrainNav:: SubcloudNIS is 1.03, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:12:15Z- TerrainNav::Measurement type 1 not incorporated from time = 1633835535.12 sec.; No relevant navigation data available 2021-10-10T03:12:15Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:12:15Z- TNavBF::mmse selected from filter -1 2021-10-10T03:12:15Z- variances([0], [2], and psi_berg) = 69.300071 30.351029 0.000000 2021-10-10T03:12:15Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:12:15Z- LcmTrn::publishEstimates() - MLE : 4061450.64 594149.24 50.69 2021-10-10T03:12:15Z- LcmTrn::publishEstimates() - MMSE : 4061445.83 594148.56 41.72 2021-10-10T03:12:15Z- LcmTrn::publishEstimates() - COVAR: 69.30 30.35 0.81 0.00 2021-10-10T03:12:15Z- AHRS_M2 msg: 1633835535.46 epoch sec; seqNo:988 2021-10-10T03:12:15Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 0.35 psi 2021-10-10T03:12:15Z- handleDepth()-Depth_Keller msg: 1633835535477 epoch sec; seqNo:1014; depth 50.72 2021-10-10T03:12:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835535.50 epoch sec; seqNo:1014; 4061484.52 north; 594188.74 east 2021-10-10T03:12:15Z- AHRS_M2 msg: 1633835535.86 epoch sec; seqNo:989 2021-10-10T03:12:15Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 0.35 psi 2021-10-10T03:12:15Z- handleDepth()-Depth_Keller msg: 1633835535867 epoch sec; seqNo:1015; depth 50.73 2021-10-10T03:12:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835535.88 epoch sec; seqNo:1015; 4061484.52 north; 594188.74 east 2021-10-10T03:12:16Z- AHRS_M2 msg: 1633835536.27 epoch sec; seqNo:990 2021-10-10T03:12:16Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 0.34 psi 2021-10-10T03:12:16Z- handleDepth()-Depth_Keller msg: 1633835536271 epoch sec; seqNo:1016; depth 50.74 2021-10-10T03:12:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835536.28 epoch sec; seqNo:1016; 4061484.90 north; 594188.73 east 2021-10-10T03:12:16Z- AHRS_M2 msg: 1633835536.67 epoch sec; seqNo:991 2021-10-10T03:12:16Z- AHRS_M2 msg: -0.22 phi; -0.03 theta; 0.34 psi 2021-10-10T03:12:16Z- handleDepth()-Depth_Keller msg: 1633835536699 epoch sec; seqNo:1017; depth 50.77 2021-10-10T03:12:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835536.74 epoch sec; seqNo:1017; 4061485.28 north; 594188.73 east 2021-10-10T03:12:17Z- AHRS_M2 msg: 1633835537.08 epoch sec; seqNo:992 2021-10-10T03:12:17Z- AHRS_M2 msg: -0.22 phi; -0.03 theta; 0.34 psi 2021-10-10T03:12:17Z- handleDepth()-Depth_Keller msg: 1633835537086 epoch sec; seqNo:1018; depth 50.78 2021-10-10T03:12:17Z- handleDvl() - RDI_Pathfinder msg: 1633835537.12 epoch sec; seqNo:331 2021-10-10T03:12:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.05 , 50.09 , 42.94 , 44.78 2021-10-10T03:12:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , -0.02 2021-10-10T03:12:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835537.13 epoch sec; seqNo:1018; 4061485.65 north; 594188.73 east 2021-10-10T03:12:17Z- AHRS_M2 msg: 1633835537.48 epoch sec; seqNo:993 2021-10-10T03:12:17Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 0.34 psi 2021-10-10T03:12:17Z- handleDepth()-Depth_Keller msg: 1633835537490 epoch sec; seqNo:1019; depth 50.80 2021-10-10T03:12:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835537.51 epoch sec; seqNo:1019; 4061486.03 north; 594188.72 east 2021-10-10T03:12:17Z- AHRS_M2 msg: 1633835537.88 epoch sec; seqNo:994 2021-10-10T03:12:17Z- AHRS_M2 msg: -0.22 phi; -0.03 theta; 0.34 psi 2021-10-10T03:12:17Z- handleDepth()-Depth_Keller msg: 1633835537888 epoch sec; seqNo:1020; depth 50.82 2021-10-10T03:12:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835537.90 epoch sec; seqNo:1020; 4061486.03 north; 594188.72 east 2021-10-10T03:12:18Z- AHRS_M2 msg: 1633835538.29 epoch sec; seqNo:995 2021-10-10T03:12:18Z- AHRS_M2 msg: -0.22 phi; -0.03 theta; 0.34 psi 2021-10-10T03:12:18Z- handleDepth()-Depth_Keller msg: 1633835538303 epoch sec; seqNo:1021; depth 50.82 2021-10-10T03:12:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835538.31 epoch sec; seqNo:1021; 4061486.41 north; 594188.72 east 2021-10-10T03:12:18Z- AHRS_M2 msg: 1633835538.70 epoch sec; seqNo:996 2021-10-10T03:12:18Z- AHRS_M2 msg: -0.23 phi; -0.02 theta; 0.34 psi 2021-10-10T03:12:18Z- handleDepth()-Depth_Keller msg: 1633835538702 epoch sec; seqNo:1022; depth 50.85 2021-10-10T03:12:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:18Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:18Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:18Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:18Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:18Z- handleDvl() - RDI_Pathfinder msg: 1633835538.70 epoch sec; seqNo:332 2021-10-10T03:12:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , -0.02 2021-10-10T03:12:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835538.73 epoch sec; seqNo:1022; 4061486.79 north; 594188.71 east 2021-10-10T03:12:19Z- AHRS_M2 msg: 1633835539.10 epoch sec; seqNo:997 2021-10-10T03:12:19Z- AHRS_M2 msg: -0.22 phi; -0.02 theta; 0.34 psi 2021-10-10T03:12:19Z- handleDepth()-Depth_Keller msg: 1633835539108 epoch sec; seqNo:1023; depth 50.87 2021-10-10T03:12:19Z- handleDvl() - RDI_Pathfinder msg: 1633835539.13 epoch sec; seqNo:333 2021-10-10T03:12:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.85 , 49.68 , 42.94 , 44.16 2021-10-10T03:12:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , -0.02 2021-10-10T03:12:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835539.16 epoch sec; seqNo:1023; 4061487.17 north; 594188.71 east 2021-10-10T03:12:19Z- AHRS_M2 msg: 1633835539.50 epoch sec; seqNo:998 2021-10-10T03:12:19Z- AHRS_M2 msg: -0.22 phi; -0.02 theta; 0.33 psi 2021-10-10T03:12:19Z- handleDepth()-Depth_Keller msg: 1633835539510 epoch sec; seqNo:1024; depth 50.89 2021-10-10T03:12:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835539.53 epoch sec; seqNo:1024; 4061487.56 north; 594189.93 east 2021-10-10T03:12:19Z- AHRS_M2 msg: 1633835539.90 epoch sec; seqNo:999 2021-10-10T03:12:19Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.33 psi 2021-10-10T03:12:19Z- handleDepth()-Depth_Keller msg: 1633835539908 epoch sec; seqNo:1025; depth 50.89 2021-10-10T03:12:19Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:19Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:19Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:19Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:19Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:19Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:19Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:19Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:19Z- handleDvl() - RDI_Pathfinder msg: 1633835539.92 epoch sec; seqNo:334 2021-10-10T03:12:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , -0.02 2021-10-10T03:12:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835539.93 epoch sec; seqNo:1025; 4061487.56 north; 594189.93 east 2021-10-10T03:12:20Z- AHRS_M2 msg: 1633835540.31 epoch sec; seqNo:1000 2021-10-10T03:12:20Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.33 psi 2021-10-10T03:12:20Z- handleDepth()-Depth_Keller msg: 1633835540310 epoch sec; seqNo:1026; depth 50.90 2021-10-10T03:12:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835540.32 epoch sec; seqNo:1026; 4061487.94 north; 594189.92 east 2021-10-10T03:12:20Z- LcmTrn::handleMessages() - handling 43 messages took 0.73 ms and 128 calls... 2021-10-10T03:12:20Z- waiting for 1633835538.12, time is 1633835540.32 2021-10-10T03:12:20Z- LcmTrn::updateTrn() >>>> pose time 1633835540.32, meas time 1633835539.92 <<<< 2021-10-10T03:12:20Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835539.92, ping # 0. 2021-10-10T03:12:20Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835539.92 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:12:20Z- TerrainNav::motionUpdate() - currEstimate = (4061488, 594189.92, 50.90) 2021-10-10T03:12:20Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:12:20Z- TerrainNav:: SubcloudNIS is 1.03, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:12:20Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:12:20Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:12:20Z- TNavBF::Projecting Measurements 2021-10-10T03:12:20Z- TNavFilter::Measurement from time = 1633835539.92 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:12:20Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:12:20Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:12:20Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:12:20Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:12:20Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:12:20Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:12:20Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:12:20Z- Filter 0 NorthBias: -38.3 EastBias: -40.2 DepthBias: -9.0 NorthVariance: 69.3 EastVariance: 32.4 DepthVariance: 1.0 this->DepthBiasCov: 1.0 2021-10-10T03:12:20Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:12:20Z- TNavBF::mmse selected from filter -1 2021-10-10T03:12:20Z- variances([0], [2], and psi_berg) = 69.339794 32.965262 0.000000 2021-10-10T03:12:20Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:12:20Z- LcmTrn::publishEstimates() - MLE : 4061452.44 594150.42 50.90 2021-10-10T03:12:20Z- LcmTrn::publishEstimates() - MMSE : 4061449.64 594149.77 41.93 2021-10-10T03:12:20Z- LcmTrn::publishEstimates() - COVAR: 69.34 32.97 1.01 0.00 2021-10-10T03:12:20Z- AHRS_M2 msg: 1633835540.71 epoch sec; seqNo:1001 2021-10-10T03:12:20Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.33 psi 2021-10-10T03:12:20Z- handleDepth()-Depth_Keller msg: 1633835540728 epoch sec; seqNo:1027; depth 50.92 2021-10-10T03:12:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835540.74 epoch sec; seqNo:1027; 4061488.32 north; 594189.92 east 2021-10-10T03:12:21Z- AHRS_M2 msg: 1633835541.12 epoch sec; seqNo:1002 2021-10-10T03:12:21Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.33 psi 2021-10-10T03:12:21Z- handleDepth()-Depth_Keller msg: 1633835541128 epoch sec; seqNo:1028; depth 50.93 2021-10-10T03:12:21Z- handleDvl() - RDI_Pathfinder msg: 1633835541.15 epoch sec; seqNo:335 2021-10-10T03:12:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.84 , 49.27 , 43.13 , 43.54 2021-10-10T03:12:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , -0.01 2021-10-10T03:12:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835541.18 epoch sec; seqNo:1028; 4061488.70 north; 594189.91 east 2021-10-10T03:12:21Z- AHRS_M2 msg: 1633835541.52 epoch sec; seqNo:1003 2021-10-10T03:12:21Z- AHRS_M2 msg: -0.22 phi; -0.00 theta; 0.33 psi 2021-10-10T03:12:21Z- handleDepth()-Depth_Keller msg: 1633835541537 epoch sec; seqNo:1029; depth 50.93 2021-10-10T03:12:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835541.56 epoch sec; seqNo:1029; 4061489.08 north; 594189.91 east 2021-10-10T03:12:21Z- AHRS_M2 msg: 1633835541.92 epoch sec; seqNo:1004 2021-10-10T03:12:21Z- AHRS_M2 msg: -0.22 phi; -0.00 theta; 0.33 psi 2021-10-10T03:12:21Z- handleDepth()-Depth_Keller msg: 1633835541933 epoch sec; seqNo:1030; depth 50.96 2021-10-10T03:12:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835541.96 epoch sec; seqNo:1030; 4061489.08 north; 594189.91 east 2021-10-10T03:12:22Z- AHRS_M2 msg: 1633835542.33 epoch sec; seqNo:1005 2021-10-10T03:12:22Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.33 psi 2021-10-10T03:12:22Z- handleDepth()-Depth_Keller msg: 1633835542330 epoch sec; seqNo:1031; depth 50.97 2021-10-10T03:12:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:22Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:22Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:22Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:22Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:22Z- handleDvl() - RDI_Pathfinder msg: 1633835542.33 epoch sec; seqNo:336 2021-10-10T03:12:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , -0.01 2021-10-10T03:12:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835542.34 epoch sec; seqNo:1031; 4061489.46 north; 594189.90 east 2021-10-10T03:12:22Z- AHRS_M2 msg: 1633835542.74 epoch sec; seqNo:1006 2021-10-10T03:12:22Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.32 psi 2021-10-10T03:12:22Z- handleDepth()-Depth_Keller msg: 1633835542750 epoch sec; seqNo:1032; depth 50.98 2021-10-10T03:12:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835542.76 epoch sec; seqNo:1032; 4061489.84 north; 594189.90 east 2021-10-10T03:12:23Z- AHRS_M2 msg: 1633835543.13 epoch sec; seqNo:1007 2021-10-10T03:12:23Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.32 psi 2021-10-10T03:12:23Z- handleDepth()-Depth_Keller msg: 1633835543138 epoch sec; seqNo:1033; depth 50.98 2021-10-10T03:12:23Z- handleDvl() - RDI_Pathfinder msg: 1633835543.17 epoch sec; seqNo:337 2021-10-10T03:12:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.84 , 49.06 , 43.34 , 43.34 2021-10-10T03:12:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.08 , 0.00 2021-10-10T03:12:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835543.18 epoch sec; seqNo:1033; 4061490.21 north; 594189.90 east 2021-10-10T03:12:23Z- AHRS_M2 msg: 1633835543.54 epoch sec; seqNo:1008 2021-10-10T03:12:23Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; 0.32 psi 2021-10-10T03:12:23Z- handleDepth()-Depth_Keller msg: 1633835543544 epoch sec; seqNo:1034; depth 50.99 2021-10-10T03:12:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:23Z- handleDvl() - RDI_Pathfinder msg: 1633835543.55 epoch sec; seqNo:338 2021-10-10T03:12:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.08 , 0.00 2021-10-10T03:12:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835543.58 epoch sec; seqNo:1034; 4061490.21 north; 594189.90 east 2021-10-10T03:12:23Z- AHRS_M2 msg: 1633835543.94 epoch sec; seqNo:1009 2021-10-10T03:12:23Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; 0.32 psi 2021-10-10T03:12:23Z- handleDepth()-Depth_Keller msg: 1633835543949 epoch sec; seqNo:1035; depth 51.01 2021-10-10T03:12:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835543.96 epoch sec; seqNo:1035; 4061490.59 north; 594189.89 east 2021-10-10T03:12:24Z- AHRS_M2 msg: 1633835544.35 epoch sec; seqNo:1010 2021-10-10T03:12:24Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; 0.32 psi 2021-10-10T03:12:24Z- handleDepth()-Depth_Keller msg: 1633835544356 epoch sec; seqNo:1036; depth 51.02 2021-10-10T03:12:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835544.37 epoch sec; seqNo:1036; 4061490.97 north; 594189.89 east 2021-10-10T03:12:24Z- AHRS_M2 msg: 1633835544.75 epoch sec; seqNo:1011 2021-10-10T03:12:24Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; 0.32 psi 2021-10-10T03:12:24Z- handleDepth()-Depth_Keller msg: 1633835544768 epoch sec; seqNo:1037; depth 51.00 2021-10-10T03:12:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:24Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:24Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:24Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:24Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:24Z- handleDvl() - RDI_Pathfinder msg: 1633835544.77 epoch sec; seqNo:339 2021-10-10T03:12:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.08 , 0.00 2021-10-10T03:12:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835544.78 epoch sec; seqNo:1037; 4061491.35 north; 594189.88 east 2021-10-10T03:12:25Z- AHRS_M2 msg: 1633835545.15 epoch sec; seqNo:1012 2021-10-10T03:12:25Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.32 psi 2021-10-10T03:12:25Z- handleDepth()-Depth_Keller msg: 1633835545159 epoch sec; seqNo:1038; depth 51.02 2021-10-10T03:12:25Z- handleDvl() - RDI_Pathfinder msg: 1633835545.19 epoch sec; seqNo:340 2021-10-10T03:12:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.84 , 49.27 , 43.54 , 43.13 2021-10-10T03:12:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.08 , 0.00 2021-10-10T03:12:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835545.20 epoch sec; seqNo:1038; 4061491.73 north; 594189.88 east 2021-10-10T03:12:25Z- LcmTrn::handleMessages() - handling 42 messages took 0.68 ms and 128 calls... 2021-10-10T03:12:25Z- waiting for 1633835543.32, time is 1633835545.20 2021-10-10T03:12:25Z- LcmTrn::updateTrn() equating pose 1633835545.20 and meas times 1633835545.20 2021-10-10T03:12:25Z- LcmTrn::updateTrn() >>>> pose time 1633835545.20, meas time 1633835545.20 <<<< 2021-10-10T03:12:25Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835545.20 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:12:25Z- TerrainNav::motionUpdate() - currEstimate = (4061492, 594189.88, 51.02) 2021-10-10T03:12:25Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:12:25Z- TerrainNav:: SubcloudNIS is 1.03, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:12:25Z- TNavBF::Projecting Measurements 2021-10-10T03:12:25Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:12:25Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:12:25Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:12:25Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:12:25Z- TNavFilter::4 good beams. 2021-10-10T03:12:25Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:12:25Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:12:25Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:12:25Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:12:25Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:12:25Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:12:25Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:12:25Z- TNavBF::mmse selected from filter -1 2021-10-10T03:12:25Z- TerrainMapOctree: (vehN, vehE ) = (4061491.73, 594189.88). 2021-10-10T03:12:25Z- TerrainMapOctree: Min Distance = 249.09. 2021-10-10T03:12:25Z- TerrainMapOctree: Using tile 1. 2021-10-10T03:12:25Z- Forcing Subcloud Comparison 2021-10-10T03:12:25Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:12:25Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:12:25Z- Filter 0 partialDeltaRmsComputation: 0.095237 terrainVariance: 0.044265 1-SumSquareWeights: 0.996186 2021-10-10T03:12:25Z- Filter 0 meanExpectedMeasDiff: -0.225768 delta_rms_squared: 0.034304 alpha: 0.631700 2021-10-10T03:12:25Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:12:25Z- Filter 0 partialDeltaRmsComputation: 3.048827 terrainVariance: 0.035739 1-SumSquareWeights: 0.996186 2021-10-10T03:12:25Z- Filter 0 meanExpectedMeasDiff: 1.735825 delta_rms_squared: 0.025777 alpha: 0.563097 2021-10-10T03:12:25Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:12:25Z- Filter 0 partialDeltaRmsComputation: 22.787489 terrainVariance: 0.011215 1-SumSquareWeights: 0.996186 2021-10-10T03:12:25Z- Filter 0 meanExpectedMeasDiff: -4.772449 delta_rms_squared: 0.001253 alpha: 0.058964 2021-10-10T03:12:25Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:12:25Z- Filter 0 partialDeltaRmsComputation: 20.213436 terrainVariance: 0.175764 1-SumSquareWeights: 0.996186 2021-10-10T03:12:25Z- Filter 0 meanExpectedMeasDiff: 4.476346 delta_rms_squared: 0.165802 alpha: 0.892358 2021-10-10T03:12:25Z- Filter 0 SubcloudNIS: 1.120160 2021-10-10T03:12:25Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:12:25Z- TNavBF:: Filter 0 sumWeights = 0.146369 2021-10-10T03:12:25Z- Filter 0 NorthBias: -39.4 EastBias: -40.9 DepthBias: -8.7 NorthVariance: 63.9 EastVariance: 35.3 DepthVariance: 0.6 this->DepthBiasCov: 0.6 2021-10-10T03:12:25Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835545.20 sec. 2021-10-10T03:12:25Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:12:25Z- TNavBF::mmse selected from filter -1 2021-10-10T03:12:25Z- variances([0], [2], and psi_berg) = 63.937298 35.275833 0.000000 2021-10-10T03:12:25Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:12:25Z- LcmTrn::publishEstimates() - MLE : 4061446.23 594147.38 51.02 2021-10-10T03:12:25Z- LcmTrn::publishEstimates() - MMSE : 4061452.35 594149.02 42.27 2021-10-10T03:12:25Z- LcmTrn::publishEstimates() - COVAR: 63.94 35.28 0.61 0.00 2021-10-10T03:12:25Z- AHRS_M2 msg: 1633835545.56 epoch sec; seqNo:1013 2021-10-10T03:12:25Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 0.32 psi 2021-10-10T03:12:25Z- handleDepth()-Depth_Keller msg: 1633835545568 epoch sec; seqNo:1039; depth 51.03 2021-10-10T03:12:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835545.59 epoch sec; seqNo:1039; 4061491.73 north; 594189.88 east 2021-10-10T03:12:25Z- AHRS_M2 msg: 1633835545.96 epoch sec; seqNo:1014 2021-10-10T03:12:25Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 0.32 psi 2021-10-10T03:12:25Z- handleDepth()-Depth_Keller msg: 1633835545968 epoch sec; seqNo:1040; depth 51.03 2021-10-10T03:12:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835545.98 epoch sec; seqNo:1040; 4061492.11 north; 594189.88 east 2021-10-10T03:12:26Z- AHRS_M2 msg: 1633835546.37 epoch sec; seqNo:1015 2021-10-10T03:12:26Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 0.32 psi 2021-10-10T03:12:26Z- handleDepth()-Depth_Keller msg: 1633835546378 epoch sec; seqNo:1041; depth 51.04 2021-10-10T03:12:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835546.39 epoch sec; seqNo:1041; 4061492.49 north; 594189.87 east 2021-10-10T03:12:26Z- AHRS_M2 msg: 1633835546.78 epoch sec; seqNo:1016 2021-10-10T03:12:26Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 0.32 psi 2021-10-10T03:12:26Z- handleDepth()-Depth_Keller msg: 1633835546783 epoch sec; seqNo:1042; depth 51.04 2021-10-10T03:12:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835546.80 epoch sec; seqNo:1042; 4061492.88 north; 594191.09 east 2021-10-10T03:12:27Z- AHRS_M2 msg: 1633835547.17 epoch sec; seqNo:1017 2021-10-10T03:12:27Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 0.32 psi 2021-10-10T03:12:27Z- handleDepth()-Depth_Keller msg: 1633835547184 epoch sec; seqNo:1043; depth 51.05 2021-10-10T03:12:27Z- handleDvl() - RDI_Pathfinder msg: 1633835547.21 epoch sec; seqNo:341 2021-10-10T03:12:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.05 , 48.65 , 43.95 , 42.73 2021-10-10T03:12:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , -0.00 2021-10-10T03:12:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835547.23 epoch sec; seqNo:1043; 4061493.26 north; 594191.08 east 2021-10-10T03:12:27Z- AHRS_M2 msg: 1633835547.58 epoch sec; seqNo:1018 2021-10-10T03:12:27Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 0.32 psi 2021-10-10T03:12:27Z- handleDepth()-Depth_Keller msg: 1633835547582 epoch sec; seqNo:1044; depth 51.06 2021-10-10T03:12:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835547.60 epoch sec; seqNo:1044; 4061493.26 north; 594191.08 east 2021-10-10T03:12:27Z- AHRS_M2 msg: 1633835547.98 epoch sec; seqNo:1019 2021-10-10T03:12:27Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 0.32 psi 2021-10-10T03:12:27Z- handleDepth()-Depth_Keller msg: 1633835547986 epoch sec; seqNo:1045; depth 51.06 2021-10-10T03:12:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835548.01 epoch sec; seqNo:1045; 4061493.64 north; 594191.08 east 2021-10-10T03:12:28Z- AHRS_M2 msg: 1633835548.39 epoch sec; seqNo:1020 2021-10-10T03:12:28Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 0.32 psi 2021-10-10T03:12:28Z- handleDepth()-Depth_Keller msg: 1633835548390 epoch sec; seqNo:1046; depth 51.05 2021-10-10T03:12:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:28Z- handleDvl() - RDI_Pathfinder msg: 1633835548.39 epoch sec; seqNo:342 2021-10-10T03:12:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , -0.00 2021-10-10T03:12:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835548.40 epoch sec; seqNo:1046; 4061494.02 north; 594191.07 east 2021-10-10T03:12:28Z- AHRS_M2 msg: 1633835548.79 epoch sec; seqNo:1021 2021-10-10T03:12:28Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 0.32 psi 2021-10-10T03:12:28Z- handleDepth()-Depth_Keller msg: 1633835548794 epoch sec; seqNo:1047; depth 51.05 2021-10-10T03:12:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835548.81 epoch sec; seqNo:1047; 4061494.39 north; 594191.07 east 2021-10-10T03:12:29Z- AHRS_M2 msg: 1633835549.19 epoch sec; seqNo:1022 2021-10-10T03:12:29Z- AHRS_M2 msg: -0.21 phi; 0.04 theta; 0.32 psi 2021-10-10T03:12:29Z- handleDepth()-Depth_Keller msg: 1633835549200 epoch sec; seqNo:1048; depth 51.06 2021-10-10T03:12:29Z- handleDvl() - RDI_Pathfinder msg: 1633835549.22 epoch sec; seqNo:343 2021-10-10T03:12:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.84 , 49.06 , 44.16 , 42.32 2021-10-10T03:12:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , -0.01 2021-10-10T03:12:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835549.24 epoch sec; seqNo:1048; 4061494.39 north; 594191.07 east 2021-10-10T03:12:29Z- AHRS_M2 msg: 1633835549.60 epoch sec; seqNo:1023 2021-10-10T03:12:29Z- AHRS_M2 msg: -0.21 phi; 0.04 theta; 0.32 psi 2021-10-10T03:12:29Z- handleDepth()-Depth_Keller msg: 1633835549602 epoch sec; seqNo:1049; depth 51.06 2021-10-10T03:12:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:29Z- handleDvl() - RDI_Pathfinder msg: 1633835549.61 epoch sec; seqNo:344 2021-10-10T03:12:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , -0.01 2021-10-10T03:12:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835549.63 epoch sec; seqNo:1049; 4061494.77 north; 594191.07 east 2021-10-10T03:12:30Z- AHRS_M2 msg: 1633835550.00 epoch sec; seqNo:1024 2021-10-10T03:12:30Z- AHRS_M2 msg: -0.21 phi; 0.04 theta; 0.32 psi 2021-10-10T03:12:30Z- handleDepth()-Depth_Keller msg: 1633835550006 epoch sec; seqNo:1050; depth 51.05 2021-10-10T03:12:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835550.02 epoch sec; seqNo:1050; 4061495.15 north; 594191.06 east 2021-10-10T03:12:30Z- AHRS_M2 msg: 1633835550.40 epoch sec; seqNo:1025 2021-10-10T03:12:30Z- AHRS_M2 msg: -0.21 phi; 0.04 theta; 0.32 psi 2021-10-10T03:12:30Z- handleDepth()-Depth_Keller msg: 1633835550410 epoch sec; seqNo:1051; depth 51.04 2021-10-10T03:12:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835550.42 epoch sec; seqNo:1051; 4061495.53 north; 594191.06 east 2021-10-10T03:12:30Z- LcmTrn::handleMessages() - handling 43 messages took 0.66 ms and 129 calls... 2021-10-10T03:12:30Z- waiting for 1633835548.20, time is 1633835550.42 2021-10-10T03:12:30Z- LcmTrn::updateTrn() >>>> pose time 1633835550.42, meas time 1633835549.61 <<<< 2021-10-10T03:12:30Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835549.61, ping # 0. 2021-10-10T03:12:30Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835549.61 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:12:30Z- TerrainNav::motionUpdate() - currEstimate = (4061496, 594191.06, 51.04) 2021-10-10T03:12:30Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:12:30Z- TerrainNav:: SubcloudNIS is 1.12, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:12:30Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:12:30Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:12:30Z- TNavBF::Projecting Measurements 2021-10-10T03:12:30Z- TNavFilter::Measurement from time = 1633835549.61 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:12:30Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:12:30Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:12:30Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:12:30Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:12:30Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:12:30Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:12:30Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:12:30Z- Filter 0 NorthBias: -39.4 EastBias: -40.8 DepthBias: -8.7 NorthVariance: 64.0 EastVariance: 37.3 DepthVariance: 0.8 this->DepthBiasCov: 0.8 2021-10-10T03:12:30Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:12:30Z- TNavBF::mmse selected from filter -1 2021-10-10T03:12:30Z- variances([0], [2], and psi_berg) = 63.980875 38.133999 0.000000 2021-10-10T03:12:30Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:12:30Z- LcmTrn::publishEstimates() - MLE : 4061450.03 594148.56 51.04 2021-10-10T03:12:30Z- LcmTrn::publishEstimates() - MMSE : 4061456.15 594150.23 42.29 2021-10-10T03:12:30Z- LcmTrn::publishEstimates() - COVAR: 63.98 38.13 0.81 0.00 2021-10-10T03:12:30Z- AHRS_M2 msg: 1633835550.81 epoch sec; seqNo:1026 2021-10-10T03:12:30Z- AHRS_M2 msg: -0.21 phi; 0.04 theta; 0.32 psi 2021-10-10T03:12:30Z- handleDepth()-Depth_Keller msg: 1633835550821 epoch sec; seqNo:1052; depth 51.05 2021-10-10T03:12:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:30Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:30Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:30Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:30Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:30Z- handleDvl() - RDI_Pathfinder msg: 1633835550.82 epoch sec; seqNo:345 2021-10-10T03:12:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , -0.01 2021-10-10T03:12:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835550.83 epoch sec; seqNo:1052; 4061495.91 north; 594191.05 east 2021-10-10T03:12:31Z- handleDepth()-Depth_Keller msg: 1633835551234 epoch sec; seqNo:1053; depth 51.03 2021-10-10T03:12:31Z- handleDvl() - RDI_Pathfinder msg: 1633835551.26 epoch sec; seqNo:346 2021-10-10T03:12:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.25 , 48.65 , 44.57 , 42.32 2021-10-10T03:12:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , -0.00 2021-10-10T03:12:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835551.30 epoch sec; seqNo:1053; 4061495.91 north; 594191.05 east 2021-10-10T03:12:31Z- AHRS_M2 msg: 1633835551.62 epoch sec; seqNo:1027 2021-10-10T03:12:31Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 0.32 psi 2021-10-10T03:12:31Z- handleDepth()-Depth_Keller msg: 1633835551627 epoch sec; seqNo:1054; depth 51.04 2021-10-10T03:12:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835551.64 epoch sec; seqNo:1054; 4061496.29 north; 594191.05 east 2021-10-10T03:12:32Z- AHRS_M2 msg: 1633835552.02 epoch sec; seqNo:1028 2021-10-10T03:12:32Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 0.32 psi 2021-10-10T03:12:32Z- handleDepth()-Depth_Keller msg: 1633835552028 epoch sec; seqNo:1055; depth 51.03 2021-10-10T03:12:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:32Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:32Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:32Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:32Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:32Z- handleDvl() - RDI_Pathfinder msg: 1633835552.03 epoch sec; seqNo:347 2021-10-10T03:12:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , -0.00 2021-10-10T03:12:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835552.04 epoch sec; seqNo:1055; 4061496.67 north; 594191.05 east 2021-10-10T03:12:32Z- AHRS_M2 msg: 1633835552.42 epoch sec; seqNo:1029 2021-10-10T03:12:32Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 0.32 psi 2021-10-10T03:12:32Z- handleDepth()-Depth_Keller msg: 1633835552429 epoch sec; seqNo:1056; depth 51.01 2021-10-10T03:12:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835552.45 epoch sec; seqNo:1056; 4061497.05 north; 594191.04 east 2021-10-10T03:12:32Z- AHRS_M2 msg: 1633835552.83 epoch sec; seqNo:1030 2021-10-10T03:12:32Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 0.32 psi 2021-10-10T03:12:32Z- handleDepth()-Depth_Keller msg: 1633835552834 epoch sec; seqNo:1057; depth 51.01 2021-10-10T03:12:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835552.84 epoch sec; seqNo:1057; 4061497.05 north; 594191.04 east 2021-10-10T03:12:33Z- AHRS_M2 msg: 1633835553.23 epoch sec; seqNo:1031 2021-10-10T03:12:33Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 0.32 psi 2021-10-10T03:12:33Z- handleDepth()-Depth_Keller msg: 1633835553240 epoch sec; seqNo:1058; depth 51.00 2021-10-10T03:12:33Z- handleDvl() - RDI_Pathfinder msg: 1633835553.26 epoch sec; seqNo:348 2021-10-10T03:12:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.84 , 48.86 , 44.77 , 42.32 2021-10-10T03:12:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , 0.00 2021-10-10T03:12:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835553.30 epoch sec; seqNo:1058; 4061497.43 north; 594191.04 east 2021-10-10T03:12:33Z- AHRS_M2 msg: 1633835553.64 epoch sec; seqNo:1032 2021-10-10T03:12:33Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 0.32 psi 2021-10-10T03:12:33Z- handleDepth()-Depth_Keller msg: 1633835553648 epoch sec; seqNo:1059; depth 51.01 2021-10-10T03:12:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835553.67 epoch sec; seqNo:1059; 4061497.80 north; 594191.03 east 2021-10-10T03:12:34Z- AHRS_M2 msg: 1633835554.04 epoch sec; seqNo:1033 2021-10-10T03:12:34Z- AHRS_M2 msg: -0.21 phi; 0.06 theta; 0.32 psi 2021-10-10T03:12:34Z- handleDepth()-Depth_Keller msg: 1633835554046 epoch sec; seqNo:1060; depth 50.98 2021-10-10T03:12:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835554.07 epoch sec; seqNo:1060; 4061498.20 north; 594192.25 east 2021-10-10T03:12:34Z- AHRS_M2 msg: 1633835554.45 epoch sec; seqNo:1034 2021-10-10T03:12:34Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 0.32 psi 2021-10-10T03:12:34Z- handleDepth()-Depth_Keller msg: 1633835554451 epoch sec; seqNo:1061; depth 50.97 2021-10-10T03:12:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:34Z- handleDvl() - RDI_Pathfinder msg: 1633835554.45 epoch sec; seqNo:349 2021-10-10T03:12:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , 0.00 2021-10-10T03:12:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835554.46 epoch sec; seqNo:1061; 4061498.58 north; 594192.25 east 2021-10-10T03:12:34Z- AHRS_M2 msg: 1633835554.85 epoch sec; seqNo:1035 2021-10-10T03:12:34Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 0.32 psi 2021-10-10T03:12:34Z- handleDepth()-Depth_Keller msg: 1633835554862 epoch sec; seqNo:1062; depth 50.96 2021-10-10T03:12:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835554.89 epoch sec; seqNo:1062; 4061498.58 north; 594192.25 east 2021-10-10T03:12:35Z- AHRS_M2 msg: 1633835555.26 epoch sec; seqNo:1036 2021-10-10T03:12:35Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 0.32 psi 2021-10-10T03:12:35Z- handleDepth()-Depth_Keller msg: 1633835555260 epoch sec; seqNo:1063; depth 50.95 2021-10-10T03:12:35Z- handleDvl() - RDI_Pathfinder msg: 1633835555.29 epoch sec; seqNo:350 2021-10-10T03:12:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.25 , 48.65 , 44.97 , 42.11 2021-10-10T03:12:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , -0.00 2021-10-10T03:12:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835555.30 epoch sec; seqNo:1063; 4061498.95 north; 594192.24 east 2021-10-10T03:12:35Z- AHRS_M2 msg: 1633835555.66 epoch sec; seqNo:1037 2021-10-10T03:12:35Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 0.32 psi 2021-10-10T03:12:35Z- handleDepth()-Depth_Keller msg: 1633835555668 epoch sec; seqNo:1064; depth 50.96 2021-10-10T03:12:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:35Z- handleDvl() - RDI_Pathfinder msg: 1633835555.67 epoch sec; seqNo:351 2021-10-10T03:12:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , -0.00 2021-10-10T03:12:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835555.70 epoch sec; seqNo:1064; 4061499.33 north; 594192.24 east 2021-10-10T03:12:35Z- LcmTrn::handleMessages() - handling 45 messages took 0.80 ms and 129 calls... 2021-10-10T03:12:35Z- waiting for 1633835553.42, time is 1633835555.70 2021-10-10T03:12:35Z- LcmTrn::updateTrn() equating pose 1633835555.70 and meas times 1633835555.70 2021-10-10T03:12:35Z- LcmTrn::updateTrn() >>>> pose time 1633835555.70, meas time 1633835555.70 <<<< 2021-10-10T03:12:35Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835555.70, ping # 0. 2021-10-10T03:12:35Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835555.70 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:12:35Z- TerrainNav::motionUpdate() - currEstimate = (4061499, 594192.24, 50.96) 2021-10-10T03:12:35Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:12:35Z- TerrainNav:: SubcloudNIS is 1.12, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:12:35Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:12:35Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:12:35Z- TerrainNav::Measurement type 1 not incorporated from time = 1633835555.70 sec.; No relevant navigation data available 2021-10-10T03:12:35Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:12:35Z- TNavBF::mmse selected from filter -1 2021-10-10T03:12:35Z- variances([0], [2], and psi_berg) = 64.013823 40.262870 0.000000 2021-10-10T03:12:35Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:12:35Z- LcmTrn::publishEstimates() - MLE : 4061453.83 594149.74 50.96 2021-10-10T03:12:35Z- LcmTrn::publishEstimates() - MMSE : 4061459.96 594151.43 42.21 2021-10-10T03:12:35Z- LcmTrn::publishEstimates() - COVAR: 64.01 40.26 1.01 0.00 2021-10-10T03:12:36Z- AHRS_M2 msg: 1633835556.07 epoch sec; seqNo:1038 2021-10-10T03:12:36Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 0.33 psi 2021-10-10T03:12:36Z- handleDepth()-Depth_Keller msg: 1633835556073 epoch sec; seqNo:1065; depth 50.94 2021-10-10T03:12:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835556.08 epoch sec; seqNo:1065; 4061499.71 north; 594192.23 east 2021-10-10T03:12:36Z- AHRS_M2 msg: 1633835556.47 epoch sec; seqNo:1039 2021-10-10T03:12:36Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 0.33 psi 2021-10-10T03:12:36Z- handleDepth()-Depth_Keller msg: 1633835556474 epoch sec; seqNo:1066; depth 50.93 2021-10-10T03:12:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835556.49 epoch sec; seqNo:1066; 4061500.09 north; 594192.23 east 2021-10-10T03:12:36Z- AHRS_M2 msg: 1633835556.87 epoch sec; seqNo:1040 2021-10-10T03:12:36Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 0.33 psi 2021-10-10T03:12:36Z- handleDepth()-Depth_Keller msg: 1633835556880 epoch sec; seqNo:1067; depth 50.90 2021-10-10T03:12:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:36Z- handleDvl() - RDI_Pathfinder msg: 1633835556.88 epoch sec; seqNo:352 2021-10-10T03:12:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , -0.00 2021-10-10T03:12:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835556.91 epoch sec; seqNo:1067; 4061500.09 north; 594192.23 east 2021-10-10T03:12:37Z- AHRS_M2 msg: 1633835557.27 epoch sec; seqNo:1041 2021-10-10T03:12:37Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 0.33 psi 2021-10-10T03:12:37Z- handleDepth()-Depth_Keller msg: 1633835557278 epoch sec; seqNo:1068; depth 50.91 2021-10-10T03:12:37Z- handleDvl() - RDI_Pathfinder msg: 1633835557.30 epoch sec; seqNo:353 2021-10-10T03:12:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.46 , 48.65 , 45.18 , 41.70 2021-10-10T03:12:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , 0.01 2021-10-10T03:12:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835557.33 epoch sec; seqNo:1068; 4061500.47 north; 594192.22 east 2021-10-10T03:12:37Z- AHRS_M2 msg: 1633835557.68 epoch sec; seqNo:1042 2021-10-10T03:12:37Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 0.33 psi 2021-10-10T03:12:37Z- handleDepth()-Depth_Keller msg: 1633835557691 epoch sec; seqNo:1069; depth 50.88 2021-10-10T03:12:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835557.70 epoch sec; seqNo:1069; 4061500.85 north; 594192.22 east 2021-10-10T03:12:38Z- AHRS_M2 msg: 1633835558.08 epoch sec; seqNo:1043 2021-10-10T03:12:38Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 0.33 psi 2021-10-10T03:12:38Z- handleDepth()-Depth_Keller msg: 1633835558093 epoch sec; seqNo:1070; depth 50.85 2021-10-10T03:12:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:38Z- handleDvl() - RDI_Pathfinder msg: 1633835558.10 epoch sec; seqNo:354 2021-10-10T03:12:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , 0.01 2021-10-10T03:12:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835558.11 epoch sec; seqNo:1070; 4061501.23 north; 594192.22 east 2021-10-10T03:12:38Z- AHRS_M2 msg: 1633835558.49 epoch sec; seqNo:1044 2021-10-10T03:12:38Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 0.33 psi 2021-10-10T03:12:38Z- handleDepth()-Depth_Keller msg: 1633835558492 epoch sec; seqNo:1071; depth 50.85 2021-10-10T03:12:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835558.50 epoch sec; seqNo:1071; 4061501.23 north; 594192.22 east 2021-10-10T03:12:38Z- AHRS_M2 msg: 1633835558.89 epoch sec; seqNo:1045 2021-10-10T03:12:38Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 0.34 psi 2021-10-10T03:12:38Z- handleDepth()-Depth_Keller msg: 1633835558899 epoch sec; seqNo:1072; depth 50.83 2021-10-10T03:12:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835558.91 epoch sec; seqNo:1072; 4061501.61 north; 594192.21 east 2021-10-10T03:12:39Z- AHRS_M2 msg: 1633835559.30 epoch sec; seqNo:1046 2021-10-10T03:12:39Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 0.34 psi 2021-10-10T03:12:39Z- handleDepth()-Depth_Keller msg: 1633835559300 epoch sec; seqNo:1073; depth 50.82 2021-10-10T03:12:39Z- handleDvl() - RDI_Pathfinder msg: 1633835559.32 epoch sec; seqNo:355 2021-10-10T03:12:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.46 , 49.06 , 45.18 , 42.11 2021-10-10T03:12:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.05 , -0.00 2021-10-10T03:12:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835559.34 epoch sec; seqNo:1073; 4061501.99 north; 594192.21 east 2021-10-10T03:12:39Z- AHRS_M2 msg: 1633835559.70 epoch sec; seqNo:1047 2021-10-10T03:12:39Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 0.34 psi 2021-10-10T03:12:39Z- handleDepth()-Depth_Keller msg: 1633835559703 epoch sec; seqNo:1074; depth 50.80 2021-10-10T03:12:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835559.73 epoch sec; seqNo:1074; 4061502.36 north; 594192.20 east 2021-10-10T03:12:40Z- AHRS_M2 msg: 1633835560.11 epoch sec; seqNo:1048 2021-10-10T03:12:40Z- AHRS_M2 msg: -0.20 phi; 0.07 theta; 0.34 psi 2021-10-10T03:12:40Z- handleDepth()-Depth_Keller msg: 1633835560111 epoch sec; seqNo:1075; depth 50.79 2021-10-10T03:12:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835560.12 epoch sec; seqNo:1075; 4061502.74 north; 594192.20 east 2021-10-10T03:12:40Z- AHRS_M2 msg: 1633835560.51 epoch sec; seqNo:1049 2021-10-10T03:12:40Z- AHRS_M2 msg: -0.20 phi; 0.07 theta; 0.34 psi 2021-10-10T03:12:40Z- handleDepth()-Depth_Keller msg: 1633835560510 epoch sec; seqNo:1076; depth 50.77 2021-10-10T03:12:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:40Z- handleDvl() - RDI_Pathfinder msg: 1633835560.51 epoch sec; seqNo:356 2021-10-10T03:12:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.05 , -0.00 2021-10-10T03:12:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835560.52 epoch sec; seqNo:1076; 4061502.76 north; 594193.42 east 2021-10-10T03:12:40Z- LcmTrn::handleMessages() - handling 41 messages took 0.61 ms and 128 calls... 2021-10-10T03:12:40Z- waiting for 1633835558.70, time is 1633835560.52 2021-10-10T03:12:40Z- LcmTrn::updateTrn() equating pose 1633835560.52 and meas times 1633835560.52 2021-10-10T03:12:40Z- LcmTrn::updateTrn() >>>> pose time 1633835560.52, meas time 1633835560.52 <<<< 2021-10-10T03:12:40Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835560.52, ping # 0. 2021-10-10T03:12:40Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835560.52 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:12:40Z- TerrainNav::motionUpdate() - currEstimate = (4061503, 594193.42, 50.77) 2021-10-10T03:12:40Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:12:40Z- TerrainNav:: SubcloudNIS is 1.12, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:12:40Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:12:40Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:12:40Z- TNavBF::Projecting Measurements 2021-10-10T03:12:40Z- TNavFilter::Measurement from time = 1633835560.52 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:12:40Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:12:40Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:12:40Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:12:40Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:12:40Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:12:40Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:12:40Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:12:40Z- Filter 0 NorthBias: -39.4 EastBias: -40.8 DepthBias: -8.7 NorthVariance: 64.0 EastVariance: 42.3 DepthVariance: 1.2 this->DepthBiasCov: 1.2 2021-10-10T03:12:40Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:12:40Z- TNavBF::mmse selected from filter -1 2021-10-10T03:12:40Z- variances([0], [2], and psi_berg) = 64.045041 42.252337 0.000000 2021-10-10T03:12:40Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:12:40Z- LcmTrn::publishEstimates() - MLE : 4061457.26 594150.92 50.77 2021-10-10T03:12:40Z- LcmTrn::publishEstimates() - MMSE : 4061463.38 594152.64 42.02 2021-10-10T03:12:40Z- LcmTrn::publishEstimates() - COVAR: 64.05 42.25 1.20 0.00 2021-10-10T03:12:40Z- AHRS_M2 msg: 1633835560.92 epoch sec; seqNo:1050 2021-10-10T03:12:40Z- AHRS_M2 msg: -0.20 phi; 0.07 theta; 0.34 psi 2021-10-10T03:12:40Z- handleDepth()-Depth_Keller msg: 1633835560922 epoch sec; seqNo:1077; depth 50.76 2021-10-10T03:12:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835560.93 epoch sec; seqNo:1077; 4061503.14 north; 594193.42 east 2021-10-10T03:12:41Z- AHRS_M2 msg: 1633835561.31 epoch sec; seqNo:1051 2021-10-10T03:12:41Z- AHRS_M2 msg: -0.20 phi; 0.07 theta; 0.34 psi 2021-10-10T03:12:41Z- handleDepth()-Depth_Keller msg: 1633835561318 epoch sec; seqNo:1078; depth 50.73 2021-10-10T03:12:41Z- handleDvl() - RDI_Pathfinder msg: 1633835561.35 epoch sec; seqNo:357 2021-10-10T03:12:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.46 , 49.06 , 45.38 , 42.32 2021-10-10T03:12:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , -0.00 2021-10-10T03:12:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835561.36 epoch sec; seqNo:1078; 4061503.51 north; 594193.41 east 2021-10-10T03:12:41Z- AHRS_M2 msg: 1633835561.72 epoch sec; seqNo:1052 2021-10-10T03:12:41Z- AHRS_M2 msg: -0.20 phi; 0.07 theta; 0.34 psi 2021-10-10T03:12:41Z- handleDepth()-Depth_Keller msg: 1633835561727 epoch sec; seqNo:1079; depth 50.72 2021-10-10T03:12:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:41Z- handleDvl() - RDI_Pathfinder msg: 1633835561.73 epoch sec; seqNo:358 2021-10-10T03:12:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , -0.00 2021-10-10T03:12:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835561.79 epoch sec; seqNo:1079; 4061503.89 north; 594193.41 east 2021-10-10T03:12:42Z- AHRS_M2 msg: 1633835562.12 epoch sec; seqNo:1053 2021-10-10T03:12:42Z- AHRS_M2 msg: -0.20 phi; 0.07 theta; 0.34 psi 2021-10-10T03:12:42Z- handleDepth()-Depth_Keller msg: 1633835562136 epoch sec; seqNo:1080; depth 50.71 2021-10-10T03:12:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835562.15 epoch sec; seqNo:1080; 4061503.89 north; 594193.41 east 2021-10-10T03:12:42Z- AHRS_M2 msg: 1633835562.53 epoch sec; seqNo:1054 2021-10-10T03:12:42Z- AHRS_M2 msg: -0.20 phi; 0.07 theta; 0.34 psi 2021-10-10T03:12:42Z- handleDepth()-Depth_Keller msg: 1633835562537 epoch sec; seqNo:1081; depth 50.70 2021-10-10T03:12:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835562.56 epoch sec; seqNo:1081; 4061504.27 north; 594193.40 east 2021-10-10T03:12:42Z- AHRS_M2 msg: 1633835562.93 epoch sec; seqNo:1055 2021-10-10T03:12:42Z- AHRS_M2 msg: -0.20 phi; 0.07 theta; 0.35 psi 2021-10-10T03:12:42Z- handleDepth()-Depth_Keller msg: 1633835562941 epoch sec; seqNo:1082; depth 50.66 2021-10-10T03:12:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:42Z- handleDvl() - RDI_Pathfinder msg: 1633835562.94 epoch sec; seqNo:359 2021-10-10T03:12:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , -0.00 2021-10-10T03:12:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835562.95 epoch sec; seqNo:1082; 4061504.65 north; 594193.40 east 2021-10-10T03:12:43Z- AHRS_M2 msg: 1633835563.33 epoch sec; seqNo:1056 2021-10-10T03:12:43Z- AHRS_M2 msg: -0.21 phi; 0.07 theta; 0.35 psi 2021-10-10T03:12:43Z- handleDepth()-Depth_Keller msg: 1633835563339 epoch sec; seqNo:1083; depth 50.67 2021-10-10T03:12:43Z- handleDvl() - RDI_Pathfinder msg: 1633835563.36 epoch sec; seqNo:360 2021-10-10T03:12:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.46 , 49.06 , 45.59 , 41.91 2021-10-10T03:12:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.08 , -0.00 2021-10-10T03:12:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835563.39 epoch sec; seqNo:1083; 4061505.03 north; 594193.39 east 2021-10-10T03:12:43Z- AHRS_M2 msg: 1633835563.74 epoch sec; seqNo:1057 2021-10-10T03:12:43Z- AHRS_M2 msg: -0.20 phi; 0.07 theta; 0.35 psi 2021-10-10T03:12:43Z- handleDepth()-Depth_Keller msg: 1633835563744 epoch sec; seqNo:1084; depth 50.63 2021-10-10T03:12:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835563.76 epoch sec; seqNo:1084; 4061505.41 north; 594193.39 east 2021-10-10T03:12:44Z- AHRS_M2 msg: 1633835564.14 epoch sec; seqNo:1058 2021-10-10T03:12:44Z- AHRS_M2 msg: -0.20 phi; 0.07 theta; 0.35 psi 2021-10-10T03:12:44Z- handleDepth()-Depth_Keller msg: 1633835564157 epoch sec; seqNo:1085; depth 50.63 2021-10-10T03:12:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:44Z- handleDvl() - RDI_Pathfinder msg: 1633835564.16 epoch sec; seqNo:361 2021-10-10T03:12:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.08 , -0.00 2021-10-10T03:12:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835564.17 epoch sec; seqNo:1085; 4061505.41 north; 594193.39 east 2021-10-10T03:12:44Z- AHRS_M2 msg: 1633835564.55 epoch sec; seqNo:1059 2021-10-10T03:12:44Z- AHRS_M2 msg: -0.20 phi; 0.07 theta; 0.35 psi 2021-10-10T03:12:44Z- handleDepth()-Depth_Keller msg: 1633835564551 epoch sec; seqNo:1086; depth 50.60 2021-10-10T03:12:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835564.56 epoch sec; seqNo:1086; 4061505.79 north; 594193.39 east 2021-10-10T03:12:44Z- AHRS_M2 msg: 1633835564.96 epoch sec; seqNo:1060 2021-10-10T03:12:44Z- AHRS_M2 msg: -0.20 phi; 0.07 theta; 0.35 psi 2021-10-10T03:12:44Z- handleDepth()-Depth_Keller msg: 1633835564967 epoch sec; seqNo:1087; depth 50.58 2021-10-10T03:12:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835564.98 epoch sec; seqNo:1087; 4061506.17 north; 594193.38 east 2021-10-10T03:12:45Z- AHRS_M2 msg: 1633835565.36 epoch sec; seqNo:1061 2021-10-10T03:12:45Z- AHRS_M2 msg: -0.20 phi; 0.07 theta; 0.35 psi 2021-10-10T03:12:45Z- handleDepth()-Depth_Keller msg: 1633835565360 epoch sec; seqNo:1088; depth 50.55 2021-10-10T03:12:45Z- handleDvl() - RDI_Pathfinder msg: 1633835565.38 epoch sec; seqNo:362 2021-10-10T03:12:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.45 , 49.26 , 45.79 , 42.11 2021-10-10T03:12:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.08 , 0.01 2021-10-10T03:12:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835565.40 epoch sec; seqNo:1088; 4061506.54 north; 594193.38 east 2021-10-10T03:12:45Z- AHRS_M2 msg: 1633835565.76 epoch sec; seqNo:1062 2021-10-10T03:12:45Z- AHRS_M2 msg: -0.20 phi; 0.07 theta; 0.35 psi 2021-10-10T03:12:45Z- handleDepth()-Depth_Keller msg: 1633835565762 epoch sec; seqNo:1089; depth 50.54 2021-10-10T03:12:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835565.80 epoch sec; seqNo:1089; 4061506.54 north; 594193.38 east 2021-10-10T03:12:45Z- LcmTrn::handleMessages() - handling 45 messages took 0.81 ms and 128 calls... 2021-10-10T03:12:45Z- waiting for 1633835563.52, time is 1633835565.80 2021-10-10T03:12:45Z- LcmTrn::updateTrn() >>>> pose time 1633835565.80, meas time 1633835565.38 <<<< 2021-10-10T03:12:45Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835565.38 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:12:45Z- TerrainNav::motionUpdate() - currEstimate = (4061507, 594193.38, 50.54) 2021-10-10T03:12:45Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:12:45Z- TerrainNav:: SubcloudNIS is 1.12, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:12:45Z- TNavBF::Projecting Measurements 2021-10-10T03:12:45Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:12:45Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:12:45Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:12:45Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:12:45Z- TNavFilter::4 good beams. 2021-10-10T03:12:45Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:12:45Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:12:45Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:12:45Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:12:45Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:12:45Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:12:45Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:12:45Z- TNavBF::mmse selected from filter -1 2021-10-10T03:12:45Z- TerrainMapOctree: (vehN, vehE ) = (4061506.24, 594193.38). 2021-10-10T03:12:45Z- TerrainMapOctree: Min Distance = 250.25. 2021-10-10T03:12:45Z- TerrainMapOctree: Using tile 4. 2021-10-10T03:12:45Z- TerrainMapOctree: Switching to tile 4. 2021-10-10T03:12:47Z- TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo took 1.191708 seconds. 2021-10-10T03:12:47Z- Forcing Subcloud Comparison 2021-10-10T03:12:47Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:12:47Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:12:47Z- Filter 0 partialDeltaRmsComputation: 3.424357 terrainVariance: 0.211509 1-SumSquareWeights: 0.995708 2021-10-10T03:12:47Z- Filter 0 meanExpectedMeasDiff: -1.792442 delta_rms_squared: 0.201552 alpha: 0.909728 2021-10-10T03:12:47Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:12:47Z- Filter 0 partialDeltaRmsComputation: 7.345035 terrainVariance: 0.011957 1-SumSquareWeights: 0.995708 2021-10-10T03:12:47Z- Filter 0 meanExpectedMeasDiff: 2.707966 delta_rms_squared: 0.002000 alpha: 0.090897 2021-10-10T03:12:47Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:12:47Z- Filter 0 partialDeltaRmsComputation: 18.796286 terrainVariance: 0.013874 1-SumSquareWeights: 0.995708 2021-10-10T03:12:47Z- Filter 0 meanExpectedMeasDiff: -4.333868 delta_rms_squared: 0.003917 alpha: 0.163779 2021-10-10T03:12:47Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:12:47Z- Filter 0 partialDeltaRmsComputation: 15.231293 terrainVariance: 0.037062 1-SumSquareWeights: 0.995708 2021-10-10T03:12:47Z- Filter 0 meanExpectedMeasDiff: 3.897978 delta_rms_squared: 0.027105 alpha: 0.575417 2021-10-10T03:12:47Z- Filter 0 SubcloudNIS: 1.222564 2021-10-10T03:12:47Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:12:47Z- TNavBF:: Filter 0 sumWeights = 0.231648 2021-10-10T03:12:47Z- Filter 0 NorthBias: -38.9 EastBias: -40.3 DepthBias: -8.7 NorthVariance: 71.0 EastVariance: 53.8 DepthVariance: 0.7 this->DepthBiasCov: 0.6 2021-10-10T03:12:47Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835565.38 sec. 2021-10-10T03:12:47Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:12:47Z- TNavBF::mmse selected from filter -1 2021-10-10T03:12:47Z- variances([0], [2], and psi_berg) = 71.009326 54.439943 0.000000 2021-10-10T03:12:47Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:12:47Z- LcmTrn::publishEstimates() - MLE : 4061461.04 594151.88 50.54 2021-10-10T03:12:47Z- LcmTrn::publishEstimates() - MMSE : 4061467.67 594153.06 41.89 2021-10-10T03:12:47Z- LcmTrn::publishEstimates() - COVAR: 71.01 54.44 0.67 0.00 2021-10-10T03:12:47Z- AHRS_M2 msg: 1633835566.16 epoch sec; seqNo:1063 2021-10-10T03:12:47Z- AHRS_M2 msg: -0.20 phi; 0.07 theta; 0.35 psi 2021-10-10T03:12:47Z- handleDepth()-Depth_Keller msg: 1633835566167 epoch sec; seqNo:1090; depth 50.53 2021-10-10T03:12:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835566.18 epoch sec; seqNo:1090; 4061506.92 north; 594193.37 east 2021-10-10T03:12:47Z- AHRS_M2 msg: 1633835566.57 epoch sec; seqNo:1064 2021-10-10T03:12:47Z- AHRS_M2 msg: -0.21 phi; 0.07 theta; 0.35 psi 2021-10-10T03:12:47Z- handleDepth()-Depth_Keller msg: 1633835566570 epoch sec; seqNo:1091; depth 50.51 2021-10-10T03:12:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835566.58 epoch sec; seqNo:1091; 4061507.30 north; 594193.37 east 2021-10-10T03:12:47Z- AHRS_M2 msg: 1633835566.97 epoch sec; seqNo:1065 2021-10-10T03:12:47Z- AHRS_M2 msg: -0.21 phi; 0.07 theta; 0.35 psi 2021-10-10T03:12:47Z- handleDepth()-Depth_Keller msg: 1633835566985 epoch sec; seqNo:1092; depth 50.50 2021-10-10T03:12:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835567.02 epoch sec; seqNo:1092; 4061507.69 north; 594194.59 east 2021-10-10T03:12:47Z- AHRS_M2 msg: 1633835567.37 epoch sec; seqNo:1066 2021-10-10T03:12:47Z- AHRS_M2 msg: -0.21 phi; 0.07 theta; 0.35 psi 2021-10-10T03:12:47Z- handleDepth()-Depth_Keller msg: 1633835567378 epoch sec; seqNo:1093; depth 50.48 2021-10-10T03:12:47Z- handleDvl() - RDI_Pathfinder msg: 1633835567.41 epoch sec; seqNo:363 2021-10-10T03:12:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.66 , 49.26 , 45.79 , 42.31 2021-10-10T03:12:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.07 , 0.01 2021-10-10T03:12:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835567.42 epoch sec; seqNo:1093; 4061507.69 north; 594194.59 east 2021-10-10T03:12:47Z- AHRS_M2 msg: 1633835567.78 epoch sec; seqNo:1067 2021-10-10T03:12:47Z- AHRS_M2 msg: -0.21 phi; 0.07 theta; 0.36 psi 2021-10-10T03:12:47Z- handleDepth()-Depth_Keller msg: 1633835567795 epoch sec; seqNo:1094; depth 50.45 2021-10-10T03:12:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835567.81 epoch sec; seqNo:1094; 4061508.07 north; 594194.58 east 2021-10-10T03:12:48Z- AHRS_M2 msg: 1633835568.18 epoch sec; seqNo:1068 2021-10-10T03:12:48Z- AHRS_M2 msg: -0.21 phi; 0.07 theta; 0.36 psi 2021-10-10T03:12:48Z- handleDepth()-Depth_Keller msg: 1633835568198 epoch sec; seqNo:1095; depth 50.44 2021-10-10T03:12:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835568.21 epoch sec; seqNo:1095; 4061508.45 north; 594194.58 east 2021-10-10T03:12:48Z- AHRS_M2 msg: 1633835568.59 epoch sec; seqNo:1069 2021-10-10T03:12:48Z- AHRS_M2 msg: -0.21 phi; 0.07 theta; 0.36 psi 2021-10-10T03:12:48Z- handleDepth()-Depth_Keller msg: 1633835568592 epoch sec; seqNo:1096; depth 50.43 2021-10-10T03:12:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835568.60 epoch sec; seqNo:1096; 4061508.83 north; 594194.57 east 2021-10-10T03:12:49Z- AHRS_M2 msg: 1633835568.99 epoch sec; seqNo:1070 2021-10-10T03:12:49Z- AHRS_M2 msg: -0.21 phi; 0.07 theta; 0.36 psi 2021-10-10T03:12:49Z- handleDepth()-Depth_Keller msg: 1633835569003 epoch sec; seqNo:1097; depth 50.41 2021-10-10T03:12:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:49Z- handleDvl() - RDI_Pathfinder msg: 1633835569.01 epoch sec; seqNo:364 2021-10-10T03:12:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.07 , 0.01 2021-10-10T03:12:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835569.07 epoch sec; seqNo:1097; 4061509.21 north; 594194.57 east 2021-10-10T03:12:49Z- AHRS_M2 msg: 1633835569.39 epoch sec; seqNo:1071 2021-10-10T03:12:49Z- AHRS_M2 msg: -0.21 phi; 0.07 theta; 0.36 psi 2021-10-10T03:12:49Z- handleDepth()-Depth_Keller msg: 1633835569405 epoch sec; seqNo:1098; depth 50.40 2021-10-10T03:12:49Z- handleDvl() - RDI_Pathfinder msg: 1633835569.43 epoch sec; seqNo:365 2021-10-10T03:12:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.66 , 49.47 , 45.99 , 42.31 2021-10-10T03:12:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.07 , 0.01 2021-10-10T03:12:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835569.44 epoch sec; seqNo:1098; 4061509.21 north; 594194.57 east 2021-10-10T03:12:49Z- AHRS_M2 msg: 1633835569.80 epoch sec; seqNo:1072 2021-10-10T03:12:49Z- AHRS_M2 msg: -0.21 phi; 0.07 theta; 0.36 psi 2021-10-10T03:12:49Z- handleDepth()-Depth_Keller msg: 1633835569806 epoch sec; seqNo:1099; depth 50.38 2021-10-10T03:12:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835569.84 epoch sec; seqNo:1099; 4061509.59 north; 594194.57 east 2021-10-10T03:12:50Z- AHRS_M2 msg: 1633835570.20 epoch sec; seqNo:1073 2021-10-10T03:12:50Z- AHRS_M2 msg: -0.21 phi; 0.07 theta; 0.36 psi 2021-10-10T03:12:50Z- handleDepth()-Depth_Keller msg: 1633835570206 epoch sec; seqNo:1100; depth 50.36 2021-10-10T03:12:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:50Z- handleDvl() - RDI_Pathfinder msg: 1633835570.21 epoch sec; seqNo:366 2021-10-10T03:12:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.07 , 0.01 2021-10-10T03:12:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835570.22 epoch sec; seqNo:1100; 4061509.97 north; 594194.56 east 2021-10-10T03:12:50Z- AHRS_M2 msg: 1633835570.61 epoch sec; seqNo:1074 2021-10-10T03:12:50Z- AHRS_M2 msg: -0.21 phi; 0.06 theta; 0.36 psi 2021-10-10T03:12:50Z- handleDepth()-Depth_Keller msg: 1633835570611 epoch sec; seqNo:1101; depth 50.34 2021-10-10T03:12:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835570.62 epoch sec; seqNo:1101; 4061510.35 north; 594194.56 east 2021-10-10T03:12:51Z- AHRS_M2 msg: 1633835571.04 epoch sec; seqNo:1075 2021-10-10T03:12:51Z- AHRS_M2 msg: -0.21 phi; 0.06 theta; 0.36 psi 2021-10-10T03:12:51Z- handleDepth()-Depth_Keller msg: 1633835571051 epoch sec; seqNo:1102; depth 50.33 2021-10-10T03:12:51Z- handleDvl() - RDI_Pathfinder msg: 1633835571.09 epoch sec; seqNo:367 2021-10-10T03:12:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.86 , 49.67 , 45.79 , 42.52 2021-10-10T03:12:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.06 , 0.01 2021-10-10T03:12:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835571.11 epoch sec; seqNo:1102; 4061510.35 north; 594194.56 east 2021-10-10T03:12:51Z- AHRS_M2 msg: 1633835571.41 epoch sec; seqNo:1076 2021-10-10T03:12:51Z- AHRS_M2 msg: -0.21 phi; 0.06 theta; 0.36 psi 2021-10-10T03:12:51Z- handleDepth()-Depth_Keller msg: 1633835571419 epoch sec; seqNo:1103; depth 50.30 2021-10-10T03:12:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:51Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:51Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:51Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:51Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:51Z- handleDvl() - RDI_Pathfinder msg: 1633835571.42 epoch sec; seqNo:368 2021-10-10T03:12:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.06 , 0.01 2021-10-10T03:12:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835571.44 epoch sec; seqNo:1103; 4061510.73 north; 594194.55 east 2021-10-10T03:12:51Z- AHRS_M2 msg: 1633835571.82 epoch sec; seqNo:1077 2021-10-10T03:12:51Z- AHRS_M2 msg: -0.21 phi; 0.06 theta; 0.36 psi 2021-10-10T03:12:51Z- handleDepth()-Depth_Keller msg: 1633835571822 epoch sec; seqNo:1104; depth 50.29 2021-10-10T03:12:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835571.83 epoch sec; seqNo:1104; 4061511.10 north; 594194.55 east 2021-10-10T03:12:52Z- AHRS_M2 msg: 1633835572.22 epoch sec; seqNo:1078 2021-10-10T03:12:52Z- AHRS_M2 msg: -0.21 phi; 0.06 theta; 0.36 psi 2021-10-10T03:12:52Z- handleDepth()-Depth_Keller msg: 1633835572241 epoch sec; seqNo:1105; depth 50.28 2021-10-10T03:12:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835572.25 epoch sec; seqNo:1105; 4061511.48 north; 594194.54 east 2021-10-10T03:12:52Z- LcmTrn::handleMessages() - handling 54 messages took 0.67 ms and 140 calls... 2021-10-10T03:12:52Z- waiting for 1633835568.80, time is 1633835572.25 2021-10-10T03:12:52Z- LcmTrn::updateTrn() >>>> pose time 1633835572.25, meas time 1633835571.42 <<<< 2021-10-10T03:12:52Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835571.42, ping # 0. 2021-10-10T03:12:52Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835571.42 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:12:52Z- TerrainNav::motionUpdate() - currEstimate = (4061511, 594194.54, 50.28) 2021-10-10T03:12:52Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:12:52Z- TerrainNav:: SubcloudNIS is 1.22, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:12:52Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:12:52Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:12:52Z- TerrainNav::Measurement type 1 not incorporated from time = 1633835571.42 sec.; No relevant navigation data available 2021-10-10T03:12:52Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:12:52Z- TNavBF::mmse selected from filter -1 2021-10-10T03:12:52Z- variances([0], [2], and psi_berg) = 71.045443 56.911063 0.000000 2021-10-10T03:12:52Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:12:52Z- LcmTrn::publishEstimates() - MLE : 4061465.98 594153.04 50.28 2021-10-10T03:12:52Z- LcmTrn::publishEstimates() - MMSE : 4061472.61 594154.26 41.63 2021-10-10T03:12:52Z- LcmTrn::publishEstimates() - COVAR: 71.05 56.91 0.92 0.00 2021-10-10T03:12:52Z- AHRS_M2 msg: 1633835572.63 epoch sec; seqNo:1079 2021-10-10T03:12:52Z- AHRS_M2 msg: -0.21 phi; 0.06 theta; 0.37 psi 2021-10-10T03:12:52Z- handleDepth()-Depth_Keller msg: 1633835572637 epoch sec; seqNo:1106; depth 50.26 2021-10-10T03:12:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:52Z- handleDvl() - RDI_Pathfinder msg: 1633835572.64 epoch sec; seqNo:369 2021-10-10T03:12:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.06 , 0.01 2021-10-10T03:12:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835572.65 epoch sec; seqNo:1106; 4061511.48 north; 594194.54 east 2021-10-10T03:12:53Z- AHRS_M2 msg: 1633835573.07 epoch sec; seqNo:1080 2021-10-10T03:12:53Z- AHRS_M2 msg: -0.21 phi; 0.06 theta; 0.37 psi 2021-10-10T03:12:53Z- handleDepth()-Depth_Keller msg: 1633835573073 epoch sec; seqNo:1107; depth 50.24 2021-10-10T03:12:53Z- handleDvl() - RDI_Pathfinder msg: 1633835573.11 epoch sec; seqNo:370 2021-10-10T03:12:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.06 , 50.08 , 45.79 , 42.72 2021-10-10T03:12:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , 0.01 2021-10-10T03:12:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835573.12 epoch sec; seqNo:1107; 4061511.88 north; 594195.76 east 2021-10-10T03:12:53Z- AHRS_M2 msg: 1633835573.44 epoch sec; seqNo:1081 2021-10-10T03:12:53Z- AHRS_M2 msg: -0.21 phi; 0.06 theta; 0.37 psi 2021-10-10T03:12:53Z- handleDepth()-Depth_Keller msg: 1633835573444 epoch sec; seqNo:1108; depth 50.22 2021-10-10T03:12:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835573.46 epoch sec; seqNo:1108; 4061512.25 north; 594195.76 east 2021-10-10T03:12:53Z- AHRS_M2 msg: 1633835573.85 epoch sec; seqNo:1082 2021-10-10T03:12:53Z- AHRS_M2 msg: -0.21 phi; 0.06 theta; 0.37 psi 2021-10-10T03:12:53Z- handleDepth()-Depth_Keller msg: 1633835573851 epoch sec; seqNo:1109; depth 50.21 2021-10-10T03:12:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:53Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:53Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:53Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:53Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:53Z- handleDvl() - RDI_Pathfinder msg: 1633835573.85 epoch sec; seqNo:371 2021-10-10T03:12:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , 0.01 2021-10-10T03:12:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835573.86 epoch sec; seqNo:1109; 4061512.63 north; 594195.75 east 2021-10-10T03:12:54Z- AHRS_M2 msg: 1633835574.24 epoch sec; seqNo:1083 2021-10-10T03:12:54Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 0.37 psi 2021-10-10T03:12:54Z- handleDepth()-Depth_Keller msg: 1633835574245 epoch sec; seqNo:1110; depth 50.19 2021-10-10T03:12:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835574.26 epoch sec; seqNo:1110; 4061512.63 north; 594195.75 east 2021-10-10T03:12:54Z- AHRS_M2 msg: 1633835574.64 epoch sec; seqNo:1084 2021-10-10T03:12:54Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 0.37 psi 2021-10-10T03:12:54Z- handleDepth()-Depth_Keller msg: 1633835574651 epoch sec; seqNo:1111; depth 50.17 2021-10-10T03:12:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835574.66 epoch sec; seqNo:1111; 4061513.01 north; 594195.75 east 2021-10-10T03:12:55Z- AHRS_M2 msg: 1633835575.07 epoch sec; seqNo:1085 2021-10-10T03:12:55Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 0.37 psi 2021-10-10T03:12:55Z- handleDepth()-Depth_Keller msg: 1633835575078 epoch sec; seqNo:1112; depth 50.16 2021-10-10T03:12:55Z- handleDvl() - RDI_Pathfinder msg: 1633835575.11 epoch sec; seqNo:372 2021-10-10T03:12:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.86 , 50.08 , 45.79 , 42.93 2021-10-10T03:12:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , 0.01 2021-10-10T03:12:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835575.13 epoch sec; seqNo:1112; 4061513.39 north; 594195.74 east 2021-10-10T03:12:55Z- AHRS_M2 msg: 1633835575.45 epoch sec; seqNo:1086 2021-10-10T03:12:55Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 0.37 psi 2021-10-10T03:12:55Z- handleDepth()-Depth_Keller msg: 1633835575458 epoch sec; seqNo:1113; depth 50.15 2021-10-10T03:12:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835575.48 epoch sec; seqNo:1113; 4061513.77 north; 594195.74 east 2021-10-10T03:12:55Z- AHRS_M2 msg: 1633835575.86 epoch sec; seqNo:1087 2021-10-10T03:12:55Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 0.37 psi 2021-10-10T03:12:55Z- handleDepth()-Depth_Keller msg: 1633835575868 epoch sec; seqNo:1114; depth 50.14 2021-10-10T03:12:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835575.89 epoch sec; seqNo:1114; 4061514.15 north; 594195.74 east 2021-10-10T03:12:56Z- AHRS_M2 msg: 1633835576.26 epoch sec; seqNo:1088 2021-10-10T03:12:56Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 0.37 psi 2021-10-10T03:12:56Z- handleDepth()-Depth_Keller msg: 1633835576266 epoch sec; seqNo:1115; depth 50.11 2021-10-10T03:12:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:56Z- handleDvl() - RDI_Pathfinder msg: 1633835576.27 epoch sec; seqNo:373 2021-10-10T03:12:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , 0.01 2021-10-10T03:12:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835576.28 epoch sec; seqNo:1115; 4061514.15 north; 594195.74 east 2021-10-10T03:12:56Z- AHRS_M2 msg: 1633835576.67 epoch sec; seqNo:1089 2021-10-10T03:12:56Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 0.37 psi 2021-10-10T03:12:56Z- handleDepth()-Depth_Keller msg: 1633835576672 epoch sec; seqNo:1116; depth 50.12 2021-10-10T03:12:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835576.68 epoch sec; seqNo:1116; 4061514.53 north; 594195.73 east 2021-10-10T03:12:57Z- AHRS_M2 msg: 1633835577.08 epoch sec; seqNo:1090 2021-10-10T03:12:57Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 0.37 psi 2021-10-10T03:12:57Z- handleDepth()-Depth_Keller msg: 1633835577081 epoch sec; seqNo:1117; depth 50.09 2021-10-10T03:12:57Z- handleDvl() - RDI_Pathfinder msg: 1633835577.11 epoch sec; seqNo:374 2021-10-10T03:12:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.86 , 50.28 , 45.58 , 43.13 2021-10-10T03:12:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , 0.00 2021-10-10T03:12:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835577.12 epoch sec; seqNo:1117; 4061514.91 north; 594195.73 east 2021-10-10T03:12:57Z- LcmTrn::handleMessages() - handling 42 messages took 0.70 ms and 127 calls... 2021-10-10T03:12:57Z- waiting for 1633835575.25, time is 1633835577.12 2021-10-10T03:12:57Z- LcmTrn::updateTrn() equating pose 1633835577.12 and meas times 1633835577.12 2021-10-10T03:12:57Z- LcmTrn::updateTrn() >>>> pose time 1633835577.12, meas time 1633835577.12 <<<< 2021-10-10T03:12:57Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835577.12 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:12:57Z- TerrainNav::motionUpdate() - currEstimate = (4061515, 594195.73, 50.09) 2021-10-10T03:12:57Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:12:57Z- TerrainNav:: SubcloudNIS is 1.22, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:12:57Z- TNavBF::Projecting Measurements 2021-10-10T03:12:57Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:12:57Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:12:57Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:12:57Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:12:57Z- TNavFilter::4 good beams. 2021-10-10T03:12:57Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:12:57Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:12:57Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:12:57Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:12:57Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:12:57Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:12:57Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:12:57Z- TNavBF::mmse selected from filter -1 2021-10-10T03:12:57Z- TerrainMapOctree: (vehN, vehE ) = (4061514.91, 594195.73). 2021-10-10T03:12:57Z- TerrainMapOctree: Min Distance = 241.28. 2021-10-10T03:12:57Z- TerrainMapOctree: Using tile 4. 2021-10-10T03:12:57Z- Forcing Subcloud Comparison 2021-10-10T03:12:57Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:12:57Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:12:57Z- Filter 0 partialDeltaRmsComputation: 1.293088 terrainVariance: 0.131551 1-SumSquareWeights: 0.996205 2021-10-10T03:12:57Z- Filter 0 meanExpectedMeasDiff: -1.077746 delta_rms_squared: 0.121589 alpha: 0.858746 2021-10-10T03:12:57Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:12:57Z- Filter 0 partialDeltaRmsComputation: 4.992878 terrainVariance: 0.012062 1-SumSquareWeights: 0.996205 2021-10-10T03:12:57Z- Filter 0 meanExpectedMeasDiff: 2.231774 delta_rms_squared: 0.002100 alpha: 0.095020 2021-10-10T03:12:57Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:12:57Z- Filter 0 partialDeltaRmsComputation: 24.412569 terrainVariance: 0.015958 1-SumSquareWeights: 0.996205 2021-10-10T03:12:57Z- Filter 0 meanExpectedMeasDiff: -4.939292 delta_rms_squared: 0.005996 alpha: 0.230663 2021-10-10T03:12:57Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:12:57Z- Filter 0 partialDeltaRmsComputation: 16.686432 terrainVariance: 0.072706 1-SumSquareWeights: 0.996205 2021-10-10T03:12:57Z- Filter 0 meanExpectedMeasDiff: 4.075994 delta_rms_squared: 0.062744 alpha: 0.758291 2021-10-10T03:12:57Z- Filter 0 SubcloudNIS: 1.257775 2021-10-10T03:12:57Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:12:57Z- TNavBF:: Filter 0 sumWeights = 0.160809 2021-10-10T03:12:57Z- Filter 0 NorthBias: -38.2 EastBias: -39.7 DepthBias: -8.6 NorthVariance: 73.4 EastVariance: 73.2 DepthVariance: 0.6 this->DepthBiasCov: 0.6 2021-10-10T03:12:57Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835577.12 sec. 2021-10-10T03:12:57Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:12:57Z- TNavBF::mmse selected from filter -1 2021-10-10T03:12:57Z- variances([0], [2], and psi_berg) = 73.361276 73.174771 0.000000 2021-10-10T03:12:57Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:12:57Z- LcmTrn::publishEstimates() - MLE : 4061469.41 594154.23 50.09 2021-10-10T03:12:57Z- LcmTrn::publishEstimates() - MMSE : 4061476.73 594156.04 41.47 2021-10-10T03:12:57Z- LcmTrn::publishEstimates() - COVAR: 73.36 73.17 0.59 0.00 2021-10-10T03:12:57Z- AHRS_M2 msg: 1633835577.47 epoch sec; seqNo:1091 2021-10-10T03:12:57Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 0.37 psi 2021-10-10T03:12:57Z- handleDepth()-Depth_Keller msg: 1633835577480 epoch sec; seqNo:1118; depth 50.09 2021-10-10T03:12:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:57Z- handleDvl() - RDI_Pathfinder msg: 1633835577.48 epoch sec; seqNo:375 2021-10-10T03:12:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , 0.00 2021-10-10T03:12:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835577.52 epoch sec; seqNo:1118; 4061515.29 north; 594195.72 east 2021-10-10T03:12:57Z- AHRS_M2 msg: 1633835577.88 epoch sec; seqNo:1092 2021-10-10T03:12:57Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 0.37 psi 2021-10-10T03:12:57Z- handleDepth()-Depth_Keller msg: 1633835577885 epoch sec; seqNo:1119; depth 50.07 2021-10-10T03:12:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835577.89 epoch sec; seqNo:1119; 4061515.29 north; 594195.72 east 2021-10-10T03:12:58Z- AHRS_M2 msg: 1633835578.28 epoch sec; seqNo:1093 2021-10-10T03:12:58Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 0.37 psi 2021-10-10T03:12:58Z- handleDepth()-Depth_Keller msg: 1633835578286 epoch sec; seqNo:1120; depth 50.06 2021-10-10T03:12:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835578.30 epoch sec; seqNo:1120; 4061515.66 north; 594195.72 east 2021-10-10T03:12:58Z- AHRS_M2 msg: 1633835578.69 epoch sec; seqNo:1094 2021-10-10T03:12:58Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 0.37 psi 2021-10-10T03:12:58Z- handleDepth()-Depth_Keller msg: 1633835578691 epoch sec; seqNo:1121; depth 50.03 2021-10-10T03:12:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:58Z- handleDvl() - RDI_Pathfinder msg: 1633835578.69 epoch sec; seqNo:376 2021-10-10T03:12:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , 0.00 2021-10-10T03:12:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835578.70 epoch sec; seqNo:1121; 4061516.06 north; 594196.94 east 2021-10-10T03:12:59Z- AHRS_M2 msg: 1633835579.09 epoch sec; seqNo:1095 2021-10-10T03:12:59Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 0.37 psi 2021-10-10T03:12:59Z- handleDepth()-Depth_Keller msg: 1633835579096 epoch sec; seqNo:1122; depth 50.03 2021-10-10T03:12:59Z- handleDvl() - RDI_Pathfinder msg: 1633835579.12 epoch sec; seqNo:377 2021-10-10T03:12:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.86 , 50.49 , 45.58 , 43.54 2021-10-10T03:12:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , 0.00 2021-10-10T03:12:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835579.15 epoch sec; seqNo:1122; 4061516.44 north; 594196.93 east 2021-10-10T03:12:59Z- AHRS_M2 msg: 1633835579.49 epoch sec; seqNo:1096 2021-10-10T03:12:59Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 0.38 psi 2021-10-10T03:12:59Z- handleDepth()-Depth_Keller msg: 1633835579500 epoch sec; seqNo:1123; depth 50.01 2021-10-10T03:12:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835579.52 epoch sec; seqNo:1123; 4061516.81 north; 594196.93 east 2021-10-10T03:12:59Z- AHRS_M2 msg: 1633835579.90 epoch sec; seqNo:1097 2021-10-10T03:12:59Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 0.37 psi 2021-10-10T03:12:59Z- handleDepth()-Depth_Keller msg: 1633835579903 epoch sec; seqNo:1124; depth 50.00 2021-10-10T03:12:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:12:59Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:12:59Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:12:59Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:12:59Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:12:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:12:59Z- handleDvl() - RDI_Pathfinder msg: 1633835579.91 epoch sec; seqNo:378 2021-10-10T03:12:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:12:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , 0.00 2021-10-10T03:12:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835579.93 epoch sec; seqNo:1124; 4061516.81 north; 594196.93 east 2021-10-10T03:13:00Z- AHRS_M2 msg: 1633835580.30 epoch sec; seqNo:1098 2021-10-10T03:13:00Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 0.38 psi 2021-10-10T03:13:00Z- handleDepth()-Depth_Keller msg: 1633835580306 epoch sec; seqNo:1125; depth 49.99 2021-10-10T03:13:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835580.32 epoch sec; seqNo:1125; 4061517.19 north; 594196.92 east 2021-10-10T03:13:00Z- AHRS_M2 msg: 1633835580.71 epoch sec; seqNo:1099 2021-10-10T03:13:00Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 0.38 psi 2021-10-10T03:13:00Z- handleDepth()-Depth_Keller msg: 1633835580711 epoch sec; seqNo:1126; depth 49.97 2021-10-10T03:13:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835580.72 epoch sec; seqNo:1126; 4061517.57 north; 594196.92 east 2021-10-10T03:13:01Z- AHRS_M2 msg: 1633835581.11 epoch sec; seqNo:1100 2021-10-10T03:13:01Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 0.38 psi 2021-10-10T03:13:01Z- handleDepth()-Depth_Keller msg: 1633835581124 epoch sec; seqNo:1127; depth 49.98 2021-10-10T03:13:01Z- handleDvl() - RDI_Pathfinder msg: 1633835581.14 epoch sec; seqNo:379 2021-10-10T03:13:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.06 , 50.49 , 45.58 , 43.74 2021-10-10T03:13:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , 0.00 2021-10-10T03:13:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835581.18 epoch sec; seqNo:1127; 4061517.95 north; 594196.91 east 2021-10-10T03:13:01Z- AHRS_M2 msg: 1633835581.51 epoch sec; seqNo:1101 2021-10-10T03:13:01Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 0.38 psi 2021-10-10T03:13:01Z- handleDepth()-Depth_Keller msg: 1633835581518 epoch sec; seqNo:1128; depth 49.97 2021-10-10T03:13:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835581.54 epoch sec; seqNo:1128; 4061517.95 north; 594196.91 east 2021-10-10T03:13:01Z- AHRS_M2 msg: 1633835581.92 epoch sec; seqNo:1102 2021-10-10T03:13:01Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 0.38 psi 2021-10-10T03:13:01Z- handleDepth()-Depth_Keller msg: 1633835581927 epoch sec; seqNo:1129; depth 49.95 2021-10-10T03:13:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835581.95 epoch sec; seqNo:1129; 4061518.33 north; 594196.91 east 2021-10-10T03:13:02Z- AHRS_M2 msg: 1633835582.32 epoch sec; seqNo:1103 2021-10-10T03:13:02Z- AHRS_M2 msg: -0.22 phi; 0.03 theta; 0.38 psi 2021-10-10T03:13:02Z- handleDepth()-Depth_Keller msg: 1633835582328 epoch sec; seqNo:1130; depth 49.96 2021-10-10T03:13:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:02Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:02Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:02Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:02Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:02Z- handleDvl() - RDI_Pathfinder msg: 1633835582.33 epoch sec; seqNo:380 2021-10-10T03:13:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , 0.00 2021-10-10T03:13:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835582.34 epoch sec; seqNo:1130; 4061518.71 north; 594196.91 east 2021-10-10T03:13:02Z- LcmTrn::handleMessages() - handling 45 messages took 0.72 ms and 130 calls... 2021-10-10T03:13:02Z- waiting for 1633835580.12, time is 1633835582.34 2021-10-10T03:13:02Z- LcmTrn::updateTrn() equating pose 1633835582.34 and meas times 1633835582.34 2021-10-10T03:13:02Z- LcmTrn::updateTrn() >>>> pose time 1633835582.34, meas time 1633835582.34 <<<< 2021-10-10T03:13:02Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835582.34, ping # 0. 2021-10-10T03:13:02Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835582.34 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:13:02Z- TerrainNav::motionUpdate() - currEstimate = (4061519, 594196.91, 49.96) 2021-10-10T03:13:02Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:13:02Z- TerrainNav:: SubcloudNIS is 1.26, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:13:02Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:13:02Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:13:02Z- TerrainNav::Measurement type 1 not incorporated from time = 1633835582.34 sec.; No relevant navigation data available 2021-10-10T03:13:02Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:13:02Z- TNavBF::mmse selected from filter -1 2021-10-10T03:13:02Z- variances([0], [2], and psi_berg) = 73.392130 75.017940 0.000000 2021-10-10T03:13:02Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:13:02Z- LcmTrn::publishEstimates() - MLE : 4061473.21 594155.41 49.96 2021-10-10T03:13:02Z- LcmTrn::publishEstimates() - MMSE : 4061480.54 594157.25 41.34 2021-10-10T03:13:02Z- LcmTrn::publishEstimates() - COVAR: 73.39 75.02 0.79 0.00 2021-10-10T03:13:02Z- AHRS_M2 msg: 1633835582.72 epoch sec; seqNo:1104 2021-10-10T03:13:02Z- AHRS_M2 msg: -0.22 phi; 0.03 theta; 0.38 psi 2021-10-10T03:13:02Z- handleDepth()-Depth_Keller msg: 1633835582730 epoch sec; seqNo:1131; depth 49.94 2021-10-10T03:13:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835582.75 epoch sec; seqNo:1131; 4061519.09 north; 594196.90 east 2021-10-10T03:13:03Z- AHRS_M2 msg: 1633835583.13 epoch sec; seqNo:1105 2021-10-10T03:13:03Z- AHRS_M2 msg: -0.22 phi; 0.03 theta; 0.38 psi 2021-10-10T03:13:03Z- handleDepth()-Depth_Keller msg: 1633835583136 epoch sec; seqNo:1132; depth 49.93 2021-10-10T03:13:03Z- handleDvl() - RDI_Pathfinder msg: 1633835583.17 epoch sec; seqNo:381 2021-10-10T03:13:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.86 , 50.49 , 45.38 , 43.74 2021-10-10T03:13:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , 0.02 2021-10-10T03:13:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835583.18 epoch sec; seqNo:1132; 4061519.09 north; 594196.90 east 2021-10-10T03:13:03Z- AHRS_M2 msg: 1633835583.53 epoch sec; seqNo:1106 2021-10-10T03:13:03Z- AHRS_M2 msg: -0.22 phi; 0.03 theta; 0.38 psi 2021-10-10T03:13:03Z- handleDepth()-Depth_Keller msg: 1633835583538 epoch sec; seqNo:1133; depth 49.91 2021-10-10T03:13:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:03Z- handleDvl() - RDI_Pathfinder msg: 1633835583.54 epoch sec; seqNo:382 2021-10-10T03:13:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , 0.02 2021-10-10T03:13:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835583.56 epoch sec; seqNo:1133; 4061519.47 north; 594196.90 east 2021-10-10T03:13:03Z- AHRS_M2 msg: 1633835583.94 epoch sec; seqNo:1107 2021-10-10T03:13:03Z- AHRS_M2 msg: -0.22 phi; 0.03 theta; 0.38 psi 2021-10-10T03:13:03Z- handleDepth()-Depth_Keller msg: 1633835583951 epoch sec; seqNo:1134; depth 49.92 2021-10-10T03:13:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835583.97 epoch sec; seqNo:1134; 4061519.84 north; 594196.89 east 2021-10-10T03:13:04Z- AHRS_M2 msg: 1633835584.34 epoch sec; seqNo:1108 2021-10-10T03:13:04Z- AHRS_M2 msg: -0.22 phi; 0.03 theta; 0.38 psi 2021-10-10T03:13:04Z- handleDepth()-Depth_Keller msg: 1633835584346 epoch sec; seqNo:1135; depth 49.90 2021-10-10T03:13:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835584.37 epoch sec; seqNo:1135; 4061520.24 north; 594198.11 east 2021-10-10T03:13:04Z- AHRS_M2 msg: 1633835584.75 epoch sec; seqNo:1109 2021-10-10T03:13:04Z- AHRS_M2 msg: -0.22 phi; 0.03 theta; 0.38 psi 2021-10-10T03:13:04Z- handleDepth()-Depth_Keller msg: 1633835584756 epoch sec; seqNo:1136; depth 49.91 2021-10-10T03:13:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:04Z- handleDvl() - RDI_Pathfinder msg: 1633835584.76 epoch sec; seqNo:383 2021-10-10T03:13:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , 0.02 2021-10-10T03:13:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835584.77 epoch sec; seqNo:1136; 4061520.62 north; 594198.11 east 2021-10-10T03:13:05Z- AHRS_M2 msg: 1633835585.15 epoch sec; seqNo:1110 2021-10-10T03:13:05Z- AHRS_M2 msg: -0.22 phi; 0.03 theta; 0.38 psi 2021-10-10T03:13:05Z- handleDepth()-Depth_Keller msg: 1633835585172 epoch sec; seqNo:1137; depth 49.90 2021-10-10T03:13:05Z- handleDvl() - RDI_Pathfinder msg: 1633835585.20 epoch sec; seqNo:384 2021-10-10T03:13:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.06 , 50.90 , 45.38 , 43.95 2021-10-10T03:13:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , 0.02 2021-10-10T03:13:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835585.21 epoch sec; seqNo:1137; 4061520.62 north; 594198.11 east 2021-10-10T03:13:05Z- AHRS_M2 msg: 1633835585.56 epoch sec; seqNo:1111 2021-10-10T03:13:05Z- AHRS_M2 msg: -0.22 phi; 0.03 theta; 0.38 psi 2021-10-10T03:13:05Z- handleDepth()-Depth_Keller msg: 1633835585560 epoch sec; seqNo:1138; depth 49.90 2021-10-10T03:13:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835585.58 epoch sec; seqNo:1138; 4061520.99 north; 594198.10 east 2021-10-10T03:13:05Z- AHRS_M2 msg: 1633835585.96 epoch sec; seqNo:1112 2021-10-10T03:13:05Z- AHRS_M2 msg: -0.22 phi; 0.03 theta; 0.38 psi 2021-10-10T03:13:05Z- handleDepth()-Depth_Keller msg: 1633835585962 epoch sec; seqNo:1139; depth 49.89 2021-10-10T03:13:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:05Z- handleDvl() - RDI_Pathfinder msg: 1633835585.97 epoch sec; seqNo:385 2021-10-10T03:13:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , 0.02 2021-10-10T03:13:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835585.98 epoch sec; seqNo:1139; 4061521.37 north; 594198.10 east 2021-10-10T03:13:06Z- AHRS_M2 msg: 1633835586.36 epoch sec; seqNo:1113 2021-10-10T03:13:06Z- AHRS_M2 msg: -0.22 phi; 0.02 theta; 0.38 psi 2021-10-10T03:13:06Z- handleDepth()-Depth_Keller msg: 1633835586367 epoch sec; seqNo:1140; depth 49.90 2021-10-10T03:13:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835586.38 epoch sec; seqNo:1140; 4061521.75 north; 594198.09 east 2021-10-10T03:13:06Z- AHRS_M2 msg: 1633835586.80 epoch sec; seqNo:1114 2021-10-10T03:13:06Z- AHRS_M2 msg: -0.22 phi; 0.02 theta; 0.38 psi 2021-10-10T03:13:06Z- handleDepth()-Depth_Keller msg: 1633835586816 epoch sec; seqNo:1141; depth 49.88 2021-10-10T03:13:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835586.83 epoch sec; seqNo:1141; 4061521.75 north; 594198.09 east 2021-10-10T03:13:07Z- AHRS_M2 msg: 1633835587.17 epoch sec; seqNo:1115 2021-10-10T03:13:07Z- AHRS_M2 msg: -0.23 phi; 0.02 theta; 0.37 psi 2021-10-10T03:13:07Z- handleDepth()-Depth_Keller msg: 1633835587178 epoch sec; seqNo:1142; depth 49.88 2021-10-10T03:13:07Z- handleDvl() - RDI_Pathfinder msg: 1633835587.20 epoch sec; seqNo:386 2021-10-10T03:13:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.06 , 51.10 , 45.38 , 44.15 2021-10-10T03:13:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.06 , 0.01 2021-10-10T03:13:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835587.23 epoch sec; seqNo:1142; 4061522.13 north; 594198.09 east 2021-10-10T03:13:07Z- AHRS_M2 msg: 1633835587.57 epoch sec; seqNo:1116 2021-10-10T03:13:07Z- AHRS_M2 msg: -0.23 phi; 0.02 theta; 0.37 psi 2021-10-10T03:13:07Z- handleDepth()-Depth_Keller msg: 1633835587589 epoch sec; seqNo:1143; depth 49.88 2021-10-10T03:13:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835587.61 epoch sec; seqNo:1143; 4061522.51 north; 594198.08 east 2021-10-10T03:13:07Z- LcmTrn::handleMessages() - handling 45 messages took 0.80 ms and 128 calls... 2021-10-10T03:13:07Z- waiting for 1633835585.34, time is 1633835587.61 2021-10-10T03:13:07Z- LcmTrn::updateTrn() >>>> pose time 1633835587.61, meas time 1633835587.20 <<<< 2021-10-10T03:13:07Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835587.20 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:13:07Z- TerrainNav::motionUpdate() - currEstimate = (4061523, 594198.08, 49.88) 2021-10-10T03:13:07Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:13:07Z- TerrainNav:: SubcloudNIS is 1.26, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:13:07Z- TNavBF::Projecting Measurements 2021-10-10T03:13:07Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:13:07Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:13:07Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:13:07Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:13:07Z- TNavFilter::4 good beams. 2021-10-10T03:13:07Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:13:07Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:13:07Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:13:07Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:13:07Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:13:07Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:13:07Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:13:07Z- TNavBF::mmse selected from filter -1 2021-10-10T03:13:07Z- TerrainMapOctree: (vehN, vehE ) = (4061522.22, 594197.99). 2021-10-10T03:13:07Z- TerrainMapOctree: Min Distance = 233.65. 2021-10-10T03:13:07Z- TerrainMapOctree: Using tile 4. 2021-10-10T03:13:07Z- Forcing Subcloud Comparison 2021-10-10T03:13:07Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:13:07Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:13:07Z- Filter 0 partialDeltaRmsComputation: 0.186699 terrainVariance: 0.049181 1-SumSquareWeights: 0.996420 2021-10-10T03:13:07Z- Filter 0 meanExpectedMeasDiff: -0.370834 delta_rms_squared: 0.039217 alpha: 0.662258 2021-10-10T03:13:07Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:13:07Z- Filter 0 partialDeltaRmsComputation: 2.810742 terrainVariance: 0.008746 1-SumSquareWeights: 0.996420 2021-10-10T03:13:07Z- Filter 0 meanExpectedMeasDiff: 1.673916 delta_rms_squared: -0.001218 alpha: 0.000000 2021-10-10T03:13:07Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:13:07Z- Filter 0 partialDeltaRmsComputation: 27.526329 terrainVariance: 0.013827 1-SumSquareWeights: 0.996420 2021-10-10T03:13:07Z- Filter 0 meanExpectedMeasDiff: -5.245236 delta_rms_squared: 0.003863 alpha: 0.161871 2021-10-10T03:13:07Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:13:07Z- Filter 0 partialDeltaRmsComputation: 18.885664 terrainVariance: 0.168946 1-SumSquareWeights: 0.996420 2021-10-10T03:13:07Z- Filter 0 meanExpectedMeasDiff: 4.326282 delta_rms_squared: 0.158982 alpha: 0.888257 2021-10-10T03:13:07Z- Filter 0 SubcloudNIS: 1.273329 2021-10-10T03:13:07Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:13:07Z- TNavBF:: Filter 0 sumWeights = 0.146263 2021-10-10T03:13:07Z- Filter 0 NorthBias: -37.2 EastBias: -39.0 DepthBias: -8.6 NorthVariance: 69.5 EastVariance: 83.2 DepthVariance: 0.6 this->DepthBiasCov: 0.5 2021-10-10T03:13:07Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835587.20 sec. 2021-10-10T03:13:07Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:13:07Z- TNavBF::mmse selected from filter -1 2021-10-10T03:13:07Z- variances([0], [2], and psi_berg) = 69.514469 83.547114 0.000000 2021-10-10T03:13:07Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:13:07Z- LcmTrn::publishEstimates() - MLE : 4061479.01 594157.58 49.88 2021-10-10T03:13:07Z- LcmTrn::publishEstimates() - MMSE : 4061485.29 594159.08 41.29 2021-10-10T03:13:07Z- LcmTrn::publishEstimates() - COVAR: 69.51 83.55 0.57 0.00 2021-10-10T03:13:07Z- AHRS_M2 msg: 1633835587.98 epoch sec; seqNo:1117 2021-10-10T03:13:07Z- AHRS_M2 msg: -0.23 phi; 0.02 theta; 0.37 psi 2021-10-10T03:13:07Z- handleDepth()-Depth_Keller msg: 1633835587987 epoch sec; seqNo:1144; depth 49.87 2021-10-10T03:13:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835588.00 epoch sec; seqNo:1144; 4061522.89 north; 594198.08 east 2021-10-10T03:13:08Z- AHRS_M2 msg: 1633835588.38 epoch sec; seqNo:1118 2021-10-10T03:13:08Z- AHRS_M2 msg: -0.23 phi; 0.02 theta; 0.37 psi 2021-10-10T03:13:08Z- handleDepth()-Depth_Keller msg: 1633835588386 epoch sec; seqNo:1145; depth 49.87 2021-10-10T03:13:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:08Z- handleDvl() - RDI_Pathfinder msg: 1633835588.39 epoch sec; seqNo:387 2021-10-10T03:13:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.06 , 0.01 2021-10-10T03:13:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835588.40 epoch sec; seqNo:1145; 4061522.89 north; 594198.08 east 2021-10-10T03:13:08Z- AHRS_M2 msg: 1633835588.79 epoch sec; seqNo:1119 2021-10-10T03:13:08Z- AHRS_M2 msg: -0.23 phi; 0.02 theta; 0.37 psi 2021-10-10T03:13:08Z- handleDepth()-Depth_Keller msg: 1633835588791 epoch sec; seqNo:1146; depth 49.86 2021-10-10T03:13:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835588.80 epoch sec; seqNo:1146; 4061523.27 north; 594198.08 east 2021-10-10T03:13:09Z- AHRS_M2 msg: 1633835589.19 epoch sec; seqNo:1120 2021-10-10T03:13:09Z- AHRS_M2 msg: -0.23 phi; 0.02 theta; 0.37 psi 2021-10-10T03:13:09Z- handleDepth()-Depth_Keller msg: 1633835589206 epoch sec; seqNo:1147; depth 49.86 2021-10-10T03:13:09Z- handleDvl() - RDI_Pathfinder msg: 1633835589.24 epoch sec; seqNo:388 2021-10-10T03:13:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.86 , 51.31 , 45.38 , 44.36 2021-10-10T03:13:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , 0.01 2021-10-10T03:13:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835589.26 epoch sec; seqNo:1147; 4061523.65 north; 594198.07 east 2021-10-10T03:13:09Z- AHRS_M2 msg: 1633835589.60 epoch sec; seqNo:1121 2021-10-10T03:13:09Z- AHRS_M2 msg: -0.23 phi; 0.02 theta; 0.37 psi 2021-10-10T03:13:09Z- handleDepth()-Depth_Keller msg: 1633835589619 epoch sec; seqNo:1148; depth 49.86 2021-10-10T03:13:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:09Z- handleDvl() - RDI_Pathfinder msg: 1633835589.62 epoch sec; seqNo:389 2021-10-10T03:13:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , 0.01 2021-10-10T03:13:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835589.64 epoch sec; seqNo:1148; 4061524.04 north; 594199.29 east 2021-10-10T03:13:10Z- AHRS_M2 msg: 1633835590.00 epoch sec; seqNo:1122 2021-10-10T03:13:10Z- AHRS_M2 msg: -0.23 phi; 0.02 theta; 0.37 psi 2021-10-10T03:13:10Z- handleDepth()-Depth_Keller msg: 1633835590008 epoch sec; seqNo:1149; depth 49.85 2021-10-10T03:13:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835590.02 epoch sec; seqNo:1149; 4061524.42 north; 594199.28 east 2021-10-10T03:13:10Z- AHRS_M2 msg: 1633835590.41 epoch sec; seqNo:1123 2021-10-10T03:13:10Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.37 psi 2021-10-10T03:13:10Z- handleDepth()-Depth_Keller msg: 1633835590413 epoch sec; seqNo:1150; depth 49.85 2021-10-10T03:13:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835590.42 epoch sec; seqNo:1150; 4061524.42 north; 594199.28 east 2021-10-10T03:13:10Z- AHRS_M2 msg: 1633835590.81 epoch sec; seqNo:1124 2021-10-10T03:13:10Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.37 psi 2021-10-10T03:13:10Z- handleDepth()-Depth_Keller msg: 1633835590814 epoch sec; seqNo:1151; depth 49.85 2021-10-10T03:13:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:10Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:10Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:10Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:10Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:10Z- handleDvl() - RDI_Pathfinder msg: 1633835590.82 epoch sec; seqNo:390 2021-10-10T03:13:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , 0.01 2021-10-10T03:13:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835590.83 epoch sec; seqNo:1151; 4061524.80 north; 594199.28 east 2021-10-10T03:13:11Z- AHRS_M2 msg: 1633835591.21 epoch sec; seqNo:1125 2021-10-10T03:13:11Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.37 psi 2021-10-10T03:13:11Z- handleDepth()-Depth_Keller msg: 1633835591217 epoch sec; seqNo:1152; depth 49.86 2021-10-10T03:13:11Z- handleDvl() - RDI_Pathfinder msg: 1633835591.24 epoch sec; seqNo:391 2021-10-10T03:13:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.86 , 51.31 , 45.38 , 44.56 2021-10-10T03:13:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , -0.00 2021-10-10T03:13:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835591.28 epoch sec; seqNo:1152; 4061525.18 north; 594199.28 east 2021-10-10T03:13:11Z- AHRS_M2 msg: 1633835591.62 epoch sec; seqNo:1126 2021-10-10T03:13:11Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.37 psi 2021-10-10T03:13:11Z- handleDepth()-Depth_Keller msg: 1633835591625 epoch sec; seqNo:1153; depth 49.84 2021-10-10T03:13:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835591.64 epoch sec; seqNo:1153; 4061525.55 north; 594199.27 east 2021-10-10T03:13:12Z- AHRS_M2 msg: 1633835592.02 epoch sec; seqNo:1127 2021-10-10T03:13:12Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.37 psi 2021-10-10T03:13:12Z- handleDepth()-Depth_Keller msg: 1633835592024 epoch sec; seqNo:1154; depth 49.85 2021-10-10T03:13:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:12Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:12Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:12Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:12Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:12Z- handleDvl() - RDI_Pathfinder msg: 1633835592.03 epoch sec; seqNo:392 2021-10-10T03:13:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , -0.00 2021-10-10T03:13:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835592.04 epoch sec; seqNo:1154; 4061525.55 north; 594199.27 east 2021-10-10T03:13:12Z- AHRS_M2 msg: 1633835592.42 epoch sec; seqNo:1128 2021-10-10T03:13:12Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.37 psi 2021-10-10T03:13:12Z- handleDepth()-Depth_Keller msg: 1633835592428 epoch sec; seqNo:1155; depth 49.83 2021-10-10T03:13:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835592.44 epoch sec; seqNo:1155; 4061525.93 north; 594199.27 east 2021-10-10T03:13:12Z- AHRS_M2 msg: 1633835592.83 epoch sec; seqNo:1129 2021-10-10T03:13:12Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.36 psi 2021-10-10T03:13:12Z- handleDepth()-Depth_Keller msg: 1633835592831 epoch sec; seqNo:1156; depth 49.84 2021-10-10T03:13:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835592.84 epoch sec; seqNo:1156; 4061526.31 north; 594199.26 east 2021-10-10T03:13:12Z- LcmTrn::handleMessages() - handling 45 messages took 0.73 ms and 130 calls... 2021-10-10T03:13:12Z- waiting for 1633835590.61, time is 1633835592.84 2021-10-10T03:13:12Z- LcmTrn::updateTrn() >>>> pose time 1633835592.84, meas time 1633835592.03 <<<< 2021-10-10T03:13:12Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835592.03, ping # 0. 2021-10-10T03:13:12Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835592.03 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:13:12Z- TerrainNav::motionUpdate() - currEstimate = (4061526, 594199.26, 49.84) 2021-10-10T03:13:12Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:13:12Z- TerrainNav:: SubcloudNIS is 1.27, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:13:12Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:13:12Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:13:12Z- TNavBF::Projecting Measurements 2021-10-10T03:13:12Z- TNavFilter::Measurement from time = 1633835592.03 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:13:12Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:13:12Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:13:12Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:13:12Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:13:12Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:13:12Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:13:12Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:13:12Z- Filter 0 NorthBias: -37.2 EastBias: -39.0 DepthBias: -8.6 NorthVariance: 69.5 EastVariance: 84.6 DepthVariance: 0.7 this->DepthBiasCov: 0.7 2021-10-10T03:13:12Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:13:12Z- TNavBF::mmse selected from filter -1 2021-10-10T03:13:12Z- variances([0], [2], and psi_berg) = 69.552868 85.060727 0.000000 2021-10-10T03:13:12Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:13:12Z- LcmTrn::publishEstimates() - MLE : 4061482.81 594158.76 49.84 2021-10-10T03:13:12Z- LcmTrn::publishEstimates() - MMSE : 4061489.09 594160.28 41.25 2021-10-10T03:13:12Z- LcmTrn::publishEstimates() - COVAR: 69.55 85.06 0.77 0.00 2021-10-10T03:13:13Z- AHRS_M2 msg: 1633835593.23 epoch sec; seqNo:1130 2021-10-10T03:13:13Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.36 psi 2021-10-10T03:13:13Z- handleDepth()-Depth_Keller msg: 1633835593238 epoch sec; seqNo:1157; depth 49.83 2021-10-10T03:13:13Z- handleDvl() - RDI_Pathfinder msg: 1633835593.26 epoch sec; seqNo:393 2021-10-10T03:13:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.06 , 51.10 , 45.17 , 44.36 2021-10-10T03:13:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.08 , -0.00 2021-10-10T03:13:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835593.29 epoch sec; seqNo:1157; 4061526.69 north; 594199.26 east 2021-10-10T03:13:13Z- AHRS_M2 msg: 1633835593.63 epoch sec; seqNo:1131 2021-10-10T03:13:13Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.36 psi 2021-10-10T03:13:13Z- handleDepth()-Depth_Keller msg: 1633835593644 epoch sec; seqNo:1158; depth 49.83 2021-10-10T03:13:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835593.66 epoch sec; seqNo:1158; 4061526.69 north; 594199.26 east 2021-10-10T03:13:14Z- AHRS_M2 msg: 1633835594.04 epoch sec; seqNo:1132 2021-10-10T03:13:14Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.36 psi 2021-10-10T03:13:14Z- handleDepth()-Depth_Keller msg: 1633835594042 epoch sec; seqNo:1159; depth 49.84 2021-10-10T03:13:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835594.06 epoch sec; seqNo:1159; 4061527.07 north; 594199.25 east 2021-10-10T03:13:14Z- AHRS_M2 msg: 1633835594.45 epoch sec; seqNo:1133 2021-10-10T03:13:14Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.36 psi 2021-10-10T03:13:14Z- handleDepth()-Depth_Keller msg: 1633835594452 epoch sec; seqNo:1160; depth 49.84 2021-10-10T03:13:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835594.46 epoch sec; seqNo:1160; 4061527.45 north; 594199.25 east 2021-10-10T03:13:14Z- AHRS_M2 msg: 1633835594.85 epoch sec; seqNo:1134 2021-10-10T03:13:14Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.36 psi 2021-10-10T03:13:14Z- handleDepth()-Depth_Keller msg: 1633835594850 epoch sec; seqNo:1161; depth 49.84 2021-10-10T03:13:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835594.86 epoch sec; seqNo:1161; 4061527.83 north; 594199.25 east 2021-10-10T03:13:15Z- AHRS_M2 msg: 1633835595.25 epoch sec; seqNo:1135 2021-10-10T03:13:15Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.36 psi 2021-10-10T03:13:15Z- handleDepth()-Depth_Keller msg: 1633835595264 epoch sec; seqNo:1162; depth 49.85 2021-10-10T03:13:15Z- handleDvl() - RDI_Pathfinder msg: 1633835595.29 epoch sec; seqNo:394 2021-10-10T03:13:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.06 , 51.10 , 45.38 , 44.56 2021-10-10T03:13:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , 0.01 2021-10-10T03:13:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835595.30 epoch sec; seqNo:1162; 4061528.21 north; 594199.24 east 2021-10-10T03:13:15Z- AHRS_M2 msg: 1633835595.65 epoch sec; seqNo:1136 2021-10-10T03:13:15Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.36 psi 2021-10-10T03:13:15Z- handleDepth()-Depth_Keller msg: 1633835595662 epoch sec; seqNo:1163; depth 49.84 2021-10-10T03:13:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:15Z- handleDvl() - RDI_Pathfinder msg: 1633835595.68 epoch sec; seqNo:395 2021-10-10T03:13:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , 0.01 2021-10-10T03:13:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835595.70 epoch sec; seqNo:1163; 4061528.22 north; 594200.46 east 2021-10-10T03:13:16Z- AHRS_M2 msg: 1633835596.06 epoch sec; seqNo:1137 2021-10-10T03:13:16Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.36 psi 2021-10-10T03:13:16Z- handleDepth()-Depth_Keller msg: 1633835596062 epoch sec; seqNo:1164; depth 49.84 2021-10-10T03:13:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835596.07 epoch sec; seqNo:1164; 4061528.60 north; 594200.46 east 2021-10-10T03:13:16Z- AHRS_M2 msg: 1633835596.46 epoch sec; seqNo:1138 2021-10-10T03:13:16Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.35 psi 2021-10-10T03:13:16Z- handleDepth()-Depth_Keller msg: 1633835596470 epoch sec; seqNo:1165; depth 49.84 2021-10-10T03:13:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835596.49 epoch sec; seqNo:1165; 4061528.98 north; 594200.45 east 2021-10-10T03:13:16Z- AHRS_M2 msg: 1633835596.87 epoch sec; seqNo:1139 2021-10-10T03:13:16Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.35 psi 2021-10-10T03:13:16Z- handleDepth()-Depth_Keller msg: 1633835596872 epoch sec; seqNo:1166; depth 49.84 2021-10-10T03:13:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:16Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:16Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:16Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:16Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:16Z- handleDvl() - RDI_Pathfinder msg: 1633835596.87 epoch sec; seqNo:396 2021-10-10T03:13:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , 0.01 2021-10-10T03:13:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835596.88 epoch sec; seqNo:1166; 4061529.36 north; 594200.45 east 2021-10-10T03:13:17Z- AHRS_M2 msg: 1633835597.27 epoch sec; seqNo:1140 2021-10-10T03:13:17Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.35 psi 2021-10-10T03:13:17Z- handleDepth()-Depth_Keller msg: 1633835597286 epoch sec; seqNo:1167; depth 49.86 2021-10-10T03:13:17Z- handleDvl() - RDI_Pathfinder msg: 1633835597.31 epoch sec; seqNo:397 2021-10-10T03:13:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.06 , 51.30 , 45.17 , 44.56 2021-10-10T03:13:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , 0.02 2021-10-10T03:13:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835597.32 epoch sec; seqNo:1167; 4061529.74 north; 594200.45 east 2021-10-10T03:13:17Z- AHRS_M2 msg: 1633835597.67 epoch sec; seqNo:1141 2021-10-10T03:13:17Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.35 psi 2021-10-10T03:13:17Z- handleDepth()-Depth_Keller msg: 1633835597687 epoch sec; seqNo:1168; depth 49.85 2021-10-10T03:13:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835597.72 epoch sec; seqNo:1168; 4061529.74 north; 594200.45 east 2021-10-10T03:13:17Z- LcmTrn::handleMessages() - handling 41 messages took 0.76 ms and 125 calls... 2021-10-10T03:13:17Z- waiting for 1633835595.84, time is 1633835597.72 2021-10-10T03:13:17Z- LcmTrn::updateTrn() >>>> pose time 1633835597.72, meas time 1633835597.31 <<<< 2021-10-10T03:13:17Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835597.31 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:13:17Z- TerrainNav::motionUpdate() - currEstimate = (4061530, 594200.45, 49.85) 2021-10-10T03:13:17Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:13:17Z- TerrainNav:: SubcloudNIS is 1.27, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:13:17Z- TNavBF::Projecting Measurements 2021-10-10T03:13:17Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:13:17Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:13:17Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:13:17Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:13:17Z- TNavFilter::4 good beams. 2021-10-10T03:13:17Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:13:17Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:13:17Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:13:17Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:13:17Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:13:17Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:13:17Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:13:17Z- TNavBF::mmse selected from filter -1 2021-10-10T03:13:17Z- TerrainMapOctree: (vehN, vehE ) = (4061529.45, 594200.35). 2021-10-10T03:13:17Z- TerrainMapOctree: Min Distance = 226.07. 2021-10-10T03:13:17Z- TerrainMapOctree: Using tile 4. 2021-10-10T03:13:18Z- Forcing Subcloud Comparison 2021-10-10T03:13:18Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:13:18Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:13:18Z- Filter 0 partialDeltaRmsComputation: 0.075192 terrainVariance: 0.068989 1-SumSquareWeights: 0.995707 2021-10-10T03:13:18Z- Filter 0 meanExpectedMeasDiff: -0.078760 delta_rms_squared: 0.059032 alpha: 0.746937 2021-10-10T03:13:18Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:13:18Z- Filter 0 partialDeltaRmsComputation: 1.452628 terrainVariance: 0.013251 1-SumSquareWeights: 0.995707 2021-10-10T03:13:18Z- Filter 0 meanExpectedMeasDiff: 1.199741 delta_rms_squared: 0.003294 alpha: 0.141393 2021-10-10T03:13:18Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:13:18Z- Filter 0 partialDeltaRmsComputation: 27.872099 terrainVariance: 0.018284 1-SumSquareWeights: 0.995707 2021-10-10T03:13:18Z- Filter 0 meanExpectedMeasDiff: -5.277671 delta_rms_squared: 0.008327 alpha: 0.293959 2021-10-10T03:13:18Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:13:18Z- Filter 0 partialDeltaRmsComputation: 18.681418 terrainVariance: 0.184595 1-SumSquareWeights: 0.995707 2021-10-10T03:13:18Z- Filter 0 meanExpectedMeasDiff: 4.300793 delta_rms_squared: 0.174638 alpha: 0.897245 2021-10-10T03:13:18Z- Filter 0 SubcloudNIS: 1.264972 2021-10-10T03:13:18Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:13:18Z- TNavBF:: Filter 0 sumWeights = 0.105284 2021-10-10T03:13:18Z- Filter 0 NorthBias: -36.3 EastBias: -38.5 DepthBias: -8.6 NorthVariance: 60.5 EastVariance: 95.2 DepthVariance: 0.5 this->DepthBiasCov: 0.5 2021-10-10T03:13:18Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835597.31 sec. 2021-10-10T03:13:18Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:13:18Z- TNavBF::mmse selected from filter -1 2021-10-10T03:13:18Z- variances([0], [2], and psi_berg) = 60.458488 95.328480 0.000000 2021-10-10T03:13:18Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:13:18Z- LcmTrn::publishEstimates() - MLE : 4061496.24 594161.95 49.85 2021-10-10T03:13:18Z- LcmTrn::publishEstimates() - MMSE : 4061493.47 594161.97 41.24 2021-10-10T03:13:18Z- LcmTrn::publishEstimates() - COVAR: 60.46 95.33 0.56 0.00 2021-10-10T03:13:18Z- AHRS_M2 msg: 1633835598.08 epoch sec; seqNo:1142 2021-10-10T03:13:18Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.35 psi 2021-10-10T03:13:18Z- handleDepth()-Depth_Keller msg: 1633835598083 epoch sec; seqNo:1169; depth 49.85 2021-10-10T03:13:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:18Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:18Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:18Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:18Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:18Z- handleDvl() - RDI_Pathfinder msg: 1633835598.09 epoch sec; seqNo:398 2021-10-10T03:13:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , 0.02 2021-10-10T03:13:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835598.09 epoch sec; seqNo:1169; 4061530.11 north; 594200.44 east 2021-10-10T03:13:18Z- AHRS_M2 msg: 1633835598.48 epoch sec; seqNo:1143 2021-10-10T03:13:18Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.35 psi 2021-10-10T03:13:18Z- handleDepth()-Depth_Keller msg: 1633835598487 epoch sec; seqNo:1170; depth 49.86 2021-10-10T03:13:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835598.50 epoch sec; seqNo:1170; 4061530.49 north; 594200.44 east 2021-10-10T03:13:18Z- AHRS_M2 msg: 1633835598.89 epoch sec; seqNo:1144 2021-10-10T03:13:18Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.35 psi 2021-10-10T03:13:18Z- handleDepth()-Depth_Keller msg: 1633835598890 epoch sec; seqNo:1171; depth 49.87 2021-10-10T03:13:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835598.92 epoch sec; seqNo:1171; 4061530.87 north; 594200.43 east 2021-10-10T03:13:19Z- AHRS_M2 msg: 1633835599.29 epoch sec; seqNo:1145 2021-10-10T03:13:19Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.35 psi 2021-10-10T03:13:19Z- handleDepth()-Depth_Keller msg: 1633835599296 epoch sec; seqNo:1172; depth 49.87 2021-10-10T03:13:19Z- handleDvl() - RDI_Pathfinder msg: 1633835599.33 epoch sec; seqNo:399 2021-10-10T03:13:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.06 , 51.30 , 45.17 , 44.76 2021-10-10T03:13:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , 0.03 2021-10-10T03:13:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835599.34 epoch sec; seqNo:1172; 4061530.87 north; 594200.43 east 2021-10-10T03:13:19Z- AHRS_M2 msg: 1633835599.69 epoch sec; seqNo:1146 2021-10-10T03:13:19Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.35 psi 2021-10-10T03:13:19Z- handleDepth()-Depth_Keller msg: 1633835599704 epoch sec; seqNo:1173; depth 49.87 2021-10-10T03:13:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835599.72 epoch sec; seqNo:1173; 4061531.25 north; 594200.43 east 2021-10-10T03:13:20Z- AHRS_M2 msg: 1633835600.10 epoch sec; seqNo:1147 2021-10-10T03:13:20Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.34 psi 2021-10-10T03:13:20Z- handleDepth()-Depth_Keller msg: 1633835600106 epoch sec; seqNo:1174; depth 49.86 2021-10-10T03:13:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835600.12 epoch sec; seqNo:1174; 4061531.63 north; 594200.43 east 2021-10-10T03:13:20Z- AHRS_M2 msg: 1633835600.50 epoch sec; seqNo:1148 2021-10-10T03:13:20Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.34 psi 2021-10-10T03:13:20Z- handleDepth()-Depth_Keller msg: 1633835600508 epoch sec; seqNo:1175; depth 49.89 2021-10-10T03:13:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:20Z- handleDvl() - RDI_Pathfinder msg: 1633835600.51 epoch sec; seqNo:400 2021-10-10T03:13:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , 0.03 2021-10-10T03:13:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835600.52 epoch sec; seqNo:1175; 4061532.01 north; 594200.42 east 2021-10-10T03:13:20Z- AHRS_M2 msg: 1633835600.91 epoch sec; seqNo:1149 2021-10-10T03:13:20Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.34 psi 2021-10-10T03:13:20Z- handleDepth()-Depth_Keller msg: 1633835600914 epoch sec; seqNo:1176; depth 49.87 2021-10-10T03:13:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835600.93 epoch sec; seqNo:1176; 4061532.39 north; 594200.42 east 2021-10-10T03:13:21Z- AHRS_M2 msg: 1633835601.31 epoch sec; seqNo:1150 2021-10-10T03:13:21Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.34 psi 2021-10-10T03:13:21Z- handleDepth()-Depth_Keller msg: 1633835601325 epoch sec; seqNo:1177; depth 49.88 2021-10-10T03:13:21Z- handleDvl() - RDI_Pathfinder msg: 1633835601.35 epoch sec; seqNo:401 2021-10-10T03:13:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.06 , 51.51 , 45.38 , 44.76 2021-10-10T03:13:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.05 , 0.02 2021-10-10T03:13:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835601.36 epoch sec; seqNo:1177; 4061532.39 north; 594200.42 east 2021-10-10T03:13:21Z- AHRS_M2 msg: 1633835601.71 epoch sec; seqNo:1151 2021-10-10T03:13:21Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.34 psi 2021-10-10T03:13:21Z- handleDepth()-Depth_Keller msg: 1633835601718 epoch sec; seqNo:1178; depth 49.88 2021-10-10T03:13:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:21Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:21Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:21Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:21Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:21Z- handleDvl() - RDI_Pathfinder msg: 1633835601.72 epoch sec; seqNo:402 2021-10-10T03:13:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.05 , 0.02 2021-10-10T03:13:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835601.75 epoch sec; seqNo:1178; 4061532.78 north; 594201.63 east 2021-10-10T03:13:22Z- AHRS_M2 msg: 1633835602.12 epoch sec; seqNo:1152 2021-10-10T03:13:22Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.34 psi 2021-10-10T03:13:22Z- handleDepth()-Depth_Keller msg: 1633835602128 epoch sec; seqNo:1179; depth 49.88 2021-10-10T03:13:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835602.14 epoch sec; seqNo:1179; 4061533.16 north; 594201.63 east 2021-10-10T03:13:22Z- AHRS_M2 msg: 1633835602.52 epoch sec; seqNo:1153 2021-10-10T03:13:22Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.34 psi 2021-10-10T03:13:22Z- handleDepth()-Depth_Keller msg: 1633835602528 epoch sec; seqNo:1180; depth 49.88 2021-10-10T03:13:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835602.54 epoch sec; seqNo:1180; 4061533.54 north; 594201.62 east 2021-10-10T03:13:22Z- AHRS_M2 msg: 1633835602.93 epoch sec; seqNo:1154 2021-10-10T03:13:22Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.34 psi 2021-10-10T03:13:22Z- handleDepth()-Depth_Keller msg: 1633835602953 epoch sec; seqNo:1181; depth 49.88 2021-10-10T03:13:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:22Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:22Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:22Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:22Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:22Z- handleDvl() - RDI_Pathfinder msg: 1633835602.95 epoch sec; seqNo:403 2021-10-10T03:13:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.05 , 0.02 2021-10-10T03:13:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835602.96 epoch sec; seqNo:1181; 4061533.54 north; 594201.62 east 2021-10-10T03:13:23Z- LcmTrn::handleMessages() - handling 45 messages took 0.68 ms and 131 calls... 2021-10-10T03:13:23Z- waiting for 1633835600.72, time is 1633835602.96 2021-10-10T03:13:23Z- LcmTrn::updateTrn() equating pose 1633835602.96 and meas times 1633835602.96 2021-10-10T03:13:23Z- LcmTrn::updateTrn() >>>> pose time 1633835602.96, meas time 1633835602.96 <<<< 2021-10-10T03:13:23Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835602.96, ping # 0. 2021-10-10T03:13:23Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835602.96 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:13:23Z- TerrainNav::motionUpdate() - currEstimate = (4061534, 594201.62, 49.88) 2021-10-10T03:13:23Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:13:23Z- TerrainNav:: SubcloudNIS is 1.26, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:13:23Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:13:23Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:13:23Z- TerrainNav::Measurement type 1 not incorporated from time = 1633835602.96 sec.; No relevant navigation data available 2021-10-10T03:13:23Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:13:23Z- TNavBF::mmse selected from filter -1 2021-10-10T03:13:23Z- variances([0], [2], and psi_berg) = 60.485876 95.691766 0.000000 2021-10-10T03:13:23Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:13:23Z- LcmTrn::publishEstimates() - MLE : 4061500.04 594163.12 49.88 2021-10-10T03:13:23Z- LcmTrn::publishEstimates() - MMSE : 4061497.27 594163.15 41.27 2021-10-10T03:13:23Z- LcmTrn::publishEstimates() - COVAR: 60.49 95.69 0.76 0.00 2021-10-10T03:13:23Z- AHRS_M2 msg: 1633835603.33 epoch sec; seqNo:1155 2021-10-10T03:13:23Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.34 psi 2021-10-10T03:13:23Z- handleDepth()-Depth_Keller msg: 1633835603335 epoch sec; seqNo:1182; depth 49.88 2021-10-10T03:13:23Z- handleDvl() - RDI_Pathfinder msg: 1633835603.36 epoch sec; seqNo:404 2021-10-10T03:13:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.08 , 51.37 , 45.17 , 44.73 2021-10-10T03:13:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , -0.00 2021-10-10T03:13:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835603.38 epoch sec; seqNo:1182; 4061533.92 north; 594201.62 east 2021-10-10T03:13:23Z- AHRS_M2 msg: 1633835603.73 epoch sec; seqNo:1156 2021-10-10T03:13:23Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.34 psi 2021-10-10T03:13:23Z- handleDepth()-Depth_Keller msg: 1633835603740 epoch sec; seqNo:1183; depth 49.88 2021-10-10T03:13:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835603.76 epoch sec; seqNo:1183; 4061534.29 north; 594201.62 east 2021-10-10T03:13:24Z- AHRS_M2 msg: 1633835604.14 epoch sec; seqNo:1157 2021-10-10T03:13:24Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.34 psi 2021-10-10T03:13:24Z- handleDepth()-Depth_Keller msg: 1633835604144 epoch sec; seqNo:1184; depth 49.87 2021-10-10T03:13:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:24Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:24Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:24Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:24Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:24Z- handleDvl() - RDI_Pathfinder msg: 1633835604.15 epoch sec; seqNo:405 2021-10-10T03:13:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , -0.00 2021-10-10T03:13:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835604.15 epoch sec; seqNo:1184; 4061534.67 north; 594201.61 east 2021-10-10T03:13:24Z- AHRS_M2 msg: 1633835604.54 epoch sec; seqNo:1158 2021-10-10T03:13:24Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:24Z- handleDepth()-Depth_Keller msg: 1633835604548 epoch sec; seqNo:1185; depth 49.87 2021-10-10T03:13:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835604.57 epoch sec; seqNo:1185; 4061534.67 north; 594201.61 east 2021-10-10T03:13:24Z- AHRS_M2 msg: 1633835604.95 epoch sec; seqNo:1159 2021-10-10T03:13:24Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:24Z- handleDepth()-Depth_Keller msg: 1633835604957 epoch sec; seqNo:1186; depth 49.88 2021-10-10T03:13:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835604.97 epoch sec; seqNo:1186; 4061535.05 north; 594201.61 east 2021-10-10T03:13:25Z- AHRS_M2 msg: 1633835605.35 epoch sec; seqNo:1160 2021-10-10T03:13:25Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:25Z- handleDepth()-Depth_Keller msg: 1633835605354 epoch sec; seqNo:1187; depth 49.88 2021-10-10T03:13:25Z- handleDvl() - RDI_Pathfinder msg: 1633835605.38 epoch sec; seqNo:406 2021-10-10T03:13:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.26 , 51.51 , 45.17 , 44.56 2021-10-10T03:13:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.08 , -0.01 2021-10-10T03:13:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835605.42 epoch sec; seqNo:1187; 4061535.43 north; 594201.60 east 2021-10-10T03:13:25Z- AHRS_M2 msg: 1633835605.75 epoch sec; seqNo:1161 2021-10-10T03:13:25Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:25Z- handleDepth()-Depth_Keller msg: 1633835605762 epoch sec; seqNo:1188; depth 49.87 2021-10-10T03:13:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835605.78 epoch sec; seqNo:1188; 4061535.81 north; 594201.60 east 2021-10-10T03:13:26Z- AHRS_M2 msg: 1633835606.16 epoch sec; seqNo:1162 2021-10-10T03:13:26Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:26Z- handleDepth()-Depth_Keller msg: 1633835606173 epoch sec; seqNo:1189; depth 49.87 2021-10-10T03:13:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835606.18 epoch sec; seqNo:1189; 4061536.19 north; 594201.60 east 2021-10-10T03:13:26Z- AHRS_M2 msg: 1633835606.56 epoch sec; seqNo:1163 2021-10-10T03:13:26Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:26Z- handleDepth()-Depth_Keller msg: 1633835606567 epoch sec; seqNo:1190; depth 49.87 2021-10-10T03:13:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:26Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:26Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:26Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:26Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:26Z- handleDvl() - RDI_Pathfinder msg: 1633835606.57 epoch sec; seqNo:407 2021-10-10T03:13:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.08 , -0.01 2021-10-10T03:13:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835606.60 epoch sec; seqNo:1190; 4061536.19 north; 594201.60 east 2021-10-10T03:13:26Z- AHRS_M2 msg: 1633835606.97 epoch sec; seqNo:1164 2021-10-10T03:13:26Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:26Z- handleDepth()-Depth_Keller msg: 1633835606979 epoch sec; seqNo:1191; depth 49.86 2021-10-10T03:13:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835606.99 epoch sec; seqNo:1191; 4061536.57 north; 594201.59 east 2021-10-10T03:13:27Z- AHRS_M2 msg: 1633835607.38 epoch sec; seqNo:1165 2021-10-10T03:13:27Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:27Z- handleDepth()-Depth_Keller msg: 1633835607383 epoch sec; seqNo:1192; depth 49.87 2021-10-10T03:13:27Z- handleDvl() - RDI_Pathfinder msg: 1633835607.40 epoch sec; seqNo:408 2021-10-10T03:13:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.06 , 51.30 , 44.97 , 44.56 2021-10-10T03:13:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.10 , -0.00 2021-10-10T03:13:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835607.42 epoch sec; seqNo:1192; 4061536.95 north; 594201.59 east 2021-10-10T03:13:27Z- AHRS_M2 msg: 1633835607.78 epoch sec; seqNo:1166 2021-10-10T03:13:27Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:27Z- handleDepth()-Depth_Keller msg: 1633835607793 epoch sec; seqNo:1193; depth 49.86 2021-10-10T03:13:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:27Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:27Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:27Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:27Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:27Z- handleDvl() - RDI_Pathfinder msg: 1633835607.80 epoch sec; seqNo:409 2021-10-10T03:13:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.10 , -0.00 2021-10-10T03:13:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835607.81 epoch sec; seqNo:1193; 4061537.33 north; 594201.58 east 2021-10-10T03:13:28Z- AHRS_M2 msg: 1633835608.18 epoch sec; seqNo:1167 2021-10-10T03:13:28Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:28Z- handleDepth()-Depth_Keller msg: 1633835608183 epoch sec; seqNo:1194; depth 49.86 2021-10-10T03:13:28Z- LcmTrn::handleMessages() - handling 44 messages took 0.75 ms and 128 calls... 2021-10-10T03:13:28Z- waiting for 1633835605.96, time is 1633835608.18 2021-10-10T03:13:28Z- LcmTrn::updateTrn() >>>> pose time 1633835608.18, meas time 1633835607.80 <<<< 2021-10-10T03:13:28Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835607.80, ping # 0. 2021-10-10T03:13:28Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835607.80 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:13:28Z- TerrainNav::motionUpdate() - currEstimate = (4061537, 594201.58, 49.86) 2021-10-10T03:13:28Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:13:28Z- TerrainNav:: SubcloudNIS is 1.26, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:13:28Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:13:28Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:13:28Z- TNavBF::Projecting Measurements 2021-10-10T03:13:28Z- TNavFilter::Measurement from time = 1633835607.80 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:13:28Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:13:28Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:13:28Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:13:28Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:13:28Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:13:28Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:13:28Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:13:28Z- Filter 0 NorthBias: -36.3 EastBias: -38.5 DepthBias: -8.6 NorthVariance: 60.5 EastVariance: 96.1 DepthVariance: 0.9 this->DepthBiasCov: 0.9 2021-10-10T03:13:28Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:13:28Z- TNavBF::mmse selected from filter -1 2021-10-10T03:13:28Z- variances([0], [2], and psi_berg) = 60.518595 96.159885 0.000000 2021-10-10T03:13:28Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:13:28Z- LcmTrn::publishEstimates() - MLE : 4061503.83 594163.08 49.86 2021-10-10T03:13:28Z- LcmTrn::publishEstimates() - MMSE : 4061501.06 594163.11 41.25 2021-10-10T03:13:28Z- LcmTrn::publishEstimates() - COVAR: 60.52 96.16 0.96 0.00 2021-10-10T03:13:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835608.19 epoch sec; seqNo:1194; 4061537.70 north; 594201.58 east 2021-10-10T03:13:28Z- AHRS_M2 msg: 1633835608.58 epoch sec; seqNo:1168 2021-10-10T03:13:28Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:28Z- handleDepth()-Depth_Keller msg: 1633835608586 epoch sec; seqNo:1195; depth 49.88 2021-10-10T03:13:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835608.60 epoch sec; seqNo:1195; 4061537.72 north; 594202.80 east 2021-10-10T03:13:29Z- AHRS_M2 msg: 1633835608.99 epoch sec; seqNo:1169 2021-10-10T03:13:29Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:29Z- handleDepth()-Depth_Keller msg: 1633835609010 epoch sec; seqNo:1196; depth 49.86 2021-10-10T03:13:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835609.06 epoch sec; seqNo:1196; 4061538.10 north; 594202.80 east 2021-10-10T03:13:29Z- AHRS_M2 msg: 1633835609.39 epoch sec; seqNo:1170 2021-10-10T03:13:29Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:29Z- handleDepth()-Depth_Keller msg: 1633835609394 epoch sec; seqNo:1197; depth 49.88 2021-10-10T03:13:29Z- handleDvl() - RDI_Pathfinder msg: 1633835609.42 epoch sec; seqNo:410 2021-10-10T03:13:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.06 , 50.69 , 44.97 , 44.56 2021-10-10T03:13:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.10 , 0.01 2021-10-10T03:13:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835609.44 epoch sec; seqNo:1197; 4061538.48 north; 594202.79 east 2021-10-10T03:13:29Z- AHRS_M2 msg: 1633835609.79 epoch sec; seqNo:1171 2021-10-10T03:13:29Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:29Z- handleDepth()-Depth_Keller msg: 1633835609799 epoch sec; seqNo:1198; depth 49.89 2021-10-10T03:13:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835609.83 epoch sec; seqNo:1198; 4061538.85 north; 594202.79 east 2021-10-10T03:13:30Z- AHRS_M2 msg: 1633835610.20 epoch sec; seqNo:1172 2021-10-10T03:13:30Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:30Z- handleDepth()-Depth_Keller msg: 1633835610210 epoch sec; seqNo:1199; depth 49.89 2021-10-10T03:13:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:30Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:30Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:30Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:30Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:30Z- handleDvl() - RDI_Pathfinder msg: 1633835610.21 epoch sec; seqNo:411 2021-10-10T03:13:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.10 , 0.01 2021-10-10T03:13:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835610.22 epoch sec; seqNo:1199; 4061539.23 north; 594202.78 east 2021-10-10T03:13:30Z- AHRS_M2 msg: 1633835610.60 epoch sec; seqNo:1173 2021-10-10T03:13:30Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:30Z- handleDepth()-Depth_Keller msg: 1633835610608 epoch sec; seqNo:1200; depth 49.89 2021-10-10T03:13:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835610.63 epoch sec; seqNo:1200; 4061539.23 north; 594202.78 east 2021-10-10T03:13:31Z- AHRS_M2 msg: 1633835611.05 epoch sec; seqNo:1174 2021-10-10T03:13:31Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:31Z- handleDepth()-Depth_Keller msg: 1633835611068 epoch sec; seqNo:1201; depth 49.90 2021-10-10T03:13:31Z- handleDvl() - RDI_Pathfinder msg: 1633835611.09 epoch sec; seqNo:412 2021-10-10T03:13:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.26 , 50.69 , 44.97 , 44.56 2021-10-10T03:13:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.09 , 0.03 2021-10-10T03:13:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835611.11 epoch sec; seqNo:1201; 4061539.61 north; 594202.78 east 2021-10-10T03:13:31Z- AHRS_M2 msg: 1633835611.41 epoch sec; seqNo:1175 2021-10-10T03:13:31Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.31 psi 2021-10-10T03:13:31Z- handleDepth()-Depth_Keller msg: 1633835611418 epoch sec; seqNo:1202; depth 49.90 2021-10-10T03:13:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:31Z- handleDvl() - RDI_Pathfinder msg: 1633835611.42 epoch sec; seqNo:413 2021-10-10T03:13:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.09 , 0.03 2021-10-10T03:13:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835611.44 epoch sec; seqNo:1202; 4061539.99 north; 594202.77 east 2021-10-10T03:13:31Z- AHRS_M2 msg: 1633835611.81 epoch sec; seqNo:1176 2021-10-10T03:13:31Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.31 psi 2021-10-10T03:13:31Z- handleDepth()-Depth_Keller msg: 1633835611829 epoch sec; seqNo:1203; depth 49.91 2021-10-10T03:13:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835611.84 epoch sec; seqNo:1203; 4061540.37 north; 594202.77 east 2021-10-10T03:13:32Z- AHRS_M2 msg: 1633835612.22 epoch sec; seqNo:1177 2021-10-10T03:13:32Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.31 psi 2021-10-10T03:13:32Z- handleDepth()-Depth_Keller msg: 1633835612222 epoch sec; seqNo:1204; depth 49.90 2021-10-10T03:13:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835612.23 epoch sec; seqNo:1204; 4061540.37 north; 594202.77 east 2021-10-10T03:13:32Z- AHRS_M2 msg: 1633835612.63 epoch sec; seqNo:1178 2021-10-10T03:13:32Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.31 psi 2021-10-10T03:13:32Z- handleDepth()-Depth_Keller msg: 1633835612630 epoch sec; seqNo:1205; depth 49.92 2021-10-10T03:13:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:32Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:32Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:32Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:32Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:32Z- handleDvl() - RDI_Pathfinder msg: 1633835612.63 epoch sec; seqNo:414 2021-10-10T03:13:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.09 , 0.03 2021-10-10T03:13:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835612.64 epoch sec; seqNo:1205; 4061540.75 north; 594202.77 east 2021-10-10T03:13:33Z- AHRS_M2 msg: 1633835613.07 epoch sec; seqNo:1179 2021-10-10T03:13:33Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.31 psi 2021-10-10T03:13:33Z- handleDepth()-Depth_Keller msg: 1633835613077 epoch sec; seqNo:1206; depth 49.91 2021-10-10T03:13:33Z- handleDvl() - RDI_Pathfinder msg: 1633835613.10 epoch sec; seqNo:415 2021-10-10T03:13:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.26 , 50.89 , 44.97 , 44.35 2021-10-10T03:13:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.05 , 0.04 2021-10-10T03:13:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835613.11 epoch sec; seqNo:1206; 4061541.13 north; 594202.76 east 2021-10-10T03:13:33Z- LcmTrn::handleMessages() - handling 43 messages took 0.67 ms and 129 calls... 2021-10-10T03:13:33Z- waiting for 1633835611.18, time is 1633835613.11 2021-10-10T03:13:33Z- LcmTrn::updateTrn() equating pose 1633835613.11 and meas times 1633835613.11 2021-10-10T03:13:33Z- LcmTrn::updateTrn() >>>> pose time 1633835613.11, meas time 1633835613.11 <<<< 2021-10-10T03:13:33Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835613.11 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:13:33Z- TerrainNav::motionUpdate() - currEstimate = (4061541, 594202.76, 49.91) 2021-10-10T03:13:33Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:13:33Z- TerrainNav:: SubcloudNIS is 1.26, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:13:33Z- TNavBF::Projecting Measurements 2021-10-10T03:13:33Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:13:33Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:13:33Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:13:33Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:13:33Z- TNavFilter::4 good beams. 2021-10-10T03:13:33Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:13:33Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:13:33Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:13:33Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:13:33Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:13:33Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:13:33Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:13:33Z- TNavBF::mmse selected from filter -1 2021-10-10T03:13:33Z- TerrainMapOctree: (vehN, vehE ) = (4061541.13, 594202.76). 2021-10-10T03:13:33Z- TerrainMapOctree: Min Distance = 214.15. 2021-10-10T03:13:33Z- TerrainMapOctree: Using tile 4. 2021-10-10T03:13:33Z- Forcing Subcloud Comparison 2021-10-10T03:13:33Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:13:33Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:13:33Z- Filter 0 partialDeltaRmsComputation: 0.101050 terrainVariance: 0.080044 1-SumSquareWeights: 0.994653 2021-10-10T03:13:33Z- Filter 0 meanExpectedMeasDiff: 0.144934 delta_rms_squared: 0.070098 alpha: 0.778018 2021-10-10T03:13:33Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:13:33Z- Filter 0 partialDeltaRmsComputation: 1.269723 terrainVariance: 0.013184 1-SumSquareWeights: 0.994653 2021-10-10T03:13:33Z- Filter 0 meanExpectedMeasDiff: 1.120954 delta_rms_squared: 0.003238 alpha: 0.139327 2021-10-10T03:13:33Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:13:33Z- Filter 0 partialDeltaRmsComputation: 23.816942 terrainVariance: 0.018078 1-SumSquareWeights: 0.994653 2021-10-10T03:13:33Z- Filter 0 meanExpectedMeasDiff: -4.878408 delta_rms_squared: 0.008132 alpha: 0.289061 2021-10-10T03:13:33Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:13:33Z- Filter 0 partialDeltaRmsComputation: 15.704422 terrainVariance: 0.210578 1-SumSquareWeights: 0.994653 2021-10-10T03:13:33Z- Filter 0 meanExpectedMeasDiff: 3.936222 delta_rms_squared: 0.200632 alpha: 0.909351 2021-10-10T03:13:33Z- Filter 0 SubcloudNIS: 1.245626 2021-10-10T03:13:33Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:13:33Z- TNavBF:: Filter 0 sumWeights = 0.150080 2021-10-10T03:13:33Z- Filter 0 NorthBias: -36.9 EastBias: -38.3 DepthBias: -8.6 NorthVariance: 53.3 EastVariance: 109.6 DepthVariance: 0.6 this->DepthBiasCov: 0.6 2021-10-10T03:13:33Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835613.11 sec. 2021-10-10T03:13:33Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:13:33Z- TNavBF::mmse selected from filter -1 2021-10-10T03:13:33Z- variances([0], [2], and psi_berg) = 53.319234 109.582851 0.000000 2021-10-10T03:13:33Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:13:33Z- LcmTrn::publishEstimates() - MLE : 4061507.63 594164.26 49.91 2021-10-10T03:13:33Z- LcmTrn::publishEstimates() - MMSE : 4061504.26 594164.44 41.33 2021-10-10T03:13:33Z- LcmTrn::publishEstimates() - COVAR: 53.32 109.58 0.61 0.00 2021-10-10T03:13:33Z- AHRS_M2 msg: 1633835613.43 epoch sec; seqNo:1180 2021-10-10T03:13:33Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.31 psi 2021-10-10T03:13:33Z- handleDepth()-Depth_Keller msg: 1633835613434 epoch sec; seqNo:1207; depth 49.93 2021-10-10T03:13:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835613.46 epoch sec; seqNo:1207; 4061541.51 north; 594202.76 east 2021-10-10T03:13:33Z- AHRS_M2 msg: 1633835613.83 epoch sec; seqNo:1181 2021-10-10T03:13:33Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.31 psi 2021-10-10T03:13:33Z- handleDepth()-Depth_Keller msg: 1633835613838 epoch sec; seqNo:1208; depth 49.91 2021-10-10T03:13:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:33Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:33Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:33Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:33Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:33Z- handleDvl() - RDI_Pathfinder msg: 1633835613.84 epoch sec; seqNo:416 2021-10-10T03:13:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.05 , 0.04 2021-10-10T03:13:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835613.85 epoch sec; seqNo:1208; 4061541.88 north; 594202.75 east 2021-10-10T03:13:34Z- AHRS_M2 msg: 1633835614.24 epoch sec; seqNo:1182 2021-10-10T03:13:34Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.31 psi 2021-10-10T03:13:34Z- handleDepth()-Depth_Keller msg: 1633835614242 epoch sec; seqNo:1209; depth 49.91 2021-10-10T03:13:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835614.25 epoch sec; seqNo:1209; 4061541.88 north; 594202.75 east 2021-10-10T03:13:34Z- AHRS_M2 msg: 1633835614.64 epoch sec; seqNo:1183 2021-10-10T03:13:34Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.31 psi 2021-10-10T03:13:34Z- handleDepth()-Depth_Keller msg: 1633835614650 epoch sec; seqNo:1210; depth 49.93 2021-10-10T03:13:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835614.66 epoch sec; seqNo:1210; 4061542.26 north; 594202.75 east 2021-10-10T03:13:35Z- AHRS_M2 msg: 1633835615.07 epoch sec; seqNo:1184 2021-10-10T03:13:35Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.31 psi 2021-10-10T03:13:35Z- handleDepth()-Depth_Keller msg: 1633835615076 epoch sec; seqNo:1211; depth 49.92 2021-10-10T03:13:35Z- handleDvl() - RDI_Pathfinder msg: 1633835615.10 epoch sec; seqNo:417 2021-10-10T03:13:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.26 , 50.49 , 45.17 , 44.76 2021-10-10T03:13:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.05 , 0.03 2021-10-10T03:13:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835615.12 epoch sec; seqNo:1211; 4061542.64 north; 594202.75 east 2021-10-10T03:13:35Z- AHRS_M2 msg: 1633835615.45 epoch sec; seqNo:1185 2021-10-10T03:13:35Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.31 psi 2021-10-10T03:13:35Z- handleDepth()-Depth_Keller msg: 1633835615454 epoch sec; seqNo:1212; depth 49.91 2021-10-10T03:13:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835615.48 epoch sec; seqNo:1212; 4061543.02 north; 594202.74 east 2021-10-10T03:13:35Z- AHRS_M2 msg: 1633835615.86 epoch sec; seqNo:1186 2021-10-10T03:13:35Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.31 psi 2021-10-10T03:13:35Z- handleDepth()-Depth_Keller msg: 1633835615860 epoch sec; seqNo:1213; depth 49.93 2021-10-10T03:13:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835615.87 epoch sec; seqNo:1213; 4061543.41 north; 594203.96 east 2021-10-10T03:13:36Z- AHRS_M2 msg: 1633835616.26 epoch sec; seqNo:1187 2021-10-10T03:13:36Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.31 psi 2021-10-10T03:13:36Z- handleDepth()-Depth_Keller msg: 1633835616264 epoch sec; seqNo:1214; depth 49.92 2021-10-10T03:13:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:36Z- handleDvl() - RDI_Pathfinder msg: 1633835616.27 epoch sec; seqNo:418 2021-10-10T03:13:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.05 , 0.03 2021-10-10T03:13:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835616.28 epoch sec; seqNo:1214; 4061543.41 north; 594203.96 east 2021-10-10T03:13:36Z- AHRS_M2 msg: 1633835616.66 epoch sec; seqNo:1188 2021-10-10T03:13:36Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.31 psi 2021-10-10T03:13:36Z- handleDepth()-Depth_Keller msg: 1633835616680 epoch sec; seqNo:1215; depth 49.92 2021-10-10T03:13:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835616.69 epoch sec; seqNo:1215; 4061543.79 north; 594203.95 east 2021-10-10T03:13:37Z- AHRS_M2 msg: 1633835617.08 epoch sec; seqNo:1189 2021-10-10T03:13:37Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.31 psi 2021-10-10T03:13:37Z- handleDepth()-Depth_Keller msg: 1633835617090 epoch sec; seqNo:1216; depth 49.92 2021-10-10T03:13:37Z- handleDvl() - RDI_Pathfinder msg: 1633835617.11 epoch sec; seqNo:419 2021-10-10T03:13:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.26 , 50.28 , 44.97 , 44.76 2021-10-10T03:13:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , -0.00 2021-10-10T03:13:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835617.13 epoch sec; seqNo:1216; 4061544.17 north; 594203.95 east 2021-10-10T03:13:37Z- AHRS_M2 msg: 1633835617.47 epoch sec; seqNo:1190 2021-10-10T03:13:37Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:37Z- handleDepth()-Depth_Keller msg: 1633835617476 epoch sec; seqNo:1217; depth 49.91 2021-10-10T03:13:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:37Z- handleDvl() - RDI_Pathfinder msg: 1633835617.48 epoch sec; seqNo:420 2021-10-10T03:13:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , -0.00 2021-10-10T03:13:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835617.49 epoch sec; seqNo:1217; 4061544.55 north; 594203.94 east 2021-10-10T03:13:37Z- AHRS_M2 msg: 1633835617.88 epoch sec; seqNo:1191 2021-10-10T03:13:37Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.31 psi 2021-10-10T03:13:37Z- handleDepth()-Depth_Keller msg: 1633835617886 epoch sec; seqNo:1218; depth 49.91 2021-10-10T03:13:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835617.90 epoch sec; seqNo:1218; 4061544.93 north; 594203.94 east 2021-10-10T03:13:38Z- AHRS_M2 msg: 1633835618.28 epoch sec; seqNo:1192 2021-10-10T03:13:38Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:38Z- handleDepth()-Depth_Keller msg: 1633835618290 epoch sec; seqNo:1219; depth 49.91 2021-10-10T03:13:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835618.30 epoch sec; seqNo:1219; 4061544.93 north; 594203.94 east 2021-10-10T03:13:38Z- LcmTrn::handleMessages() - handling 44 messages took 0.70 ms and 130 calls... 2021-10-10T03:13:38Z- waiting for 1633835616.11, time is 1633835618.30 2021-10-10T03:13:38Z- LcmTrn::updateTrn() >>>> pose time 1633835618.30, meas time 1633835617.48 <<<< 2021-10-10T03:13:38Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835617.48, ping # 0. 2021-10-10T03:13:38Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835617.48 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:13:38Z- TerrainNav::motionUpdate() - currEstimate = (4061545, 594203.94, 49.91) 2021-10-10T03:13:38Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:13:38Z- TerrainNav:: SubcloudNIS is 1.25, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:13:38Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:13:38Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:13:38Z- TNavBF::Projecting Measurements 2021-10-10T03:13:38Z- TNavFilter::Measurement from time = 1633835617.48 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:13:38Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:13:38Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:13:38Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:13:38Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:13:38Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:13:38Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:13:38Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:13:38Z- Filter 0 NorthBias: -36.9 EastBias: -38.3 DepthBias: -8.6 NorthVariance: 53.3 EastVariance: 109.4 DepthVariance: 0.8 this->DepthBiasCov: 0.8 2021-10-10T03:13:38Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:13:38Z- TNavBF::mmse selected from filter -1 2021-10-10T03:13:38Z- variances([0], [2], and psi_berg) = 53.355415 109.347807 0.000000 2021-10-10T03:13:38Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:13:38Z- LcmTrn::publishEstimates() - MLE : 4061511.43 594165.44 49.91 2021-10-10T03:13:38Z- LcmTrn::publishEstimates() - MMSE : 4061508.06 594165.62 41.33 2021-10-10T03:13:38Z- LcmTrn::publishEstimates() - COVAR: 53.36 109.35 0.81 0.00 2021-10-10T03:13:38Z- AHRS_M2 msg: 1633835618.68 epoch sec; seqNo:1193 2021-10-10T03:13:38Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:38Z- handleDepth()-Depth_Keller msg: 1633835618688 epoch sec; seqNo:1220; depth 49.91 2021-10-10T03:13:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:38Z- handleDvl() - RDI_Pathfinder msg: 1633835618.69 epoch sec; seqNo:421 2021-10-10T03:13:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , -0.00 2021-10-10T03:13:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835618.70 epoch sec; seqNo:1220; 4061545.31 north; 594203.94 east 2021-10-10T03:13:39Z- AHRS_M2 msg: 1633835619.09 epoch sec; seqNo:1194 2021-10-10T03:13:39Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.31 psi 2021-10-10T03:13:39Z- handleDepth()-Depth_Keller msg: 1633835619096 epoch sec; seqNo:1221; depth 49.91 2021-10-10T03:13:39Z- handleDvl() - RDI_Pathfinder msg: 1633835619.12 epoch sec; seqNo:422 2021-10-10T03:13:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.26 , 50.28 , 44.97 , 44.56 2021-10-10T03:13:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.09 , -0.01 2021-10-10T03:13:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835619.15 epoch sec; seqNo:1221; 4061545.69 north; 594203.93 east 2021-10-10T03:13:39Z- AHRS_M2 msg: 1633835619.49 epoch sec; seqNo:1195 2021-10-10T03:13:39Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:39Z- handleDepth()-Depth_Keller msg: 1633835619505 epoch sec; seqNo:1222; depth 49.89 2021-10-10T03:13:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835619.52 epoch sec; seqNo:1222; 4061546.07 north; 594203.93 east 2021-10-10T03:13:39Z- AHRS_M2 msg: 1633835619.89 epoch sec; seqNo:1196 2021-10-10T03:13:39Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:39Z- handleDepth()-Depth_Keller msg: 1633835619899 epoch sec; seqNo:1223; depth 49.89 2021-10-10T03:13:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:39Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:39Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:39Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:39Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:39Z- handleDvl() - RDI_Pathfinder msg: 1633835619.90 epoch sec; seqNo:423 2021-10-10T03:13:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.09 , -0.01 2021-10-10T03:13:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835619.91 epoch sec; seqNo:1223; 4061546.44 north; 594203.92 east 2021-10-10T03:13:40Z- AHRS_M2 msg: 1633835620.30 epoch sec; seqNo:1197 2021-10-10T03:13:40Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:40Z- handleDepth()-Depth_Keller msg: 1633835620315 epoch sec; seqNo:1224; depth 49.90 2021-10-10T03:13:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835620.33 epoch sec; seqNo:1224; 4061546.44 north; 594203.92 east 2021-10-10T03:13:40Z- AHRS_M2 msg: 1633835620.70 epoch sec; seqNo:1198 2021-10-10T03:13:40Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.31 psi 2021-10-10T03:13:40Z- handleDepth()-Depth_Keller msg: 1633835620712 epoch sec; seqNo:1225; depth 49.89 2021-10-10T03:13:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835620.73 epoch sec; seqNo:1225; 4061546.82 north; 594203.92 east 2021-10-10T03:13:41Z- AHRS_M2 msg: 1633835621.11 epoch sec; seqNo:1199 2021-10-10T03:13:41Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:41Z- handleDepth()-Depth_Keller msg: 1633835621120 epoch sec; seqNo:1226; depth 49.90 2021-10-10T03:13:41Z- handleDvl() - RDI_Pathfinder msg: 1633835621.15 epoch sec; seqNo:424 2021-10-10T03:13:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.06 , 50.49 , 44.76 , 44.56 2021-10-10T03:13:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.10 , 0.00 2021-10-10T03:13:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835621.17 epoch sec; seqNo:1226; 4061547.20 north; 594203.92 east 2021-10-10T03:13:41Z- AHRS_M2 msg: 1633835621.51 epoch sec; seqNo:1200 2021-10-10T03:13:41Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:41Z- handleDepth()-Depth_Keller msg: 1633835621516 epoch sec; seqNo:1227; depth 49.89 2021-10-10T03:13:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835621.53 epoch sec; seqNo:1227; 4061547.58 north; 594203.91 east 2021-10-10T03:13:41Z- AHRS_M2 msg: 1633835621.92 epoch sec; seqNo:1201 2021-10-10T03:13:41Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:41Z- handleDepth()-Depth_Keller msg: 1633835621927 epoch sec; seqNo:1228; depth 49.89 2021-10-10T03:13:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835621.94 epoch sec; seqNo:1228; 4061547.96 north; 594203.91 east 2021-10-10T03:13:42Z- AHRS_M2 msg: 1633835622.32 epoch sec; seqNo:1202 2021-10-10T03:13:42Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:42Z- handleDepth()-Depth_Keller msg: 1633835622325 epoch sec; seqNo:1229; depth 49.89 2021-10-10T03:13:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:42Z- handleDvl() - RDI_Pathfinder msg: 1633835622.33 epoch sec; seqNo:425 2021-10-10T03:13:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.10 , 0.00 2021-10-10T03:13:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835622.35 epoch sec; seqNo:1229; 4061547.96 north; 594203.91 east 2021-10-10T03:13:42Z- AHRS_M2 msg: 1633835622.72 epoch sec; seqNo:1203 2021-10-10T03:13:42Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:42Z- handleDepth()-Depth_Keller msg: 1633835622726 epoch sec; seqNo:1230; depth 49.90 2021-10-10T03:13:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835622.74 epoch sec; seqNo:1230; 4061548.34 north; 594203.90 east 2021-10-10T03:13:43Z- AHRS_M2 msg: 1633835623.13 epoch sec; seqNo:1204 2021-10-10T03:13:43Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:43Z- handleDepth()-Depth_Keller msg: 1633835623143 epoch sec; seqNo:1231; depth 49.89 2021-10-10T03:13:43Z- handleDvl() - RDI_Pathfinder msg: 1633835623.17 epoch sec; seqNo:426 2021-10-10T03:13:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.06 , 50.08 , 44.97 , 44.56 2021-10-10T03:13:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.10 , 0.02 2021-10-10T03:13:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835623.20 epoch sec; seqNo:1231; 4061548.73 north; 594205.12 east 2021-10-10T03:13:43Z- LcmTrn::handleMessages() - handling 42 messages took 0.73 ms and 127 calls... 2021-10-10T03:13:43Z- waiting for 1633835621.30, time is 1633835623.20 2021-10-10T03:13:43Z- LcmTrn::updateTrn() equating pose 1633835623.20 and meas times 1633835623.20 2021-10-10T03:13:43Z- LcmTrn::updateTrn() >>>> pose time 1633835623.20, meas time 1633835623.20 <<<< 2021-10-10T03:13:43Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835623.20 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:13:43Z- TerrainNav::motionUpdate() - currEstimate = (4061549, 594205.12, 49.89) 2021-10-10T03:13:43Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:13:43Z- TerrainNav:: SubcloudNIS is 1.25, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:13:43Z- TNavBF::Projecting Measurements 2021-10-10T03:13:43Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:13:43Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:13:43Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:13:43Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:13:43Z- TNavFilter::4 good beams. 2021-10-10T03:13:43Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:13:43Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:13:43Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:13:43Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:13:43Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:13:43Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:13:43Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:13:43Z- TNavBF::mmse selected from filter -1 2021-10-10T03:13:43Z- TerrainMapOctree: (vehN, vehE ) = (4061548.73, 594205.12). 2021-10-10T03:13:43Z- TerrainMapOctree: Min Distance = 206.21. 2021-10-10T03:13:43Z- TerrainMapOctree: Using tile 4. 2021-10-10T03:13:43Z- Forcing Subcloud Comparison 2021-10-10T03:13:43Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:13:43Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:13:43Z- Filter 0 partialDeltaRmsComputation: 0.045176 terrainVariance: 0.027901 1-SumSquareWeights: 0.993186 2021-10-10T03:13:43Z- Filter 0 meanExpectedMeasDiff: -0.131435 delta_rms_squared: 0.017969 alpha: 0.473251 2021-10-10T03:13:43Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:13:43Z- Filter 0 partialDeltaRmsComputation: 0.549754 terrainVariance: 0.010227 1-SumSquareWeights: 0.993186 2021-10-10T03:13:43Z- Filter 0 meanExpectedMeasDiff: 0.734525 delta_rms_squared: 0.000296 alpha: 0.014566 2021-10-10T03:13:43Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:13:43Z- Filter 0 partialDeltaRmsComputation: 20.136487 terrainVariance: 0.016240 1-SumSquareWeights: 0.993186 2021-10-10T03:13:43Z- Filter 0 meanExpectedMeasDiff: -4.485560 delta_rms_squared: 0.006308 alpha: 0.239783 2021-10-10T03:13:43Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:13:43Z- Filter 0 partialDeltaRmsComputation: 17.854312 terrainVariance: 0.164683 1-SumSquareWeights: 0.993186 2021-10-10T03:13:43Z- Filter 0 meanExpectedMeasDiff: 4.205904 delta_rms_squared: 0.154751 alpha: 0.885551 2021-10-10T03:13:43Z- Filter 0 SubcloudNIS: 1.298161 2021-10-10T03:13:43Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:13:43Z- TNavBF:: Filter 0 sumWeights = 0.157745 2021-10-10T03:13:43Z- Filter 0 NorthBias: -37.8 EastBias: -38.1 DepthBias: -8.5 NorthVariance: 59.1 EastVariance: 133.5 DepthVariance: 0.6 this->DepthBiasCov: 0.6 2021-10-10T03:13:43Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835623.20 sec. 2021-10-10T03:13:43Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:13:43Z- TNavBF::mmse selected from filter -1 2021-10-10T03:13:43Z- variances([0], [2], and psi_berg) = 59.055540 133.521717 0.000000 2021-10-10T03:13:43Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:13:43Z- LcmTrn::publishEstimates() - MLE : 4061505.23 594164.62 49.89 2021-10-10T03:13:43Z- LcmTrn::publishEstimates() - MMSE : 4061510.98 594167.01 41.35 2021-10-10T03:13:43Z- LcmTrn::publishEstimates() - COVAR: 59.06 133.52 0.56 0.00 2021-10-10T03:13:43Z- AHRS_M2 msg: 1633835623.53 epoch sec; seqNo:1205 2021-10-10T03:13:43Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:43Z- handleDepth()-Depth_Keller msg: 1633835623545 epoch sec; seqNo:1232; depth 49.90 2021-10-10T03:13:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:43Z- handleDvl() - RDI_Pathfinder msg: 1633835623.55 epoch sec; seqNo:427 2021-10-10T03:13:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.10 , 0.02 2021-10-10T03:13:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835623.57 epoch sec; seqNo:1232; 4061549.11 north; 594205.11 east 2021-10-10T03:13:43Z- AHRS_M2 msg: 1633835623.94 epoch sec; seqNo:1206 2021-10-10T03:13:43Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:43Z- handleDepth()-Depth_Keller msg: 1633835623949 epoch sec; seqNo:1233; depth 49.89 2021-10-10T03:13:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835623.97 epoch sec; seqNo:1233; 4061549.49 north; 594205.11 east 2021-10-10T03:13:44Z- AHRS_M2 msg: 1633835624.34 epoch sec; seqNo:1207 2021-10-10T03:13:44Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:44Z- handleDepth()-Depth_Keller msg: 1633835624348 epoch sec; seqNo:1234; depth 49.89 2021-10-10T03:13:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835624.36 epoch sec; seqNo:1234; 4061549.49 north; 594205.11 east 2021-10-10T03:13:44Z- AHRS_M2 msg: 1633835624.75 epoch sec; seqNo:1208 2021-10-10T03:13:44Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:44Z- handleDepth()-Depth_Keller msg: 1633835624755 epoch sec; seqNo:1235; depth 49.89 2021-10-10T03:13:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:44Z- handleDvl() - RDI_Pathfinder msg: 1633835624.76 epoch sec; seqNo:428 2021-10-10T03:13:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.10 , 0.02 2021-10-10T03:13:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835624.77 epoch sec; seqNo:1235; 4061549.87 north; 594205.11 east 2021-10-10T03:13:45Z- AHRS_M2 msg: 1633835625.15 epoch sec; seqNo:1209 2021-10-10T03:13:45Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:45Z- handleDepth()-Depth_Keller msg: 1633835625160 epoch sec; seqNo:1236; depth 49.89 2021-10-10T03:13:45Z- handleDvl() - RDI_Pathfinder msg: 1633835625.19 epoch sec; seqNo:429 2021-10-10T03:13:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.26 , 50.49 , 44.97 , 44.56 2021-10-10T03:13:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.09 , 0.04 2021-10-10T03:13:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835625.21 epoch sec; seqNo:1236; 4061550.25 north; 594205.10 east 2021-10-10T03:13:45Z- AHRS_M2 msg: 1633835625.55 epoch sec; seqNo:1210 2021-10-10T03:13:45Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:45Z- handleDepth()-Depth_Keller msg: 1633835625556 epoch sec; seqNo:1237; depth 49.91 2021-10-10T03:13:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835625.57 epoch sec; seqNo:1237; 4061550.63 north; 594205.10 east 2021-10-10T03:13:45Z- AHRS_M2 msg: 1633835625.96 epoch sec; seqNo:1211 2021-10-10T03:13:45Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:45Z- handleDepth()-Depth_Keller msg: 1633835625965 epoch sec; seqNo:1238; depth 49.89 2021-10-10T03:13:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:45Z- handleDvl() - RDI_Pathfinder msg: 1633835625.97 epoch sec; seqNo:430 2021-10-10T03:13:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.09 , 0.04 2021-10-10T03:13:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835625.98 epoch sec; seqNo:1238; 4061551.00 north; 594205.09 east 2021-10-10T03:13:46Z- AHRS_M2 msg: 1633835626.36 epoch sec; seqNo:1212 2021-10-10T03:13:46Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:46Z- handleDepth()-Depth_Keller msg: 1633835626362 epoch sec; seqNo:1239; depth 49.90 2021-10-10T03:13:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835626.38 epoch sec; seqNo:1239; 4061551.00 north; 594205.09 east 2021-10-10T03:13:46Z- AHRS_M2 msg: 1633835626.76 epoch sec; seqNo:1213 2021-10-10T03:13:46Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:46Z- handleDepth()-Depth_Keller msg: 1633835626768 epoch sec; seqNo:1240; depth 49.90 2021-10-10T03:13:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835626.78 epoch sec; seqNo:1240; 4061551.38 north; 594205.09 east 2021-10-10T03:13:47Z- AHRS_M2 msg: 1633835627.16 epoch sec; seqNo:1214 2021-10-10T03:13:47Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:47Z- handleDepth()-Depth_Keller msg: 1633835627176 epoch sec; seqNo:1241; depth 49.91 2021-10-10T03:13:47Z- handleDvl() - RDI_Pathfinder msg: 1633835627.20 epoch sec; seqNo:431 2021-10-10T03:13:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.26 , 50.28 , 44.97 , 44.56 2021-10-10T03:13:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , 0.04 2021-10-10T03:13:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835627.22 epoch sec; seqNo:1241; 4061551.76 north; 594205.09 east 2021-10-10T03:13:47Z- AHRS_M2 msg: 1633835627.57 epoch sec; seqNo:1215 2021-10-10T03:13:47Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:47Z- handleDepth()-Depth_Keller msg: 1633835627576 epoch sec; seqNo:1242; depth 49.92 2021-10-10T03:13:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835627.59 epoch sec; seqNo:1242; 4061552.14 north; 594205.08 east 2021-10-10T03:13:47Z- AHRS_M2 msg: 1633835627.97 epoch sec; seqNo:1216 2021-10-10T03:13:47Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:48Z- handleDepth()-Depth_Keller msg: 1633835627994 epoch sec; seqNo:1243; depth 49.91 2021-10-10T03:13:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835628.01 epoch sec; seqNo:1243; 4061552.14 north; 594205.08 east 2021-10-10T03:13:48Z- AHRS_M2 msg: 1633835628.38 epoch sec; seqNo:1217 2021-10-10T03:13:48Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:48Z- handleDepth()-Depth_Keller msg: 1633835628383 epoch sec; seqNo:1244; depth 49.91 2021-10-10T03:13:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:48Z- handleDvl() - RDI_Pathfinder msg: 1633835628.39 epoch sec; seqNo:432 2021-10-10T03:13:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , 0.04 2021-10-10T03:13:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835628.39 epoch sec; seqNo:1244; 4061552.52 north; 594205.08 east 2021-10-10T03:13:48Z- LcmTrn::handleMessages() - handling 45 messages took 0.69 ms and 131 calls... 2021-10-10T03:13:48Z- waiting for 1633835626.20, time is 1633835628.39 2021-10-10T03:13:48Z- LcmTrn::updateTrn() equating pose 1633835628.39 and meas times 1633835628.39 2021-10-10T03:13:48Z- LcmTrn::updateTrn() >>>> pose time 1633835628.39, meas time 1633835628.39 <<<< 2021-10-10T03:13:48Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835628.39, ping # 0. 2021-10-10T03:13:48Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835628.39 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:13:48Z- TerrainNav::motionUpdate() - currEstimate = (4061553, 594205.08, 49.91) 2021-10-10T03:13:48Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:13:48Z- TerrainNav:: SubcloudNIS is 1.30, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:13:48Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:13:48Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:13:48Z- TerrainNav::Measurement type 1 not incorporated from time = 1633835628.39 sec.; No relevant navigation data available 2021-10-10T03:13:48Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:13:48Z- TNavBF::mmse selected from filter -1 2021-10-10T03:13:48Z- variances([0], [2], and psi_berg) = 59.082388 132.904887 0.000000 2021-10-10T03:13:48Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:13:48Z- LcmTrn::publishEstimates() - MLE : 4061509.02 594164.58 49.91 2021-10-10T03:13:48Z- LcmTrn::publishEstimates() - MMSE : 4061514.77 594166.97 41.37 2021-10-10T03:13:48Z- LcmTrn::publishEstimates() - COVAR: 59.08 132.90 0.76 0.00 2021-10-10T03:13:48Z- AHRS_M2 msg: 1633835628.78 epoch sec; seqNo:1218 2021-10-10T03:13:48Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:48Z- handleDepth()-Depth_Keller msg: 1633835628786 epoch sec; seqNo:1245; depth 49.91 2021-10-10T03:13:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835628.80 epoch sec; seqNo:1245; 4061552.90 north; 594205.07 east 2021-10-10T03:13:49Z- AHRS_M2 msg: 1633835629.19 epoch sec; seqNo:1219 2021-10-10T03:13:49Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:49Z- handleDepth()-Depth_Keller msg: 1633835629191 epoch sec; seqNo:1246; depth 49.92 2021-10-10T03:13:49Z- handleDvl() - RDI_Pathfinder msg: 1633835629.21 epoch sec; seqNo:433 2021-10-10T03:13:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.26 , 50.28 , 45.17 , 44.56 2021-10-10T03:13:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , 0.02 2021-10-10T03:13:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835629.22 epoch sec; seqNo:1246; 4061553.28 north; 594205.07 east 2021-10-10T03:13:49Z- AHRS_M2 msg: 1633835629.59 epoch sec; seqNo:1220 2021-10-10T03:13:49Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:49Z- handleDepth()-Depth_Keller msg: 1633835629594 epoch sec; seqNo:1247; depth 49.90 2021-10-10T03:13:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:49Z- handleDvl() - RDI_Pathfinder msg: 1633835629.60 epoch sec; seqNo:434 2021-10-10T03:13:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , 0.02 2021-10-10T03:13:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835629.62 epoch sec; seqNo:1247; 4061553.66 north; 594205.06 east 2021-10-10T03:13:50Z- AHRS_M2 msg: 1633835629.99 epoch sec; seqNo:1221 2021-10-10T03:13:50Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:50Z- handleDepth()-Depth_Keller msg: 1633835630000 epoch sec; seqNo:1248; depth 49.90 2021-10-10T03:13:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835630.01 epoch sec; seqNo:1248; 4061553.66 north; 594205.06 east 2021-10-10T03:13:50Z- AHRS_M2 msg: 1633835630.40 epoch sec; seqNo:1222 2021-10-10T03:13:50Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.32 psi 2021-10-10T03:13:50Z- handleDepth()-Depth_Keller msg: 1633835630401 epoch sec; seqNo:1249; depth 49.89 2021-10-10T03:13:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835630.41 epoch sec; seqNo:1249; 4061554.05 north; 594206.28 east 2021-10-10T03:13:50Z- AHRS_M2 msg: 1633835630.80 epoch sec; seqNo:1223 2021-10-10T03:13:50Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:50Z- handleDepth()-Depth_Keller msg: 1633835630808 epoch sec; seqNo:1250; depth 49.91 2021-10-10T03:13:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:50Z- handleDvl() - RDI_Pathfinder msg: 1633835630.81 epoch sec; seqNo:435 2021-10-10T03:13:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , 0.02 2021-10-10T03:13:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835630.82 epoch sec; seqNo:1250; 4061554.43 north; 594206.28 east 2021-10-10T03:13:51Z- AHRS_M2 msg: 1633835631.20 epoch sec; seqNo:1224 2021-10-10T03:13:51Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:51Z- handleDepth()-Depth_Keller msg: 1633835631212 epoch sec; seqNo:1251; depth 49.90 2021-10-10T03:13:51Z- handleDvl() - RDI_Pathfinder msg: 1633835631.24 epoch sec; seqNo:436 2021-10-10T03:13:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.26 , 50.28 , 45.17 , 44.56 2021-10-10T03:13:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.07 , 0.01 2021-10-10T03:13:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835631.26 epoch sec; seqNo:1251; 4061554.81 north; 594206.27 east 2021-10-10T03:13:51Z- AHRS_M2 msg: 1633835631.61 epoch sec; seqNo:1225 2021-10-10T03:13:51Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:51Z- handleDepth()-Depth_Keller msg: 1633835631620 epoch sec; seqNo:1252; depth 49.89 2021-10-10T03:13:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835631.64 epoch sec; seqNo:1252; 4061555.18 north; 594206.27 east 2021-10-10T03:13:52Z- AHRS_M2 msg: 1633835632.01 epoch sec; seqNo:1226 2021-10-10T03:13:52Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:52Z- handleDepth()-Depth_Keller msg: 1633835632018 epoch sec; seqNo:1253; depth 49.91 2021-10-10T03:13:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:52Z- handleDvl() - RDI_Pathfinder msg: 1633835632.02 epoch sec; seqNo:437 2021-10-10T03:13:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.07 , 0.01 2021-10-10T03:13:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835632.03 epoch sec; seqNo:1253; 4061555.18 north; 594206.27 east 2021-10-10T03:13:52Z- AHRS_M2 msg: 1633835632.42 epoch sec; seqNo:1227 2021-10-10T03:13:52Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:52Z- handleDepth()-Depth_Keller msg: 1633835632424 epoch sec; seqNo:1254; depth 49.89 2021-10-10T03:13:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835632.44 epoch sec; seqNo:1254; 4061555.56 north; 594206.26 east 2021-10-10T03:13:52Z- AHRS_M2 msg: 1633835632.82 epoch sec; seqNo:1228 2021-10-10T03:13:52Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:52Z- handleDepth()-Depth_Keller msg: 1633835632826 epoch sec; seqNo:1255; depth 49.89 2021-10-10T03:13:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835632.84 epoch sec; seqNo:1255; 4061555.94 north; 594206.26 east 2021-10-10T03:13:53Z- AHRS_M2 msg: 1633835633.22 epoch sec; seqNo:1229 2021-10-10T03:13:53Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:53Z- handleDepth()-Depth_Keller msg: 1633835633235 epoch sec; seqNo:1256; depth 49.90 2021-10-10T03:13:53Z- handleDvl() - RDI_Pathfinder msg: 1633835633.27 epoch sec; seqNo:438 2021-10-10T03:13:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.26 , 50.28 , 44.97 , 44.35 2021-10-10T03:13:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.08 , -0.00 2021-10-10T03:13:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835633.28 epoch sec; seqNo:1256; 4061556.32 north; 594206.26 east 2021-10-10T03:13:53Z- AHRS_M2 msg: 1633835633.63 epoch sec; seqNo:1230 2021-10-10T03:13:53Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:53Z- handleDepth()-Depth_Keller msg: 1633835633634 epoch sec; seqNo:1257; depth 49.89 2021-10-10T03:13:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835633.65 epoch sec; seqNo:1257; 4061556.70 north; 594206.25 east 2021-10-10T03:13:53Z- LcmTrn::handleMessages() - handling 45 messages took 0.73 ms and 130 calls... 2021-10-10T03:13:53Z- waiting for 1633835631.39, time is 1633835633.65 2021-10-10T03:13:53Z- LcmTrn::updateTrn() >>>> pose time 1633835633.65, meas time 1633835633.27 <<<< 2021-10-10T03:13:53Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835633.27 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:13:53Z- TerrainNav::motionUpdate() - currEstimate = (4061557, 594206.25, 49.89) 2021-10-10T03:13:53Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:13:53Z- TerrainNav:: SubcloudNIS is 1.30, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:13:53Z- TNavBF::Projecting Measurements 2021-10-10T03:13:53Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:13:53Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:13:53Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:13:53Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:13:53Z- TNavFilter::4 good beams. 2021-10-10T03:13:53Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:13:53Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:13:53Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:13:53Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:13:53Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:13:53Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:13:53Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:13:53Z- TNavBF::mmse selected from filter -1 2021-10-10T03:13:53Z- TerrainMapOctree: (vehN, vehE ) = (4061556.39, 594206.17). 2021-10-10T03:13:53Z- TerrainMapOctree: Min Distance = 198.51. 2021-10-10T03:13:53Z- TerrainMapOctree: Using tile 4. 2021-10-10T03:13:53Z- Forcing Subcloud Comparison 2021-10-10T03:13:53Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:13:53Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:13:53Z- Filter 0 partialDeltaRmsComputation: 0.173555 terrainVariance: 0.160843 1-SumSquareWeights: 0.993372 2021-10-10T03:13:53Z- Filter 0 meanExpectedMeasDiff: -0.112750 delta_rms_squared: 0.150909 alpha: 0.882979 2021-10-10T03:13:53Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:13:53Z- Filter 0 partialDeltaRmsComputation: 0.653808 terrainVariance: 0.011161 1-SumSquareWeights: 0.993372 2021-10-10T03:13:53Z- Filter 0 meanExpectedMeasDiff: 0.801653 delta_rms_squared: 0.001227 alpha: 0.057816 2021-10-10T03:13:53Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:13:54Z- Filter 0 partialDeltaRmsComputation: 21.145681 terrainVariance: 0.017222 1-SumSquareWeights: 0.993372 2021-10-10T03:13:54Z- Filter 0 meanExpectedMeasDiff: -4.596570 delta_rms_squared: 0.007288 alpha: 0.267081 2021-10-10T03:13:54Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:13:54Z- Filter 0 partialDeltaRmsComputation: 17.118327 terrainVariance: 0.124708 1-SumSquareWeights: 0.993372 2021-10-10T03:13:54Z- Filter 0 meanExpectedMeasDiff: 4.122332 delta_rms_squared: 0.114774 alpha: 0.851603 2021-10-10T03:13:54Z- Filter 0 SubcloudNIS: 1.395230 2021-10-10T03:13:54Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:13:54Z- TNavBF:: Filter 0 sumWeights = 0.157338 2021-10-10T03:13:54Z- Filter 0 NorthBias: -37.5 EastBias: -37.3 DepthBias: -8.5 NorthVariance: 67.7 EastVariance: 182.9 DepthVariance: 0.6 this->DepthBiasCov: 0.5 2021-10-10T03:13:54Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835633.27 sec. 2021-10-10T03:13:54Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:13:54Z- TNavBF::mmse selected from filter -1 2021-10-10T03:13:54Z- variances([0], [2], and psi_berg) = 67.692301 182.588419 0.000000 2021-10-10T03:13:54Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:13:54Z- LcmTrn::publishEstimates() - MLE : 4061513.20 594165.75 49.89 2021-10-10T03:13:54Z- LcmTrn::publishEstimates() - MMSE : 4061519.24 594168.95 41.38 2021-10-10T03:13:54Z- LcmTrn::publishEstimates() - COVAR: 67.69 182.59 0.57 0.00 2021-10-10T03:13:54Z- AHRS_M2 msg: 1633835634.04 epoch sec; seqNo:1231 2021-10-10T03:13:54Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:54Z- handleDepth()-Depth_Keller msg: 1633835634047 epoch sec; seqNo:1258; depth 49.89 2021-10-10T03:13:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835634.06 epoch sec; seqNo:1258; 4061556.70 north; 594206.25 east 2021-10-10T03:13:54Z- AHRS_M2 msg: 1633835634.44 epoch sec; seqNo:1232 2021-10-10T03:13:54Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:54Z- handleDepth()-Depth_Keller msg: 1633835634442 epoch sec; seqNo:1259; depth 49.88 2021-10-10T03:13:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:54Z- handleDvl() - RDI_Pathfinder msg: 1633835634.44 epoch sec; seqNo:439 2021-10-10T03:13:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.08 , -0.00 2021-10-10T03:13:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835634.46 epoch sec; seqNo:1259; 4061557.08 north; 594206.25 east 2021-10-10T03:13:54Z- AHRS_M2 msg: 1633835634.84 epoch sec; seqNo:1233 2021-10-10T03:13:54Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:54Z- handleDepth()-Depth_Keller msg: 1633835634846 epoch sec; seqNo:1260; depth 49.89 2021-10-10T03:13:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835634.86 epoch sec; seqNo:1260; 4061557.46 north; 594206.24 east 2021-10-10T03:13:55Z- handleDepth()-Depth_Keller msg: 1633835635264 epoch sec; seqNo:1261; depth 49.89 2021-10-10T03:13:55Z- handleDvl() - RDI_Pathfinder msg: 1633835635.29 epoch sec; seqNo:440 2021-10-10T03:13:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.06 , 50.08 , 44.97 , 44.35 2021-10-10T03:13:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.10 , 0.00 2021-10-10T03:13:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835635.31 epoch sec; seqNo:1261; 4061557.84 north; 594206.24 east 2021-10-10T03:13:55Z- AHRS_M2 msg: 1633835635.65 epoch sec; seqNo:1234 2021-10-10T03:13:55Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:55Z- handleDepth()-Depth_Keller msg: 1633835635655 epoch sec; seqNo:1262; depth 49.88 2021-10-10T03:13:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:55Z- handleDvl() - RDI_Pathfinder msg: 1633835635.66 epoch sec; seqNo:441 2021-10-10T03:13:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.10 , 0.00 2021-10-10T03:13:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835635.68 epoch sec; seqNo:1262; 4061558.22 north; 594206.24 east 2021-10-10T03:13:56Z- AHRS_M2 msg: 1633835636.05 epoch sec; seqNo:1235 2021-10-10T03:13:56Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:56Z- handleDepth()-Depth_Keller msg: 1633835636056 epoch sec; seqNo:1263; depth 49.88 2021-10-10T03:13:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835636.15 epoch sec; seqNo:1263; 4061558.59 north; 594206.23 east 2021-10-10T03:13:56Z- AHRS_M2 msg: 1633835636.46 epoch sec; seqNo:1236 2021-10-10T03:13:56Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:56Z- handleDepth()-Depth_Keller msg: 1633835636462 epoch sec; seqNo:1264; depth 49.89 2021-10-10T03:13:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835636.47 epoch sec; seqNo:1264; 4061558.59 north; 594206.23 east 2021-10-10T03:13:56Z- AHRS_M2 msg: 1633835636.87 epoch sec; seqNo:1237 2021-10-10T03:13:56Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:56Z- handleDepth()-Depth_Keller msg: 1633835636871 epoch sec; seqNo:1265; depth 49.88 2021-10-10T03:13:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:56Z- handleDvl() - RDI_Pathfinder msg: 1633835636.87 epoch sec; seqNo:442 2021-10-10T03:13:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.10 , 0.00 2021-10-10T03:13:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835636.88 epoch sec; seqNo:1265; 4061558.97 north; 594206.23 east 2021-10-10T03:13:57Z- AHRS_M2 msg: 1633835637.27 epoch sec; seqNo:1238 2021-10-10T03:13:57Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:57Z- handleDepth()-Depth_Keller msg: 1633835637272 epoch sec; seqNo:1266; depth 49.88 2021-10-10T03:13:57Z- handleDvl() - RDI_Pathfinder msg: 1633835637.30 epoch sec; seqNo:443 2021-10-10T03:13:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.26 , 50.28 , 44.97 , 44.56 2021-10-10T03:13:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.10 , 0.02 2021-10-10T03:13:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835637.32 epoch sec; seqNo:1266; 4061559.37 north; 594207.44 east 2021-10-10T03:13:57Z- AHRS_M2 msg: 1633835637.67 epoch sec; seqNo:1239 2021-10-10T03:13:57Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:57Z- handleDepth()-Depth_Keller msg: 1633835637680 epoch sec; seqNo:1267; depth 49.89 2021-10-10T03:13:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835637.71 epoch sec; seqNo:1267; 4061559.74 north; 594207.44 east 2021-10-10T03:13:58Z- AHRS_M2 msg: 1633835638.09 epoch sec; seqNo:1240 2021-10-10T03:13:58Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:58Z- handleDepth()-Depth_Keller msg: 1633835638093 epoch sec; seqNo:1268; depth 49.89 2021-10-10T03:13:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:13:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:13:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:13:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:13:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:13:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:13:58Z- handleDvl() - RDI_Pathfinder msg: 1633835638.10 epoch sec; seqNo:444 2021-10-10T03:13:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:13:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.10 , 0.02 2021-10-10T03:13:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835638.11 epoch sec; seqNo:1268; 4061560.12 north; 594207.43 east 2021-10-10T03:13:58Z- handleDepth()-Depth_Keller msg: 1633835638500 epoch sec; seqNo:1269; depth 49.90 2021-10-10T03:13:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835638.51 epoch sec; seqNo:1269; 4061560.12 north; 594207.43 east 2021-10-10T03:13:58Z- AHRS_M2 msg: 1633835638.88 epoch sec; seqNo:1241 2021-10-10T03:13:58Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:58Z- handleDepth()-Depth_Keller msg: 1633835638892 epoch sec; seqNo:1270; depth 49.90 2021-10-10T03:13:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835638.92 epoch sec; seqNo:1270; 4061560.50 north; 594207.43 east 2021-10-10T03:13:59Z- LcmTrn::handleMessages() - handling 43 messages took 0.66 ms and 129 calls... 2021-10-10T03:13:59Z- waiting for 1633835636.65, time is 1633835638.92 2021-10-10T03:13:59Z- LcmTrn::updateTrn() >>>> pose time 1633835638.92, meas time 1633835638.10 <<<< 2021-10-10T03:13:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835638.10, ping # 0. 2021-10-10T03:13:59Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835638.10 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:13:59Z- TerrainNav::motionUpdate() - currEstimate = (4061561, 594207.43, 49.90) 2021-10-10T03:13:59Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:13:59Z- TerrainNav:: SubcloudNIS is 1.40, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:13:59Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T03:13:59Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T03:13:59Z- TNavBF::Projecting Measurements 2021-10-10T03:13:59Z- TNavFilter::Measurement from time = 1633835638.10 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T03:13:59Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:13:59Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:13:59Z- TNavBF:: beamIndex[1] = 0 2021-10-10T03:13:59Z- TNavBF:: beamIndex[2] = 0 2021-10-10T03:13:59Z- TNavBF:: beamIndex[3] = 0 2021-10-10T03:13:59Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:13:59Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:13:59Z- Filter 0 NorthBias: -37.5 EastBias: -37.3 DepthBias: -8.5 NorthVariance: 67.7 EastVariance: 181.5 DepthVariance: 0.7 this->DepthBiasCov: 0.7 2021-10-10T03:13:59Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:13:59Z- TNavBF::mmse selected from filter -1 2021-10-10T03:13:59Z- variances([0], [2], and psi_berg) = 67.723170 180.991214 0.000000 2021-10-10T03:13:59Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:13:59Z- LcmTrn::publishEstimates() - MLE : 4061517.00 594166.93 49.90 2021-10-10T03:13:59Z- LcmTrn::publishEstimates() - MMSE : 4061523.05 594170.10 41.39 2021-10-10T03:13:59Z- LcmTrn::publishEstimates() - COVAR: 67.72 180.99 0.77 0.00 2021-10-10T03:13:59Z- AHRS_M2 msg: 1633835639.29 epoch sec; seqNo:1242 2021-10-10T03:13:59Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:59Z- handleDepth()-Depth_Keller msg: 1633835639292 epoch sec; seqNo:1271; depth 49.90 2021-10-10T03:13:59Z- handleDvl() - RDI_Pathfinder msg: 1633835639.31 epoch sec; seqNo:445 2021-10-10T03:13:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.26 , 49.87 , 45.17 , 44.55 2021-10-10T03:13:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.09 , 0.04 2021-10-10T03:13:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835639.33 epoch sec; seqNo:1271; 4061560.88 north; 594207.43 east 2021-10-10T03:13:59Z- AHRS_M2 msg: 1633835639.69 epoch sec; seqNo:1243 2021-10-10T03:13:59Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:13:59Z- handleDepth()-Depth_Keller msg: 1633835639694 epoch sec; seqNo:1272; depth 49.90 2021-10-10T03:13:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835639.71 epoch sec; seqNo:1272; 4061561.26 north; 594207.42 east 2021-10-10T03:14:00Z- AHRS_M2 msg: 1633835640.10 epoch sec; seqNo:1244 2021-10-10T03:14:00Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:14:00Z- handleDepth()-Depth_Keller msg: 1633835640108 epoch sec; seqNo:1273; depth 49.90 2021-10-10T03:14:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835640.12 epoch sec; seqNo:1273; 4061561.26 north; 594207.42 east 2021-10-10T03:14:00Z- AHRS_M2 msg: 1633835640.50 epoch sec; seqNo:1245 2021-10-10T03:14:00Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:14:00Z- handleDepth()-Depth_Keller msg: 1633835640504 epoch sec; seqNo:1274; depth 49.90 2021-10-10T03:14:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:14:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:14:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:14:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:14:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:14:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:14:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:14:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:14:00Z- handleDvl() - RDI_Pathfinder msg: 1633835640.51 epoch sec; seqNo:446 2021-10-10T03:14:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:14:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.09 , 0.04 2021-10-10T03:14:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835640.52 epoch sec; seqNo:1274; 4061561.64 north; 594207.42 east 2021-10-10T03:14:00Z- AHRS_M2 msg: 1633835640.90 epoch sec; seqNo:1246 2021-10-10T03:14:00Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:14:00Z- handleDepth()-Depth_Keller msg: 1633835640917 epoch sec; seqNo:1275; depth 49.90 2021-10-10T03:14:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835640.93 epoch sec; seqNo:1275; 4061562.02 north; 594207.41 east 2021-10-10T03:14:01Z- AHRS_M2 msg: 1633835641.31 epoch sec; seqNo:1247 2021-10-10T03:14:01Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.33 psi 2021-10-10T03:14:01Z- handleDepth()-Depth_Keller msg: 1633835641310 epoch sec; seqNo:1276; depth 49.91 2021-10-10T03:14:01Z- handleDvl() - RDI_Pathfinder msg: 1633835641.34 epoch sec; seqNo:447 2021-10-10T03:14:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.26 , 50.28 , 44.97 , 44.56 2021-10-10T03:14:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.08 , 0.03 2021-10-10T03:14:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835641.36 epoch sec; seqNo:1276; 4061562.40 north; 594207.41 east 2021-10-10T03:14:01Z- AHRS_M2 msg: 1633835641.72 epoch sec; seqNo:1248 2021-10-10T03:14:01Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.34 psi 2021-10-10T03:14:01Z- handleDepth()-Depth_Keller msg: 1633835641721 epoch sec; seqNo:1277; depth 49.92 2021-10-10T03:14:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:14:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:14:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:14:01Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:14:01Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:14:01Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:14:01Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:14:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:14:01Z- handleDvl() - RDI_Pathfinder msg: 1633835641.72 epoch sec; seqNo:448 2021-10-10T03:14:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:14:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.08 , 0.03 2021-10-10T03:14:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835641.74 epoch sec; seqNo:1277; 4061562.78 north; 594207.41 east 2021-10-10T03:14:02Z- AHRS_M2 msg: 1633835642.13 epoch sec; seqNo:1249 2021-10-10T03:14:02Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.34 psi 2021-10-10T03:14:02Z- handleDepth()-Depth_Keller msg: 1633835642134 epoch sec; seqNo:1278; depth 49.94 2021-10-10T03:14:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835642.14 epoch sec; seqNo:1278; 4061562.78 north; 594207.41 east 2021-10-10T03:14:02Z- AHRS_M2 msg: 1633835642.52 epoch sec; seqNo:1250 2021-10-10T03:14:02Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.34 psi 2021-10-10T03:14:02Z- handleDepth()-Depth_Keller msg: 1633835642529 epoch sec; seqNo:1279; depth 49.92 2021-10-10T03:14:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835642.54 epoch sec; seqNo:1279; 4061563.15 north; 594207.40 east 2021-10-10T03:14:02Z- AHRS_M2 msg: 1633835642.92 epoch sec; seqNo:1251 2021-10-10T03:14:02Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.34 psi 2021-10-10T03:14:02Z- handleDepth()-Depth_Keller msg: 1633835642932 epoch sec; seqNo:1280; depth 49.93 2021-10-10T03:14:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:14:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:14:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:14:02Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:14:02Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:14:02Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:14:02Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:14:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:14:02Z- handleDvl() - RDI_Pathfinder msg: 1633835642.93 epoch sec; seqNo:449 2021-10-10T03:14:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:14:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.08 , 0.03 2021-10-10T03:14:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835642.96 epoch sec; seqNo:1280; 4061563.53 north; 594207.40 east 2021-10-10T03:14:03Z- AHRS_M2 msg: 1633835643.33 epoch sec; seqNo:1252 2021-10-10T03:14:03Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.34 psi 2021-10-10T03:14:03Z- handleDepth()-Depth_Keller msg: 1633835643329 epoch sec; seqNo:1281; depth 49.92 2021-10-10T03:14:03Z- handleDvl() - RDI_Pathfinder msg: 1633835643.35 epoch sec; seqNo:450 2021-10-10T03:14:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.47 , 50.08 , 45.17 , 44.56 2021-10-10T03:14:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , 0.02 2021-10-10T03:14:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835643.38 epoch sec; seqNo:1281; 4061563.91 north; 594207.39 east 2021-10-10T03:14:03Z- AHRS_M2 msg: 1633835643.74 epoch sec; seqNo:1253 2021-10-10T03:14:03Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.34 psi 2021-10-10T03:14:03Z- handleDepth()-Depth_Keller msg: 1633835643741 epoch sec; seqNo:1282; depth 49.92 2021-10-10T03:14:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835643.76 epoch sec; seqNo:1282; 4061564.29 north; 594207.39 east 2021-10-10T03:14:04Z- LcmTrn::handleMessages() - handling 42 messages took 0.67 ms and 128 calls... 2021-10-10T03:14:04Z- waiting for 1633835641.92, time is 1633835643.76 2021-10-10T03:14:04Z- LcmTrn::updateTrn() >>>> pose time 1633835643.76, meas time 1633835643.35 <<<< 2021-10-10T03:14:04Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835643.35 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:14:04Z- TerrainNav::motionUpdate() - currEstimate = (4061564, 594207.39, 49.92) 2021-10-10T03:14:04Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:14:04Z- TerrainNav:: SubcloudNIS is 1.40, in allowable region under 1.40. Keep on Trucking. 2021-10-10T03:14:04Z- TNavBF::Projecting Measurements 2021-10-10T03:14:04Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T03:14:04Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T03:14:04Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T03:14:04Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T03:14:04Z- TNavFilter::4 good beams. 2021-10-10T03:14:04Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T03:14:04Z- TNavBF:: beamIndex[0] = 0 2021-10-10T03:14:04Z- TNavBF:: beamIndex[1] = 1 2021-10-10T03:14:04Z- TNavBF:: beamIndex[2] = 2 2021-10-10T03:14:04Z- TNavBF:: beamIndex[3] = 3 2021-10-10T03:14:04Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T03:14:04Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T03:14:04Z- TNavBF::mmse selected from filter -1 2021-10-10T03:14:04Z- TerrainMapOctree: (vehN, vehE ) = (4061563.97, 594207.39). 2021-10-10T03:14:04Z- TerrainMapOctree: Min Distance = 190.84. 2021-10-10T03:14:04Z- TerrainMapOctree: Using tile 4. 2021-10-10T03:14:04Z- Forcing Subcloud Comparison 2021-10-10T03:14:04Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T03:14:04Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:14:04Z- Filter 0 partialDeltaRmsComputation: 0.255231 terrainVariance: 0.210606 1-SumSquareWeights: 0.994017 2021-10-10T03:14:04Z- Filter 0 meanExpectedMeasDiff: -0.211245 delta_rms_squared: 0.200666 alpha: 0.909365 2021-10-10T03:14:04Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:14:04Z- Filter 0 partialDeltaRmsComputation: 0.599210 terrainVariance: 0.018010 1-SumSquareWeights: 0.994017 2021-10-10T03:14:04Z- Filter 0 meanExpectedMeasDiff: 0.762364 delta_rms_squared: 0.008070 alpha: 0.287500 2021-10-10T03:14:04Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:14:04Z- Filter 0 partialDeltaRmsComputation: 18.187023 terrainVariance: 0.020103 1-SumSquareWeights: 0.994017 2021-10-10T03:14:04Z- Filter 0 meanExpectedMeasDiff: -4.262267 delta_rms_squared: 0.010163 alpha: 0.336932 2021-10-10T03:14:04Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T03:14:04Z- Filter 0 partialDeltaRmsComputation: 17.879922 terrainVariance: 0.147213 1-SumSquareWeights: 0.994017 2021-10-10T03:14:04Z- Filter 0 meanExpectedMeasDiff: 4.211022 delta_rms_squared: 0.137273 alpha: 0.872833 2021-10-10T03:14:04Z- Filter 0 SubcloudNIS: 1.445564 2021-10-10T03:14:04Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T03:14:04Z- TNavBF:: Filter 0 sumWeights = 0.136707 2021-10-10T03:14:04Z- Filter 0 NorthBias: -37.2 EastBias: -36.2 DepthBias: -8.4 NorthVariance: 66.8 EastVariance: 254.8 DepthVariance: 0.6 this->DepthBiasCov: 0.5 2021-10-10T03:14:04Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633835643.35 sec. 2021-10-10T03:14:04Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T03:14:04Z- TNavBF::mmse selected from filter -1 2021-10-10T03:14:04Z- variances([0], [2], and psi_berg) = 66.832529 254.200088 0.000000 2021-10-10T03:14:04Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T03:14:04Z- LcmTrn::publishEstimates() - MLE : 4061530.79 594169.89 49.92 2021-10-10T03:14:04Z- LcmTrn::publishEstimates() - MMSE : 4061527.05 594171.18 41.50 2021-10-10T03:14:04Z- LcmTrn::publishEstimates() - COVAR: 66.83 254.20 0.57 0.00 2021-10-10T03:14:04Z- AHRS_M2 msg: 1633835644.13 epoch sec; seqNo:1254 2021-10-10T03:14:04Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.34 psi 2021-10-10T03:14:04Z- handleDepth()-Depth_Keller msg: 1633835644137 epoch sec; seqNo:1283; depth 49.93 2021-10-10T03:14:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:14:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:14:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:14:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:14:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:14:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:14:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:14:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:14:04Z- handleDvl() - RDI_Pathfinder msg: 1633835644.16 epoch sec; seqNo:451 2021-10-10T03:14:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:14:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , 0.02 2021-10-10T03:14:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835644.17 epoch sec; seqNo:1283; 4061564.30 north; 594208.61 east 2021-10-10T03:14:04Z- AHRS_M2 msg: 1633835644.54 epoch sec; seqNo:1255 2021-10-10T03:14:04Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.34 psi 2021-10-10T03:14:04Z- handleDepth()-Depth_Keller msg: 1633835644543 epoch sec; seqNo:1284; depth 49.92 2021-10-10T03:14:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835644.55 epoch sec; seqNo:1284; 4061564.68 north; 594208.61 east 2021-10-10T03:14:04Z- AHRS_M2 msg: 1633835644.94 epoch sec; seqNo:1256 2021-10-10T03:14:04Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.34 psi 2021-10-10T03:14:04Z- handleDepth()-Depth_Keller msg: 1633835644949 epoch sec; seqNo:1285; depth 49.93 2021-10-10T03:14:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835644.96 epoch sec; seqNo:1285; 4061565.06 north; 594208.60 east 2021-10-10T03:14:05Z- AHRS_M2 msg: 1633835645.35 epoch sec; seqNo:1257 2021-10-10T03:14:05Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.34 psi 2021-10-10T03:14:05Z- handleDepth()-Depth_Keller msg: 1633835645351 epoch sec; seqNo:1286; depth 49.92 2021-10-10T03:14:05Z- handleDvl() - RDI_Pathfinder msg: 1633835645.37 epoch sec; seqNo:452 2021-10-10T03:14:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.47 , 49.87 , 44.97 , 44.56 2021-10-10T03:14:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.08 , 0.01 2021-10-10T03:14:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835645.39 epoch sec; seqNo:1286; 4061565.44 north; 594208.60 east 2021-10-10T03:14:05Z- AHRS_M2 msg: 1633835645.75 epoch sec; seqNo:1258 2021-10-10T03:14:05Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.35 psi 2021-10-10T03:14:05Z- handleDepth()-Depth_Keller msg: 1633835645755 epoch sec; seqNo:1287; depth 49.92 2021-10-10T03:14:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835645.78 epoch sec; seqNo:1287; 4061565.82 north; 594208.59 east 2021-10-10T03:14:06Z- AHRS_M2 msg: 1633835646.16 epoch sec; seqNo:1259 2021-10-10T03:14:06Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.35 psi 2021-10-10T03:14:06Z- handleDepth()-Depth_Keller msg: 1633835646161 epoch sec; seqNo:1288; depth 49.93 2021-10-10T03:14:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835646.17 epoch sec; seqNo:1288; 4061565.82 north; 594208.59 east 2021-10-10T03:14:06Z- AHRS_M2 msg: 1633835646.56 epoch sec; seqNo:1260 2021-10-10T03:14:06Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.35 psi 2021-10-10T03:14:06Z- handleDepth()-Depth_Keller msg: 1633835646564 epoch sec; seqNo:1289; depth 49.92 2021-10-10T03:14:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:14:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:14:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:14:06Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:14:06Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:14:06Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:14:06Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:14:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:14:06Z- handleDvl() - RDI_Pathfinder msg: 1633835646.57 epoch sec; seqNo:453 2021-10-10T03:14:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:14:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.08 , 0.01 2021-10-10T03:14:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835646.58 epoch sec; seqNo:1289; 4061566.20 north; 594208.59 east 2021-10-10T03:14:06Z- AHRS_M2 msg: 1633835646.96 epoch sec; seqNo:1261 2021-10-10T03:14:06Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.35 psi 2021-10-10T03:14:06Z- handleDepth()-Depth_Keller msg: 1633835646968 epoch sec; seqNo:1290; depth 49.91 2021-10-10T03:14:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835646.98 epoch sec; seqNo:1290; 4061566.58 north; 594208.58 east 2021-10-10T03:14:07Z- AHRS_M2 msg: 1633835647.37 epoch sec; seqNo:1262 2021-10-10T03:14:07Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.35 psi 2021-10-10T03:14:07Z- handleDepth()-Depth_Keller msg: 1633835647376 epoch sec; seqNo:1291; depth 49.92 2021-10-10T03:14:07Z- handleDvl() - RDI_Pathfinder msg: 1633835647.40 epoch sec; seqNo:454 2021-10-10T03:14:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.47 , 49.46 , 44.96 , 44.55 2021-10-10T03:14:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.09 , -0.00 2021-10-10T03:14:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835647.42 epoch sec; seqNo:1291; 4061566.96 north; 594208.58 east 2021-10-10T03:14:07Z- AHRS_M2 msg: 1633835647.77 epoch sec; seqNo:1263 2021-10-10T03:14:07Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.35 psi 2021-10-10T03:14:07Z- handleDepth()-Depth_Keller msg: 1633835647774 epoch sec; seqNo:1292; depth 49.91 2021-10-10T03:14:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:14:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:14:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:14:07Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:14:07Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:14:07Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:14:07Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:14:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:14:07Z- handleDvl() - RDI_Pathfinder msg: 1633835647.78 epoch sec; seqNo:455 2021-10-10T03:14:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:14:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.09 , -0.00 2021-10-10T03:14:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835647.80 epoch sec; seqNo:1292; 4061567.33 north; 594208.58 east 2021-10-10T03:14:08Z- AHRS_M2 msg: 1633835648.18 epoch sec; seqNo:1264 2021-10-10T03:14:08Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.35 psi 2021-10-10T03:14:08Z- handleDepth()-Depth_Keller msg: 1633835648194 epoch sec; seqNo:1293; depth 49.92 2021-10-10T03:14:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835648.20 epoch sec; seqNo:1293; 4061567.33 north; 594208.58 east 2021-10-10T03:14:08Z- AHRS_M2 msg: 1633835648.58 epoch sec; seqNo:1265 2021-10-10T03:14:08Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.35 psi 2021-10-10T03:14:08Z- handleDepth()-Depth_Keller msg: 1633835648594 epoch sec; seqNo:1294; depth 49.92 2021-10-10T03:14:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835648.60 epoch sec; seqNo:1294; 4061567.71 north; 594208.57 east 2021-10-10T03:14:08Z- AHRS_M2 msg: 1633835648.98 epoch sec; seqNo:1266 2021-10-10T03:14:08Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.36 psi 2021-10-10T03:14:09Z- handleDepth()-Depth_Keller msg: 1633835648990 epoch sec; seqNo:1295; depth 49.90 2021-10-10T03:14:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:14:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:14:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T03:14:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T03:14:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T03:14:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T03:14:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T03:14:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T03:14:09Z- handleDvl() - RDI_Pathfinder msg: 1633835648.99 epoch sec; seqNo:456 2021-10-10T03:14:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T03:14:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.09 , -0.00 2021-10-10T03:14:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633835649.04 epoch sec; seqNo:1295; 4061568.09 north; 594208.57 east 2021-10-10T03:14:09Z- LcmTrn::handleMessages() - handling 45 messages took 0.65 ms and 132 calls... 2021-10-10T03:14:09Z- waiting for 1633835646.76, time is 1633835649.04 2021-10-10T03:14:09Z- LcmTrn::updateTrn() equating pose 1633835649.04 and meas times 1633835649.04 2021-10-10T03:14:09Z- LcmTrn::updateTrn() >>>> pose time 1633835649.04, meas time 1633835649.04 <<<< 2021-10-10T03:14:09Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633835649.04, ping # 0. 2021-10-10T03:14:09Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633835649.04 sec, ping # 0; waiting for more recent INS data... 2021-10-10T03:14:09Z- TerrainNav::motionUpdate() - currEstimate = (4061568, 594208.57, 49.90) 2021-10-10T03:14:09Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T03:14:09Z- TerrainNav:: SubcloudNIS of 1.45 exceeds the maximum allowed of 1.40. Re-initializing the filter. 2021-10-10T03:14:09Z- reinitFilter: getDistribToSave == 0 2021-10-10T03:14:09Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-10T03:14:09Z- parseSensorSpecs parsing sensor of type 1. 2021-10-10T03:14:09Z- Sensor 0 is of type 1. 2021-10-10T03:14:09Z- parseSensorSpecs parsing sensor of type 2. 2021-10-10T03:14:09Z- Sensor 1 is of type 2. 2021-10-10T03:14:09Z- parseSensorSpecs parsing sensor of type 5. 2021-10-10T03:14:09Z- Sensor 2 is of type 5. 2021-10-10T03:14:09Z- Random noise maker initialized with 1633835649 2021-10-10T03:14:09Z- setDistribToSave(0) 2021-10-10T03:14:09Z- setDistribToSave set to 0 2021-10-10T03:14:09Z- Vehicle name: mappingAUV Number of sensors: 3 2021-10-10T03:14:09Z- Sensor #1: 2021-10-10T03:14:09Z- Sensor name: rdiDVL 2021-10-10T03:14:09Z- Sensor type: 1 2021-10-10T03:14:09Z- Number of beams per measurement: 4 2021-10-10T03:14:09Z- Sensor #1 to vehicle transformation information: 2021-10-10T03:14:09Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T03:14:09Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T03:14:09Z- 2021-10-10T03:14:09Z- Sensor #2: 2021-10-10T03:14:09Z- Sensor name: resonSeabat8101 2021-10-10T03:14:09Z- Sensor type: 2 2021-10-10T03:14:09Z- Number of beams per measurement: 11 2021-10-10T03:14:09Z- Sensor #2 to vehicle transformation information: 2021-10-10T03:14:09Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T03:14:09Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T03:14:09Z- 2021-10-10T03:14:09Z- Sensor #3: 2021-10-10T03:14:09Z- Sensor name: imagenexdeltat 2021-10-10T03:14:09Z- Sensor type: 5 2021-10-10T03:14:09Z- Number of beams per measurement: 120 2021-10-10T03:14:09Z- Sensor #3 to vehicle transformation information: 2021-10-10T03:14:09Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T03:14:09Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T03:14:09Z- 2021-10-10T03:14:09Z- TNavBF::nParticles: 10000 numFilters: 2 PMF Grid Resolution: 1.0 PMF Grid Size: 100 2021-10-10T03:14:09Z- TerrainNav::TNavFilter initialized with type 3 2021-10-10T03:14:09Z- TNavBF::setModifiedWeighting umw: 4 2021-10-10T03:14:09Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20 2021-10-10T03:14:09Z- TNavBF::numFilters: 1